+ python -m lidar_slam --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.14 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters Centerline goodness : 0.493072 Centerline is valid? [0, False] SLAMing on 0.034012739 meters Centerline goodness : 0.493072 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 1.00000000e+00 5.15473761e-17 -1.55460923e-16 1.95177072e-13] [-2.36069324e-17 1.00000000e+00 -2.94654458e-16 4.71147643e-14] [-7.92279948e-18 -2.26182347e-16 1.00000000e+00 -6.91002811e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.064012739 meters Centerline goodness : 0.350240 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999967e-01 -2.51908420e-04 -4.33104514e-05 2.69924478e-03] [ 2.51902767e-04 9.99999960e-01 -1.30486048e-04 1.51260056e-04] [ 4.33433201e-05 1.30475134e-04 9.99999991e-01 -1.33322358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094012739 meters Centerline goodness : 0.351026 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999918e-01 -3.17954632e-04 -2.50246499e-04 4.76791116e-03] [ 3.17930156e-04 9.99999945e-01 -9.78403706e-05 -2.32013388e-05] [ 2.50277594e-04 9.77608017e-05 9.99999964e-01 -3.11755801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters Centerline goodness : 0.344656 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999843e-01 -5.14650403e-04 -2.20484063e-04 7.61579255e-03] [ 5.14564799e-04 9.99999792e-01 -3.88134088e-04 2.61890149e-03] [ 2.20683770e-04 3.88020573e-04 9.99999900e-01 -4.60966468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15401273899999998 meters Centerline goodness : 0.287667 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999803e-01 -5.38380704e-04 -3.22937714e-04 8.90171899e-03] [ 5.38230020e-04 9.99999746e-01 -4.66510313e-04 3.21779030e-03] [ 3.23188792e-04 4.66336406e-04 9.99999839e-01 -5.73757557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters Centerline goodness : 0.289809 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999777e-01 -5.07848250e-04 -4.33906209e-04 1.02912693e-02] [ 5.07669083e-04 9.99999786e-01 -4.12926175e-04 2.83244423e-03] [ 4.34115820e-04 4.12705802e-04 9.99999821e-01 -6.87102605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21401273899999998 meters Centerline goodness : 0.269166 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999818e-01 -5.67996884e-04 -2.01041992e-04 1.24140993e-02] [ 5.67923414e-04 9.99999772e-01 -3.65313423e-04 2.02729576e-03] [ 2.01249443e-04 3.65199180e-04 9.99999913e-01 -7.94154967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters Centerline goodness : 0.277789 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999762e-01 -5.37392459e-04 -4.32652165e-04 1.46215034e-02] [ 5.37288131e-04 9.99999827e-01 -2.41216486e-04 1.52199343e-03] [ 4.32781718e-04 2.40983970e-04 9.99999877e-01 -9.71337828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274012739 meters Centerline goodness : 0.222874 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999697e-01 -4.24853509e-04 -6.52501926e-04 1.81304108e-02] [ 4.24831078e-04 9.99999909e-01 -3.45137898e-05 4.14617320e-04] [ 6.52516531e-04 3.42365763e-05 9.99999787e-01 -1.16725605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters Centerline goodness : 0.249422 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999613e-01 -2.63432355e-04 -8.39385489e-04 2.00505346e-02] [ 2.63632730e-04 9.99999937e-01 2.38614187e-04 -1.26985102e-03] [ 8.39322577e-04 -2.38835384e-04 9.99999619e-01 -1.31498087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33401273899999995 meters Centerline goodness : 0.240609 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999517e-01 -1.36895233e-04 -9.73514447e-04 2.16069002e-02] [ 1.37337029e-04 9.99999888e-01 4.53762850e-04 -2.89693305e-03] [ 9.73452220e-04 -4.53896330e-04 9.99999423e-01 -1.44690316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters Centerline goodness : 0.244794 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999663e-01 4.83298155e-05 -8.19777165e-04 2.35196225e-02] [-4.77507111e-05 9.99999749e-01 7.06421687e-04 -4.91315250e-03] [ 8.19811101e-04 -7.06382304e-04 9.99999414e-01 -1.50122963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394012739 meters Centerline goodness : 0.242094 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999414e-01 1.58016764e-04 -1.07098798e-03 2.56121366e-02] [-1.57241644e-04 9.99999726e-01 7.23788690e-04 -4.58115561e-03] [ 1.07110206e-03 -7.23619862e-04 9.99999165e-01 -1.63135700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters Centerline goodness : 0.240751 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999118e-01 6.03620059e-04 -1.18337721e-03 2.88569106e-02] [-6.03282570e-04 9.99999777e-01 2.85527827e-04 -6.49806893e-04] [ 1.18354930e-03 -2.84813665e-04 9.99999259e-01 -1.75713360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45401273899999994 meters Centerline goodness : 0.281053 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99998709e-01 7.41343645e-04 -1.42541737e-03 3.06764928e-02] [-7.41492229e-04 9.99999720e-01 -1.03713716e-04 2.44764578e-03] [ 1.42534008e-03 1.04770518e-04 9.99998979e-01 -1.83595704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters Centerline goodness : 0.242231 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99998212e-01 9.44137322e-04 -1.63849355e-03 3.25588670e-02] [-9.44976552e-04 9.99999423e-01 -5.11497374e-04 5.50541636e-03] [ 1.63800968e-03 5.13044797e-04 9.99998527e-01 -1.93622272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514012739 meters Centerline goodness : 0.224634 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 9.99993063e-01 3.16185038e-03 -1.96909763e-03 3.92227410e-02] [-3.16260692e-03 9.99994926e-01 -3.81208689e-04 1.21149806e-02] [ 1.96788232e-03 3.87433526e-04 9.99997989e-01 -2.34212976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters Centerline goodness : 0.230833 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 0.99999141 0.00335513 -0.00243533 0.04257087] [-0.00335779 0.99999377 -0.00108894 0.01863768] [ 0.00243166 0.00109711 0.99999644 -0.02505791] [ 0. 0. 0. 1. ]] SLAMing on 0.5740127389999999 meters Centerline goodness : 0.232187 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99998317 0.00472635 -0.00336519 0.05267624] [-0.00473097 0.99998788 -0.00136583 0.02672483] [ 0.00335869 0.00138173 0.9999934 -0.03180339] [ 0. 0. 0. 1. ]] SLAMing on 0.604012739 meters Centerline goodness : 0.220620 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99998292 0.00458723 -0.00362121 0.05490905] [-0.00459385 0.99998779 -0.00182045 0.0298664 ] [ 0.00361281 0.00183706 0.99999179 -0.03311473] [ 0. 0. 0. 1. ]] SLAMing on 0.634012739 meters Centerline goodness : 0.228575 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998338 0.00433042 -0.00380576 0.05628043] [-0.00433888 0.99998813 -0.00221771 0.0325178 ] [ 0.00379612 0.00223419 0.9999903 -0.03362075] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters Centerline goodness : 0.200087 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998671 0.00345839 -0.00382367 0.05919533] [-0.00346833 0.99999061 -0.00259687 0.03398718] [ 0.00381466 0.0026101 0.99998932 -0.033856 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6940127389999999 meters Centerline goodness : 0.210821 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998633 0.00318949 -0.00414329 0.06139108] [-0.00319997 0.99999169 -0.00252415 0.03275303] [ 0.00413521 0.00253738 0.99998823 -0.03467063] [ 0. 0. 0. 1. ]] SLAMing on 0.724012739 meters Centerline goodness : 0.210821 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998633 0.00318949 -0.00414329 0.06139108] [-0.00319997 0.99999169 -0.00252415 0.03275303] [ 0.00413521 0.00253738 0.99998823 -0.03467063] [ 0. 0. 0. 1. ]] SLAMing on 0.754012739 meters Centerline goodness : 0.208860 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 0.99998558 0.00189817 -0.00502455 0.06839842] [-0.0019146 0.99999283 -0.00326672 0.03376234] [ 0.00501831 0.00327629 0.99998204 -0.03854834] [ 0. 0. 0. 1. ]] SLAMing on 0.784012739 meters Centerline goodness : 0.205528 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99984982e-01 7.58721918e-04 -5.42768412e-03 7.31306257e-02] [-7.76704134e-04 9.99994215e-01 -3.31171465e-03 3.22779413e-02] [ 5.42514005e-03 3.31588062e-03 9.99979786e-01 -4.03201423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8140127389999999 meters Centerline goodness : 0.185234 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99979370e-01 -7.50825315e-04 -6.37935680e-03 8.29052935e-02] [ 7.27544190e-04 9.99993070e-01 -3.65098439e-03 3.05557691e-02] [ 6.38205385e-03 3.64626780e-03 9.99972987e-01 -4.56783452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844012739 meters Centerline goodness : 0.184274 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.05 [[ 9.99976304e-01 -8.13023444e-04 -6.83603200e-03 8.63543305e-02] [ 7.90430567e-04 9.99994219e-01 -3.30702193e-03 2.76897422e-02] [ 6.83868117e-03 3.30154016e-03 9.99971166e-01 -4.73667635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874012739 meters Centerline goodness : 0.179692 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 9.99973000e-01 -8.89883763e-04 -7.29439391e-03 8.97996862e-02] [ 8.69625663e-04 9.99995758e-01 -2.77991633e-03 2.32902356e-02] [ 7.29683677e-03 2.77349788e-03 9.99969531e-01 -4.91227949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9040127389999999 meters Centerline goodness : 0.178979 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99995616 -0.00529048 -0.00772591 0.09466176] [ 0.00524206 0.99996658 -0.00627378 0.01940766] [ 0.00775885 0.006233 0.99995047 -0.05099778] [ 0. 0. 0. 1. ]] SLAMing on 0.9340127389999999 meters Centerline goodness : 0.173657 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99955723e-01 -9.39323583e-03 5.65818591e-04 1.18423058e-01] [ 9.39416263e-03 9.99954499e-01 -1.65821733e-03 1.08192269e-02] [-5.50216819e-04 1.66345930e-03 9.99998465e-01 -6.26145188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964012739 meters Centerline goodness : 0.173058 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99910650e-01 -1.33469031e-02 7.42710885e-04 1.20375299e-01] [ 1.33505958e-02 9.99897296e-01 -5.21148857e-03 6.40744791e-03] [-6.73077372e-04 5.22093856e-03 9.99986144e-01 -6.25915730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994012739 meters Centerline goodness : 0.057932 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.06 [[ 9.99914249e-01 -1.30844349e-02 5.41234669e-04 1.22356300e-01] [ 1.30867253e-02 9.99904373e-01 -4.47007092e-03 4.90574655e-04] [-4.82694561e-04 4.47677059e-03 9.99989863e-01 -6.34836970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024012739 meters Centerline goodness : 0.170334 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 9.99918028e-01 -1.27991209e-02 3.46280091e-04 1.24073158e-01] [ 1.28003562e-02 9.99910708e-01 -3.83748792e-03 -4.18966413e-03] [-2.97132699e-04 3.84160587e-03 9.99992577e-01 -6.40129707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054012739 meters Centerline goodness : 0.163183 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.06 [[ 9.99921691e-01 -1.25140574e-02 1.00764793e-04 1.26106105e-01] [ 1.25143215e-02 9.99916262e-01 -3.29550056e-03 -8.01751422e-03] [-5.95162717e-05 3.29650350e-03 9.99994565e-01 -6.44646433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084012739 meters Centerline goodness : 0.164605 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.07 [[ 9.99930923e-01 -1.17536368e-02 -4.08827664e-05 1.29586425e-01] [ 1.17535229e-02 9.99928651e-01 -2.13267741e-03 -1.64010598e-02] [ 6.59465652e-05 2.13204957e-03 9.99997725e-01 -6.58144862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1140127389999999 meters Centerline goodness : 0.178904 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99941463e-01 -1.08114781e-02 -4.28222988e-04 1.35639525e-01] [ 1.08111125e-02 9.99941199e-01 -8.47273241e-04 -2.56501540e-02] [ 4.37358084e-04 8.42594077e-04 9.99999549e-01 -6.93314650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.144012739 meters Centerline goodness : 0.188086 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99945992e-01 -1.03721402e-02 -6.57799673e-04 1.38057285e-01] [ 1.03720248e-02 9.99946193e-01 -1.78630460e-04 -3.02876409e-02] [ 6.59617059e-04 1.71798098e-04 9.99999768e-01 -7.06976941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174012739 meters Centerline goodness : 0.193376 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.07 [[ 9.99949741e-01 -9.98363537e-03 -9.17681957e-04 1.40333588e-01] [ 9.98409839e-03 9.99950032e-01 5.01361794e-04 -3.51300921e-02] [ 9.12630689e-04 -5.10498823e-04 9.99999453e-01 -7.17028988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204012739 meters Centerline goodness : 0.058298 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.99994961 -0.00983073 -0.00203519 0.15209622] [ 0.00983318 0.99995094 0.00119746 -0.04248516] [ 0.00202331 -0.00121741 0.99999721 -0.07897221] [ 0. 0. 0. 1. ]] SLAMing on 1.234012739 meters Centerline goodness : 0.202337 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.99995154 -0.00956927 -0.0023144 0.15449338] [ 0.00957276 0.99995305 0.00150401 -0.04428408] [ 0.0022999 -0.00152609 0.99999619 -0.08003797] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters Centerline goodness : 0.205115 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.08 [[ 9.99975925e-01 -3.87592488e-03 -5.75549932e-03 1.78809236e-01] [ 3.87913881e-03 9.99992326e-01 5.47352625e-04 -4.60070004e-02] [ 5.75333366e-03 -5.69665829e-04 9.99983287e-01 -7.54675062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294012739 meters Centerline goodness : 0.175362 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.08 [[ 9.99975192e-01 -3.44509124e-03 -6.14377231e-03 1.81789499e-01] [ 3.44798716e-03 9.99993949e-01 4.60829189e-04 -4.43112460e-02] [ 6.14214754e-03 -4.82001405e-04 9.99981021e-01 -7.64825965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3240127389999998 meters Centerline goodness : 0.203602 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.08 [[ 0.99997398 -0.00173435 -0.00700243 0.18974773] [ 0.00174359 0.99999762 0.00131355 -0.0447517 ] [ 0.00700014 -0.00132572 0.99997462 -0.08080026] [ 0. 0. 0. 1. ]] SLAMing on 1.3540127389999999 meters Centerline goodness : 0.067233 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.08 [[ 0.99996864 0.00319167 -0.00724842 0.19431072] [-0.0031526 0.99998048 0.00539492 -0.04495207] [ 0.0072655 -0.0053719 0.99995918 -0.08217252] [ 0. 0. 0. 1. ]] SLAMing on 1.3840127389999999 meters Centerline goodness : 0.068778 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:-0.08 [[ 0.99996539 0.00336586 -0.00760816 0.19717949] [-0.00332826 0.99998221 0.00494962 -0.04095558] [ 0.00762468 -0.00492412 0.99995881 -0.08310364] [ 0. 0. 0. 1. ]] SLAMing on 1.414012739 meters Centerline goodness : 0.056963 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99995211 0.00449358 -0.00869354 0.20824326] [-0.00444992 0.99997742 0.00503549 -0.03727125] [ 0.00871597 -0.00499656 0.99994953 -0.08923896] [ 0. 0. 0. 1. ]] SLAMing on 1.444012739 meters Centerline goodness : 0.067885 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99995053 0.00435688 -0.00894176 0.2105595 ] [-0.00431458 0.99997944 0.00474465 -0.03520589] [ 0.00896225 -0.00470583 0.99994877 -0.09039392] [ 0. 0. 0. 1. ]] SLAMing on 1.474012739 meters Centerline goodness : 0.113388 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.09 [[ 0.99994888 0.00424926 -0.00917475 0.21267112] [-0.00420693 0.99998044 0.00462817 -0.03450309] [ 0.00919423 -0.00458933 0.9999472 -0.09130263] [ 0. 0. 0. 1. ]] SLAMing on 1.504012739 meters Centerline goodness : 0.029361 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999485e-01 3.74006869e-04 -9.43107830e-04 2.39746240e-01] [-3.66507938e-04 9.99968419e-01 7.93897303e-03 -3.53994034e-02] [ 9.46047276e-04 -7.93862328e-03 9.99968041e-01 -1.03474207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534012739 meters Centerline goodness : 0.068125 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999305e-01 2.19809121e-04 -1.15815569e-03 2.41643538e-01] [-2.10733466e-04 9.99969318e-01 7.83060236e-03 -3.50247477e-02] [ 1.15984140e-03 -7.83035286e-03 9.99968670e-01 -1.04092551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564012739 meters Centerline goodness : 0.109220 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.10 [[ 9.99999069e-01 -2.93861467e-04 -1.33217524e-03 2.45248186e-01] [ 3.03750480e-04 9.99972358e-01 7.42909272e-03 -3.26584993e-02] [ 1.32995529e-03 -7.42949046e-03 9.99971517e-01 -1.04950143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5940127389999998 meters Centerline goodness : 0.056576 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998629e-01 -4.96630936e-04 -1.57951290e-03 2.47523659e-01] [ 5.07798101e-04 9.99974825e-01 7.07747999e-03 -3.01321212e-02] [ 1.57595824e-03 -7.07827237e-03 9.99973707e-01 -1.05630062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6240127389999999 meters Centerline goodness : 0.058001 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998285e-01 -6.35090011e-04 -1.73944375e-03 2.49184719e-01] [ 6.46945976e-04 9.99976508e-01 6.82389139e-03 -2.84654214e-02] [ 1.73506910e-03 -6.82500502e-03 9.99975204e-01 -1.06127520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654012739 meters Centerline goodness : 0.108347 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.11 [[ 0.99999519 -0.00163806 -0.00263496 0.25832293] [ 0.00165337 0.99998168 0.00582206 -0.02509673] [ 0.00262538 -0.00582639 0.99997958 -0.1112066 ] [ 0. 0. 0. 1. ]] SLAMing on 1.684012739 meters Centerline goodness : 0.060316 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999406 -0.00182663 -0.00292347 0.26079108] [ 0.00184307 0.99998245 0.00563054 -0.0241323 ] [ 0.00291313 -0.00563589 0.99997987 -0.1123449 ] [ 0. 0. 0. 1. ]] SLAMing on 1.714012739 meters Centerline goodness : 0.129348 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999244 -0.00212261 -0.00325824 0.26363276] [ 0.00214016 0.99998317 0.00539186 -0.02289363] [ 0.00324674 -0.00539879 0.99998016 -0.11334669] [ 0. 0. 0. 1. ]] SLAMing on 1.744012739 meters Centerline goodness : 0.059330 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.11 [[ 0.9999893 -0.00294996 -0.00356332 0.26748407] [ 0.00296902 0.99998125 0.0053564 -0.02374326] [ 0.00354746 -0.00536692 0.99997931 -0.11395804] [ 0. 0. 0. 1. ]] SLAMing on 1.774012739 meters Centerline goodness : 0.141297 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.12 [[ 0.9999776 -0.00486268 -0.00459891 0.27686743] [ 0.00488326 0.99997806 0.00447493 -0.02447498] [ 0.00457705 -0.00449729 0.99997941 -0.11828157] [ 0. 0. 0. 1. ]] SLAMing on 1.8040127389999998 meters Centerline goodness : 0.102915 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.9999763 -0.00490486 -0.00483153 0.27893141] [ 0.00492734 0.99997704 0.00465127 -0.02609031] [ 0.00480861 -0.00467497 0.99997751 -0.11918069] [ 0. 0. 0. 1. ]] SLAMing on 1.8340127389999998 meters Centerline goodness : 0.059960 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.99997403 -0.00507465 -0.0051179 0.28130741] [ 0.00509814 0.99997648 0.00458805 -0.02594963] [ 0.00509449 -0.00461403 0.99997638 -0.12005699] [ 0. 0. 0. 1. ]] SLAMing on 1.8640127389999999 meters Centerline goodness : 0.059745 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.99997077 -0.00536397 -0.00544934 0.28493335] [ 0.00538903 0.99997492 0.00459522 -0.02607317] [ 0.00542456 -0.00462445 0.99997459 -0.12074118] [ 0. 0. 0. 1. ]] SLAMing on 1.894012739 meters Centerline goodness : 0.060035 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.12 [[ 0.99996955 -0.00535555 -0.00567675 0.28669682] [ 0.00538311 0.99997375 0.0048497 -0.02831329] [ 0.00565063 -0.00488011 0.99997213 -0.12103485] [ 0. 0. 0. 1. ]] SLAMing on 1.924012739 meters Centerline goodness : 0.060445 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.12 [[ 0.99996473 -0.00555839 -0.00629632 0.29167579] [ 0.0055919 0.99997022 0.00531813 -0.03347735] [ 0.00626658 -0.00535315 0.99996604 -0.12267626] [ 0. 0. 0. 1. ]] SLAMing on 1.954012739 meters Centerline goodness : 0.060469 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.12 [[ 0.99996332 -0.00551783 -0.00655112 0.29388893] [ 0.00555472 0.99996874 0.00562722 -0.03590972] [ 0.00651986 -0.0056634 0.99996271 -0.12369343] [ 0. 0. 0. 1. ]] SLAMing on 1.984012739 meters Centerline goodness : 0.171874 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.12 [[ 0.99996172 -0.00547773 -0.00682331 0.29595894] [ 0.00551874 0.99996673 0.00600646 -0.03896661] [ 0.00679018 -0.00604388 0.99995868 -0.12440288] [ 0. 0. 0. 1. ]] SLAMing on 2.014012739 meters SLAMing on 2.0440127390000002 meters Centerline goodness : 0.187686 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.13 [[ 0.99993393 -0.00939382 -0.00662554 0.29967458] [ 0.00941014 0.99995275 0.00243668 -0.04334705] [ 0.00660234 -0.00249886 0.99997508 -0.12508979] [ 0. 0. 0. 1. ]] SLAMing on 2.074012739 meters Centerline goodness : 0.189238 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.13 [[ 0.99993382 -0.00909936 -0.00704039 0.30356063] [ 0.00912278 0.99995294 0.00330094 -0.05032885] [ 0.00701002 -0.00336495 0.99996977 -0.12602158] [ 0. 0. 0. 1. ]] SLAMing on 2.1040127390000003 meters SLAMing on 2.134012739 meters Centerline goodness : 0.178329 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.12 [[ 9.99910558e-01 -7.63686236e-03 -1.09797635e-02 3.31324212e-01] [ 7.63179700e-03 9.99970751e-01 -5.03161573e-04 -5.78630510e-02] [ 1.09832850e-02 4.19321243e-04 9.99939594e-01 -1.23872527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1640127390000004 meters Centerline goodness : 0.514479 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.12 [[ 9.99909912e-01 -7.35534417e-03 -1.12279440e-02 3.33214640e-01] [ 7.35655621e-03 9.99972938e-01 6.66515850e-05 -6.19142475e-02] [ 1.12271499e-02 -1.49244582e-04 9.99936962e-01 -1.24331153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194012739 meters Centerline goodness : 0.522752 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:-0.12 [[ 9.99909734e-01 -7.02851301e-03 -1.14509303e-02 3.34927957e-01] [ 7.03696424e-03 9.99974997e-01 6.97914147e-04 -6.65219072e-02] [ 1.14457387e-02 -7.78430936e-04 9.99934192e-01 -1.24831679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224012739 meters Centerline goodness : 0.143455 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.13 [[ 0.99996782 -0.00712751 -0.00368132 0.36784052] [ 0.0071442 0.99996417 0.00453984 -0.07981039] [ 0.00364883 -0.004566 0.99998292 -0.13316988] [ 0. 0. 0. 1. ]] SLAMing on 2.254012739 meters Centerline goodness : 0.611509 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.13 [[ 0.99996898 -0.00681959 -0.00394106 0.36979679] [ 0.00683917 0.99996424 0.00497489 -0.08266038] [ 0.00390699 -0.00500169 0.99997986 -0.13375398] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters Centerline goodness : 0.101150 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:-0.13 [[ 0.99997293 -0.00587304 -0.00443267 0.37373992] [ 0.00589798 0.99996673 0.0056352 -0.08630441] [ 0.00439943 -0.00566119 0.9999743 -0.13414882] [ 0. 0. 0. 1. ]] SLAMing on 2.3140127390000003 meters Centerline goodness : 0.102914 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.13 [[ 0.99997376 -0.00544541 -0.00477696 0.37587398] [ 0.00547322 0.99996803 0.00582872 -0.0873215 ] [ 0.00474507 -0.00585471 0.9999716 -0.1341601 ] [ 0. 0. 0. 1. ]] SLAMing on 2.344012739 meters Centerline goodness : 0.185358 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.13 [[ 0.99997458 -0.00497846 -0.00510448 0.37796757] [ 0.0050085 0.99997011 0.00589023 -0.08690645] [ 0.005075 -0.00591565 0.99996962 -0.1343615 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3740127390000003 meters Centerline goodness : 0.146063 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.13 [[ 0.99996007 0.00275116 -0.00850179 0.40345713] [-0.00270633 0.9999824 0.00527951 -0.08840312] [ 0.00851617 -0.00525629 0.99994992 -0.12960543] [ 0. 0. 0. 1. ]] SLAMing on 2.404012739 meters Centerline goodness : 0.179560 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.13 [[ 0.99995561 0.00319236 -0.00886456 0.40589779] [-0.00314611 0.99998139 0.00522661 -0.08691601] [ 0.00888108 -0.00519848 0.99994705 -0.13026798] [ 0. 0. 0. 1. ]] SLAMing on 2.434012739 meters Centerline goodness : 0.081162 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.13 [[ 0.99994715 0.00403122 -0.00945793 0.41005802] [-0.00397979 0.99997723 0.00544964 -0.0872042 ] [ 0.00947969 -0.00541171 0.99994042 -0.13097262] [ 0. 0. 0. 1. ]] SLAMing on 2.464012739 meters Centerline goodness : 0.174405 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998274 0.00431745 0.00398396 0.41518889] [-0.00434271 0.99997039 0.00635291 -0.088514 ] [-0.00395641 -0.0063701 0.99997188 -0.14096728] [ 0. 0. 0. 1. ]] SLAMing on 2.494012739 meters Centerline goodness : 0.079612 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998371 0.00428239 0.00377374 0.41660764] [-0.00430617 0.99997077 0.00631713 -0.08833831] [-0.00374657 -0.00633328 0.99997293 -0.14122783] [ 0. 0. 0. 1. ]] SLAMing on 2.5240127390000002 meters Centerline goodness : 0.079745 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998596 0.00418809 0.00324741 0.42046299] [-0.0042089 0.99997049 0.00642748 -0.08962594] [-0.0032204 -0.00644106 0.99997407 -0.14234833] [ 0. 0. 0. 1. ]] SLAMing on 2.554012739 meters Centerline goodness : 0.079790 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998681 0.00414768 0.00303077 0.42207727] [-0.00416741 0.99996999 0.00653085 -0.09062234] [-0.00300359 -0.00654339 0.99997408 -0.14298118] [ 0. 0. 0. 1. ]] SLAMing on 2.5840127390000003 meters Centerline goodness : 0.080417 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.9999891 0.0039171 0.00253923 0.42542209] [-0.00393313 0.99997217 0.00633878 -0.08959962] [-0.00251433 -0.0063487 0.99997669 -0.14340213] [ 0. 0. 0. 1. ]] SLAMing on 2.614012739 meters Centerline goodness : 0.078951 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999035 0.00377292 0.00225214 0.42691327] [-0.00378655 0.99997436 0.00607776 -0.08793004] [-0.00222915 -0.00608623 0.99997899 -0.14315037] [ 0. 0. 0. 1. ]] SLAMing on 2.644012739 meters Centerline goodness : 0.078951 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999035 0.00377292 0.00225214 0.42691327] [-0.00378655 0.99997436 0.00607776 -0.08793004] [-0.00222915 -0.00608623 0.99997899 -0.14315037] [ 0. 0. 0. 1. ]] SLAMing on 2.674012739 meters Centerline goodness : 0.080545 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999115 0.00370878 0.00198858 0.4283202 ] [-0.00372064 0.99997511 0.00599497 -0.08734927] [-0.00196629 -0.00600231 0.99998005 -0.14289469] [ 0. 0. 0. 1. ]] SLAMing on 2.704012739 meters Centerline goodness : 0.080522 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.15 [[ 9.99998544e-01 1.42978845e-03 9.31658060e-04 4.37114501e-01] [-1.43227495e-03 9.99995400e-01 2.67372002e-03 -8.43545146e-02] [-9.27830920e-04 -2.67505051e-03 9.99995992e-01 -1.46305584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734012739 meters Centerline goodness : 0.079069 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999546e-01 9.49938136e-04 7.42581520e-05 4.46974318e-01] [-9.50116554e-04 9.99996570e-01 2.44073867e-03 -8.43217390e-02] [-7.19393465e-05 -2.44080811e-03 9.99997019e-01 -1.52218258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764012739 meters Centerline goodness : 0.080450 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999592e-01 8.91218406e-04 -1.45752038e-04 4.48373029e-01] [-8.90873397e-04 9.99996841e-01 2.35027491e-03 -8.38068816e-02] [ 1.47846186e-04 -2.35014410e-03 9.99997227e-01 -1.52736701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7940127390000002 meters Centerline goodness : 0.079860 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999577e-01 8.38733884e-04 -3.76786947e-04 4.49801019e-01] [-8.37856567e-04 9.99996952e-01 2.32257091e-03 -8.36990694e-02] [ 3.78733817e-04 -2.32225423e-03 9.99997232e-01 -1.53185177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters Centerline goodness : 0.080489 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999505e-01 7.46404175e-04 -6.57680301e-04 4.51579563e-01] [-7.44904842e-04 9.99997130e-01 2.27703175e-03 -8.36062380e-02] [ 6.59378000e-04 -2.27654071e-03 9.99997191e-01 -1.53716781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8540127390000003 meters Centerline goodness : 0.079846 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999244e-01 4.85597010e-04 -1.13002748e-03 4.54451516e-01] [-4.83114290e-04 9.99997471e-01 2.19628078e-03 -8.33062194e-02] [ 1.13109113e-03 -2.19573318e-03 9.99996950e-01 -1.53745306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline goodness : 0.080085 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99998784e-01 3.31009552e-04 -1.52407802e-03 4.56831619e-01] [-3.27343914e-04 9.99997055e-01 2.40477211e-03 -8.54230612e-02] [ 1.52486953e-03 -2.40427029e-03 9.99995947e-01 -1.53554299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914012739 meters Centerline goodness : 0.079855 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99998265e-01 3.34903748e-04 -1.83265314e-03 4.58470694e-01] [-3.30291711e-04 9.99996780e-01 2.51631411e-03 -8.63869437e-02] [ 1.83348996e-03 -2.51570443e-03 9.99995155e-01 -1.53621967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944012739 meters Centerline goodness : 0.081519 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99997844e-01 3.06447467e-04 -2.05403908e-03 4.59701064e-01] [-3.01537760e-04 9.99997098e-01 2.39015282e-03 -8.55728482e-02] [ 2.05476557e-03 -2.38952830e-03 9.99995034e-01 -1.53826254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974012739 meters Centerline goodness : 0.080422 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.08, Z:-0.15 [[ 9.99996648e-01 4.50704122e-04 -2.54948936e-03 4.62722513e-01] [-4.46397324e-04 9.99998473e-01 1.68959580e-03 -7.96530735e-02] [ 2.55024698e-03 -1.68845205e-03 9.99995323e-01 -1.54394892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters Centerline goodness : 0.081029 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.08, Z:-0.15 [[ 9.99995956e-01 3.75878846e-04 -2.81915152e-03 4.64071715e-01] [-3.72573800e-04 9.99999243e-01 1.17278828e-03 -7.59875992e-02] [ 2.81959022e-03 -1.17173320e-03 9.99995338e-01 -1.54411572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034012739 meters Centerline goodness : 0.080776 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99994148e-01 5.15648855e-04 -3.38203812e-03 4.67295134e-01] [-5.13248593e-04 9.99999616e-01 7.10538287e-04 -7.22252523e-02] [ 3.38240321e-03 -7.08798303e-04 9.99994028e-01 -1.54301932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0640127390000003 meters Centerline goodness : 0.080518 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99993399e-01 4.62306321e-04 -3.60392999e-03 4.68489151e-01] [-4.60634440e-04 9.99999786e-01 4.64721335e-04 -7.05644732e-02] [ 3.60414406e-03 -4.63058173e-04 9.99993398e-01 -1.54493326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094012739 meters Centerline goodness : 0.081701 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99992629e-01 3.68232994e-04 -3.82180474e-03 4.69644265e-01] [-3.67616429e-04 9.99999919e-01 1.62029254e-04 -6.86065296e-02] [ 3.82186409e-03 -1.60623101e-04 9.99992684e-01 -1.54653457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1240127390000003 meters Centerline goodness : 0.082305 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99991242e-01 1.13892339e-04 -4.18366923e-03 4.71629227e-01] [-1.15317535e-04 9.99999935e-01 -3.40417141e-04 -6.53296110e-02] [ 4.18363019e-03 3.40896610e-04 9.99991190e-01 -1.54648968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154012739 meters Centerline goodness : 0.083434 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.15 [[ 9.99990252e-01 1.95755797e-05 -4.41528219e-03 4.72631073e-01] [-2.14636992e-05 9.99999908e-01 -4.27585826e-04 -6.49287494e-02] [ 4.41527341e-03 4.27676426e-04 9.99990161e-01 -1.54440873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters Centerline goodness : 0.083757 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99987761e-01 -2.45985462e-04 -4.94129382e-03 4.75511036e-01] [ 2.44663252e-04 9.99999934e-01 -2.68186368e-04 -6.68950158e-02] [ 4.94135947e-03 2.66974133e-04 9.99987756e-01 -1.54320381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214012739 meters Centerline goodness : 0.084783 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99986775e-01 -2.38766367e-04 -5.13734041e-03 4.76511523e-01] [ 2.38503158e-04 9.99999970e-01 -5.18471149e-05 -6.84514971e-02] [ 5.13735263e-03 5.06211574e-05 9.99986802e-01 -1.54372415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244012739 meters Centerline goodness : 0.084434 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99985343e-01 -2.55109499e-04 -5.40824476e-03 4.78074397e-01] [ 2.55139206e-04 9.99999967e-01 4.80315027e-06 -6.88780827e-02] [ 5.40824336e-03 -6.18293515e-06 9.99985375e-01 -1.54814885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2740127390000002 meters Centerline goodness : 0.095353 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.16 [[ 9.99983429e-01 -8.91529121e-05 -5.75620428e-03 4.80152924e-01] [ 8.76646963e-05 9.99999963e-01 -2.58792952e-04 -6.64459889e-02] [ 5.75622714e-03 2.58284048e-04 9.99983399e-01 -1.55365058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304012739 meters Centerline goodness : 0.140944 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99981896e-01 3.81216530e-06 -6.01722220e-03 4.81299629e-01] [-6.71345078e-06 9.99999884e-01 -4.82143468e-04 -6.46364440e-02] [ 6.01721967e-03 4.82175136e-04 9.99981780e-01 -1.55385639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3340127390000003 meters Centerline goodness : 0.137689 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99979215e-01 1.00640421e-03 -6.36837253e-03 4.83317804e-01] [-1.00973765e-03 9.99999355e-01 -5.20242986e-04 -6.17485652e-02] [ 6.36784484e-03 5.26662558e-04 9.99979586e-01 -1.55363376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364012739 meters Centerline goodness : 0.133839 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99977591e-01 1.09002537e-03 -6.60530984e-03 4.84421748e-01] [-1.09597053e-03 9.99998998e-01 -8.96503688e-04 -5.89128927e-02] [ 6.60432601e-03 9.03722823e-04 9.99977783e-01 -1.55436825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394012739 meters Centerline goodness : 0.128508 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.99997518 0.00130165 -0.00692457 0.48616884] [-0.00131167 0.9999981 -0.00144296 -0.05421014] [ 0.00692267 0.001452 0.99997498 -0.1556693 ] [ 0. 0. 0. 1. ]] SLAMing on 3.424012739 meters Centerline goodness : 0.129485 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.99997373 0.00124548 -0.00714092 0.48714461] [-0.00125683 0.99999795 -0.00158581 -0.05330633] [ 0.00713893 0.00159474 0.99997325 -0.15575232] [ 0. 0. 0. 1. ]] SLAMing on 3.454012739 meters Centerline goodness : 0.125404 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.9999724 0.00118843 -0.00733414 0.48816314] [-0.00120072 0.99999788 -0.00167086 -0.05283815] [ 0.00733214 0.00167962 0.99997171 -0.15599775] [ 0. 0. 0. 1. ]] SLAMing on 3.484012739 meters Centerline goodness : 0.122015 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.9999705 0.00105016 -0.00760932 0.48983085] [-0.00106547 0.99999742 -0.00200826 -0.05086007] [ 0.00760719 0.00201631 0.99996903 -0.15637134] [ 0. 0. 0. 1. ]] SLAMing on 3.514012739 meters Centerline goodness : 0.121008 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 9.99969093e-01 9.05657218e-04 -7.80981764e-03 4.90581960e-01] [-9.24293572e-04 9.99996734e-01 -2.38299353e-03 -4.86567312e-02] [ 7.80763395e-03 2.39013844e-03 9.99966663e-01 -1.56205955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5440127390000002 meters Centerline goodness : 0.116136 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.16 [[ 9.99967064e-01 7.56501127e-04 -8.08073305e-03 4.92001088e-01] [-7.81971058e-04 9.99994735e-01 -3.14923881e-03 -4.36543788e-02] [ 8.07830811e-03 3.15545399e-03 9.99962391e-01 -1.56004487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574012739 meters Centerline goodness : 0.113951 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.16 [[ 9.99965330e-01 6.21118094e-04 -8.30382290e-03 4.92936043e-01] [-6.51120991e-04 9.99993269e-01 -3.61092763e-03 -4.07694991e-02] [ 8.30152420e-03 3.61620923e-03 9.99959003e-01 -1.55946084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.604012739 meters Centerline goodness : 0.111672 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.16 [[ 9.99963751e-01 4.48441902e-04 -8.50263058e-03 4.94033263e-01] [-4.87037538e-04 9.99989586e-01 -4.53773116e-03 -3.47327464e-02] [ 8.50050713e-03 4.54170777e-03 9.99953556e-01 -1.55877004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634012739 meters Centerline goodness : 0.111320 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.16 [[ 9.99962137e-01 2.54148563e-04 -8.69831551e-03 4.94885713e-01] [-2.97827641e-04 9.99987352e-01 -5.02062908e-03 -3.18777974e-02] [ 8.69692951e-03 5.02302958e-03 9.99949565e-01 -1.55943327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664012739 meters Centerline goodness : 0.109774 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.16 [[ 9.99959939e-01 1.18561821e-04 -8.95015960e-03 4.96307743e-01] [-1.68255901e-04 9.99984575e-01 -5.55176339e-03 -2.86975727e-02] [ 8.94936331e-03 5.55304690e-03 9.99944535e-01 -1.56331508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694012739 meters Centerline goodness : 0.110581 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.16 [[ 9.99958645e-01 7.41680042e-05 -9.09408895e-03 4.97017089e-01] [-1.25535929e-04 9.99984042e-01 -5.64805521e-03 -2.81419306e-02] [ 9.09352492e-03 5.64896327e-03 9.99942697e-01 -1.56534702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724012739 meters Centerline goodness : 0.111348 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.15 [[ 0.99993585 -0.00261583 -0.01102088 0.51612896] [ 0.00263096 0.99999562 0.00135909 -0.03054866] [ 0.01101728 -0.001388 0.99993834 -0.15048674] [ 0. 0. 0. 1. ]] SLAMing on 3.754012739 meters Centerline goodness : 0.111336 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.15 [[ 9.99931362e-01 -2.98633047e-03 -1.13293204e-02 5.17502735e-01] [ 2.99670307e-03 9.99995106e-01 8.98688838e-04 -2.83268549e-02] [ 1.13265812e-02 -9.32577763e-04 9.99935417e-01 -1.50605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784012739 meters Centerline goodness : 0.109814 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99991271e-01 -3.42517225e-03 2.39313896e-03 5.22016524e-01] [ 3.42357990e-03 9.99993916e-01 6.69159589e-04 -2.73700756e-02] [-2.39541638e-03 -6.60960645e-04 9.99996913e-01 -1.57328366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8140127390000003 meters Centerline goodness : 0.101767 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99990707e-01 -3.71447146e-03 2.18831406e-03 5.23069729e-01] [ 3.71314693e-03 9.99992921e-01 6.09024988e-04 -2.76953635e-02] [-2.19056078e-03 -6.00893796e-04 9.99997420e-01 -1.56914383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844012739 meters Centerline goodness : 0.099316 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99990531e-01 -3.85232995e-03 2.02434199e-03 5.23849485e-01] [ 3.85172086e-03 9.99992536e-01 3.04693102e-04 -2.62575110e-02] [-2.02550065e-03 -2.96893016e-04 9.99997905e-01 -1.57107013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874012739 meters Centerline goodness : 0.097262 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.16 [[ 9.99990444e-01 -3.96478362e-03 1.84194945e-03 5.24522387e-01] [ 3.96497607e-03 9.99992134e-01 -1.00840851e-04 -2.39716442e-02] [-1.84153515e-03 1.08143173e-04 9.99998299e-01 -1.57114682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904012739 meters Centerline goodness : 0.102677 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.99999342 -0.00152051 0.00329427 0.50893565] [ 0.00154713 0.99996605 -0.00809353 -0.0164171 ] [-0.00328185 0.00809857 0.99996182 -0.16449163] [ 0. 0. 0. 1. ]] SLAMing on 3.934012739 meters Centerline goodness : 0.100909 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.99999394 0.00167868 0.00304853 0.51003755] [-0.00166708 0.99999138 -0.00380334 -0.02006727] [-0.00305489 0.00379823 0.99998812 -0.16494562] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters Centerline goodness : 0.099058 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.9999944 0.00143472 0.00302406 0.51011173] [-0.00142125 0.99998908 -0.00445101 -0.01643232] [-0.00303042 0.00444669 0.99998552 -0.16408889] [ 0. 0. 0. 1. ]] SLAMing on 3.994012739 meters Centerline goodness : 0.098434 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.16 [[ 9.99998982e-01 1.16101039e-03 -8.29652768e-04 5.59273957e-01] [-1.16492232e-03 9.99988133e-01 -4.73032509e-03 -1.48046488e-02] [ 8.24150967e-04 4.73128675e-03 9.99988468e-01 -1.63630361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters Centerline goodness : 0.097127 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.17 [[ 9.99988322e-01 -4.75602821e-03 8.57618132e-04 5.36595071e-01] [ 4.75677618e-03 9.99988306e-01 -8.72226589e-04 -1.48672167e-02] [-8.53459768e-04 8.76295901e-04 9.99999252e-01 -1.65981619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054012739 meters Centerline goodness : 0.096950 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.17 [[ 9.99987529e-01 -4.94990585e-03 6.63773471e-04 5.37335067e-01] [ 4.95030019e-03 9.99987571e-01 -5.93769632e-04 -1.71534497e-02] [-6.60826117e-04 5.97048105e-04 9.99999603e-01 -1.66154793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084012739 meters Centerline goodness : 0.097202 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.17 [[ 9.99979515e-01 -5.92532486e-03 -2.42077590e-03 5.84978502e-01] [ 5.92450868e-03 9.99982391e-01 -3.44190170e-04 -1.92555634e-02] [ 2.42277271e-03 3.29841211e-04 9.99997011e-01 -1.65517353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114012739 meters Centerline goodness : 0.097045 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.17 [[ 9.99930978e-01 -1.17490219e-02 9.79693156e-06 6.03932641e-01] [ 1.17488149e-02 9.99917664e-01 5.16049661e-03 -2.37418168e-02] [-7.04269128e-05 -5.16002532e-03 9.99986685e-01 -1.65124940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144012739 meters Centerline goodness : 0.097628 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.17 [[ 0.99994866 -0.00992614 -0.00203768 0.58634297] [ 0.00991718 0.99994132 -0.00435936 -0.01987085] [ 0.00208083 0.00433893 0.99998842 -0.16656761] [ 0. 0. 0. 1. ]] SLAMing on 4.174012739 meters Centerline goodness : 0.098147 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.17 [[ 0.99994858 -0.0099265 -0.00207243 0.5865334 ] [ 0.00991879 0.99994396 -0.0036994 -0.02411792] [ 0.00210904 0.00367866 0.99999101 -0.16672249] [ 0. 0. 0. 1. ]] SLAMing on 4.204012739 meters Centerline goodness : 0.099181 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.17 [[ 0.99994976 -0.0098005 -0.00210577 0.58684813] [ 0.00979393 0.9999472 -0.00310927 -0.02740731] [ 0.00213614 0.00308849 0.99999295 -0.16719853] [ 0. 0. 0. 1. ]] SLAMing on 4.234012739 meters Centerline goodness : 0.098686 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.17 [[ 0.99994685 -0.01000778 -0.00247908 0.58825657] [ 0.01000217 0.99994741 -0.00226678 -0.03340781] [ 0.00250164 0.00224186 0.99999436 -0.16782925] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters Centerline goodness : 0.098626 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.17 [[ 0.9999483 -0.00982531 -0.00261924 0.58865176] [ 0.00982125 0.99995056 -0.0015586 -0.03732462] [ 0.00263442 0.0015328 0.99999536 -0.16778128] [ 0. 0. 0. 1. ]] SLAMing on 4.294012739 meters Centerline goodness : 0.958080 Centerline is valid? [False, True] Translation: X:0.59, Y:-0.04, Z:-0.17 [[ 9.99950568e-01 -9.56899297e-03 -2.70125551e-03 5.88813648e-01] [ 9.56714930e-03 9.99953993e-01 -6.94621614e-04 -4.20312476e-02] [ 2.70777806e-03 6.68743962e-04 9.99996110e-01 -1.67591627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3240127390000005 meters Centerline goodness : 0.957817 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.05, Z:-0.17 [[ 9.99943168e-01 -1.00639697e-02 3.51823213e-03 6.17580519e-01] [ 1.00641642e-02 9.99949354e-01 -3.75916796e-05 -5.10931473e-02] [-3.51767563e-03 7.29976092e-05 9.99993810e-01 -1.71131267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354012739 meters Centerline goodness : 0.966455 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.05, Z:-0.17 [[ 9.99945421e-01 -9.61514384e-03 4.08708094e-03 6.49447552e-01] [ 9.61538190e-03 9.99953770e-01 -3.86005566e-05 -5.38458310e-02] [-4.08652085e-03 7.78972940e-05 9.99991647e-01 -1.74504504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384012739 meters Centerline goodness : 0.969071 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:-0.18 [[ 9.99921929e-01 -7.72949017e-03 9.81787833e-03 6.81914118e-01] [ 7.73079130e-03 9.99970113e-01 -9.45817380e-05 -5.90229761e-02] [-9.81685383e-03 1.70474322e-04 9.99951799e-01 -1.78359625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414012739 meters Centerline goodness : 0.969040 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.06, Z:-0.18 [[ 9.99959714e-01 -5.39627212e-03 7.17291442e-03 7.15064137e-01] [ 5.39690405e-03 9.99985434e-01 -6.87453312e-05 -6.25777010e-02] [-7.17243897e-03 1.07454093e-04 9.99974272e-01 -1.78515634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters Centerline goodness : 0.968431 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.07, Z:-0.18 [[ 9.99971036e-01 -3.35483192e-03 6.83165742e-03 7.47608944e-01] [ 3.35536248e-03 9.99994369e-01 -6.62019729e-05 -6.54328906e-02] [-6.83139685e-03 8.91227424e-05 9.99976662e-01 -1.78768347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474012739 meters Centerline goodness : 0.972947 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.07, Z:-0.18 [[ 9.99944840e-01 6.00218248e-04 1.04860622e-02 7.79490064e-01] [-5.99175817e-04 9.99999815e-01 -1.02552428e-04 -6.77020987e-02] [-1.04861219e-02 9.62637764e-05 9.99945014e-01 -1.82789872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters Centerline goodness : 0.971305 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.07, Z:-0.18 [[ 9.99922301e-01 4.36510134e-03 1.16763795e-02 8.11152805e-01] [-4.36406827e-03 9.99990471e-01 -1.13952543e-04 -7.09886723e-02] [-1.16767656e-02 6.29871716e-05 9.99931822e-01 -1.82821956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5340127390000005 meters Centerline goodness : 0.973769 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.07, Z:-0.19 [[ 9.99889712e-01 6.67318645e-03 1.32676938e-02 8.43658739e-01] [-6.67204144e-03 9.99977733e-01 -1.30562778e-04 -7.33263890e-02] [-1.32682697e-02 4.20257753e-05 9.99911972e-01 -1.86306188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters Centerline goodness : 0.973769 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.07, Z:-0.19 [[ 9.99889187e-01 6.75146538e-03 1.32676579e-02 8.77151807e-01] [-6.75028031e-03 9.99977208e-01 -1.34100864e-04 -7.38080507e-02] [-1.32682608e-02 4.45255943e-05 9.99911972e-01 -1.87147298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594012739 meters Centerline goodness : 0.976574 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.07, Z:-0.19 [[ 9.99857283e-01 9.41216121e-03 1.40294234e-02 9.10417210e-01] [-9.41109706e-03 9.99955705e-01 -1.41870598e-04 -7.40162258e-02] [-1.40301373e-02 9.81808507e-06 9.99901573e-01 -1.89382424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters Centerline goodness : 0.977838 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.07, Z:-0.19 [[ 9.99772969e-01 1.54703881e-02 1.46519056e-02 9.42327404e-01] [-1.54698341e-02 9.99880324e-01 -1.51152365e-04 -7.03184991e-02] [-1.46524905e-02 -7.55445010e-05 9.99892644e-01 -1.91695003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654012739 meters Centerline goodness : 0.976560 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.07, Z:-0.19 [[ 9.99718524e-01 1.82331688e-02 1.51797273e-02 9.75629633e-01] [-1.82328530e-02 9.99833755e-01 -1.59203696e-04 -6.97011287e-02] [-1.51801066e-02 -1.17610853e-04 9.99884769e-01 -1.92541260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters Centerline goodness : 0.981649 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.07, Z:-0.20 [[ 9.99633656e-01 2.02464554e-02 1.79620649e-02 1.00715686e+00] [-2.02462640e-02 9.99795005e-01 -1.92520796e-04 -6.97796492e-02] [-1.79622806e-02 -1.71214441e-04 9.99838651e-01 -1.95857958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714012739 meters Centerline goodness : 0.983077 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.07, Z:-0.20 [[ 9.99612611e-01 2.06824275e-02 1.86243351e-02 1.04043941e+00] [-2.06822377e-02 9.99786079e-01 -2.02824875e-04 -6.93815524e-02] [-1.86245458e-02 -1.82446622e-04 9.99826531e-01 -1.98053608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters Centerline goodness : 0.982619 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.07, Z:-0.20 [[ 9.99615001e-01 2.07420132e-02 1.84287717e-02 1.07299751e+00] [-2.07417775e-02 9.99784845e-01 -2.03946700e-04 -6.83714417e-02] [-1.84290369e-02 -1.78377303e-04 9.99830155e-01 -1.97793690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.774012739 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.07, Z:-0.21 [[ 9.99584308e-01 2.10728722e-02 1.96759831e-02 1.10500176e+00] [-2.10725856e-02 9.99777924e-01 -2.21922884e-04 -6.73676893e-02] [-1.96762901e-02 -1.92793205e-04 9.99806384e-01 -2.06212075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.07, Z:-0.21 [[ 9.99555902e-01 2.18909065e-02 2.02184784e-02 1.13777665e+00] [-2.18907308e-02 9.99760343e-01 -2.30039191e-04 -6.76108664e-02] [-2.02186686e-02 -2.12660235e-04 9.99795559e-01 -2.09201197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834012739 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.06, Z:-0.21 [[ 9.99520242e-01 2.30864618e-02 2.06470630e-02 1.16977761e+00] [-2.30864494e-02 9.99733444e-01 -2.38991977e-04 -6.46199763e-02] [-2.06470769e-02 -2.37790058e-04 9.99786798e-01 -2.08843588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.06, Z:-0.21 [[ 9.99505102e-01 2.44648020e-02 1.97743569e-02 1.20196523e+00] [-2.44650191e-02 9.99700660e-01 -2.30968218e-04 -6.34350964e-02] [-1.97740882e-02 -2.52926107e-04 9.99804442e-01 -2.08114280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894012739 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.06, Z:-0.21 [[ 9.99448781e-01 2.67320009e-02 1.96858677e-02 1.23437293e+00] [-2.67326192e-02 9.99642593e-01 -2.31791100e-04 -6.21700847e-02] [-1.96850280e-02 -2.94591472e-04 9.99806188e-01 -2.12851215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:-0.21 [[ 9.99420725e-01 2.75734155e-02 1.99479857e-02 1.26719530e+00] [-2.75741531e-02 9.99619732e-01 -2.38124285e-04 -6.19392656e-02] [-1.99469660e-02 -3.12062467e-04 9.99800991e-01 -2.12817892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954012739 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.06, Z:-0.21 [[ 9.99406129e-01 2.79970980e-02 2.00886140e-02 1.29902302e+00] [-2.79978596e-02 9.99607953e-01 -2.43393820e-04 -6.09286641e-02] [-2.00875526e-02 -3.19188917e-04 9.99798174e-01 -2.14291083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.06, Z:-0.22 [[ 9.99387556e-01 2.77496538e-02 2.13182975e-02 1.33209702e+00] [-2.77503764e-02 9.99614850e-01 -2.61988466e-04 -5.84990012e-02] [-2.13173569e-02 -3.29762768e-04 9.99772705e-01 -2.21405884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014012739 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.06, Z:-0.22 [[ 9.99362808e-01 2.81665437e-02 2.19231554e-02 1.36521202e+00] [-2.81673227e-02 9.99603185e-01 -2.73321724e-04 -5.85244416e-02] [-2.19221545e-02 -3.44369027e-04 9.99759621e-01 -2.24157773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:-0.22 [[ 9.99318574e-01 2.96661544e-02 2.19614877e-02 1.39790682e+00] [-2.96672155e-02 9.99559793e-01 -2.77559627e-04 -5.55280400e-02] [-2.19600542e-02 -3.74165697e-04 9.99758779e-01 -2.23905726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074012739 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.05, Z:-0.23 [[ 9.99278516e-01 3.02830219e-02 2.29212802e-02 1.43053154e+00] [-3.02842394e-02 9.99541284e-01 -2.94083475e-04 -5.29739119e-02] [-2.29196716e-02 -4.00282239e-04 9.99737230e-01 -2.28142705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.05, Z:-0.23 [[ 9.99240402e-01 3.09380149e-02 2.36951170e-02 1.46247691e+00] [-3.09393927e-02 9.99521215e-01 -3.08546564e-04 -4.92683440e-02] [-2.36933179e-02 -4.24800337e-04 9.99719184e-01 -2.29938894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:-0.23 [[ 9.99214229e-01 3.07079590e-02 2.50588613e-02 1.49534327e+00] [-3.07093136e-02 9.99528303e-01 -3.30862342e-04 -4.83064718e-02] [-2.50572012e-02 -4.38938072e-04 9.99685923e-01 -2.30792490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.04, Z:-0.23 [[ 9.99186765e-01 2.89955516e-02 2.80190358e-02 1.52769618e+00] [-2.89964201e-02 9.99579445e-01 -3.75393684e-04 -4.41766854e-02] [-2.80181370e-02 -4.37363332e-04 9.99607319e-01 -2.31627467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194012739 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.04, Z:-0.23 [[ 9.99203026e-01 2.75674685e-02 2.88677561e-02 1.56114175e+00] [-2.75676900e-02 9.99619863e-01 -3.90393922e-04 -4.24227230e-02] [-2.88675446e-02 -4.05734564e-04 9.99583163e-01 -2.31353052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.04, Z:-0.23 [[ 9.99233959e-01 2.62444319e-02 2.90297176e-02 1.59286891e+00] [-2.62439444e-02 9.99655489e-01 -3.97865546e-04 -4.15579784e-02] [-2.90301583e-02 -3.64293531e-04 9.99578470e-01 -2.33192247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.04, Z:-0.24 [[ 9.99333978e-01 2.35257335e-02 2.78951785e-02 1.62609597e+00] [-2.35240958e-02 9.99723195e-01 -3.86921499e-04 -4.07308407e-02] [-2.78965596e-02 -2.69545049e-04 9.99610779e-01 -2.35907454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.05, Z:-0.23 [[ 0.99950078 0.02204993 0.02262738 1.65978183] [-0.02233692 0.99967223 0.01251008 -0.05061222] [-0.02234412 -0.01300926 0.99966569 -0.22848581] [ 0. 0. 0. 1. ]] SLAMing on 5.314012739 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.03, Z:-0.24 [[ 0.99943739 0.01956869 0.02723922 1.69144848] [-0.01922786 0.99973422 -0.01271896 -0.03037036] [-0.02748087 0.01218805 0.99954802 -0.23841033] [ 0. 0. 0. 1. ]] SLAMing on 5.344012739 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.04, Z:-0.24 [[ 9.99473069e-01 1.77675534e-02 2.71643027e-02 1.72374198e+00] [-1.77636637e-02 9.99842140e-01 -3.84515235e-04 -4.03434990e-02] [-2.71668465e-02 -9.82249169e-05 9.99630908e-01 -2.39640096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374012739 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.04, Z:-0.24 [[ 9.99498421e-01 1.59386044e-02 2.73654501e-02 1.75703103e+00] [-1.59338799e-02 9.99872971e-01 -3.90709146e-04 -4.13462306e-02] [-2.73682013e-02 -4.55246196e-05 9.99625420e-01 -2.40926624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.04, Z:-0.24 [[ 9.99549238e-01 1.10594368e-02 2.79107394e-02 1.78887529e+00] [-1.10524783e-02 9.99938838e-01 -4.03577778e-04 -4.19451950e-02] [-2.79134957e-02 9.49130198e-05 9.99610338e-01 -2.41342169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434012739 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.04, Z:-0.24 [[ 9.99578982e-01 8.76683533e-03 2.76586467e-02 1.82195802e+00] [-8.75899654e-03 9.99961557e-01 -4.04555693e-04 -4.32731145e-02] [-2.76611301e-02 1.62123378e-04 9.99617345e-01 -2.41933887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.05, Z:-0.24 [[ 9.99615124e-01 4.28122613e-03 2.74094108e-02 1.85516323e+00] [-4.27170389e-03 9.99990794e-01 -4.05951809e-04 -4.72995756e-02] [-2.74108965e-02 2.88710681e-04 9.99624209e-01 -2.42885044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.05, Z:-0.24 [[ 9.99619482e-01 2.70190217e-03 2.74516264e-02 1.88830642e+00] [-2.69161205e-03 9.99996293e-01 -4.11790181e-04 -5.03159139e-02] [-2.74526373e-02 3.37744359e-04 9.99623048e-01 -2.43719910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.05, Z:-0.24 [[ 9.99625255e-01 2.30522588e-04 2.73732689e-02 1.91979308e+00] [-2.19224099e-04 9.99999890e-01 -4.15756581e-04 -5.48699166e-02] [-2.73733617e-02 4.09599898e-04 9.99625195e-01 -2.44293479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554012739 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.24 [[ 9.99591787e-01 -2.85054732e-04 2.85688158e-02 1.95316178e+00] [ 2.97723693e-04 9.99999859e-01 -4.39201496e-04 -5.73895048e-02] [-2.85686866e-02 4.47527821e-04 9.99591732e-01 -2.35266812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.06, Z:-0.25 [[ 9.99608264e-01 1.03766354e-04 2.79876365e-02 1.98491254e+00] [-9.16096343e-05 9.99999901e-01 -4.35642237e-04 -5.88889028e-02] [-2.79876790e-02 4.32907643e-04 9.99608174e-01 -2.46393365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614012739 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.06, Z:-0.25 [[ 9.99599670e-01 5.63713469e-04 2.82874911e-02 2.01762907e+00] [-5.51330672e-04 9.99999749e-01 -4.45545712e-04 -6.13593618e-02] [-2.82877352e-02 4.29771585e-04 9.99599730e-01 -2.47555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.07, Z:-0.25 [[ 9.99612810e-01 1.87723931e-03 2.77615905e-02 2.05014995e+00] [-1.86567651e-03 9.99998162e-01 -4.42399769e-04 -6.58216327e-02] [-2.77623700e-02 3.90434329e-04 9.99614475e-01 -2.49092575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674012739 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.07, Z:-0.25 [[ 9.99623315e-01 1.47680542e-03 2.74052446e-02 2.08343897e+00] [-1.46524410e-03 9.99998829e-01 -4.41941967e-04 -7.05213215e-02] [-2.74058652e-02 4.01620121e-04 9.99624308e-01 -2.49470283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.07, Z:-0.25 [[ 9.99623777e-01 7.89750855e-04 2.74168006e-02 2.11655846e+00] [-7.77774515e-04 9.99999597e-01 -4.47486192e-04 -7.33193838e-02] [-2.74171430e-02 4.25993748e-04 9.99623989e-01 -2.50137695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734012739 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.08, Z:-0.24 [[ 9.99610144e-01 2.31391635e-04 2.79196347e-02 2.15006729e+00] [-2.18597461e-04 9.99999870e-01 -4.61301352e-04 -7.70396399e-02] [-2.79197378e-02 4.55018350e-04 9.99610065e-01 -2.36901223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.08, Z:-0.25 [[ 9.99586152e-01 -1.07448256e-03 2.87466709e-02 2.18151309e+00] [ 1.08874882e-03 9.99999292e-01 -4.80627532e-04 -8.12450332e-02] [-2.87461341e-02 5.11726529e-04 9.99586614e-01 -2.51200779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794012739 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.08, Z:-0.25 [[ 9.99570993e-01 -1.10218322e-03 2.92679751e-02 2.21425808e+00] [ 1.11709925e-03 9.99999254e-01 -4.93290524e-04 -8.42914195e-02] [-2.92674096e-02 5.25774132e-04 9.99571479e-01 -2.52076359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.09, Z:-0.25 [[ 9.99578586e-01 -1.14391450e-03 2.90059052e-02 2.24661882e+00] [ 1.15874339e-03 9.99999206e-01 -4.94433266e-04 -8.85294536e-02] [-2.90053166e-02 5.27835306e-04 9.99579118e-01 -2.52303234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854012739 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.09, Z:-0.25 [[ 9.99609930e-01 1.55968748e-05 2.79282630e-02 2.27984205e+00] [-2.16458891e-06 9.99999884e-01 -4.80986894e-04 -9.04894893e-02] [-2.79282672e-02 4.80738822e-04 9.99609814e-01 -2.53141011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.09, Z:-0.24 [[ 9.99662339e-01 1.70780103e-03 2.59285830e-02 2.31226652e+00] [-1.69667325e-03 9.99998459e-01 -4.51164246e-04 -9.34918593e-02] [-2.59293135e-02 4.07019572e-04 9.99663696e-01 -2.40284042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914012739 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.10, Z:-0.26 [[ 9.99687332e-01 4.98269214e-03 2.45032710e-02 2.34380082e+00] [-4.97363619e-03 9.99987539e-01 -4.30512181e-04 -9.76511877e-02] [-2.45051108e-02 3.08507218e-04 9.99699657e-01 -2.56547512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.10, Z:-0.26 [[ 9.99611702e-01 6.76530203e-03 2.70310151e-02 2.37669127e+00] [-6.75479533e-03 9.99977071e-01 -4.79983510e-04 -9.95117937e-02] [-2.70336425e-02 2.97208159e-04 9.99634480e-01 -2.57483736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974012739 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.10, Z:-0.26 [[ 9.99529990e-01 1.08796356e-02 2.86606481e-02 2.40953951e+00] [-1.08693481e-02 9.99940794e-01 -5.14713629e-04 -1.00288865e-01] [-2.86645511e-02 2.02949146e-04 9.99589067e-01 -2.58289408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.10, Z:-0.26 [[ 9.99537433e-01 1.35405925e-02 2.72318257e-02 2.44142274e+00] [-1.35321547e-02 9.99908314e-01 -4.94120216e-04 -1.01439191e-01] [-2.72360196e-02 1.25386374e-04 9.99629023e-01 -2.58672787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034012739 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.10, Z:-0.26 [[ 9.99529357e-01 1.84572431e-02 2.45029725e-02 2.47451967e+00] [-1.84517841e-02 9.99829651e-01 -4.48887844e-04 -1.02436291e-01] [-2.45070837e-02 -3.44698037e-06 9.99699656e-01 -2.60587282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.10, Z:-0.26 [[ 9.99467325e-01 2.14631234e-02 2.45845481e-02 2.50768434e+00] [-2.14584222e-02 9.99769638e-01 -4.55053359e-04 -1.02125155e-01] [-2.45886516e-02 -7.27346502e-05 9.99697651e-01 -2.60967454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094012739 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.10, Z:-0.25 [[ 9.99371780e-01 2.42624976e-02 2.58336146e-02 2.54039817e+00] [-2.42581036e-02 9.99705612e-01 -4.83507174e-04 -1.01814903e-01] [-2.58377406e-02 -1.43471077e-04 9.99666140e-01 -2.54301461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.10, Z:-0.26 [[ 9.99163055e-01 2.98591192e-02 2.79575021e-02 2.57289322e+00] [-2.98559984e-02 9.99554070e-01 -5.29141665e-04 -1.00922174e-01] [-2.79608347e-02 -3.06000336e-04 9.99608973e-01 -2.61787171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154012739 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.10, Z:-0.26 [[ 9.99080521e-01 3.20697171e-02 2.84542708e-02 2.60572059e+00] [-3.20672196e-02 9.99485566e-01 -5.44203909e-04 -1.00650260e-01] [-2.84570855e-02 -3.68745826e-04 9.99594947e-01 -2.61588031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.10, Z:-0.26 [[ 9.99002621e-01 3.50047009e-02 2.77206315e-02 2.63785453e+00] [-3.50033108e-02 9.99387053e-01 -5.35544949e-04 -9.72425211e-02] [-2.77223869e-02 -4.35303073e-04 9.99615566e-01 -2.62272560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214012739 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.10, Z:-0.26 [[ 9.99000190e-01 3.54851059e-02 2.71924262e-02 2.67049772e+00] [-3.54838102e-02 9.99370111e-01 -5.30333265e-04 -9.63718894e-02] [-2.71941169e-02 -4.35087859e-04 9.99630077e-01 -2.63306046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:-0.26 [[ 9.99031267e-01 3.50089139e-02 2.66627572e-02 2.70215449e+00] [-3.50073613e-02 9.99386917e-01 -5.25151571e-04 -9.61668955e-02] [-2.66647956e-02 -4.08749933e-04 9.99644348e-01 -2.64163593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274012739 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.09, Z:-0.26 [[ 9.99122204e-01 3.28995089e-02 2.59315211e-02 2.73420847e+00] [-3.28972479e-02 9.99458607e-01 -5.13910580e-04 -9.49511340e-02] [-2.59343894e-02 -3.39616208e-04 9.99663589e-01 -2.63688859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.09, Z:-0.26 [[ 9.99161127e-01 3.15749349e-02 2.60780893e-02 2.76766528e+00] [-3.15720720e-02 9.99501342e-01 -5.21618132e-04 -9.37299848e-02] [-2.60815553e-02 -3.02158753e-04 9.99659773e-01 -2.64228495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334012739 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.09, Z:-0.27 [[ 9.99265199e-01 2.81273196e-02 2.60368341e-02 2.80070952e+00] [-2.81231684e-02 9.99604327e-01 -5.25675637e-04 -9.13638241e-02] [-2.60413179e-02 -2.06948901e-04 9.99660846e-01 -2.65076235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.09, Z:-0.27 [[ 9.99296958e-01 2.64747289e-02 2.65457939e-02 2.83248341e+00] [-2.64696886e-02 9.99649470e-01 -5.41306387e-04 -9.17675286e-02] [-2.65508198e-02 -1.61733075e-04 9.99647452e-01 -2.65199989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394012739 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.09, Z:-0.27 [[ 9.99306611e-01 2.47127359e-02 2.78492085e-02 2.86440908e+00] [-2.47064005e-02 9.99694587e-01 -5.71612001e-04 -9.25654507e-02] [-2.78548291e-02 -1.16838047e-04 9.99611972e-01 -2.65600462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.09, Z:-0.26 [[ 9.99282606e-01 2.16727162e-02 3.10574632e-02 2.89655254e+00] [-2.16631850e-02 9.99765119e-01 -6.43379950e-04 -9.37523328e-02] [-3.10641122e-02 -2.98851773e-05 9.99517394e-01 -2.64874117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454012739 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.11, Z:-0.26 [[ 0.99950518 0.01898384 0.02508016 2.92805232] [-0.01938442 0.99968684 0.01582628 -0.10798544] [-0.02477187 -0.01630462 0.99956016 -0.25788967] [ 0. 0. 0. 1. ]] SLAMing on 6.484012739 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.10, Z:-0.26 [[ 9.99498179e-01 1.95340412e-02 2.49361417e-02 2.96167253e+00] [-1.95260753e-02 9.99809190e-01 -5.62925402e-04 -9.66644308e-02] [-2.49423798e-02 7.57379336e-05 9.99688888e-01 -2.58880624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514012739 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.27 [[ 0.99945287 0.01853977 0.02739031 2.99455206] [-0.01807754 0.99969158 -0.01702781 -0.08671773] [-0.02769755 0.01652334 0.99947978 -0.2693791 ] [ 0. 0. 0. 1. ]] SLAMing on 6.544012739 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.10, Z:-0.27 [[ 9.99518253e-01 1.69988736e-02 2.59672847e-02 3.02679397e+00] [-1.69903079e-02 9.99855503e-01 -5.50478875e-04 -1.01305911e-01] [-2.59728900e-02 1.09021521e-04 9.99662642e-01 -2.70641551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574012739 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.10, Z:-0.27 [[ 9.99554108e-01 1.56623123e-02 2.54219815e-02 3.05986610e+00] [-1.56535491e-02 9.99877328e-01 -5.43690241e-04 -1.02959446e-01] [-2.54273784e-02 1.45503579e-04 9.99676661e-01 -2.72102897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.11, Z:-0.27 [[ 9.99555860e-01 1.46359688e-02 2.59590167e-02 3.09159453e+00] [-1.46263528e-02 9.99892872e-01 -5.60276048e-04 -1.06118761e-01] [-2.59644359e-02 1.80341470e-04 9.99662851e-01 -2.72410275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634012739 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.11, Z:-0.27 [[ 9.99545631e-01 1.49319677e-02 2.61833327e-02 3.12445001e+00] [-1.49221620e-02 9.99888496e-01 -5.69862682e-04 -1.09548066e-01] [-2.61889223e-02 1.78891822e-04 9.99656995e-01 -2.72173090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.11, Z:-0.27 [[ 9.99528664e-01 1.58469397e-02 2.62930356e-02 3.15753948e+00] [-1.58372333e-02 9.99874416e-01 -5.77376709e-04 -1.10906435e-01] [-2.62988833e-02 1.60695633e-04 9.99654112e-01 -2.72860028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694012739 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.11, Z:-0.27 [[ 9.99505733e-01 1.70680118e-02 2.64002589e-02 3.18966896e+00] [-1.70585138e-02 9.99854322e-01 -5.84958179e-04 -1.12311489e-01] [-2.64063970e-02 1.34319872e-04 9.99651281e-01 -2.74376645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.11, Z:-0.28 [[ 9.99445219e-01 1.99790721e-02 2.66475151e-02 3.22190919e+00] [-1.99702977e-02 9.99800396e-01 -5.95388052e-04 -1.14768368e-01] [-2.66540915e-02 6.28989315e-05 9.99644715e-01 -2.75673032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754012739 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.12, Z:-0.28 [[ 9.99416205e-01 2.19924901e-02 2.61453545e-02 3.25534437e+00] [-2.19846133e-02 9.99758136e-01 -5.88714404e-04 -1.15664344e-01] [-2.61519781e-02 1.35752081e-05 9.99657978e-01 -2.76527330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.12, Z:-0.28 [[ 9.99363983e-01 2.58126034e-02 2.46036533e-02 3.28714998e+00] [-2.58066798e-02 9.99666796e-01 -5.58302167e-04 -1.15331819e-01] [-2.46098665e-02 -7.69915261e-05 9.99697128e-01 -2.77401878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814012739 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.12, Z:-0.28 [[ 9.99343977e-01 2.71156048e-02 2.40075075e-02 3.31980272e+00] [-2.71102811e-02 9.99632299e-01 -5.47255296e-04 -1.16021227e-01] [-2.40135191e-02 -1.03953995e-04 9.99711628e-01 -2.78294060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.12, Z:-0.28 [[ 9.99326250e-01 2.83616273e-02 2.32951706e-02 3.35145533e+00] [-2.83568504e-02 9.99597720e-01 -5.35435124e-04 -1.17072648e-01] [-2.33009853e-02 -1.25503294e-04 9.99728487e-01 -2.79324492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874012739 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.12, Z:-0.28 [[ 9.99283333e-01 3.04537465e-02 2.24808589e-02 3.38462142e+00] [-3.04497398e-02 9.99536164e-01 -5.20599305e-04 -1.18279397e-01] [-2.24862857e-02 -1.64310095e-04 9.99747138e-01 -2.80738263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.12, Z:-0.28 [[ 9.99227174e-01 3.21964019e-02 2.25487571e-02 3.41712088e+00] [-3.21927152e-02 9.99481542e-01 -5.26573833e-04 -1.19089238e-01] [-2.25540203e-02 -1.99738832e-04 9.99745606e-01 -2.81422388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934012739 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.12, Z:-0.28 [[ 9.99118469e-01 3.56311772e-02 2.21969514e-02 3.45036280e+00] [-3.56283655e-02 9.99364972e-01 -5.22248345e-04 -1.18335688e-01] [-2.22014640e-02 -2.69053130e-04 9.99753481e-01 -2.81176750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.12, Z:-0.28 [[ 9.99032457e-01 3.75683264e-02 2.28641980e-02 3.48221405e+00] [-3.75657473e-02 9.99294011e-01 -5.42456459e-04 -1.17939067e-01] [-2.28684353e-02 -3.16979074e-04 9.99738433e-01 -2.81238607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9940127389999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.12, Z:-0.28 [[ 9.98936302e-01 3.94365082e-02 2.38961599e-02 3.51502358e+00] [-3.94341202e-02 9.99222009e-01 -5.71334158e-04 -1.16863196e-01] [-2.39001004e-02 -3.71597614e-04 9.99714283e-01 -2.81370923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.11, Z:-0.28 [[ 9.98727492e-01 4.37563418e-02 2.50754716e-02 3.54838048e+00] [-4.37549490e-02 9.99042111e-01 -6.04478719e-04 -1.14019078e-01] [-2.50779019e-02 -4.93466468e-04 9.99685378e-01 -2.80585169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054012739 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.11, Z:-0.28 [[ 9.98615849e-01 4.65386318e-02 2.45059655e-02 3.58060087e+00] [-4.65380284e-02 9.98916342e-01 -5.95246931e-04 -1.12277905e-01] [-2.45071114e-02 -5.46036299e-04 9.99699507e-01 -2.80625908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.11, Z:-0.28 [[ 9.98394465e-01 5.08939493e-02 2.48656082e-02 3.61292008e+00] [-5.08945685e-02 9.98703846e-01 -6.08365425e-04 -1.06389745e-01] [-2.48643406e-02 -6.58135726e-04 9.99690618e-01 -2.81868891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114012739 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.10, Z:-0.28 [[ 9.98329528e-01 5.23871274e-02 2.43668347e-02 3.64650274e+00] [-5.23880671e-02 9.98626622e-01 -6.00233795e-04 -1.04016916e-01] [-2.43648144e-02 -6.77300251e-04 9.99702904e-01 -2.81792421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.10, Z:-0.28 [[ 9.98365057e-01 5.20061277e-02 2.37186884e-02 3.67903113e+00] [-5.20068047e-02 9.98646557e-01 -5.88727658e-04 -9.86235636e-02] [-2.37172040e-02 -6.45768076e-04 9.99718499e-01 -2.82382020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174012739 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.10, Z:-0.28 [[ 9.98423204e-01 5.06555138e-02 2.41893474e-02 3.71084796e+00] [-5.06557141e-02 9.98715992e-01 -6.04864820e-04 -9.71023244e-02] [-2.41889279e-02 -6.21417597e-04 9.99707212e-01 -2.83182042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.10, Z:-0.28 [[ 9.98504087e-01 4.85844639e-02 2.50826154e-02 3.74426290e+00] [-4.85839082e-02 9.98818905e-01 -6.31915879e-04 -9.56004023e-02] [-2.50836918e-02 -5.87640898e-04 9.99685182e-01 -2.84218299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234012739 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.09, Z:-0.29 [[ 9.98750130e-01 4.35462772e-02 2.45336435e-02 3.77628534e+00] [-4.35441527e-02 9.99051311e-01 -6.21074688e-04 -9.21860623e-02] [-2.45374142e-02 -4.47998291e-04 9.99698812e-01 -2.85466634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.09, Z:-0.29 [[ 9.98842263e-01 4.14655409e-02 2.43873409e-02 3.80914386e+00] [-4.14627579e-02 9.99139858e-01 -6.19982518e-04 -9.14259936e-02] [-2.43920723e-02 -3.91901670e-04 9.99702392e-01 -2.86175656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294012739 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.09, Z:-0.29 [[ 9.98975751e-01 3.87287580e-02 2.33994150e-02 3.84135814e+00] [-3.87253447e-02 9.99249713e-01 -5.99163386e-04 -8.92356594e-02] [-2.34050636e-02 -3.07600719e-04 9.99726017e-01 -2.85877554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.09, Z:-0.29 [[ 9.99017820e-01 3.74345355e-02 2.37076298e-02 3.87477415e+00] [-3.74306058e-02 9.99299043e-01 -6.09648835e-04 -8.84272601e-02] [-2.37138337e-02 -2.78340893e-04 9.99718749e-01 -2.86434076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354012739 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.09, Z:-0.29 [[ 9.99094453e-01 3.47654935e-02 2.45282306e-02 3.90785983e+00] [-3.47603664e-02 9.99395474e-01 -6.35496121e-04 -8.74869379e-02] [-2.45354960e-02 -2.17689633e-04 9.99698936e-01 -2.87760639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.09, Z:-0.29 [[ 9.99143896e-01 3.35022101e-02 2.42709021e-02 3.93940812e+00] [-3.34967049e-02 9.99438627e-01 -6.33458390e-04 -8.93983223e-02] [-2.42784994e-02 -1.80079162e-04 9.99705218e-01 -2.88324636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414012739 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.09, Z:-0.29 [[ 9.99260439e-01 3.10327810e-02 2.27055306e-02 3.97246833e+00] [-3.10272412e-02 9.99518361e-01 -5.96320474e-04 -9.28252215e-02] [-2.27131002e-02 -1.08610516e-04 9.99742018e-01 -2.89803151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.09, Z:-0.29 [[ 9.99307832e-01 2.99961893e-02 2.20019225e-02 4.00399258e+00] [-2.99906460e-02 9.99550010e-01 -5.81945133e-04 -9.42345839e-02] [-2.20094780e-02 -7.83095397e-05 9.99757759e-01 -2.90551877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.10, Z:-0.29 [[ 0.99940959 0.02869662 0.01889356 4.03651492] [-0.0289189 0.99951447 0.01159841 -0.10454205] [-0.01855156 -0.01213794 0.99975422 -0.2852079 ] [ 0. 0. 0. 1. ]] SLAMing on 7.504012739 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.10, Z:-0.28 [[ 9.99441291e-01 2.84748403e-02 1.75011202e-02 4.06940103e+00] [-2.84682039e-02 9.99594501e-01 -6.28265441e-04 -9.62145081e-02] [-1.75119133e-02 1.29688965e-04 9.99846646e-01 -2.84185284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534012739 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.10, Z:-0.29 [[ 9.99422986e-01 2.87708069e-02 1.80536631e-02 4.10147944e+00] [-2.87641938e-02 9.99586029e-01 -6.25922638e-04 -9.65846615e-02] [-1.80641977e-02 1.06262408e-04 9.99836823e-01 -2.85812714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.09, Z:-0.29 [[ 0.99931828 0.02958708 0.0220812 4.13407488] [-0.02931764 0.99949288 -0.01242776 -0.08646994] [-0.02243771 0.01177191 0.99967893 -0.29288236] [ 0. 0. 0. 1. ]] SLAMing on 7.594012739 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.09, Z:-0.29 [[ 9.99324381e-01 2.92302263e-02 2.22794789e-02 4.16551817e+00] [-2.92239332e-02 9.99572705e-01 -6.08068598e-04 -9.48436498e-02] [-2.22877330e-02 -4.34362278e-05 9.99751597e-01 -2.94786849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.09, Z:-0.30 [[ 9.99380784e-01 2.81991648e-02 2.10441501e-02 4.19871256e+00] [-2.81932472e-02 9.99602324e-01 -5.77890232e-04 -9.24907917e-02] [-2.10520774e-02 -1.57705340e-05 9.99778380e-01 -2.96412473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654012739 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.10, Z:-0.29 [[ 0.99949571 0.02654828 0.01742183 4.23004506] [-0.02679257 0.99954379 0.01394174 -0.10189256] [-0.01704375 -0.01440149 0.99975102 -0.29002678] [ 0. 0. 0. 1. ]] SLAMing on 7.684012739 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.09, Z:-0.29 [[ 9.99560733e-01 2.34972610e-02 1.80615389e-02 4.26383972e+00] [-2.34773810e-02 9.99723507e-01 -1.31195861e-03 -8.78350662e-02] [-1.80873725e-02 8.87344680e-04 9.99836016e-01 -2.89539878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714012739 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.08, Z:-0.30 [[ 0.99952391 0.02139989 0.02222593 4.29570572] [-0.02108537 0.99967554 -0.01429061 -0.07651915] [-0.02252454 0.01381517 0.99965083 -0.29598899] [ 0. 0. 0. 1. ]] SLAMing on 7.7440127389999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.09, Z:-0.30 [[ 9.99572757e-01 1.82070321e-02 2.28649765e-02 4.32885507e+00] [-1.81971773e-02 9.99834213e-01 -6.39007937e-04 -8.59629755e-02] [-2.28728202e-02 2.22656893e-04 9.99738358e-01 -2.97917830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.09, Z:-0.30 [[ 9.99694690e-01 1.21131576e-02 2.15359858e-02 4.36187109e+00] [-1.21029232e-02 9.99926574e-01 -6.05502848e-04 -8.51611746e-02] [-2.15417391e-02 3.44669598e-04 9.99767890e-01 -2.99444163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.09, Z:-0.30 [[ 9.99758505e-01 6.27367218e-03 2.10611751e-02 4.39473763e+00] [-6.26250700e-03 9.99980213e-01 -5.96044767e-04 -8.58206780e-02] [-2.10644978e-02 4.64005068e-04 9.99778011e-01 -3.00173384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834012739 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.09, Z:-0.29 [[ 9.99760252e-01 4.16711506e-03 2.14959039e-02 4.42724085e+00] [-4.15490717e-03 9.99991181e-01 -6.12548124e-04 -8.72791835e-02] [-2.14982669e-02 5.23087782e-04 9.99768749e-01 -2.92564743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.09, Z:-0.30 [[ 9.99747488e-01 1.90012419e-03 2.23908305e-02 4.45904621e+00] [-1.88621836e-03 9.99998015e-01 -6.42153592e-04 -8.84880920e-02] [-2.23920062e-02 5.99757446e-04 9.99749088e-01 -3.01180002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.09, Z:-0.30 [[ 9.99762054e-01 -2.10082117e-03 2.17122624e-02 4.49212163e+00] [ 2.11491656e-03 9.99997567e-01 -6.26248233e-04 -9.28270023e-02] [-2.17108940e-02 6.72018843e-04 9.99764065e-01 -3.01301281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.10, Z:-0.30 [[ 9.99772250e-01 -3.09417225e-03 2.11157559e-02 4.52489510e+00] [ 3.10780389e-03 9.99994983e-01 -6.12782013e-04 -9.58479572e-02] [-2.11137539e-02 6.78266080e-04 9.99776850e-01 -3.02330676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9540127389999995 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.10, Z:-0.30 [[ 9.99787002e-01 -2.93464280e-03 2.04288749e-02 4.55773388e+00] [ 2.94745636e-03 9.99995478e-01 -5.97146673e-04 -9.97908568e-02] [-2.04270301e-02 6.57232699e-04 9.99791130e-01 -2.98650340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.10, Z:-0.30 [[ 9.99775504e-01 -1.63240915e-03 2.11252639e-02 4.59043985e+00] [ 1.64584587e-03 9.99998454e-01 -6.18678849e-04 -1.02474902e-01] [-2.11242213e-02 6.53308887e-04 9.99776645e-01 -3.03605170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014012739 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.11, Z:-0.30 [[ 9.99767689e-01 1.58875233e-03 2.14952244e-02 4.62368341e+00] [-1.57548386e-03 9.99998558e-01 -6.34196101e-04 -1.08242060e-01] [-2.14962010e-02 6.00183391e-04 9.99768750e-01 -3.03915199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.11, Z:-0.29 [[ 9.99795910e-01 3.55034846e-03 1.98880333e-02 4.65761229e+00] [-3.53936937e-03 9.99993564e-01 -5.87217015e-04 -1.11553008e-01] [-1.98899901e-02 5.16706073e-04 9.99802041e-01 -2.85213883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.11, Z:-0.30 [[ 9.99753103e-01 5.82112166e-03 2.14440406e-02 4.68914334e+00] [-5.80878210e-03 9.99982926e-01 -6.37675245e-04 -1.13487360e-01] [-2.14473865e-02 5.12954045e-04 9.99769847e-01 -3.04205840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.12, Z:-0.31 [[ 9.99679663e-01 1.15169314e-02 2.25373258e-02 4.72185716e+00] [-1.15046435e-02 9.99933592e-01 -6.74812405e-04 -1.17137488e-01] [-2.25436009e-02 4.15312340e-04 9.99745774e-01 -3.05157803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134012739 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.12, Z:-0.29 [[ 9.99659679e-01 1.51371922e-02 2.12459682e-02 4.75406116e+00] [-1.51270665e-02 9.99885376e-01 -6.37234656e-04 -1.20046374e-01] [-2.12531789e-02 3.15628619e-04 9.99774076e-01 -2.86464700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.12, Z:-0.31 [[ 9.99529438e-01 2.12126371e-02 2.21568446e-02 4.78674955e+00] [-2.12030267e-02 9.99774967e-01 -6.68605908e-04 -1.21783729e-01] [-2.21660415e-02 1.98499121e-04 9.99754283e-01 -3.07688541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.12, Z:-0.31 [[ 9.99459361e-01 2.43711879e-02 2.20687839e-02 4.81853661e+00] [-2.43623318e-02 9.99702970e-01 -6.70101208e-04 -1.23383518e-01] [-2.20785600e-02 1.32091888e-04 9.99756230e-01 -3.08137832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.14, Z:-0.30 [[ 0.99947773 0.02667245 0.01824422 4.85009732] [-0.02695622 0.99951661 0.01548893 -0.13658329] [-0.01782227 -0.01597263 0.99971358 -0.30057218] [ 0. 0. 0. 1. ]] SLAMing on 8.254012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.11, Z:-0.31 [[ 0.99925261 0.03261419 0.02074927 4.88199185] [-0.03227008 0.99933952 -0.01670845 -0.11416038] [-0.0212805 0.01602638 0.99964508 -0.30830257] [ 0. 0. 0. 1. ]] SLAMing on 8.284012739 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.13, Z:-0.31 [[ 9.99187119e-01 3.44367541e-02 2.09573463e-02 4.91479864e+00] [-3.44308229e-02 9.99406876e-01 -6.43881348e-04 -1.26818773e-01] [-2.09670892e-02 -7.82207312e-05 9.99780163e-01 -3.10264622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314012739 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.13, Z:-0.31 [[ 9.99025283e-01 3.92379236e-02 2.02205237e-02 4.94641681e+00] [-3.92333126e-02 9.99229882e-01 -6.24836764e-04 -1.26350038e-01] [-2.02294688e-02 -1.69090401e-04 9.99795349e-01 -3.11546262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.13, Z:-0.31 [[ 9.99020427e-01 3.93614178e-02 2.02203947e-02 4.97990063e+00] [-3.93567483e-02 9.99225025e-01 -6.28979058e-04 -1.27562093e-01] [-2.02294819e-02 -1.67446057e-04 9.99795349e-01 -3.12449343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374012739 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.13, Z:-0.31 [[ 9.98888074e-01 4.21959175e-02 2.10266680e-02 5.01337034e+00] [-4.21914460e-02 9.99109329e-01 -6.56433824e-04 -1.27938792e-01] [-2.10356390e-02 -2.31441609e-04 9.99778700e-01 -3.12997420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.13, Z:-0.31 [[ 9.98743992e-01 4.51238034e-02 2.17780023e-02 5.04667032e+00] [-4.51196113e-02 9.98981358e-01 -6.84070748e-04 -1.28048558e-01] [-2.17866861e-02 -2.99403448e-04 9.99762597e-01 -3.12438446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434012739 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.13, Z:-0.31 [[ 9.98427599e-01 5.10280437e-02 2.32049031e-02 5.08019662e+00] [-5.10247698e-02 9.98697119e-01 -7.33544062e-04 -1.25981344e-01] [-2.32121012e-02 -4.51634203e-04 9.99730461e-01 -3.12347235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.12, Z:-0.31 [[ 9.98124546e-01 5.65021695e-02 2.35562329e-02 5.11359043e+00] [-5.65002139e-02 9.98402306e-01 -7.49099773e-04 -1.21038971e-01] [-2.35609230e-02 -5.83237328e-04 9.99722233e-01 -3.14248949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494012739 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.12, Z:-0.32 [[ 9.97985202e-01 5.91878142e-02 2.28547278e-02 5.14714001e+00] [-5.91865816e-02 9.98246670e-01 -7.30954990e-04 -1.19404464e-01] [-2.28579196e-02 -6.23210951e-04 9.99738529e-01 -3.15218143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.12, Z:-0.32 [[ 9.97837925e-01 6.17268524e-02 2.25670475e-02 5.17928236e+00] [-6.17262029e-02 9.98092856e-01 -7.26024144e-04 -1.17481242e-01] [-2.25688241e-02 -6.68523728e-04 9.99745068e-01 -3.15638891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554012739 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.11, Z:-0.32 [[ 9.97709107e-01 6.40147857e-02 2.18779516e-02 5.21228801e+00] [-6.40146435e-02 9.97948708e-01 -7.07555461e-04 -1.13329837e-01] [-2.18783676e-02 -6.94574749e-04 9.99760399e-01 -3.15860500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.11, Z:-0.32 [[ 9.97715667e-01 6.39381377e-02 2.18028263e-02 5.24448566e+00] [-6.39378896e-02 9.97953628e-01 -7.09188630e-04 -1.12417863e-01] [-2.18035538e-02 -6.86458094e-04 9.99762039e-01 -3.16844633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614012739 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.11, Z:-0.32 [[ 9.97838294e-01 6.20831482e-02 2.15504676e-02 5.27714402e+00] [-6.20823956e-02 9.98070779e-01 -7.04596676e-04 -1.08881406e-01] [-2.15526356e-02 -6.34831112e-04 9.99767513e-01 -3.17778251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.11, Z:-0.32 [[ 9.97908079e-01 6.07815824e-02 2.20241870e-02 5.30986401e+00] [-6.07803923e-02 9.98150900e-01 -7.24052373e-04 -1.07727524e-01] [-2.20274712e-02 -6.16101016e-04 9.99757176e-01 -3.19556926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674012739 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.11, Z:-0.32 [[ 9.97971861e-01 5.95510388e-02 2.24908309e-02 5.34144487e+00] [-5.95493875e-02 9.98225083e-01 -7.43749613e-04 -1.06771479e-01] [-2.24952026e-02 -5.97074018e-04 9.99746773e-01 -3.20313782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.10, Z:-0.32 [[ 9.98175193e-01 5.59159617e-02 2.27966936e-02 5.37491367e+00] [-5.59132259e-02 9.98435344e-01 -7.57892296e-04 -1.04046703e-01] [-2.28034029e-02 -5.18127388e-04 9.99739834e-01 -3.21149778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734012739 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.10, Z:-0.32 [[ 9.98296351e-01 5.38917133e-02 2.23624645e-02 5.40831399e+00] [-5.38884890e-02 9.98546680e-01 -7.47210966e-04 -1.04089352e-01] [-2.23702332e-02 -4.59141442e-04 9.99749650e-01 -3.22477310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.10, Z:-0.32 [[ 9.98577707e-01 4.93902912e-02 2.00788999e-02 5.44027422e+00] [-4.93867147e-02 9.98779504e-01 -6.74246957e-04 -1.03957016e-01] [-2.00876950e-02 -3.18342923e-04 9.99798171e-01 -3.24009118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794012739 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.10, Z:-0.33 [[ 9.98699311e-01 4.72144212e-02 1.92479835e-02 5.47312940e+00] [-4.72106708e-02 9.98884743e-01 -6.49449943e-04 -1.04972333e-01] [-1.92571805e-02 -2.60105003e-04 9.99814529e-01 -3.25097137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.11, Z:-0.31 [[ 9.98817659e-01 4.50918086e-02 1.81662704e-02 5.50618045e+00] [-4.50880614e-02 9.98982826e-01 -6.16003716e-04 -1.06308961e-01] [-1.81755689e-02 -2.03806527e-04 9.99834790e-01 -3.14588069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854012739 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.11, Z:-0.33 [[ 9.98931794e-01 4.13409142e-02 2.06445966e-02 5.53783542e+00] [-4.13351782e-02 9.99145088e-01 -7.04668603e-04 -1.07073039e-01] [-2.06560789e-02 -1.49432207e-04 9.99786629e-01 -3.26790384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.11, Z:-0.33 [[ 9.98980215e-01 3.96175528e-02 2.16559586e-02 5.57111547e+00] [-3.96107512e-02 9.99214910e-01 -7.43109846e-04 -1.09523482e-01] [-2.16683969e-02 -1.15456756e-04 9.99765206e-01 -3.27179590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914012739 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.11, Z:-0.33 [[ 9.99104961e-01 3.58563936e-02 2.24409546e-02 5.60283750e+00] [-3.58480394e-02 9.99356952e-01 -7.74576143e-04 -1.14690951e-01] [-2.24542975e-02 -3.05813562e-05 9.99747870e-01 -3.28250557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.12, Z:-0.33 [[ 9.99179003e-01 3.38505105e-02 2.22590074e-02 5.63507725e+00] [-3.38417062e-02 9.99426907e-01 -7.72214105e-04 -1.18125165e-01] [-2.22723907e-02 1.82973308e-05 9.99751939e-01 -3.29011545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974012738999999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.12, Z:-0.33 [[ 9.99274052e-01 3.09368051e-02 2.22324607e-02 5.66766302e+00] [-3.09272154e-02 9.99521339e-01 -7.75130052e-04 -1.24773593e-01] [-2.22457989e-02 8.69792484e-05 9.99752528e-01 -3.30184877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.13, Z:-0.33 [[ 9.99301258e-01 2.99607750e-02 2.23461005e-02 5.70027572e+00] [-2.99507475e-02 9.99551069e-01 -7.83359944e-04 -1.28561040e-01] [-2.23595387e-02 1.13530164e-04 9.99749988e-01 -3.31065727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034012739 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.14, Z:-0.33 [[ 0.99937528 0.02976327 0.0190579 5.73237231] [-0.02996573 0.99949653 0.01042746 -0.14040913] [-0.01873795 -0.01099203 0.999764 -0.32583533] [ 0. 0. 0. 1. ]] SLAMing on 9.064012739 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.13, Z:-0.33 [[ 9.99378930e-01 3.13248918e-02 1.61401762e-02 5.76387778e+00] [-3.13012082e-02 9.99508521e-01 -1.71796831e-03 -1.34902840e-01] [-1.61860588e-02 1.21169431e-03 9.99868263e-01 -3.26478863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094012739 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.14, Z:-0.33 [[ 9.99351424e-01 3.23735559e-02 1.57697125e-02 5.79574078e+00] [-3.23650754e-02 9.99475799e-01 -7.92748991e-04 -1.37989365e-01] [-1.57871101e-02 2.81846898e-04 9.99875336e-01 -3.27994376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.13, Z:-0.33 [[ 0.99912257 0.03696123 0.01969655 5.8268403 ] [-0.03675559 0.99926698 -0.01070203 -0.13430993] [-0.02007768 0.00996868 0.99974872 -0.33225552] [ 0. 0. 0. 1. ]] SLAMing on 9.154012739 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.14, Z:-0.33 [[ 9.99005164e-01 3.95025748e-02 2.06936814e-02 5.85810265e+00] [-3.94957460e-02 9.99219466e-01 -7.38749439e-04 -1.42730108e-01] [-2.07067118e-02 -7.92978801e-05 9.99785590e-01 -3.32613387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.14, Z:-0.33 [[ 9.98890994e-01 4.23355292e-02 2.06030458e-02 5.89127957e+00] [-4.23292908e-02 9.99103441e-01 -7.38990789e-04 -1.42657196e-01] [-2.06158595e-02 -1.33941074e-04 9.99787462e-01 -3.33762715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214012739 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.14, Z:-0.34 [[ 9.98694528e-01 4.69828645e-02 2.00462214e-02 5.92360347e+00] [-4.69778197e-02 9.98895671e-01 -7.22754522e-04 -1.41843767e-01] [-2.00580408e-02 -2.19916788e-04 9.99798793e-01 -3.35863847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.14, Z:-0.34 [[ 9.98589003e-01 4.87104316e-02 2.11494154e-02 5.95670171e+00] [-4.87051213e-02 9.98812907e-01 -7.66418078e-04 -1.42837421e-01] [-2.11616416e-02 -2.64748178e-04 9.99776032e-01 -3.36518665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274012739 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.14, Z:-0.34 [[ 9.98569740e-01 4.87038612e-02 2.20546762e-02 5.98993505e+00] [-4.86979872e-02 9.98813226e-01 -8.03653701e-04 -1.43446283e-01] [-2.20676433e-02 -2.71514072e-04 9.99756443e-01 -3.36321779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.14, Z:-0.34 [[ 9.98557210e-01 4.85743125e-02 2.28918175e-02 6.02232759e+00] [-4.85678438e-02 9.98819534e-01 -8.38795683e-04 -1.43546476e-01] [-2.29055384e-02 -2.74220741e-04 9.99737596e-01 -3.36538122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.14, Z:-0.34 [[ 9.98530408e-01 4.89079412e-02 2.33460402e-02 6.05570950e+00] [-4.89012049e-02 9.98803250e-01 -8.59700618e-04 -1.44227914e-01] [-2.33601470e-02 -2.83212284e-04 9.99727074e-01 -3.38113473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.14, Z:-0.34 [[ 9.98530042e-01 4.93668309e-02 2.23756678e-02 6.08836168e+00] [-4.93606697e-02 9.98780676e-01 -8.27913728e-04 -1.44965771e-01] [-2.23892561e-02 -2.77781217e-04 9.99749291e-01 -3.39583011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394012738999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.14, Z:-0.34 [[ 9.98576828e-01 4.96270290e-02 1.95314335e-02 6.12001348e+00] [-4.96223243e-02 9.98767790e-01 -7.25744902e-04 -1.44689090e-01] [-1.95433832e-02 -2.44483087e-04 9.99808980e-01 -3.40591082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.15, Z:-0.34 [[ 9.98587361e-01 4.94826269e-02 1.93585019e-02 6.15298185e+00] [-4.94779157e-02 9.98774957e-01 -7.22539793e-04 -1.46006913e-01] [-1.93705400e-02 -2.36299217e-04 9.99812346e-01 -3.42100216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.15, Z:-0.34 [[ 9.98588776e-01 4.91282490e-02 2.01710535e-02 6.18563400e+00] [-4.91229837e-02 9.98792451e-01 -7.56730773e-04 -1.48377825e-01] [-2.01838728e-02 -2.35199476e-04 9.99796257e-01 -3.42803695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.15, Z:-0.34 [[ 9.98619883e-01 4.75407978e-02 2.23204346e-02 6.21726325e+00] [-4.75338465e-02 9.98869273e-01 -8.42184914e-04 -1.50753826e-01] [-2.23352344e-02 -2.19953512e-04 9.99750513e-01 -3.42457240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.15, Z:-0.34 [[ 9.98583329e-01 4.78359581e-02 2.33035486e-02 6.25066112e+00] [-4.78283616e-02 9.98855178e-01 -8.83553485e-04 -1.52066848e-01] [-2.33191358e-02 -2.32268766e-04 9.99728045e-01 -3.44017517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.15, Z:-0.34 [[ 9.98549985e-01 4.92950718e-02 2.16315192e-02 6.28308340e+00] [-4.92887858e-02 9.98784229e-01 -8.23983878e-04 -1.53137032e-01] [-2.16458386e-02 -2.43402226e-04 9.99765672e-01 -3.44446180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574012739 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.15, Z:-0.35 [[ 9.98506513e-01 5.05276038e-02 2.07775107e-02 6.31499765e+00] [-5.05219974e-02 9.98722632e-01 -7.94993771e-04 -1.54279549e-01] [-2.07911393e-02 -2.55914881e-04 9.99783808e-01 -3.45360234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.16, Z:-0.35 [[ 9.98454500e-01 5.16406238e-02 2.05391528e-02 6.34834972e+00] [-5.16353105e-02 9.98665696e-01 -7.89291451e-04 -1.55206923e-01] [-2.05525068e-02 -2.72473930e-04 9.99788738e-01 -3.46317070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634012739 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.16, Z:-0.35 [[ 9.98433676e-01 5.14756264e-02 2.19192557e-02 6.38127420e+00] [-5.14694348e-02 9.98674211e-01 -8.46904992e-04 -1.56050032e-01] [-2.19337904e-02 -2.82593241e-04 9.99759386e-01 -3.47249479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.16, Z:-0.33 [[ 9.98498109e-01 5.05706716e-02 2.10744524e-02 6.41361417e+00] [-5.05646638e-02 9.98720454e-01 -8.18189073e-04 -1.58418416e-01] [-2.10888630e-02 -2.48662357e-04 9.99777574e-01 -3.31312625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.16, Z:-0.35 [[ 9.98629465e-01 4.77337839e-02 2.14633810e-02 6.44568412e+00] [-4.77268137e-02 9.98860075e-01 -8.37174079e-04 -1.62350500e-01] [-2.14788759e-02 -1.88352084e-04 9.99769285e-01 -3.48552820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.16, Z:-0.35 [[ 9.98737787e-01 4.55821752e-02 2.10973578e-02 6.47911672e+00] [-4.55748777e-02 9.98960583e-01 -8.26825325e-04 -1.64572991e-01] [-2.11131173e-02 -1.35727806e-04 9.99777084e-01 -3.49949638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.17, Z:-0.35 [[ 9.98916711e-01 4.07595699e-02 2.24513222e-02 6.51195434e+00] [-4.07499849e-02 9.99168983e-01 -8.84449366e-04 -1.68475626e-01] [-2.24687145e-02 -3.13997894e-05 9.99747546e-01 -3.51272134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.17, Z:-0.35 [[ 9.98983649e-01 3.86548104e-02 2.31835140e-02 6.54437276e+00] [-3.86439181e-02 9.99252623e-01 -9.17824059e-04 -1.72703474e-01] [-2.32016655e-02 2.09894113e-05 9.99730805e-01 -3.51527322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814012739 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.18, Z:-0.35 [[ 9.99128539e-01 3.49859175e-02 2.27628579e-02 6.57680126e+00] [-3.49743673e-02 9.99387800e-01 -9.05447949e-04 -1.81010974e-01] [-2.27806004e-02 1.08542335e-04 9.99740483e-01 -3.51323303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.18, Z:-0.35 [[ 9.99185591e-01 3.40787402e-02 2.16054387e-02 6.60971840e+00] [-3.40680395e-02 9.99419143e-01 -8.63261794e-04 -1.84959779e-01] [-2.16223079e-02 1.26503806e-04 9.99766203e-01 -3.52384046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874012739 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.19, Z:-0.35 [[ 9.99198739e-01 3.43983529e-02 2.04605473e-02 6.64121518e+00] [-3.43887386e-02 9.99408195e-01 -8.21657780e-04 -1.89103905e-01] [-2.04767023e-02 1.17387004e-04 9.99790323e-01 -3.53033348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.20, Z:-0.35 [[ 9.99110904e-01 3.62719504e-02 2.14882801e-02 6.67342532e+00] [-3.62617287e-02 9.99341953e-01 -8.65266398e-04 -1.97639783e-01] [-2.15055247e-02 8.52949102e-05 9.99768726e-01 -3.54287777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934012739 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.20, Z:-0.35 [[ 9.99005349e-01 3.84241513e-02 2.26251257e-02 6.70535431e+00] [-3.84132652e-02 9.99261519e-01 -9.15719860e-04 -2.02474110e-01] [-2.26436032e-02 4.57040843e-05 9.99743600e-01 -3.53530633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.21, Z:-0.35 [[ 9.98766306e-01 4.36518900e-02 2.36723205e-02 6.73780611e+00] [-4.36413355e-02 9.99046799e-01 -9.62539616e-04 -2.06530708e-01] [-2.36917727e-02 -7.17395433e-05 9.99719308e-01 -3.54666348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994012739 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.21, Z:-0.36 [[ 9.98637817e-01 4.68488599e-02 2.29715971e-02 6.76951304e+00] [-4.68396682e-02 9.98901980e-01 -9.38327392e-04 -2.08732309e-01] [-2.29903334e-02 -1.38932767e-04 9.99735678e-01 -3.56020860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.21, Z:-0.36 [[ 9.98386685e-01 5.26613192e-02 2.12323608e-02 6.80121542e+00] [-5.26547073e-02 9.98612399e-01 -8.70730537e-04 -2.12589688e-01] [-2.12487526e-02 -2.48657971e-04 9.99774189e-01 -3.57872180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054012739 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.21, Z:-0.36 [[ 9.98249174e-01 5.51144180e-02 2.14706310e-02 6.83368419e+00] [-5.51081445e-02 9.98480000e-01 -8.84199912e-04 -2.14792404e-01] [-2.14867278e-02 -3.00554803e-04 9.99769088e-01 -3.58372380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.22, Z:-0.36 [[ 9.98162516e-01 5.64288247e-02 2.20766553e-02 6.86639124e+00] [-5.64224187e-02 9.98406569e-01 -9.13447298e-04 -2.15844462e-01] [-2.20930224e-02 -3.33849433e-04 9.99755864e-01 -3.58721375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114012739 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.22, Z:-0.36 [[ 9.98198025e-01 5.54948575e-02 2.28259404e-02 6.89858830e+00] [-5.54876627e-02 9.98458922e-01 -9.48930483e-04 -2.15723324e-01] [-2.28434246e-02 -3.19337547e-04 9.99739004e-01 -3.59527419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.22, Z:-0.36 [[ 9.98286273e-01 5.38642059e-02 2.28727797e-02 6.93174108e+00] [-5.38564631e-02 9.98548231e-01 -9.54830158e-04 -2.17981177e-01] [-2.28910049e-02 -2.78653177e-04 9.99737928e-01 -3.60081842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174012739 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.22, Z:-0.36 [[ 9.98491076e-01 4.99144589e-02 2.28936219e-02 6.96364816e+00] [-4.99055642e-02 9.98753480e-01 -9.60048674e-04 -2.19926148e-01] [-2.29130048e-02 -1.83919084e-04 9.99737446e-01 -3.60906811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.22, Z:-0.36 [[ 9.98561165e-01 4.84979210e-02 2.28812457e-02 6.99628425e+00] [-4.84885737e-02 9.98823273e-01 -9.63477543e-04 -2.20593464e-01] [-2.29010474e-02 -1.47387712e-04 9.99737726e-01 -3.61650597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234012739 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.22, Z:-0.36 [[ 9.98656704e-01 4.68693036e-02 2.20919944e-02 7.02950612e+00] [-4.68601057e-02 9.98901025e-01 -9.34124933e-04 -2.21606757e-01] [-2.21114976e-02 -1.02363063e-04 9.99755506e-01 -3.63032034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.22, Z:-0.36 [[ 9.98652673e-01 4.69552171e-02 2.20917873e-02 7.06296881e+00] [-4.69459325e-02 9.98896991e-01 -9.38993713e-04 -2.23161360e-01] [-2.21115105e-02 -9.93909762e-05 9.99755506e-01 -3.63939906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294012739 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.23, Z:-0.36 [[ 9.98656578e-01 4.70966686e-02 2.16088835e-02 7.09529987e+00] [-4.70877910e-02 9.98890331e-01 -9.19747240e-04 -2.25773575e-01] [-2.16282218e-02 -9.90029582e-05 9.99766078e-01 -3.64325026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.23, Z:-0.37 [[ 9.98621262e-01 4.79646581e-02 2.13299419e-02 7.12769139e+00] [-4.79561238e-02 9.98849027e-01 -9.11733738e-04 -2.28578636e-01] [-2.13491227e-02 -1.12424639e-04 9.99772075e-01 -3.65148019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354012739 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.23, Z:-0.37 [[ 9.98509752e-01 5.03394424e-02 2.10764241e-02 7.16066241e+00] [-5.03315613e-02 9.98732154e-01 -9.04560088e-04 -2.30639037e-01] [-2.10952375e-02 -1.57597263e-04 9.99777458e-01 -3.66545328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.23, Z:-0.37 [[ 9.98426439e-01 5.19368474e-02 2.11473334e-02 7.19221366e+00] [-5.19291832e-02 9.98650354e-01 -9.11770469e-04 -2.32162898e-01] [-2.11661465e-02 -1.87828008e-04 9.99775954e-01 -3.66903722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414012739 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.24, Z:-0.37 [[ 9.98331823e-01 5.39622718e-02 2.05339926e-02 7.22364506e+00] [-5.39554000e-02 9.98542951e-01 -8.88930838e-04 -2.35342856e-01] [-2.05520423e-02 -2.20471841e-04 9.99788760e-01 -3.68058707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.24, Z:-0.37 [[ 9.98295686e-01 5.46075432e-02 2.05849497e-02 7.25647653e+00] [-5.46007014e-02 9.98507868e-01 -8.94678307e-04 -2.38521585e-01] [-2.06030905e-02 -2.30799201e-04 9.99787707e-01 -3.69250707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474012738999999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.24, Z:-0.37 [[ 9.98238818e-01 5.52600035e-02 2.15776411e-02 7.28947550e+00] [-5.52525467e-02 9.98471967e-01 -9.42063452e-04 -2.42211687e-01] [-2.15967282e-02 -2.51815317e-04 9.99766732e-01 -3.69646611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.24, Z:-0.37 [[ 9.98215986e-01 5.54349305e-02 2.21768880e-02 7.32204262e+00] [-5.54270018e-02 9.98462269e-01 -9.72505933e-04 -2.44120053e-01] [-2.21966967e-02 -2.58427443e-04 9.99753590e-01 -3.70864304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534012739 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.25, Z:-0.37 [[ 9.98198004e-01 5.55260444e-02 2.27508932e-02 7.35549183e+00] [-5.55176246e-02 9.98457205e-01 -1.00202489e-03 -2.46026162e-01] [-2.27714317e-02 -2.62856303e-04 9.99740663e-01 -3.71464864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.25, Z:-0.37 [[ 9.98185363e-01 5.58827273e-02 2.24299295e-02 7.38807796e+00] [-5.58745418e-02 9.98437305e-01 -9.91972769e-04 -2.48537607e-01] [-2.24503125e-02 -2.63089333e-04 9.99747925e-01 -3.72275752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594012739 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.25, Z:-0.37 [[ 9.98162519e-01 5.64264544e-02 2.20825904e-02 7.41974029e+00] [-5.64185615e-02 9.98406723e-01 -9.80766912e-04 -2.49294496e-01] [-2.21027479e-02 -2.66903215e-04 9.99755669e-01 -3.73385998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.25, Z:-0.37 [[ 9.98060704e-01 5.79364490e-02 2.27639631e-02 7.45287998e+00] [-5.79283602e-02 9.98320226e-01 -1.01514940e-03 -2.47797416e-01] [-2.27845389e-02 -3.05498327e-04 9.99740352e-01 -3.73289458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654012739 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.25, Z:-0.37 [[ 9.98008940e-01 5.85600892e-02 2.34280160e-02 7.48514520e+00] [-5.85515863e-02 9.98283833e-01 -1.04933182e-03 -2.48740554e-01] [-2.34492586e-02 -3.24504957e-04 9.99724976e-01 -3.73800238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.25, Z:-0.37 [[ 9.97991587e-01 5.85089579e-02 2.42795169e-02 7.51814392e+00] [-5.84997042e-02 9.98286829e-01 -1.09184464e-03 -2.49907813e-01] [-2.43018047e-02 -3.30692793e-04 9.99704613e-01 -3.74203192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714012739 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.25, Z:-0.37 [[ 9.98061879e-01 5.73904471e-02 2.40587400e-02 7.55066505e+00] [-5.73809292e-02 9.98351766e-01 -1.08635000e-03 -2.49341955e-01] [-2.40814317e-02 -2.96268331e-04 9.99709956e-01 -3.74477408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.25, Z:-0.38 [[ 9.98103903e-01 5.67900345e-02 2.37379470e-02 7.58299850e+00] [-5.67805030e-02 9.98386106e-01 -1.07590244e-03 -2.49388285e-01] [-2.37607370e-02 -2.73990146e-04 9.99717636e-01 -3.76957092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774012739 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.25, Z:-0.38 [[ 9.98105638e-01 5.67070319e-02 2.38630929e-02 7.61635349e+00] [-5.66972794e-02 9.98390825e-01 -1.08561551e-03 -2.51389368e-01] [-2.38862550e-02 -2.69413487e-04 9.99714646e-01 -3.78219517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.25, Z:-0.38 [[ 9.98136760e-01 5.61758697e-02 2.38176435e-02 7.64913559e+00] [-5.61659009e-02 9.98420857e-01 -1.08783275e-03 -2.52924022e-01] [-2.38411420e-02 -2.51933549e-04 9.99715728e-01 -3.79762485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834012739 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.25, Z:-0.38 [[ 9.98159375e-01 5.59905837e-02 2.33005767e-02 7.68080105e+00] [-5.59808959e-02 9.98431268e-01 -1.06835863e-03 -2.54411095e-01] [-2.33238424e-02 -2.37994979e-04 9.99727934e-01 -3.80557195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.25, Z:-0.38 [[ 9.98166038e-01 5.64739176e-02 2.18003836e-02 7.71347129e+00] [-5.64654805e-02 9.98404048e-01 -1.00287458e-03 -2.54640420e-01] [-2.18222275e-02 -2.29933789e-04 9.99761840e-01 -3.81276591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894012738999999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.26, Z:-0.38 [[ 9.98142316e-01 5.72237696e-02 2.09131013e-02 7.74664107e+00] [-5.72160969e-02 9.98361350e-01 -9.65537556e-04 -2.56400010e-01] [-2.09340837e-02 -2.32822138e-04 9.99780831e-01 -3.81378800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.26, Z:-0.38 [[ 9.98142919e-01 5.73196742e-02 2.06196037e-02 7.77900713e+00] [-5.73121470e-02 9.98355850e-01 -9.56290437e-04 -2.58692107e-01] [-2.06405162e-02 -2.27239228e-04 9.99786936e-01 -3.82159324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954012739 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.26, Z:-0.38 [[ 9.98143929e-01 5.75324085e-02 1.99679436e-02 7.81096515e+00] [-5.75253549e-02 9.98343614e-01 -9.27931858e-04 -2.61220240e-01] [-1.99882552e-02 -2.22453492e-04 9.99800190e-01 -3.83488002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.26, Z:-0.38 [[ 9.98109184e-01 5.86848061e-02 1.82797898e-02 7.84385368e+00] [-5.86790401e-02 9.98276537e-01 -8.52096665e-04 -2.63711601e-01] [-1.82982904e-02 -2.22155015e-04 9.99832548e-01 -3.84998394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014012739 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.26, Z:-0.38 [[ 9.98086043e-01 5.91890071e-02 1.79140170e-02 7.87634296e+00] [-5.91834874e-02 9.98246769e-01 -8.38583570e-04 -2.64972445e-01] [-1.79322445e-02 -2.23235439e-04 9.99839179e-01 -3.76565792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.27, Z:-0.39 [[ 9.98008194e-01 6.02204298e-02 1.87921149e-02 7.90891004e+00] [-6.02144703e-02 9.98185072e-01 -8.83306513e-04 -2.65325572e-01] [-1.88112016e-02 -2.50010104e-04 9.99823022e-01 -3.86361067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074012739 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.27, Z:-0.39 [[ 9.97938739e-01 6.12629370e-02 1.91082406e-02 7.94210346e+00] [-6.12568951e-02 9.98121626e-01 -9.01894341e-04 -2.66577996e-01] [-1.91276009e-02 -2.70476190e-04 9.99817014e-01 -3.86673043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.27, Z:-0.39 [[ 9.97885537e-01 6.19007877e-02 1.98178390e-02 7.97531785e+00] [-6.18943353e-02 9.98082266e-01 -9.39373692e-04 -2.68584135e-01] [-1.98379816e-02 -2.89224550e-04 9.99803166e-01 -3.87521784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134012739 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.27, Z:-0.39 [[ 9.97874723e-01 6.14895652e-02 2.15655085e-02 8.00683197e+00] [-6.14817276e-02 9.98107681e-01 -1.02689273e-03 -2.70866663e-01] [-2.15878429e-02 -3.01174420e-04 9.99766910e-01 -3.87636671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.27, Z:-0.39 [[ 9.97887213e-01 6.11369911e-02 2.19858576e-02 8.04004914e+00] [-6.11286717e-02 9.98129341e-01 -1.05089362e-03 -2.72626871e-01] [-2.20089781e-02 -2.95292971e-04 9.99757729e-01 -3.87659934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194012739 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.27, Z:-0.39 [[ 9.97929858e-01 6.01711858e-02 2.27029958e-02 8.07338086e+00] [-6.01619620e-02 9.98188034e-01 -1.08969750e-03 -2.74909039e-01] [-2.27274272e-02 -2.78415103e-04 9.99741660e-01 -3.87327245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.28, Z:-0.39 [[ 9.97927847e-01 6.01188378e-02 2.29289782e-02 8.10530686e+00] [-6.01093130e-02 9.98191189e-01 -1.10501215e-03 -2.77030107e-01] [-2.29539360e-02 -2.75522730e-04 9.99736486e-01 -3.88171950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254012739 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.28, Z:-0.39 [[ 9.97917920e-01 6.05960686e-02 2.20893812e-02 8.13834820e+00] [-6.05872641e-02 9.98162333e-01 -1.06823256e-03 -2.79689192e-01] [-2.21135189e-02 -2.72326756e-04 9.99755429e-01 -3.89062619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.28, Z:-0.39 [[ 9.97880733e-01 6.12746801e-02 2.18964828e-02 8.17175475e+00] [-6.12661029e-02 9.98120902e-01 -1.06296726e-03 -2.82506114e-01] [-2.19204702e-02 -2.80797621e-04 9.99759678e-01 -3.89394482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314012738999999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.29, Z:-0.39 [[ 9.97831313e-01 6.20024921e-02 2.20988934e-02 8.20494880e+00] [-6.19938418e-02 9.98075951e-01 -1.07696499e-03 -2.85400602e-01] [-2.21231486e-02 -2.95365909e-04 9.99755210e-01 -3.90615206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.29, Z:-0.38 [[ 9.97804542e-01 6.26953395e-02 2.13398991e-02 8.23850309e+00] [-6.26873508e-02 9.98032668e-01 -1.04375514e-03 -2.89043191e-01] [-2.13633550e-02 -2.96278123e-04 9.99771734e-01 -3.79785851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374012739 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.29, Z:-0.39 [[ 9.97802427e-01 6.28311629e-02 2.10371441e-02 8.27021644e+00] [-6.28233359e-02 9.98024128e-01 -1.03338694e-03 -2.92348982e-01] [-2.10605063e-02 -2.90507573e-04 9.99778161e-01 -3.92947078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.30, Z:-0.39 [[ 9.97814213e-01 6.23898990e-02 2.17783452e-02 8.30304284e+00] [-6.23813543e-02 9.98051811e-01 -1.07215533e-03 -2.97663769e-01] [-2.18028085e-02 -2.88750841e-04 9.99762249e-01 -3.93149611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434012739 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.30, Z:-0.39 [[ 9.97810833e-01 6.20359466e-02 2.29146912e-02 8.33456225e+00] [-6.20262830e-02 9.98073873e-01 -1.13291467e-03 -3.00719358e-01] [-2.29408361e-02 -2.90878596e-04 9.99736782e-01 -3.93273405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.30, Z:-0.39 [[ 9.97811480e-01 6.15540693e-02 2.41525616e-02 8.36784373e+00] [-6.15430798e-02 9.98103708e-01 -1.19876526e-03 -3.03319534e-01] [-2.41805501e-02 -2.90281283e-04 9.99707566e-01 -3.93473345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494012739 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.31, Z:-0.39 [[ 9.97882408e-01 6.03783158e-02 2.41900506e-02 8.40048273e+00] [-6.03668372e-02 9.98175532e-01 -1.20514986e-03 -3.06882773e-01] [-2.42186815e-02 -2.57679003e-04 9.99706652e-01 -3.93991056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.31, Z:-0.38 [[ 9.98013520e-01 5.89356413e-02 2.22621533e-02 8.43276256e+00] [-5.89254742e-02 9.98261764e-01 -1.11297976e-03 -3.10165041e-01] [-2.22890506e-02 -2.01039094e-04 9.99751548e-01 -3.79773674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554012739 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.31, Z:-0.40 [[ 9.98052524e-01 5.82103331e-02 2.24213535e-02 8.46562044e+00] [-5.81997485e-02 9.98304324e-01 -1.12488258e-03 -3.13488033e-01] [-2.24488139e-02 -1.82225235e-04 9.99747977e-01 -3.96901821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.32, Z:-0.40 [[ 9.98104369e-01 5.75644440e-02 2.17716394e-02 8.49829577e+00] [-5.75542238e-02 9.98341780e-01 -1.09625556e-03 -3.16950143e-01] [-2.17986425e-02 -1.58872342e-04 9.99762369e-01 -3.97431030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614012739 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.32, Z:-0.40 [[ 9.98183346e-01 5.63281734e-02 2.13809474e-02 8.53042592e+00] [-5.63179476e-02 9.98412300e-01 -1.08058205e-03 -3.23220500e-01] [-2.14078681e-02 -1.25512070e-04 9.99770817e-01 -3.98577808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.33, Z:-0.40 [[ 9.98229279e-01 5.53876618e-02 2.16913102e-02 8.56375089e+00] [-5.53768327e-02 9.98464920e-01 -1.10004910e-03 -3.27514239e-01] [-2.17189414e-02 -1.03094837e-04 9.99764111e-01 -3.99223945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674012739 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.33, Z:-0.40 [[ 9.98300246e-01 5.36627560e-02 2.27360390e-02 8.59569114e+00] [-5.36503030e-02 9.98559114e-01 -1.15778516e-03 -3.33752162e-01] [-2.27654089e-02 -6.39781680e-05 9.99740832e-01 -3.98384288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.34, Z:-0.40 [[ 9.98322563e-01 5.29480804e-02 2.34213627e-02 8.62729297e+00] [-5.29345600e-02 9.98597266e-01 -1.19731362e-03 -3.37235843e-01] [-2.34519042e-02 -4.44943243e-05 9.99724965e-01 -3.99331529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734012739 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.34, Z:-0.40 [[ 9.98314211e-01 5.29529630e-02 2.37638381e-02 8.66026343e+00] [-5.29389857e-02 9.98597007e-01 -1.21733566e-03 -3.41244436e-01] [-2.37949591e-02 -4.27499979e-05 9.99716859e-01 -4.00047057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.35, Z:-0.40 [[ 9.98209916e-01 5.54482314e-02 2.24155422e-02 8.69218074e+00] [-5.54363320e-02 9.98461559e-01 -1.15238110e-03 -3.45768710e-01] [-2.24449547e-02 -9.23171991e-05 9.99748076e-01 -3.95317226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794012739 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.35, Z:-0.40 [[ 9.98011058e-01 5.93643650e-02 2.12084851e-02 8.72388337e+00] [-5.93545200e-02 9.98236367e-01 -1.09393293e-03 -3.47382524e-01] [-2.12360217e-02 -1.67062294e-04 9.99774476e-01 -4.03354396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.35, Z:-0.40 [[ 9.97887558e-01 6.15245501e-02 2.08602806e-02 8.75654285e+00] [-6.15154252e-02 9.98105549e-01 -1.07944005e-03 -3.48625888e-01] [-2.08871739e-02 -2.06069242e-04 9.99781818e-01 -4.03974754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854012739 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.35, Z:-0.40 [[ 9.97784586e-01 6.32408728e-02 2.06521885e-02 8.78896401e+00] [-6.32322147e-02 9.97998265e-01 -1.07262847e-03 -3.49244379e-01] [-2.06786823e-02 -2.35631460e-04 9.99786145e-01 -4.04868381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.36, Z:-0.40 [[ 0.99771277 0.06524052 0.01768908 8.821092 ] [-0.06547378 0.99777033 0.0129443 -0.35991588] [-0.01680515 -0.01407287 0.99975974 -0.39782546] [ 0. 0. 0. 1. ]] SLAMing on 11.914012739 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.34, Z:-0.41 [[ 0.99759036 0.06623438 0.02065152 8.85274122] [-0.06593013 0.99771026 -0.01508138 -0.34101049] [-0.02160314 0.01368348 0.99967298 -0.40530055] [ 0. 0. 0. 1. ]] SLAMing on 11.944012739 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.35, Z:-0.41 [[ 9.97593979e-01 6.57390071e-02 2.20144628e-02 8.88489012e+00] [-6.57295921e-02 9.97836807e-01 -1.15177280e-03 -3.52498214e-01] [-2.20425576e-02 -2.98000046e-04 9.99756989e-01 -4.05735878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974012738999999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.35, Z:-0.41 [[ 9.97627816e-01 6.49501272e-02 2.28083529e-02 8.91656071e+00] [-6.49397114e-02 9.97888470e-01 -1.19783302e-03 -3.53295113e-01] [-2.28379918e-02 -2.86176312e-04 9.99739138e-01 -4.06330932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.35, Z:-0.41 [[ 9.97613704e-01 6.51562850e-02 2.28376017e-02 8.94967711e+00] [-6.51458061e-02 9.97875030e-01 -1.20332007e-03 -3.54446344e-01] [-2.28674764e-02 -2.87325378e-04 9.99738464e-01 -4.07701324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034012739 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.35, Z:-0.41 [[ 9.97549491e-01 6.66420287e-02 2.13038365e-02 8.98289675e+00] [-6.66331713e-02 9.97776905e-01 -1.12613733e-03 -3.52297503e-01] [-2.13315241e-02 -2.96164465e-04 9.99772413e-01 -4.09530485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.35, Z:-0.40 [[ 9.97455563e-01 6.83681446e-02 2.02038699e-02 9.01630996e+00] [-6.83604615e-02 9.97660112e-01 -1.07148887e-03 -3.52271413e-01] [-2.02298509e-02 -3.12383336e-04 9.99795307e-01 -3.95444481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094012739 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.35, Z:-0.41 [[ 9.97357476e-01 6.97095121e-02 2.04609001e-02 9.04782753e+00] [-6.97018319e-02 9.97567275e-01 -1.08914053e-03 -3.51951195e-01] [-2.04870479e-02 -3.39899768e-04 9.99790061e-01 -4.11237323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.36, Z:-0.40 [[ 0.9973069 0.07115355 0.0177797 9.08098396] [-0.07138461 0.99736779 0.01271706 -0.36088044] [-0.01682804 -0.01395201 0.99976105 -0.40428605] [ 0. 0. 0. 1. ]] SLAMing on 12.154012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.34, Z:-0.41 [[ 0.99719314 0.07190717 0.02086167 9.11376129] [-0.07160584 0.99732246 -0.01484971 -0.34010999] [-0.02187361 0.01331421 0.99967208 -0.41138892] [ 0. 0. 0. 1. ]] SLAMing on 12.184012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.35, Z:-0.41 [[ 9.97197973e-01 7.16214783e-02 2.16001636e-02 9.14665608e+00] [-7.16131311e-02 9.97431808e-01 -1.16070800e-03 -3.52001336e-01] [-2.16278218e-02 -3.89399680e-04 9.99766015e-01 -4.12701710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214012739 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.35, Z:-0.41 [[ 9.97226808e-01 7.09152352e-02 2.25770206e-02 9.17873111e+00] [-7.09058993e-02 9.97482269e-01 -1.21477474e-03 -3.49948328e-01] [-2.26063238e-02 -3.89438010e-04 9.99744369e-01 -4.13579793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.35, Z:-0.42 [[ 9.97301777e-01 6.99793002e-02 2.21825101e-02 9.21148262e+00] [-6.99699697e-02 9.97548380e-01 -1.19745133e-03 -3.50510683e-01] [-2.22119239e-02 -3.57889222e-04 9.99753221e-01 -4.15240413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274012739 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.35, Z:-0.42 [[ 9.97414839e-01 6.86685103e-02 2.11724795e-02 9.24301384e+00] [-6.86596313e-02 9.97639484e-01 -1.14686726e-03 -3.51288784e-01] [-2.12012552e-02 -3.09792214e-04 9.99775180e-01 -4.16128706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.35, Z:-0.42 [[ 9.97614327e-01 6.59699957e-02 2.03375266e-02 9.27597990e+00] [-6.59611735e-02 9.97821578e-01 -1.10502690e-03 -3.51361458e-01] [-2.03661216e-02 -2.39096453e-04 9.99792560e-01 -4.16988024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334012739 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.35, Z:-0.42 [[ 9.97667661e-01 6.49720730e-02 2.09252870e-02 9.30763278e+00] [-6.49624235e-02 9.97887058e-01 -1.14128421e-03 -3.52370379e-01] [-2.09552247e-02 -2.20735011e-04 9.99780391e-01 -4.17965564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.35, Z:-0.42 [[ 9.97678365e-01 6.44042123e-02 2.21354180e-02 9.34073065e+00] [-6.43931809e-02 9.97923870e-01 -1.21151097e-03 -3.52693841e-01] [-2.21674884e-02 -2.16671691e-04 9.99754248e-01 -4.17526368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394012738999999 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.35, Z:-0.42 [[ 9.97664233e-01 6.45904570e-02 2.22295289e-02 9.37254709e+00] [-6.45792788e-02 9.97911833e-01 -1.22111192e-03 -3.53995408e-01] [-2.22619821e-02 -2.17307257e-04 9.99752148e-01 -4.17849554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.36, Z:-0.42 [[ 9.97677060e-01 6.44835662e-02 2.19625724e-02 9.40486603e+00] [-6.44725418e-02 9.97918747e-01 -1.21040799e-03 -3.55639454e-01] [-2.19949141e-02 -2.08386584e-04 9.99758061e-01 -4.18518270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454012739 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.36, Z:-0.42 [[ 9.97690652e-01 6.41540222e-02 2.23075145e-02 9.43805408e+00] [-6.41424775e-02 9.97939989e-01 -1.23339433e-03 -3.57832343e-01] [-2.23406880e-02 -2.00313262e-04 9.99750396e-01 -4.19602075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.36, Z:-0.42 [[ 9.97746247e-01 6.28985906e-02 2.33707853e-02 9.46985640e+00] [-6.28854572e-02 9.98019908e-01 -1.29720303e-03 -3.60051971e-01] [-2.34061012e-02 -1.75403059e-04 9.99726024e-01 -4.20483508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514012739 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.36, Z:-0.42 [[ 9.97964741e-01 5.87698049e-02 2.47484495e-02 9.50165336e+00] [-5.87536851e-02 9.98271558e-01 -1.37861471e-03 -3.64454644e-01] [-2.47866942e-02 -7.82537392e-05 9.99692760e-01 -4.21105237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.37, Z:-0.42 [[ 9.98100894e-01 5.65384430e-02 2.44542273e-02 9.53370215e+00] [-5.65219286e-02 9.98400423e-01 -1.36654819e-03 -3.68084628e-01] [-2.44923734e-02 -1.82471164e-05 9.99700017e-01 -4.21882418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.37, Z:-0.42 [[ 9.98319928e-01 5.26243906e-02 2.42486105e-02 9.56631383e+00] [-5.26068956e-02 9.98614373e-01 -1.35927777e-03 -3.72444673e-01] [-2.42865421e-02 8.13499620e-05 9.99705035e-01 -4.22861483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.38, Z:-0.41 [[ 9.98382924e-01 5.18196622e-02 2.33721800e-02 9.59942410e+00] [-5.18030903e-02 9.98656454e-01 -1.31435246e-03 -3.76249936e-01] [-2.34088877e-02 1.01475902e-04 9.99725969e-01 -4.08673469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634012739 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.38, Z:-0.42 [[ 9.98440369e-01 5.04942911e-02 2.38150205e-02 9.63158909e+00] [-5.04765980e-02 9.98724340e-01 -1.34387372e-03 -3.79083485e-01] [-2.38524986e-02 1.39676558e-04 9.99715479e-01 -4.24232917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.39, Z:-0.41 [[ 9.98428919e-01 5.08076186e-02 2.36279420e-02 9.66483448e+00] [-5.07901835e-02 9.98708450e-01 -1.33782593e-03 -3.86791185e-01] [-2.36653971e-02 1.35656590e-04 9.99719926e-01 -4.12528215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694012739 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.40, Z:-0.42 [[ 9.98413111e-01 5.20337465e-02 2.15348325e-02 9.69696371e+00] [-5.21926022e-02 9.98613329e-01 6.88120028e-03 -3.99175545e-01] [-2.11469162e-02 -7.99423953e-03 9.99744417e-01 -4.20932620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.39, Z:-0.43 [[ 9.98299389e-01 5.33408258e-02 2.35177936e-02 9.72886244e+00] [-5.31292325e-02 9.98542146e-01 -9.53245533e-03 -3.91067425e-01] [-2.39919772e-02 8.26676201e-03 9.99677971e-01 -4.26484042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754012739 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.40, Z:-0.43 [[ 9.98267721e-01 5.38870974e-02 2.36164846e-02 9.76118509e+00] [-5.38703062e-02 9.98547032e-01 -1.34708064e-03 -4.01290638e-01] [-2.36547609e-02 7.25198656e-05 9.99720184e-01 -4.27689305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.41, Z:-0.43 [[ 9.98299606e-01 5.38895243e-02 2.22219851e-02 9.79332749e+00] [-5.38745597e-02 9.98546901e-01 -1.27197151e-03 -4.07915121e-01] [-2.22582403e-02 7.26089973e-05 9.99752252e-01 -4.29292866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814012738999999 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.42, Z:-0.42 [[ 9.98361553e-01 5.40595683e-02 1.87555989e-02 9.82585230e+00] [-5.42458643e-02 9.98481747e-01 9.57010974e-03 -4.19094414e-01] [-1.82097671e-02 -1.05718433e-02 9.99778296e-01 -4.24687136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.41, Z:-0.42 [[ 0.99821404 0.05596147 0.02090567 9.85919386] [-0.05572185 0.99837572 -0.01187431 -0.40675491] [-0.02153622 0.0106882 0.99971094 -0.42074292] [ 0. 0. 0. 1. ]] SLAMing on 12.874012739 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.42, Z:-0.43 [[ 9.98169212e-01 5.63372085e-02 2.20078191e-02 9.89045079e+00] [-5.63229559e-02 9.98411798e-01 -1.26742115e-03 -4.16996109e-01] [-2.20442692e-02 2.55553430e-05 9.99756995e-01 -4.30591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.42, Z:-0.43 [[ 9.98153579e-01 5.66576339e-02 2.18939654e-02 9.92379883e+00] [-5.66435209e-02 9.98393666e-01 -1.26471880e-03 -4.19915911e-01] [-2.19304524e-02 2.22323113e-05 9.99759498e-01 -4.31715416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934012739 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.42, Z:-0.43 [[ 9.98240315e-01 5.54990722e-02 2.08836438e-02 9.95613016e+00] [-5.54858889e-02 9.98458738e-01 -1.21062626e-03 -4.20633078e-01] [-2.09186452e-02 4.97484019e-05 9.99781180e-01 -4.33569908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.42, Z:-0.43 [[ 9.98326122e-01 5.42144599e-02 2.01431617e-02 9.98913130e+00] [-5.42018980e-02 9.98529312e-01 -1.16946295e-03 -4.22307685e-01] [-2.01769392e-02 7.57078150e-05 9.99796422e-01 -4.34114531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994012739 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.43, Z:-0.44 [[ 9.98493683e-01 5.16230605e-02 1.85856285e-02 1.00205884e+01] [-5.16118563e-02 9.98666634e-01 -1.08231905e-03 -4.26841642e-01] [-1.86167197e-02 1.21449946e-04 9.99826686e-01 -4.35874658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.43, Z:-0.44 [[ 9.98555559e-01 5.01413721e-02 1.93038364e-02 1.00520608e+01] [-5.01289276e-02 9.98742118e-01 -1.12831314e-03 -4.29615669e-01] [-1.93361296e-02 1.59002745e-04 9.99813027e-01 -4.36923255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.43, Z:-0.44 [[ 9.98576710e-01 4.92420749e-02 2.04883362e-02 1.00855354e+01] [-4.92278232e-02 9.98786855e-01 -1.19967791e-03 -4.31729133e-01] [-2.05225555e-02 1.89374224e-04 9.99789372e-01 -4.36483779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.43, Z:-0.44 [[ 9.98535343e-01 4.90682888e-02 2.27919259e-02 1.01187818e+01] [-4.90504956e-02 9.98795402e-01 -1.33941416e-03 -4.33237817e-01] [-2.28301935e-02 2.19497114e-04 9.99739333e-01 -4.36301145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114012739 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.44, Z:-0.44 [[ 9.98484874e-01 4.99904943e-02 2.29979639e-02 1.01520153e+01] [-4.99725233e-02 9.98749673e-01 -1.35582157e-03 -4.36977380e-01] [-2.30369871e-02 2.04501045e-04 9.99734592e-01 -4.37448484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.45, Z:-0.43 [[ 9.98455659e-01 5.15516501e-02 2.07056836e-02 1.01837776e+01] [-5.17525394e-02 9.98616765e-01 9.28603962e-03 -4.49894123e-01] [-2.01983321e-02 -1.03432705e-02 9.99742489e-01 -4.32216382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174012739 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.44, Z:-0.44 [[ 0.99832794 0.05290869 0.02328085 10.21622298] [-0.05264177 0.99854216 -0.0119328 -0.43674574] [-0.02387826 0.0106873 0.99965775 -0.43769431] [ 0. 0. 0. 1. ]] SLAMing on 13.204012739 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.45, Z:-0.44 [[ 9.98243280e-01 5.36497476e-02 2.51407566e-02 1.02474268e+01] [-5.36291679e-02 9.98559805e-01 -1.49259333e-03 -4.46776321e-01] [-2.51846263e-02 1.41693398e-04 9.99682807e-01 -4.38195181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234012738999999 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.45, Z:-0.44 [[ 9.98176680e-01 5.44216408e-02 2.61074955e-02 1.02799110e+01] [-5.43995919e-02 9.98518036e-01 -1.55457028e-03 -4.50225618e-01] [-2.61534073e-02 1.31498703e-04 9.99657932e-01 -4.38276349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.45, Z:-0.44 [[ 9.98191231e-01 5.43367518e-02 2.57251755e-02 1.03115842e+01] [-5.43151970e-02 9.98522658e-01 -1.53641242e-03 -4.53444606e-01] [-2.57706543e-02 1.36365426e-04 9.99667872e-01 -4.39683448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294012739 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.46, Z:-0.43 [[ 9.98309666e-01 5.39450530e-02 2.16273237e-02 1.03441891e+01] [-5.39296673e-02 9.98543898e-01 -1.29444000e-03 -4.58725344e-01] [-2.16656607e-02 1.25897597e-04 9.99765264e-01 -4.29364514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.46, Z:-0.44 [[ 9.98337210e-01 5.35945771e-02 2.12234734e-02 1.03760767e+01] [-5.35795956e-02 9.98562769e-01 -1.27431370e-03 -4.60932735e-01] [-2.12612666e-02 1.35049669e-04 9.99773945e-01 -4.43939771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354012739 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.47, Z:-0.44 [[ 9.98262639e-01 5.46090254e-02 2.21259667e-02 1.04091222e+01] [-5.45929000e-02 9.98507806e-01 -1.33263128e-03 -4.66563991e-01] [-2.21657242e-02 1.22395329e-04 9.99754303e-01 -4.43785035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.47, Z:-0.44 [[ 9.98201742e-01 5.54993958e-02 2.26516966e-02 1.04418386e+01] [-5.54826242e-02 9.98458715e-01 -1.36869928e-03 -4.69596815e-01] [-2.26927459e-02 1.09462437e-04 9.99742480e-01 -4.43949971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414012739 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.47, Z:-0.44 [[ 9.98145169e-01 5.63942959e-02 2.29326311e-02 1.04741140e+01] [-5.63772391e-02 9.98408571e-01 -1.39013968e-03 -4.72040454e-01] [-2.29745314e-02 9.46827784e-05 9.99736046e-01 -4.44855373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.48, Z:-0.45 [[ 9.98150955e-01 5.66024595e-02 2.21547513e-02 1.05058388e+01] [-5.65865077e-02 9.98396792e-01 -1.34676536e-03 -4.75695523e-01] [-2.21954629e-02 9.06151266e-05 9.99753646e-01 -4.46881821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474012738999999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.48, Z:-0.45 [[ 9.98184491e-01 5.63431872e-02 2.12877458e-02 1.05386065e+01] [-5.63283269e-02 9.98411456e-01 -1.29751800e-03 -4.79299978e-01] [-2.13270356e-02 9.60592342e-05 9.99772548e-01 -4.48550013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.48, Z:-0.45 [[ 9.98163098e-01 5.71400646e-02 2.01356201e-02 1.05704962e+01] [-5.71268585e-02 9.98366169e-01 -1.23091719e-03 -4.83261847e-01] [-2.01730565e-02 7.83713981e-05 9.99796500e-01 -4.49455605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534012739 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.49, Z:-0.45 [[ 9.98115757e-01 5.79366687e-02 2.02058961e-02 1.06019184e+01] [-5.79234603e-02 9.98320258e-01 -1.23882554e-03 -4.86125123e-01] [-2.02437288e-02 6.60958762e-05 9.99795073e-01 -4.49775158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.49, Z:-0.45 [[ 9.97987719e-01 5.96439765e-02 2.15199840e-02 1.06351716e+01] [-5.96293050e-02 9.98219713e-01 -1.32337718e-03 -4.90559564e-01] [-2.15606037e-02 3.74924811e-05 9.99767542e-01 -4.50262441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594012739 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.49, Z:-0.45 [[ 9.97912962e-01 6.07749093e-02 2.18204400e-02 1.06685191e+01] [-6.07600047e-02 9.98151497e-01 -1.34600399e-03 -4.94009467e-01] [-2.18619081e-02 1.73847937e-05 9.99761000e-01 -4.51121803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.50, Z:-0.45 [[ 9.97839834e-01 6.20415985e-02 2.15987465e-02 1.06999563e+01] [-6.20272039e-02 9.98073564e-01 -1.33639724e-03 -4.97183513e-01] [-2.16400502e-02 -6.19945677e-06 9.99765827e-01 -4.52286066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654012739 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.50, Z:-0.44 [[ 9.97662247e-01 6.53467478e-02 1.99961058e-02 1.07329378e+01] [-6.53350126e-02 9.97862615e-01 -1.24030165e-03 -5.03216986e-01] [-2.00344160e-02 -6.90436916e-05 9.99799289e-01 -4.38093026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.51, Z:-0.45 [[ 9.97547625e-01 6.66434774e-02 2.13864961e-02 1.07650288e+01] [-6.66302584e-02 9.97776848e-01 -1.33087641e-03 -5.05271487e-01] [-2.14276448e-02 -9.73751513e-05 9.99770397e-01 -4.53416641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714012739 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.51, Z:-0.45 [[ 9.97303081e-01 7.00042694e-02 2.20446354e-02 1.07982337e+01] [-6.99909494e-02 9.97546677e-01 -1.37615703e-03 -5.09602229e-01] [-2.20868897e-02 -1.70479319e-04 9.99756040e-01 -4.53418662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.51, Z:-0.45 [[ 9.97173015e-01 7.17635471e-02 2.22704354e-02 1.08303545e+01] [-7.17502922e-02 9.97421651e-01 -1.39469697e-03 -5.12489464e-01] [-2.23131029e-02 -2.07156065e-04 9.99751010e-01 -4.53708886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774012739 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.51, Z:-0.46 [[ 9.97044875e-01 7.33652865e-02 2.27827185e-02 1.08634174e+01] [-7.33517371e-02 9.97305106e-01 -1.43096549e-03 -5.14946814e-01] [-2.28263047e-02 -2.44415172e-04 9.99739416e-01 -4.55161982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.52, Z:-0.46 [[ 9.96883456e-01 7.54907227e-02 2.29025388e-02 1.08958765e+01] [-7.54774812e-02 9.97146462e-01 -1.44327768e-03 -5.16388801e-01] [-2.29461397e-02 -2.89846301e-04 9.99736661e-01 -4.56044775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834012739 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.52, Z:-0.46 [[ 9.96805716e-01 7.64424609e-02 2.31282038e-02 1.09281061e+01] [-7.64291542e-02 9.97073945e-01 -1.46004692e-03 -5.18955417e-01] [-2.31721390e-02 -3.12285943e-04 9.99731441e-01 -4.56873143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.52, Z:-0.46 [[ 9.96745220e-01 7.71328457e-02 2.34412266e-02 1.09596772e+01] [-7.71192620e-02 9.97020770e-01 -1.48428406e-03 -5.21636508e-01] [-2.34858769e-02 -3.28317053e-04 9.99724115e-01 -4.56882631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894012738999999 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.52, Z:-0.46 [[ 9.96642674e-01 7.80269239e-02 2.48027955e-02 1.09925949e+01] [-7.80119209e-02 9.96951185e-01 -1.57339881e-03 -5.24834405e-01] [-2.48499439e-02 -3.66797322e-04 9.99691125e-01 -4.56718168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.53, Z:-0.46 [[ 9.96651954e-01 7.78933718e-02 2.48496425e-02 1.10243810e+01] [-7.78781530e-02 9.96961631e-01 -1.58109361e-03 -5.27050189e-01] [-2.48972969e-02 -3.59444230e-04 9.99689950e-01 -4.57868210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954012739 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.53, Z:-0.46 [[ 9.96748208e-01 7.68481634e-02 2.42356983e-02 1.10575842e+01] [-7.68332788e-02 9.97042756e-01 -1.54613406e-03 -5.29650384e-01] [-2.42828450e-02 -3.21001807e-04 9.99705077e-01 -4.59671043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.53, Z:-0.46 [[ 9.96784787e-01 7.61742543e-02 2.48509647e-02 1.10894417e+01] [-7.61582735e-02 9.97094473e-01 -1.59026141e-03 -5.32316538e-01] [-2.48998965e-02 -3.07458185e-04 9.99689902e-01 -4.60265318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014012739 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.54, Z:-0.46 [[ 9.96827046e-01 7.54460138e-02 2.53720255e-02 1.11226029e+01] [-7.54290036e-02 9.97149846e-01 -1.62817798e-03 -5.35184311e-01] [-2.54225509e-02 -2.90774755e-04 9.99676752e-01 -4.60833584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.54, Z:-0.46 [[ 9.96924499e-01 7.47269044e-02 2.36100246e-02 1.11545706e+01] [-7.47118733e-02 9.97204005e-01 -1.51933356e-03 -5.38330571e-01] [-2.36575462e-02 -2.49288322e-04 9.99720090e-01 -4.62000546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074012739 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.54, Z:-0.46 [[ 9.96918264e-01 7.51302402e-02 2.25703968e-02 1.11868440e+01] [-7.51165202e-02 9.97173700e-01 -1.45627358e-03 -5.41158526e-01] [-2.26160163e-02 -2.43623945e-04 9.99744196e-01 -4.63750032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.54, Z:-0.46 [[ 9.96912546e-01 7.52061618e-02 2.25701078e-02 1.12202567e+01] [-7.51923602e-02 9.97167977e-01 -1.46073799e-03 -5.43466062e-01] [-2.26160453e-02 -2.40871654e-04 9.99744196e-01 -4.64674085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134012739 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.55, Z:-0.47 [[ 9.96792945e-01 7.65926599e-02 2.31816431e-02 1.12534733e+01] [-7.65784440e-02 9.97062429e-01 -1.50165315e-03 -5.46702969e-01] [-2.32285610e-02 -2.78376888e-04 9.99730142e-01 -4.65040567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.55, Z:-0.46 [[ 9.96665112e-01 7.78143643e-02 2.45678418e-02 1.12855164e+01] [-7.77986450e-02 9.96967814e-01 -1.59645635e-03 -5.48330123e-01] [-2.46175748e-02 -3.20212453e-04 9.99696890e-01 -4.64824729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194012739 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.55, Z:-0.47 [[ 9.96505161e-01 7.94902397e-02 2.56664357e-02 1.13185488e+01] [-7.94735167e-02 9.96835575e-01 -1.67258056e-03 -5.49322091e-01] [-2.57181700e-02 -3.73066747e-04 9.99669164e-01 -4.65254180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.55, Z:-0.47 [[ 9.96276547e-01 8.26690923e-02 2.44716720e-02 1.13504866e+01] [-8.26547356e-02 9.96576960e-01 -1.59932213e-03 -5.48811388e-01] [-2.45201190e-02 -4.29332452e-04 9.99699244e-01 -4.66379986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254012739 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.55, Z:-0.47 [[ 9.96187990e-01 8.40160366e-02 2.34689858e-02 1.13839799e+01] [-8.40031506e-02 9.96464305e-01 -1.53614219e-03 -5.49853931e-01] [-2.35150672e-02 -4.41182347e-04 9.99723385e-01 -4.67668908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.55, Z:-0.47 [[ 9.96061582e-01 8.56271885e-02 2.30067470e-02 1.14169364e+01] [-8.56151383e-02 9.96327139e-01 -1.51006316e-03 -5.49514865e-01] [-2.30515488e-02 -4.65609921e-04 9.99734169e-01 -4.67929764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314012738999999 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.55, Z:-0.45 [[ 9.96033240e-01 8.64566557e-02 2.10483362e-02 1.14496104e+01] [-8.64466719e-02 9.96255516e-01 -1.38545317e-03 -5.51065967e-01] [-2.10893027e-02 -4.39601200e-04 9.99777499e-01 -4.53425520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.55, Z:-0.47 [[ 9.95937290e-01 8.72660078e-02 2.22161874e-02 1.14830430e+01] [-8.72550335e-02 9.96184929e-01 -1.46470895e-03 -5.46133931e-01] [-2.22592504e-02 -4.79715920e-04 9.99752117e-01 -4.70465675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374012739 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.54, Z:-0.47 [[ 9.95868612e-01 8.78610415e-02 2.29378591e-02 1.15162158e+01] [-8.78494001e-02 9.96132613e-01 -1.51664797e-03 -5.44944235e-01] [-2.29824038e-02 -5.04695054e-04 9.99735742e-01 -4.71765125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.54, Z:-0.47 [[ 9.95802496e-01 8.84667393e-02 2.34739096e-02 1.15493962e+01] [-8.84546101e-02 9.96078992e-01 -1.55657828e-03 -5.44042428e-01] [-2.35195736e-02 -5.26330983e-04 9.99723238e-01 -4.71997623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434012739 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.54, Z:-0.47 [[ 9.95812177e-01 8.82271482e-02 2.39599472e-02 1.15821620e+01] [-8.82143323e-02 9.96100242e-01 -1.59338265e-03 -5.42281339e-01] [-2.40070888e-02 -5.26900897e-04 9.99711649e-01 -4.71865549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.54, Z:-0.47 [[ 9.95916965e-01 8.71324152e-02 2.36080591e-02 1.16146447e+01] [-8.71195587e-02 9.96196619e-01 -1.57450017e-03 -5.43672589e-01] [-2.36554586e-02 -4.88652261e-04 9.99720051e-01 -4.72263850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494012739 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.54, Z:-0.47 [[ 9.96272216e-01 8.31168832e-02 2.30923125e-02 1.16467296e+01] [-8.31034031e-02 9.96539733e-01 -1.54445322e-03 -5.44763134e-01] [-2.31407771e-02 -3.80353920e-04 9.99732144e-01 -4.72600667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.55, Z:-0.47 [[ 9.96378562e-01 8.18915016e-02 2.28810518e-02 1.16795531e+01] [-8.18778934e-02 9.96641190e-01 -1.53253038e-03 -5.47432245e-01] [-2.29296999e-02 -3.46471895e-04 9.99737020e-01 -4.65058361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554012739 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.55, Z:-0.47 [[ 9.96451833e-01 8.06110484e-02 2.41992330e-02 1.17125078e+01] [-8.05953289e-02 9.96745579e-01 -1.62579101e-03 -5.48241304e-01] [-2.42515353e-02 -3.30322713e-04 9.99705834e-01 -4.74868906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.55, Z:-0.46 [[ 9.96585554e-01 7.95314820e-02 2.21805385e-02 1.17446959e+01] [-7.95179216e-02 9.96832317e-01 -1.49407987e-03 -5.52105737e-01] [-2.22291039e-02 -2.74771907e-04 9.99752865e-01 -4.62648565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614012739 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.55, Z:-0.48 [[ 9.96573458e-01 7.92644689e-02 2.36323349e-02 1.17759554e+01] [-7.92488859e-02 9.96853582e-01 -1.59669064e-03 -5.52698146e-01] [-2.36845385e-02 -2.81616697e-04 9.99719442e-01 -4.76824121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.56, Z:-0.48 [[ 9.96535864e-01 7.97565824e-02 2.35618053e-02 1.18076201e+01] [-7.97411691e-02 9.96814328e-01 -1.59449395e-03 -5.56134564e-01] [-2.36139165e-02 -2.89875496e-04 9.99721111e-01 -4.77478458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674012739 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.56, Z:-0.48 [[ 9.96504446e-01 8.02803013e-02 2.31076042e-02 1.18390047e+01] [-8.02655251e-02 9.96772285e-01 -1.56773920e-03 -5.60274655e-01] [-2.31588780e-02 -2.92484900e-04 9.99731754e-01 -4.78230245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.57, Z:-0.48 [[ 9.96427874e-01 8.11542361e-02 2.33555455e-02 1.18721535e+01] [-8.11392866e-02 9.96701506e-01 -1.58859596e-03 -5.65723282e-01] [-2.34074287e-02 -3.12131003e-04 9.99725960e-01 -4.78131444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734012738999999 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.57, Z:-0.47 [[ 9.96407757e-01 8.16422936e-02 2.24970706e-02 1.19047430e+01] [-8.16284548e-02 9.96661648e-01 -1.53430537e-03 -5.69433537e-01] [-2.25472317e-02 -3.07607341e-04 9.99745732e-01 -4.69342723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.57, Z:-0.48 [[ 9.96445968e-01 8.04579342e-02 2.49390172e-02 1.19376801e+01] [-8.04404360e-02 9.96757958e-01 -1.70568600e-03 -5.72141660e-01] [-2.49953998e-02 -3.06481477e-04 9.99687519e-01 -4.79693301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794012739 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.58, Z:-0.48 [[ 9.96466959e-01 7.99995533e-02 2.55669737e-02 1.19699487e+01] [-7.99808817e-02 9.96794855e-01 -1.75371468e-03 -5.76411170e-01] [-2.56253242e-02 -2.97350359e-04 9.99671573e-01 -4.79838683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.58, Z:-0.48 [[ 9.96522247e-01 7.93767353e-02 2.53524044e-02 1.20026635e+01] [-7.93580602e-02 9.96844651e-01 -1.74348756e-03 -5.80717325e-01] [-2.54108011e-02 -2.74493488e-04 9.99677056e-01 -4.80102175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.59, Z:-0.48 [[ 9.96598083e-01 7.86491154e-02 2.46287776e-02 1.20356959e+01] [-7.86311613e-02 9.96902331e-01 -1.69808382e-03 -5.87210309e-01] [-2.46860386e-02 -2.44282305e-04 9.99695223e-01 -4.81568983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.59, Z:-0.48 [[ 9.96605295e-01 7.86744080e-02 2.42533362e-02 1.20687193e+01] [-7.86568942e-02 9.96900337e-01 -1.67674475e-03 -5.91720073e-01] [-2.43100759e-02 -2.36639396e-04 9.99704438e-01 -4.82534167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914012739 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.60, Z:-0.48 [[ 9.96527961e-01 7.96628146e-02 2.42045357e-02 1.21002230e+01] [-7.96455499e-02 9.96821835e-01 -1.67801618e-03 -5.97914438e-01] [-2.42612852e-02 -2.55593517e-04 9.99705619e-01 -4.83582412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.60, Z:-0.47 [[ 9.96400760e-01 8.15772170e-02 2.30365642e-02 1.21332960e+01] [-8.15620017e-02 9.96666984e-01 -1.60085864e-03 -6.02939239e-01] [-2.30903766e-02 -2.83811531e-04 9.99733341e-01 -4.72125412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974012738999999 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.60, Z:-0.49 [[ 9.96260200e-01 8.29746962e-02 2.41000771e-02 1.21645122e+01] [-8.29583311e-02 9.96551601e-01 -1.67977870e-03 -6.04586945e-01] [-2.41563495e-02 -3.25805505e-04 9.99708140e-01 -4.85551339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.61, Z:-0.49 [[ 9.95916708e-01 8.71428326e-02 2.35804363e-02 1.21959703e+01] [-8.71282747e-02 9.96195741e-01 -1.64603181e-03 -6.08939904e-01] [-2.36341701e-02 -4.15212155e-04 9.99720588e-01 -4.86338483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034012739 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.61, Z:-0.49 [[ 9.95674643e-01 8.99222281e-02 2.33665873e-02 1.22291333e+01] [-8.99086048e-02 9.95948678e-01 -1.63507765e-03 -6.12282349e-01] [-2.34189516e-02 -4.72851912e-04 9.99725627e-01 -4.87238066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.61, Z:-0.49 [[ 9.95211141e-01 9.45042355e-02 2.49746616e-02 1.22625038e+01] [-9.44899866e-02 9.95524269e-01 -1.75267592e-03 -6.13835942e-01] [-2.50285170e-02 -6.15572836e-04 9.99686548e-01 -4.86998406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094012739 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.61, Z:-0.49 [[ 9.94955379e-01 9.65078169e-02 2.73867752e-02 1.22941397e+01] [-9.64912868e-02 9.95331963e-01 -1.92757563e-03 -6.14932306e-01] [-2.74449588e-02 -7.24733433e-04 9.99623053e-01 -4.88089084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.62, Z:-0.49 [[ 9.94733664e-01 9.82485439e-02 2.91918148e-02 1.23270079e+01] [-9.82304030e-02 9.95161570e-01 -2.05833543e-03 -6.16792072e-01] [-2.92528007e-02 -8.20028186e-04 9.99571709e-01 -4.88274918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154012738999999 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.62, Z:-0.49 [[ 9.94604035e-01 9.93694848e-02 2.98080301e-02 1.23593797e+01] [-9.93509065e-02 9.95050228e-01 -2.10735103e-03 -6.20048031e-01] [-2.98698936e-02 -8.65474981e-04 9.99553420e-01 -4.89392474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.62, Z:-0.49 [[ 9.94603869e-01 9.95269237e-02 2.92837114e-02 1.23912994e+01] [-9.95089074e-02 9.95034507e-01 -2.07552833e-03 -6.22435418e-01] [-2.93448742e-02 -8.49661617e-04 9.99568985e-01 -4.90796555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214012739 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.62, Z:-0.49 [[ 9.94435312e-01 1.01643516e-01 2.76948580e-02 1.24235253e+01] [-1.01628098e-01 9.94820516e-01 -1.96738367e-03 -6.22254112e-01] [-2.77513847e-02 -8.58139938e-04 9.99614488e-01 -4.91891572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.62, Z:-0.49 [[ 9.94295334e-01 1.03124501e-01 2.72420052e-02 1.24564554e+01] [-1.03110016e-01 9.94668066e-01 -1.93966341e-03 -6.22785018e-01] [-2.72967795e-02 -8.80325328e-04 9.99626986e-01 -4.93402353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274012739 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.62, Z:-0.50 [[ 9.94151030e-01 1.04780368e-01 2.61687563e-02 1.24892405e+01] [-1.04767452e-01 9.94494993e-01 -1.86789094e-03 -6.22170510e-01] [-2.62204154e-02 -8.84668221e-04 9.99655794e-01 -4.95300797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.62, Z:-0.50 [[ 9.94116493e-01 1.05019863e-01 2.65184059e-02 1.25211579e+01] [-1.05006547e-01 9.94469719e-01 -1.89806199e-03 -6.23823585e-01] [-2.65710859e-02 -8.97711498e-04 9.99646523e-01 -4.95999836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334012739 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.63, Z:-0.50 [[ 9.94150206e-01 1.04452989e-01 2.74761840e-02 1.25531436e+01] [-1.04438335e-01 9.94529409e-01 -1.97177670e-03 -6.26025073e-01] [-2.75318310e-02 -9.09324702e-04 9.99620514e-01 -4.96184996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.63, Z:-0.50 [[ 9.94350470e-01 1.02140827e-01 2.88858964e-02 1.25859764e+01] [-1.02123507e-01 9.94769557e-01 -2.07808332e-03 -6.28468259e-01] [-2.89470675e-02 -8.83585924e-04 9.99580555e-01 -4.95870663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394012738999999 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.63, Z:-0.50 [[ 9.94443026e-01 1.01195710e-01 2.90257767e-02 1.26176794e+01] [-1.01177747e-01 9.94866168e-01 -2.09067500e-03 -6.30539145e-01] [-2.90883306e-02 -8.57705511e-04 9.99576477e-01 -4.97609195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.63, Z:-0.50 [[ 9.94582862e-01 9.97087114e-02 2.93786363e-02 1.26509498e+01] [-9.96895068e-02 9.95016333e-01 -2.12131870e-03 -6.31228788e-01] [-2.94437369e-02 -8.18914540e-04 9.99566104e-01 -4.99168687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454012739 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.63, Z:-0.50 [[ 9.94637471e-01 9.91026128e-02 2.95799462e-02 1.26829532e+01] [-9.90827108e-02 9.95076897e-01 -2.14143587e-03 -6.32616410e-01] [-2.96465429e-02 -8.00908892e-04 9.99560124e-01 -5.00278412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.63, Z:-0.50 [[ 9.94766093e-01 9.78161254e-02 2.95368630e-02 1.27161344e+01] [-9.77955603e-02 9.95204217e-01 -2.14352677e-03 -6.34861076e-01] [-2.96048821e-02 -7.56266319e-04 9.99561393e-01 -5.01088097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514012739 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.64, Z:-0.50 [[ 9.94828302e-01 9.73284835e-02 2.90485130e-02 1.27479348e+01] [-9.73082286e-02 9.95252049e-01 -2.11345921e-03 -6.37387296e-01] [-2.91162919e-02 -7.24130313e-04 9.99575769e-01 -5.02252860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.64, Z:-0.50 [[ 9.94905319e-01 9.68367132e-02 2.80367112e-02 1.27808947e+01] [-9.68175156e-02 9.95300049e-01 -2.04461175e-03 -6.39510452e-01] [-2.81029335e-02 -6.80249615e-04 9.99604803e-01 -5.03609731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574012739 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.64, Z:-0.51 [[ 9.95028045e-01 9.59002577e-02 2.68761982e-02 1.28133462e+01] [-9.58821453e-02 9.95390754e-01 -1.96479807e-03 -6.42586239e-01] [-2.69407438e-02 -6.21918356e-04 9.99636839e-01 -5.05671821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.65, Z:-0.51 [[ 9.95030229e-01 9.55042144e-02 2.81742343e-02 1.28460157e+01] [-9.54839947e-02 9.95428823e-01 -2.06524083e-03 -6.46299300e-01] [-2.82426841e-02 -6.35211377e-04 9.99600894e-01 -5.07209927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634012739 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.65, Z:-0.51 [[ 9.95145531e-01 9.38261359e-02 2.96989606e-02 1.28779835e+01] [-9.38027503e-02 9.95588409e-01 -2.18275440e-03 -6.49354589e-01] [-2.97727403e-02 -6.13685898e-04 9.99556505e-01 -5.06823823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.65, Z:-0.51 [[ 9.95163847e-01 9.35283882e-02 3.00226409e-02 1.29102557e+01] [-9.35042430e-02 9.95616428e-01 -2.21025057e-03 -6.51700516e-01] [-3.00977557e-02 -6.07682857e-04 9.99546775e-01 -5.07666485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694012739 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.65, Z:-0.51 [[ 9.95166208e-01 9.35174537e-02 2.99783965e-02 1.29428899e+01] [-9.34932175e-02 9.95617459e-01 -2.21222321e-03 -6.54587278e-01] [-3.00538965e-02 -6.01246964e-04 9.99548099e-01 -5.08890077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.66, Z:-0.51 [[ 9.95106528e-01 9.44125107e-02 2.91423374e-02 1.29758143e+01] [-9.43898377e-02 9.95532978e-01 -2.15577413e-03 -6.58975572e-01] [-2.92156900e-02 -6.05515591e-04 9.99572947e-01 -5.10548197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754012739 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.66, Z:-0.51 [[ 9.95041807e-01 9.52872154e-02 2.84982362e-02 1.30075080e+01] [-9.52657424e-02 9.95449633e-01 -2.11336595e-03 -6.61716399e-01] [-2.85699355e-02 -6.12018159e-04 9.99591609e-01 -5.11344054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.66, Z:-0.51 [[ 9.94911219e-01 9.65760671e-02 2.87181094e-02 1.30407516e+01] [-9.65546506e-02 9.95325395e-01 -2.13478550e-03 -6.64143915e-01] [-2.87900328e-02 -6.48944972e-04 9.99585270e-01 -5.12309410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814012738999999 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.67, Z:-0.51 [[ 9.94878367e-01 9.68247700e-02 2.90172026e-02 1.30737982e+01] [-9.68028504e-02 9.95301227e-01 -2.16253124e-03 -6.67507333e-01] [-2.90902439e-02 -6.57492373e-04 9.99576573e-01 -5.12799842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.67, Z:-0.51 [[ 9.94827035e-01 9.70717577e-02 2.99373385e-02 1.31061793e+01] [-9.70483613e-02 9.95277153e-01 -2.23697632e-03 -6.71104853e-01] [-3.00130962e-02 -6.79965122e-04 9.99549274e-01 -5.13522248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.68, Z:-0.50 [[ 9.94573918e-01 9.96566093e-02 2.98543478e-02 1.31381009e+01] [-9.96343288e-02 9.95021607e-01 -2.23668620e-03 -6.75018324e-01] [-2.99286216e-02 -7.49968145e-04 9.99551757e-01 -5.02542014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.67, Z:-0.51 [[ 9.94032832e-01 1.04297450e-01 3.19494882e-02 1.31710038e+01] [-1.04274123e-01 9.94545699e-01 -2.39998566e-03 -6.72185235e-01] [-3.20255385e-02 -9.45840338e-04 9.99486603e-01 -5.14174693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934012739 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.67, Z:-0.52 [[ 9.93764720e-01 1.06860200e-01 3.18210427e-02 1.32039806e+01] [-1.06838182e-01 9.94273534e-01 -2.39627626e-03 -6.73022153e-01] [-3.18948871e-02 -1.01836756e-03 9.99490710e-01 -5.15041459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.68, Z:-0.52 [[ 9.93750985e-01 1.06987978e-01 3.18206131e-02 1.32373711e+01] [-1.06965845e-01 9.94259794e-01 -2.40196773e-03 -6.75693889e-01] [-3.18949379e-02 -1.01676096e-03 9.99490710e-01 -5.15965555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.68, Z:-0.51 [[ 9.93455206e-01 1.09883356e-01 3.11833647e-02 1.32708522e+01] [-1.09863393e-01 9.93943899e-01 -2.35805367e-03 -6.77719351e-01] [-3.12536260e-02 -1.08328955e-03 9.99510899e-01 -5.10956918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.68, Z:-0.52 [[ 9.93188551e-01 1.12177709e-01 3.15065807e-02 1.33028519e+01] [-1.12158291e-01 9.93687482e-01 -2.38853883e-03 -6.76852141e-01] [-3.15756357e-02 -1.16145484e-03 9.99500690e-01 -5.18081848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054012739 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.67, Z:-0.52 [[ 9.92838816e-01 1.15327578e-01 3.11550296e-02 1.33365706e+01] [-1.15309965e-01 9.93326737e-01 -2.36744633e-03 -6.74408824e-01] [-3.12201557e-02 -1.24199277e-03 9.99511760e-01 -5.20605179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.67, Z:-0.52 [[ 9.92800101e-01 1.15852255e-01 3.04337660e-02 1.33699552e+01] [-1.15835521e-01 9.93265703e-01 -2.31829076e-03 -6.72200853e-01] [-3.04973953e-02 -1.22371184e-03 9.99534097e-01 -5.21591898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114012739 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.67, Z:-0.52 [[ 9.92828294e-01 1.15497690e-01 3.08587525e-02 1.34024958e+01] [-1.15480140e-01 9.93306994e-01 -2.35632615e-03 -6.72112712e-01] [-3.09243649e-02 -1.22414578e-03 9.99520978e-01 -5.22618109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.67, Z:-0.52 [[ 9.92930718e-01 1.14539734e-01 3.11326103e-02 1.34347595e+01] [-1.14521286e-01 9.93417941e-01 -2.38092041e-03 -6.72022805e-01] [-3.12004037e-02 -1.20125756e-03 9.99512427e-01 -5.23250947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174012739 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.67, Z:-0.52 [[ 9.93132129e-01 1.12695026e-01 3.14389306e-02 1.34681085e+01] [-1.12675165e-01 9.93628958e-01 -2.40831463e-03 -6.71764533e-01] [-3.15100369e-02 -1.15061207e-03 9.99502773e-01 -5.24737569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.67, Z:-0.53 [[ 9.93256752e-01 1.11816631e-01 3.06278446e-02 1.35008076e+01] [-1.11797192e-01 9.93728261e-01 -2.35178932e-03 -6.73115803e-01] [-3.06987240e-02 -1.08817641e-03 9.99528091e-01 -5.26405612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234012739 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.67, Z:-0.53 [[ 9.93628608e-01 1.09041805e-01 2.84969113e-02 1.35344797e+01] [-1.09023694e-01 9.94036732e-01 -2.19313148e-03 -6.71774493e-01] [-2.85661196e-02 -9.27680361e-04 9.99591475e-01 -5.27578417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.67, Z:-0.53 [[ 9.93800883e-01 1.07523266e-01 2.82586774e-02 1.35678473e+01] [-1.07504695e-01 9.94202187e-01 -2.18005468e-03 -6.73193265e-01] [-2.83292455e-02 -8.71400242e-04 9.99598267e-01 -5.29019349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294012739 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.68, Z:-0.53 [[ 9.93928411e-01 1.06504221e-01 2.76254327e-02 1.35997633e+01] [-1.06485933e-01 9.94311914e-01 -2.13649838e-03 -6.75908254e-01] [-2.76958430e-02 -8.18193530e-04 9.99616062e-01 -5.30059239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.68, Z:-0.53 [[ 9.93983175e-01 1.06014832e-01 2.75373229e-02 1.36322963e+01] [-1.05996380e-01 9.94364228e-01 -2.13304855e-03 -6.78659296e-01] [-2.76082636e-02 -7.98642177e-04 9.99618500e-01 -5.31077934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354012738999998 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.68, Z:-0.53 [[ 9.93857483e-01 1.06927069e-01 2.85290149e-02 1.36639513e+01] [-1.06907480e-01 9.94266505e-01 -2.21546368e-03 -6.78240890e-01] [-2.86023370e-02 -8.48109922e-04 9.99590510e-01 -5.31794234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.68, Z:-0.53 [[ 9.93763994e-01 1.07541035e-01 2.94626759e-02 1.36970214e+01] [-1.07520251e-01 9.94200249e-01 -2.29338953e-03 -6.79521527e-01] [-2.95384332e-02 -8.88746379e-04 9.99563250e-01 -5.31636587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414012739 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.68, Z:-0.53 [[ 9.93663119e-01 1.08389882e-01 2.97529722e-02 1.37293185e+01] [-1.08368899e-01 9.94108038e-01 -2.32162428e-03 -6.81266191e-01] [-2.98293094e-02 -9.17384406e-04 9.99554586e-01 -5.32503050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.68, Z:-0.53 [[ 9.93667384e-01 1.08263972e-01 3.00673060e-02 1.37610147e+01] [-1.08242324e-01 9.94121758e-01 -2.35147842e-03 -6.81497353e-01] [-3.01451435e-02 -9.17967672e-04 9.99545110e-01 -5.34749539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474012739 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.68, Z:-0.54 [[ 9.93776111e-01 1.07300766e-01 2.99263692e-02 1.37938592e+01] [-1.07278729e-01 9.94226218e-01 -2.34564427e-03 -6.83023588e-01] [-3.00052703e-02 -8.79417620e-04 9.99549354e-01 -5.35676256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.68, Z:-0.54 [[ 9.94042108e-01 1.04711062e-01 3.02635393e-02 1.38262413e+01] [-1.04687150e-01 9.94502361e-01 -2.37789064e-03 -6.83053915e-01] [-3.03461527e-02 -8.04480245e-04 9.99539126e-01 -5.35361976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.68, Z:-0.54 [[ 9.94130535e-01 1.03571070e-01 3.12652075e-02 1.38597143e+01] [-1.03544803e-01 9.94621742e-01 -2.46242915e-03 -6.84670299e-01] [-3.13520916e-02 -7.89373726e-04 9.99508091e-01 -5.35375165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.69, Z:-0.54 [[ 9.94253217e-01 1.02323179e-01 3.14723432e-02 1.38917212e+01] [-1.02295748e-01 9.94750927e-01 -2.48475853e-03 -6.85615941e-01] [-3.15613909e-02 -7.49007714e-04 9.99501535e-01 -5.35248122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594012739 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.68, Z:-0.54 [[ 9.94410103e-01 1.00381423e-01 3.27431931e-02 1.39246846e+01] [-1.00350530e-01 9.94948775e-01 -2.58963966e-03 -6.84945203e-01] [-3.28377516e-02 -7.10632940e-04 9.99460443e-01 -5.36388324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.69, Z:-0.54 [[ 9.94485850e-01 9.97031345e-02 3.25143061e-02 1.39567968e+01] [-9.96721229e-02 9.95016998e-01 -2.57725754e-03 -6.86200115e-01] [-3.26092479e-02 -6.77723767e-04 9.99467947e-01 -5.37430869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654012739 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.69, Z:-0.54 [[ 9.94576182e-01 9.89548306e-02 3.20337122e-02 1.39899161e+01] [-9.89242110e-02 9.95091721e-01 -2.54321017e-03 -6.86937863e-01] [-3.21281447e-02 -6.39493446e-04 9.99483553e-01 -5.38364144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.69, Z:-0.54 [[ 9.94568665e-01 9.91981526e-02 3.15102768e-02 1.40230378e+01] [-9.91684598e-02 9.95067499e-01 -2.50759563e-03 -6.88678145e-01] [-3.16036012e-02 -6.30849580e-04 9.99500282e-01 -5.38727552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714012739 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.69, Z:-0.54 [[ 9.94524356e-01 9.97965640e-02 3.10153286e-02 1.40546396e+01] [-9.97679122e-02 9.95007660e-01 -2.47384194e-03 -6.90117244e-01] [-3.11073704e-02 -6.34038519e-04 9.99515848e-01 -5.39619006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.69, Z:-0.54 [[ 9.94513141e-01 1.00269973e-01 2.98252496e-02 1.40873229e+01] [-1.00243582e-01 9.94960073e-01 -2.38253067e-03 -6.90873007e-01] [-2.99138288e-02 -6.20331803e-04 9.99552289e-01 -5.41906775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774012739 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.69, Z:-0.54 [[ 9.94532604e-01 1.00275042e-01 2.91515829e-02 1.41206405e+01] [-1.00249673e-01 9.94959574e-01 -2.33417194e-03 -6.93427395e-01] [-2.92387057e-02 -6.01026556e-04 9.99572277e-01 -5.43209028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.69, Z:-0.54 [[ 9.94660996e-01 9.90231610e-02 2.90502483e-02 1.41524570e+01] [-9.89972743e-02 9.95084973e-01 -2.33154754e-03 -6.93495608e-01] [-2.91383428e-02 -5.56796001e-04 9.99575233e-01 -5.43667032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834012739 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.70, Z:-0.53 [[ 9.94664926e-01 9.89985434e-02 2.89995418e-02 1.41856040e+01] [-9.89725862e-02 9.95087426e-01 -2.33264643e-03 -6.97905459e-01] [-2.90880080e-02 -5.49958064e-04 9.99576703e-01 -5.31097845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.70, Z:-0.55 [[ 9.94727793e-01 9.80369470e-02 3.00894355e-02 1.42179253e+01] [-9.80083839e-02 9.95182632e-01 -2.42621657e-03 -6.98417372e-01] [-3.01823425e-02 -5.35591893e-04 9.99544266e-01 -5.45351129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894012739 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.70, Z:-0.54 [[ 9.94802356e-01 9.68647014e-02 3.13927206e-02 1.42498572e+01] [-9.68328344e-02 9.95297425e-01 -2.53740602e-03 -7.01562049e-01] [-3.14908790e-02 -5.15628623e-04 9.99503906e-01 -5.44699814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.70, Z:-0.55 [[ 9.94817279e-01 9.65630474e-02 3.18458582e-02 1.42813321e+01] [-9.65299176e-02 9.95326740e-01 -2.57971449e-03 -7.03507555e-01] [-3.19461393e-02 -5.07733522e-04 9.99489463e-01 -5.45235577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954012739 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.70, Z:-0.55 [[ 9.94868322e-01 9.63507179e-02 3.08797921e-02 1.43146431e+01] [-9.63193017e-02 9.95347331e-01 -2.50674683e-03 -7.04474025e-01] [-3.09776455e-02 -4.80436991e-04 9.99519962e-01 -5.47013120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.71, Z:-0.55 [[ 9.94932064e-01 9.61276976e-02 2.94898950e-02 1.43461472e+01] [-9.60987922e-02 9.95368910e-01 -2.39919095e-03 -7.06991654e-01] [-2.95839533e-02 -4.46911287e-04 9.99562199e-01 -5.48550590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014012738999998 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.71, Z:-0.55 [[ 9.94975055e-01 9.59539778e-02 2.85915166e-02 1.43794488e+01] [-9.59265953e-02 9.95385681e-01 -2.33097934e-03 -7.10001153e-01] [-2.86832530e-02 -4.23420541e-04 9.99588461e-01 -5.49037584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.71, Z:-0.55 [[ 9.94972098e-01 9.60294068e-02 2.84407630e-02 1.44126746e+01] [-9.60021925e-02 9.95378410e-01 -2.32396492e-03 -7.11203781e-01] [-2.85324904e-02 -4.18095342e-04 9.99592778e-01 -5.48889350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074012739 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.71, Z:-0.55 [[ 9.94878578e-01 9.68759660e-02 2.88385429e-02 1.44449195e+01] [-9.68481826e-02 9.95296363e-01 -2.36192565e-03 -7.12483333e-01] [-2.89317107e-02 -4.43131232e-04 9.99581292e-01 -5.49351494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.71, Z:-0.55 [[ 9.94826549e-01 9.73110815e-02 2.91665985e-02 1.44769234e+01] [-9.72826982e-02 9.95253910e-01 -2.39394959e-03 -7.12925772e-01] [-2.92611290e-02 -4.55840790e-04 9.99571698e-01 -5.50707295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134012739 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.72, Z:-0.55 [[ 9.94968713e-01 9.59237770e-02 2.89117318e-02 1.45099276e+01] [-9.58951590e-02 9.95388599e-01 -2.37796452e-03 -7.15456487e-01] [-2.90065116e-02 -4.06494827e-04 9.99579140e-01 -5.51954638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.72, Z:-0.55 [[ 9.95173551e-01 9.36900772e-02 2.91851494e-02 1.45430758e+01] [-9.36597984e-02 9.95601353e-01 -2.40579430e-03 -7.18574762e-01] [-2.92821733e-02 -3.39292350e-04 9.99571128e-01 -5.52902153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194012738999998 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.72, Z:-0.55 [[ 9.95681928e-01 8.74984768e-02 3.10083043e-02 1.45745446e+01] [-8.74611089e-02 9.96164640e-01 -2.56199574e-03 -7.21623360e-01] [-3.11135470e-02 -1.61087821e-04 9.99515843e-01 -5.51419928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.73, Z:-0.55 [[ 9.96296501e-01 8.02528447e-02 3.08668592e-02 1.46069019e+01] [-8.02121748e-02 9.96774536e-01 -2.55558964e-03 -7.27362433e-01] [-3.09723926e-02 7.02271148e-05 9.99520238e-01 -5.52836472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.73, Z:-0.55 [[ 9.96594763e-01 7.66393304e-02 3.04186129e-02 1.46384258e+01] [-7.65979869e-02 9.97058864e-01 -2.52382367e-03 -7.31880274e-01] [-3.05225718e-02 1.85224935e-04 9.99534061e-01 -5.53976435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.74, Z:-0.56 [[ 9.96855661e-01 7.33520222e-02 2.99712016e-02 1.46709755e+01] [-7.33102925e-02 9.97306071e-01 -2.49028962e-03 -7.36014487e-01] [-3.00731291e-02 2.85261746e-04 9.99547660e-01 -5.55035128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.74, Z:-0.56 [[ 9.97017730e-01 7.13405841e-02 2.94307218e-02 1.47030867e+01] [-7.12993053e-02 9.97451955e-01 -2.45096226e-03 -7.40295686e-01] [-2.95305841e-02 3.45262804e-04 9.99563818e-01 -5.55745150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.75, Z:-0.56 [[ 9.97154247e-01 6.95853429e-02 2.90049695e-02 1.47346376e+01] [-6.95443572e-02 9.97575923e-01 -2.42067485e-03 -7.45269630e-01] [-2.91031027e-02 3.96654247e-04 9.99576336e-01 -5.56454011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374012739 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.75, Z:-0.56 [[ 9.97071993e-01 7.07460027e-02 2.90248702e-02 1.47672603e+01] [-7.07053111e-02 9.97494295e-01 -2.42717788e-03 -7.50688545e-01] [-2.91238555e-02 3.67858607e-04 9.99575743e-01 -5.57200009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.75, Z:-0.56 [[ 9.96999551e-01 7.20099255e-02 2.83983570e-02 1.48000415e+01] [-7.19714172e-02 9.97403862e-01 -2.37715405e-03 -7.54769602e-01] [-2.84958096e-02 3.26151517e-04 9.99593859e-01 -5.57862890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434012739 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.76, Z:-0.56 [[ 9.96895679e-01 7.35599744e-02 2.80701800e-02 1.48318041e+01] [-7.35228145e-02 9.97290755e-01 -2.35503592e-03 -7.58945469e-01] [-2.81673674e-02 2.83926497e-04 9.99603181e-01 -5.58427304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.76, Z:-0.56 [[ 9.96713735e-01 7.61467151e-02 2.76298324e-02 1.48645562e+01] [-7.61116144e-02 9.97096602e-01 -2.32137831e-03 -7.63054590e-01] [-2.77263773e-02 2.10798503e-04 9.99615528e-01 -5.59193078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494012739 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.77, Z:-0.56 [[ 9.96632589e-01 7.71641078e-02 2.77341382e-02 1.48961923e+01] [-7.71289888e-02 9.97018387e-01 -2.33540805e-03 -7.65917620e-01] [-2.78316555e-02 1.88437728e-04 9.99612607e-01 -5.60439639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.77, Z:-0.56 [[ 9.96480407e-01 7.85888174e-02 2.91649966e-02 1.49292747e+01] [-7.85504314e-02 9.96907103e-01 -2.46132283e-03 -7.70312476e-01] [-2.92682247e-02 1.61736911e-04 9.99571581e-01 -5.60541107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554012739 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.77, Z:-0.56 [[ 9.96460861e-01 7.86739082e-02 2.96001575e-02 1.49611138e+01] [-7.86342378e-02 9.96900390e-01 -2.50368544e-03 -7.73787363e-01] [-2.97053833e-02 1.67238721e-04 9.99558684e-01 -5.60758104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.78, Z:-0.55 [[ 9.96477378e-01 7.84062409e-02 2.97539413e-02 1.49934057e+01] [-7.83658806e-02 9.96921476e-01 -2.52195637e-03 -7.78014787e-01] [-2.98600802e-02 1.81378654e-04 9.99554072e-01 -5.52216551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614012739 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.78, Z:-0.56 [[ 9.96491397e-01 7.85355350e-02 2.89320996e-02 1.50259387e+01] [-7.84972846e-02 9.96911299e-01 -2.45725253e-03 -7.81464132e-01] [-2.90357186e-02 1.77539753e-04 9.99578359e-01 -5.62126028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.79, Z:-0.56 [[ 9.96464409e-01 7.93260929e-02 2.76776416e-02 1.50587471e+01] [-7.92912483e-02 9.96848708e-01 -2.35592374e-03 -7.85949661e-01] [-2.77773075e-02 1.52999402e-04 9.99614124e-01 -5.64129342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674012739 meters Centerline goodness : 0.987345 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.79, Z:-0.55 [[ 9.96331745e-01 8.14765709e-02 2.61652733e-02 1.50919657e+01] [-8.14460455e-02 9.96675253e-01 -2.23201306e-03 -7.91798655e-01] [-2.62601372e-02 9.27674233e-05 9.99655139e-01 -5.51323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.79, Z:-0.57 [[ 9.96207987e-01 8.27233425e-02 2.69535836e-02 1.51238993e+01] [-8.26912568e-02 9.96572548e-01 -2.30476767e-03 -7.92303005e-01] [-2.70518595e-02 6.72022579e-05 9.99634029e-01 -5.65391861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734012739 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.79, Z:-0.57 [[ 9.96026236e-01 8.46692281e-02 2.76199041e-02 1.51568901e+01] [-8.46361383e-02 9.96409113e-01 -2.36699733e-03 -7.94510002e-01] [-2.77211360e-02 1.99494110e-05 9.99615695e-01 -5.65938384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.80, Z:-0.55 [[ 9.95836973e-01 8.68154943e-02 2.77811689e-02 1.51902614e+01] [-8.67826977e-02 9.96224407e-01 -2.38634016e-03 -7.98429406e-01] [-2.78834498e-02 -3.45190196e-05 9.99611180e-01 -5.53961668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.80, Z:-0.57 [[ 9.95364007e-01 9.17261986e-02 2.89274651e-02 1.52221685e+01] [-9.16925394e-02 9.95784251e-01 -2.49073060e-03 -7.97391247e-01] [-2.90339794e-02 -1.73249145e-04 9.99578410e-01 -5.66193405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.80, Z:-0.57 [[ 9.95124444e-01 9.38950729e-02 3.01837068e-02 1.52552394e+01] [-9.38592479e-02 9.95582070e-01 -2.60468860e-03 -7.95201746e-01] [-3.02949247e-02 -2.41030728e-04 9.99540974e-01 -5.67526761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854012738999998 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.80, Z:-0.56 [[ 9.95145871e-01 9.35922224e-02 3.04169541e-02 1.52878138e+01] [-9.35555225e-02 9.95610589e-01 -2.63062760e-03 -7.96683382e-01] [-3.05296478e-02 -2.27815841e-04 9.99533836e-01 -5.64997652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.80, Z:-0.57 [[ 9.95138178e-01 9.36741335e-02 3.04165104e-02 1.53211751e+01] [-9.36373154e-02 9.95602886e-01 -2.63574760e-03 -7.99709215e-01] [-3.05296669e-02 -2.25187319e-04 9.99533836e-01 -5.65921498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914012739 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.80, Z:-0.57 [[ 9.95242950e-01 9.29055994e-02 2.93260991e-02 1.53540877e+01] [-9.28709653e-02 9.95674903e-01 -2.54381806e-03 -8.00694684e-01] [-2.94355958e-02 -1.91826140e-04 9.99566661e-01 -5.71275427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters Centerline goodness : 0.996742 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.80, Z:-0.57 [[ 9.95374478e-01 9.20653476e-02 2.74521288e-02 1.53856114e+01] [-9.20345395e-02 9.95752956e-01 -2.38634615e-03 -8.02811734e-01] [-2.75552382e-02 -1.51235982e-04 9.99620271e-01 -5.72866162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974012739 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.80, Z:-0.57 [[ 9.95716978e-01 8.91301354e-02 2.45666014e-02 1.54180206e+01] [-8.91044677e-02 9.96019988e-01 -2.13969429e-03 -8.01931351e-01] [-2.46595372e-02 -5.84640046e-05 9.99695906e-01 -5.74071947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.80, Z:-0.57 [[ 9.95890461e-01 8.69541526e-02 2.53212387e-02 1.54512970e+01] [-8.69261029e-02 9.96212314e-01 -2.20846226e-03 -8.00821842e-01] [-2.54173647e-02 -1.69009470e-06 9.99676927e-01 -5.74424215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034012738999998 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.80, Z:-0.58 [[ 9.95934480e-01 8.63441137e-02 2.56750176e-02 1.54839157e+01] [-8.63149431e-02 9.96265373e-01 -2.24431232e-03 -8.03396841e-01] [-2.57729141e-02 1.90503401e-05 9.99667823e-01 -5.75400151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters Centerline goodness : 0.984472 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.81, Z:-0.56 [[ 9.95932205e-01 8.64421975e-02 2.54320590e-02 1.55160315e+01] [-8.64134806e-02 9.96256867e-01 -2.22807847e-03 -8.08541790e-01] [-2.55294634e-02 2.13423664e-05 9.99674070e-01 -5.61392952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094012739 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.81, Z:-0.58 [[ 9.95951852e-01 8.62753717e-02 2.52283476e-02 1.55493584e+01] [-8.62469433e-02 9.96271328e-01 -2.21482233e-03 -8.06483492e-01] [-2.53253640e-02 2.99885382e-05 9.99679261e-01 -5.76482444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.81, Z:-0.58 [[ 9.95898240e-01 8.69038460e-02 2.51876451e-02 1.55809748e+01] [-8.68755860e-02 9.96216704e-01 -2.21615840e-03 -8.07985238e-01] [-2.52849455e-02 1.88768245e-05 9.99680284e-01 -5.77559591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154012739 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.81, Z:-0.58 [[ 9.95854140e-01 8.73954398e-02 2.52303119e-02 1.56131924e+01] [-8.73671224e-02 9.96173698e-01 -2.22462302e-03 -8.12557380e-01] [-2.53281950e-02 1.11002952e-05 9.99679190e-01 -5.78710191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.82, Z:-0.58 [[ 9.95864205e-01 8.71299943e-02 2.57458647e-02 1.56459646e+01] [-8.71003424e-02 9.96196950e-01 -2.27304155e-03 -8.15835883e-01] [-2.58460019e-02 2.11670877e-05 9.99665936e-01 -5.78957080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214012739 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.82, Z:-0.58 [[ 9.95903539e-01 8.65522601e-02 2.61695849e-02 1.56780898e+01] [-8.65212852e-02 9.96247311e-01 -2.31575025e-03 -8.17618232e-01] [-2.62718120e-02 4.20377557e-05 9.99654835e-01 -5.79563140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.82, Z:-0.58 [[ 9.96073849e-01 8.44618120e-02 2.65158205e-02 1.57104492e+01] [-8.44291858e-02 9.96426712e-01 -2.34959695e-03 -8.19079971e-01] [-2.66195231e-02 1.01662935e-04 9.99645633e-01 -5.80926617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.82, Z:-0.58 [[ 9.96115170e-01 8.37592028e-02 2.71838942e-02 1.57429637e+01] [-8.37245129e-02 9.96486016e-01 -2.41381633e-03 -8.23213355e-01] [-2.72905497e-02 1.28480761e-04 9.99627535e-01 -5.81043156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.83, Z:-0.58 [[ 9.96139107e-01 8.33020743e-02 2.77064038e-02 1.57750339e+01] [-8.32657070e-02 9.96524331e-01 -2.46574383e-03 -8.25909498e-01] [-2.78155071e-02 1.49230552e-04 9.99613063e-01 -5.80411955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.83, Z:-0.58 [[ 9.96129187e-01 8.35656595e-02 2.72658034e-02 1.58078928e+01] [-8.35304057e-02 9.96502263e-01 -2.43138532e-03 -8.27497416e-01] [-2.73736151e-02 1.44450268e-04 9.99625262e-01 -5.81626205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.83, Z:-0.58 [[ 9.96120527e-01 8.39233841e-02 2.64719138e-02 1.58398511e+01] [-8.38901498e-02 9.96472201e-01 -2.36549013e-03 -8.29475414e-01] [-2.65770461e-02 1.35580456e-04 9.99646759e-01 -5.83607741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394012739 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.83, Z:-0.59 [[ 9.96036009e-01 8.50041703e-02 2.62022778e-02 1.58730690e+01] [-8.49719058e-02 9.96380590e-01 -2.34435132e-03 -8.32802502e-01] [-2.63067206e-02 1.08600852e-04 9.99653912e-01 -5.85082264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.83, Z:-0.59 [[ 9.95936472e-01 8.59845008e-02 2.67807639e-02 1.59063394e+01] [-8.59510131e-02 9.96296471e-01 -2.40119756e-03 -8.34608904e-01] [-2.68880464e-02 8.96064338e-05 9.99638447e-01 -5.85795352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454012739 meters Centerline goodness : 0.996014 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.83, Z:-0.59 [[ 9.95779176e-01 8.78434665e-02 2.65962050e-02 1.59382855e+01] [-8.78109645e-02 9.96134290e-01 -2.38978763e-03 -8.33166001e-01] [-2.67033190e-02 4.42623462e-05 9.99643402e-01 -5.87038010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.84, Z:-0.59 [[ 9.95755331e-01 8.83721425e-02 2.57232537e-02 1.59701159e+01] [-8.83417997e-02 9.96087528e-01 -2.31584077e-03 -8.35261479e-01] [-2.58272680e-02 3.35722678e-05 9.99666420e-01 -5.88499078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514012738999998 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.84, Z:-0.59 [[ 9.95786408e-01 8.81545918e-02 2.52625841e-02 1.60034024e+01] [-8.81251488e-02 9.96106805e-01 -2.27860134e-03 -8.38396880e-01] [-2.53651011e-02 4.27312642e-05 9.99678253e-01 -5.89580905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.84, Z:-0.59 [[ 9.95970373e-01 8.60825324e-02 2.51557918e-02 1.60366662e+01] [-8.60525557e-02 9.96288004e-01 -2.27376606e-03 -8.42148258e-01] [-2.52581452e-02 9.98834570e-05 9.99680957e-01 -5.90510843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574012739 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.85, Z:-0.59 [[ 9.96056019e-01 8.47689119e-02 2.62037874e-02 1.60693282e+01] [-8.47357911e-02 9.96400628e-01 -2.37379197e-03 -8.45606222e-01] [-2.63106940e-02 1.44031123e-04 9.99653803e-01 -5.91313171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.85, Z:-0.59 [[ 9.96250505e-01 8.22286606e-02 2.68956978e-02 1.61007801e+01] [-8.21926971e-02 9.96613465e-01 -2.44181492e-03 -8.49652427e-01] [-2.70054018e-02 2.22029397e-04 9.99635263e-01 -5.91268140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.85, Z:-0.59 [[ 9.96338943e-01 8.12467746e-02 2.66021026e-02 1.61332890e+01] [-8.12111158e-02 9.96693985e-01 -2.41989312e-03 -8.53713518e-01] [-2.67107642e-02 2.50647322e-04 9.99643172e-01 -5.92392505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.86, Z:-0.59 [[ 9.96398459e-01 8.06762853e-02 2.61045675e-02 1.61648701e+01] [-8.06416224e-02 9.96740320e-01 -2.37958989e-03 -8.59172400e-01] [-2.62114515e-02 2.65905021e-04 9.99656386e-01 -5.93334664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694012738999998 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.86, Z:-0.59 [[ 9.96364750e-01 8.11818339e-02 2.58223777e-02 1.61980595e+01] [-8.11479681e-02 9.96699275e-01 -2.35842277e-03 -8.63395668e-01] [-2.59286062e-02 2.54415828e-04 9.99663765e-01 -5.94136046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.87, Z:-0.59 [[ 9.96275671e-01 8.22186016e-02 2.59786212e-02 1.62309146e+01] [-8.21845479e-02 9.96614292e-01 -2.37764161e-03 -8.67328340e-01] [-2.60861515e-02 2.33745254e-04 9.99659671e-01 -5.94526613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754012739 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.87, Z:-0.59 [[ 9.96111131e-01 8.43168495e-02 2.55594215e-02 1.62629996e+01] [-8.42844504e-02 9.96438978e-01 -2.34418945e-03 -8.72149692e-01] [-2.56660585e-02 1.80811412e-04 9.99670556e-01 -5.94810347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.88, Z:-0.60 [[ 9.96035621e-01 8.51636726e-02 2.56941704e-02 1.62953173e+01] [-8.51311364e-02 9.96366962e-01 -2.35950291e-03 -8.75518986e-01] [-2.58017665e-02 1.62775020e-04 9.99667066e-01 -5.95088649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814012739 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.88, Z:-0.60 [[ 9.95953756e-01 8.57876885e-02 2.67691827e-02 1.63280877e+01] [-8.57524650e-02 9.96313428e-01 -2.46314703e-03 -8.79224238e-01] [-2.68818039e-02 1.57657128e-04 9.99638607e-01 -5.96212856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.88, Z:-0.60 [[ 9.95917251e-01 8.59752722e-02 2.75151065e-02 1.63596145e+01] [-8.59379795e-02 9.96297258e-01 -2.53721083e-03 -8.82711606e-01] [-2.76313626e-02 1.62259374e-04 9.99618168e-01 -5.96799161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874012739 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.89, Z:-0.60 [[ 9.95895616e-01 8.61891003e-02 2.76290010e-02 1.63928183e+01] [-8.61514425e-02 9.96278783e-01 -2.55268177e-03 -8.86548498e-01] [-2.77462008e-02 1.61926296e-04 9.99614987e-01 -5.97734966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.89, Z:-0.60 [[ 9.95843053e-01 8.67122194e-02 2.78855774e-02 1.64242100e+01] [-8.66739134e-02 9.96233390e-01 -2.58175590e-03 -8.90294562e-01] [-2.80044131e-02 1.54071553e-04 9.99607788e-01 -5.97654975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.89, Z:-0.60 [[ 9.95793399e-01 8.73672108e-02 2.76129714e-02 1.64575399e+01] [-8.73297667e-02 9.96176165e-01 -2.56139614e-03 -8.93910109e-01] [-2.77311660e-02 1.39187011e-04 9.99615408e-01 -5.98135271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.90, Z:-0.60 [[ 9.95681352e-01 8.89511505e-02 2.65770203e-02 1.64907238e+01] [-8.89169044e-02 9.96035985e-01 -2.46992365e-03 -8.95709777e-01] [-2.66913712e-02 9.61105480e-05 9.99643717e-01 -6.00347715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994012739 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.90, Z:-0.60 [[ 9.95552429e-01 9.05253968e-02 2.60866701e-02 1.65228379e+01] [-9.04928143e-02 9.95894146e-01 -2.42927313e-03 -8.97498649e-01] [-2.61994729e-02 5.78125772e-05 9.99656733e-01 -6.01923177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.90, Z:-0.60 [[ 9.95416400e-01 9.19969492e-02 2.61295060e-02 1.65546792e+01] [-9.19646435e-02 9.95759289e-01 -2.43794677e-03 -8.99268591e-01] [-2.62429820e-02 2.37814919e-05 9.99655593e-01 -6.02918572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054012739 meters Centerline goodness : 0.988229 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.90, Z:-0.59 [[ 9.95256061e-01 9.35388749e-02 2.67554135e-02 1.65865667e+01] [-9.35054290e-02 9.95615628e-01 -2.50120361e-03 -9.02664211e-01] [-2.68720675e-02 -1.24383568e-05 9.99638881e-01 -5.93730305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.90, Z:-0.60 [[ 9.95190155e-01 9.39004166e-02 2.79153493e-02 1.66198273e+01] [-9.38640055e-02 9.95581595e-01 -2.61477020e-03 -9.03478193e-01] [-2.80375360e-02 -1.80529391e-05 9.99606871e-01 -6.03319340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114012739 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.91, Z:-0.60 [[ 9.95184737e-01 9.38629173e-02 2.82328047e-02 1.66520638e+01] [-9.38255043e-02 9.95585131e-01 -2.64992842e-03 -9.06207056e-01] [-2.83568906e-02 -1.17888214e-05 9.99597862e-01 -6.04326373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.91, Z:-0.61 [[ 9.95300736e-01 9.28595351e-02 2.74509092e-02 1.66837034e+01] [-9.28236539e-02 9.95679219e-01 -2.58127459e-03 -9.08014382e-01] [-2.75719958e-02 2.10508018e-05 9.99619820e-01 -6.05780420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174012739 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.91, Z:-0.61 [[ 9.95381381e-01 9.20801774e-02 2.71504648e-02 1.67155733e+01] [-9.20446597e-02 9.95751595e-01 -2.55771060e-03 -9.10213287e-01] [-2.72706331e-02 4.68422139e-05 9.99628086e-01 -6.07410537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.91, Z:-0.61 [[ 9.95536914e-01 9.06376933e-02 2.62880294e-02 1.67489713e+01] [-9.06037782e-02 9.95883929e-01 -2.48083937e-03 -9.10927021e-01] [-2.64046836e-02 8.79723857e-05 9.99651332e-01 -6.09063201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234012739 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.91, Z:-0.61 [[ 9.95584073e-01 9.01811183e-02 2.60714363e-02 1.67820562e+01] [-9.01474768e-02 9.95925376e-01 -2.46522989e-03 -9.13406191e-01] [-2.61875222e-02 1.04069415e-04 9.99657043e-01 -6.10110081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.92, Z:-0.61 [[ 9.95624134e-01 8.97388693e-02 2.60676069e-02 1.68140690e+01] [-8.97049574e-02 9.95965321e-01 -2.46978036e-03 -9.16389992e-01] [-2.61840678e-02 1.20579369e-04 9.99657131e-01 -6.10553643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.92, Z:-0.61 [[ 9.95685637e-01 8.89597959e-02 2.63868810e-02 1.68471411e+01] [-8.89246507e-02 9.96035207e-01 -2.50470098e-03 -9.19940795e-01] [-2.65050801e-02 1.47450616e-04 9.99648668e-01 -6.11685237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.92, Z:-0.61 [[ 9.95850023e-01 8.73014503e-02 2.57135760e-02 1.68801449e+01] [-8.72674005e-02 9.96181921e-01 -2.44554260e-03 -9.24799022e-01] [-2.58288990e-02 1.91436721e-04 9.99666360e-01 -6.13259694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354012738999998 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.93, Z:-0.62 [[ 9.95973321e-01 8.62209486e-02 2.45579466e-02 1.69122716e+01] [-8.61894499e-02 9.96276017e-01 -2.34020593e-03 -9.28580305e-01] [-2.46682680e-02 2.14146761e-04 9.99695669e-01 -6.15490259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.94, Z:-0.62 [[ 9.96240060e-01 8.33054809e-02 2.37894709e-02 1.69435144e+01] [-8.32749927e-02 9.96524018e-01 -2.27112035e-03 -9.35551519e-01] [-2.38959759e-02 2.81513062e-04 9.99714411e-01 -6.16672485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414012739 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.94, Z:-0.62 [[ 9.96325397e-01 8.21048933e-02 2.43821462e-02 1.69759949e+01] [-8.20723950e-02 9.96623641e-01 -2.33228579e-03 -9.42589956e-01] [-2.44913154e-02 3.22614437e-04 9.99699991e-01 -6.16580851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.95, Z:-0.62 [[ 9.96436751e-01 8.07022295e-02 2.45143300e-02 1.70080415e+01] [-8.06688322e-02 9.96738189e-01 -2.34985450e-03 -9.49227442e-01] [-2.46240074e-02 3.63939011e-04 9.99696717e-01 -6.15869604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474012739 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.96, Z:-0.62 [[ 9.96528508e-01 7.93484453e-02 2.51943693e-02 1.70401344e+01] [-7.93126626e-02 9.96846856e-01 -2.41795978e-03 -9.57159590e-01] [-2.53067892e-02 4.11333342e-04 9.99679647e-01 -6.16737919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.96, Z:-0.62 [[ 9.96501959e-01 7.95182056e-02 2.57041122e-02 1.70728205e+01] [-7.94808904e-02 9.96833325e-01 -2.47175832e-03 -9.63121714e-01] [-2.58192654e-02 4.20126284e-04 9.99666539e-01 -6.17916394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534012738999998 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.97, Z:-0.62 [[ 9.96465910e-01 7.97060687e-02 2.65072157e-02 1.71049415e+01] [-7.96663136e-02 9.96818316e-01 -2.55415064e-03 -9.69953945e-01] [-2.66264594e-02 4.33391880e-04 9.99645359e-01 -6.18995934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.98, Z:-0.62 [[ 9.96470844e-01 7.94060782e-02 2.72127080e-02 1.71357630e+01] [-7.93639229e-02 9.96842247e-01 -2.62737896e-03 -9.80661602e-01] [-2.73354069e-02 4.58399266e-04 9.99626213e-01 -6.19740891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.99, Z:-0.62 [[ 9.96471208e-01 7.94936773e-02 2.69422767e-02 1.71678322e+01] [-7.94522615e-02 9.96835266e-01 -2.60593942e-03 -9.86053193e-01] [-2.70641673e-02 4.56118784e-04 9.99633594e-01 -6.19714217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.99, Z:-0.62 [[ 9.96449986e-01 8.02934706e-02 2.53057955e-02 1.71997824e+01] [-8.02570880e-02 9.96771182e-01 -2.45174780e-03 -9.93070932e-01] [-2.54209470e-02 4.12074614e-04 9.99676751e-01 -6.22783367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654012739 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.00, Z:-0.62 [[ 9.96416307e-01 8.08561245e-02 2.48360858e-02 1.72326232e+01] [-8.08211428e-02 9.96725705e-01 -2.41072957e-03 -9.99154349e-01] [-2.49496874e-02 3.94809413e-04 9.99688630e-01 -6.24828331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.01, Z:-0.63 [[ 9.96370798e-01 8.13734787e-02 2.49717620e-02 1.72653611e+01] [-8.13381592e-02 9.96683604e-01 -2.42855479e-03 -1.00576549e+00] [-2.50865657e-02 3.88583918e-04 9.99685207e-01 -6.25508677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714012739 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.01, Z:-0.63 [[ 9.96354482e-01 8.08880590e-02 2.71084488e-02 1.72964453e+01] [-8.08461041e-02 9.96723095e-01 -2.64191625e-03 -1.01385175e+00] [-2.72333164e-02 4.40672620e-04 9.99629007e-01 -6.25471680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.02, Z:-0.63 [[ 9.96378771e-01 8.02909835e-02 2.79768120e-02 1.73285816e+01] [-8.02459200e-02 9.96771353e-01 -2.73158948e-03 -1.01914308e+00] [-2.81058067e-02 4.76672757e-04 9.99604840e-01 -6.26644555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774012739 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.02, Z:-0.63 [[ 9.96372068e-01 8.03742093e-02 2.79765849e-02 1.73619059e+01] [-8.03291133e-02 9.96764646e-01 -2.73391296e-03 -1.02253205e+00] [-2.81058069e-02 4.76660246e-04 9.99604840e-01 -6.27568509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.03, Z:-0.63 [[ 9.96365977e-01 8.04352307e-02 2.80180919e-02 1.73932076e+01] [-8.03899567e-02 9.96759723e-01 -2.74038883e-03 -1.03121104e+00] [-2.81477293e-02 4.78057005e-04 9.99603660e-01 -6.29230596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834012739 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.04, Z:-0.63 [[ 9.96307635e-01 8.12527264e-02 2.77325051e-02 1.74257821e+01] [-8.12085502e-02 9.96693427e-01 -2.71737973e-03 -1.03772284e+00] [-2.78616001e-02 4.55229638e-04 9.99611687e-01 -6.30723510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.04, Z:-0.63 [[ 9.96266566e-01 8.19666065e-02 2.70999173e-02 1.74573708e+01] [-8.19245543e-02 9.96634984e-01 -2.66027193e-03 -1.04360828e+00] [-2.72267791e-02 4.30191332e-04 9.99629190e-01 -6.32012646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.05, Z:-0.63 [[ 9.96208643e-01 8.32795734e-02 2.51565730e-02 1.74894638e+01] [-8.32436550e-02 9.96526154e-01 -2.47348571e-03 -1.05173805e+00] [-2.52751737e-02 3.69982757e-04 9.99680463e-01 -6.32993699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.06, Z:-0.63 [[ 9.96157085e-01 8.41862755e-02 2.41605653e-02 1.75221174e+01] [-8.41533130e-02 9.96449977e-01 -2.37963436e-03 -1.05721441e+00] [-2.42751273e-02 3.37298016e-04 9.99705259e-01 -6.33970743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954012739 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.06, Z:-0.63 [[ 9.96085761e-01 8.51506854e-02 2.37174596e-02 1.75541066e+01] [-8.51190849e-02 9.96368036e-01 -2.34058386e-03 -1.06206149e+00] [-2.38306210e-02 3.12613791e-04 9.99715962e-01 -6.34911548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.07, Z:-0.64 [[ 9.95984023e-01 8.62595823e-02 2.39814569e-02 1.75865850e+01] [-8.62274894e-02 9.96272653e-01 -2.37104114e-03 -1.06665940e+00] [-2.40965947e-02 2.93658270e-04 9.99709592e-01 -6.35875382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014012738999998 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.07, Z:-0.64 [[ 9.95816570e-01 8.77400306e-02 2.55156146e-02 1.76185458e+01] [-8.77040472e-02 9.96143368e-01 -2.52810346e-03 -1.07271164e+00] [-2.56390261e-02 2.79704657e-04 9.99671227e-01 -6.36472522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters Centerline goodness : 0.987265 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.08, Z:-0.62 [[ 9.95838097e-01 8.71038005e-02 2.68218566e-02 1.76519330e+01] [-8.70636684e-02 9.96199191e-01 -2.66267064e-03 -1.08017053e+00] [-2.69518406e-02 3.16379638e-04 9.99636683e-01 -6.20806899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074012739 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.08, Z:-0.64 [[ 9.95731677e-01 8.78918272e-02 2.81683219e-02 1.76829789e+01] [-8.78477172e-02 9.96129975e-01 -2.80204315e-03 -1.08302847e+00] [-2.83055865e-02 3.15560342e-04 9.99599267e-01 -6.35667883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.09, Z:-0.64 [[ 9.95737029e-01 8.77136408e-02 2.85322080e-02 1.77156707e+01] [-8.76681605e-02 9.96145676e-01 -2.84346770e-03 -1.08754492e+00] [-2.86716465e-02 3.29979893e-04 9.99588829e-01 -6.36765078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134012739 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.09, Z:-0.64 [[ 9.95780580e-01 8.73380793e-02 2.81619658e-02 1.77474454e+01] [-8.72934706e-02 9.96178670e-01 -2.81191227e-03 -1.09219061e+00] [-2.82999366e-02 3.41691904e-04 9.99599418e-01 -6.37548146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.10, Z:-0.64 [[ 9.95807211e-01 8.67908955e-02 2.89022294e-02 1.77794412e+01] [-8.67435250e-02 9.96226481e-01 -2.89114940e-03 -1.09759433e+00] [-2.90440917e-02 3.71946164e-04 9.99578062e-01 -6.37433730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194012738999998 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.10, Z:-0.64 [[ 9.95803700e-01 8.66930057e-02 2.93140531e-02 1.78122190e+01] [-8.66440774e-02 9.96235000e-01 -2.93762026e-03 -1.10175779e+00] [-2.94583569e-02 3.85404033e-04 9.99565934e-01 -6.37728031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.11, Z:-0.64 [[ 9.95738870e-01 8.76742047e-02 2.85891111e-02 1.78444204e+01] [-8.76279191e-02 9.96149140e-01 -2.87027151e-03 -1.10706849e+00] [-2.87306672e-02 3.52836593e-04 9.99587127e-01 -6.39256502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254012739 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.11, Z:-0.64 [[ 9.95717936e-01 8.81632360e-02 2.78035060e-02 1.78762066e+01] [-8.81195074e-02 9.96105984e-01 -2.79651581e-03 -1.11176324e+00] [-2.79417886e-02 3.34509699e-04 9.99609496e-01 -6.40811765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.12, Z:-0.64 [[ 9.95681039e-01 8.87125296e-02 2.73743557e-02 1.79083218e+01] [-8.86702177e-02 9.96057220e-01 -2.75809724e-03 -1.11760572e+00] [-2.75111024e-02 3.18895052e-04 9.99621447e-01 -6.41626250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314012739 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.12, Z:-0.64 [[ 9.95682107e-01 8.85204420e-02 2.79512816e-02 1.79413252e+01] [-8.84761010e-02 9.96074304e-01 -2.82158718e-03 -1.12196959e+00] [-2.80913215e-02 3.36383449e-04 9.99605304e-01 -6.42405551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.13, Z:-0.64 [[ 9.95705351e-01 8.80316918e-02 2.86579056e-02 1.79728727e+01] [-8.79847178e-02 9.96117608e-01 -2.89846492e-03 -1.12608085e+00] [-2.88018011e-02 3.64559292e-04 9.99585076e-01 -6.42638042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374012739 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.13, Z:-0.64 [[ 9.95794332e-01 8.68952288e-02 2.90321914e-02 1.80052442e+01] [-8.68463851e-02 9.96217372e-01 -2.94150866e-03 -1.13057560e+00] [-2.91779765e-02 4.07796770e-04 9.99574149e-01 -6.43937841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.14, Z:-0.65 [[ 9.96072923e-01 8.40517194e-02 2.78215925e-02 1.80380835e+01] [-8.40056145e-02 9.96461280e-01 -2.82392183e-03 -1.13842990e+00] [-2.79604952e-02 4.75662096e-04 9.99608916e-01 -6.45717545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434012739 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.15, Z:-0.65 [[ 9.96231040e-01 8.24626628e-02 2.69002554e-02 1.80706356e+01] [-8.24188488e-02 9.96594025e-01 -2.73534579e-03 -1.14504744e+00] [-2.70341977e-02 5.07948299e-04 9.99634380e-01 -6.46860186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.15, Z:-0.65 [[ 9.96389516e-01 8.06779114e-02 2.64387297e-02 1.81031979e+01] [-8.06348285e-02 9.96740072e-01 -2.69337513e-03 -1.15408005e+00] [-2.65698372e-02 5.51768305e-04 9.99646807e-01 -6.46614021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494012739 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.16, Z:-0.65 [[ 9.96375663e-01 8.08624873e-02 2.63969141e-02 1.81349301e+01] [-8.08194717e-02 9.96725115e-01 -2.69415155e-03 -1.15903170e+00] [-2.65283231e-02 5.51002383e-04 9.99647910e-01 -6.47101781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.16, Z:-0.65 [[ 9.96322607e-01 8.14201096e-02 2.66838714e-02 1.81675067e+01] [-8.13762248e-02 9.96679721e-01 -2.72822770e-03 -1.16366412e+00] [-2.68174061e-02 5.46762224e-04 9.99640199e-01 -6.48931970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554012739 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.17, Z:-0.65 [[ 9.96162685e-01 8.33109381e-02 2.68177830e-02 1.81998717e+01] [-8.32671588e-02 9.96523474e-01 -2.74701818e-03 -1.17257675e+00] [-2.69534069e-02 5.03436416e-04 9.99636564e-01 -6.50293213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.18, Z:-0.65 [[ 9.96102665e-01 8.40857124e-02 2.66284240e-02 1.82316902e+01] [-8.40426902e-02 9.96458408e-01 -2.73269864e-03 -1.17896979e+00] [-2.67638978e-02 4.84124012e-04 9.99641665e-01 -6.50028738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614012739 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.19, Z:-0.65 [[ 9.96003438e-01 8.53706800e-02 2.62487656e-02 1.82644898e+01] [-8.53292000e-02 9.96349159e-01 -2.69836112e-03 -1.18500542e+00] [-2.63832964e-02 4.47790788e-04 9.99651800e-01 -6.49912408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.19, Z:-0.65 [[ 9.95929621e-01 8.62350984e-02 2.62240061e-02 1.82970962e+01] [-8.61938614e-02 9.96274723e-01 -2.70092131e-03 -1.19021126e+00] [-2.63592286e-02 4.29579187e-04 9.99652443e-01 -6.51685019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674012739 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.20, Z:-0.65 [[ 9.95886974e-01 8.67715223e-02 2.60737009e-02 1.83299120e+01] [-8.67308058e-02 9.96228151e-01 -2.69057881e-03 -1.19629111e+00] [-2.62088205e-02 4.18119295e-04 9.99656402e-01 -6.53607005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.20, Z:-0.65 [[ 9.95770594e-01 8.80961476e-02 2.60766917e-02 1.83616572e+01] [-8.80557397e-02 9.96111900e-01 -2.69607682e-03 -1.20433968e+00] [-2.62128169e-02 3.88471641e-04 9.99656310e-01 -6.54471436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734012739 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.21, Z:-0.65 [[ 9.95672372e-01 8.91968506e-02 2.60854358e-02 1.83947936e+01] [-8.91566670e-02 9.96013950e-01 -2.70179194e-03 -1.20788827e+00] [-2.62224493e-02 3.64409080e-04 9.99656066e-01 -6.54855513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.22, Z:-0.65 [[ 9.95513008e-01 9.14343894e-02 2.43639713e-02 1.84257824e+01] [-9.16371613e-02 9.95765427e-01 7.33797903e-03 -1.21722318e+00] [-2.35898567e-02 -9.53769875e-03 9.99676223e-01 -6.50705547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794012739 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.21, Z:-0.66 [[ 9.95378971e-01 9.24718614e-02 2.58777756e-02 1.84583757e+01] [-9.21701360e-02 9.95663276e-01 -1.26216933e-02 -1.20801704e+00] [-2.69327023e-02 1.01782100e-02 9.99585431e-01 -6.57593483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.22, Z:-0.66 [[ 9.95326271e-01 9.26772213e-02 2.71393832e-02 1.84904777e+01] [-9.26347198e-02 9.95696161e-01 -2.82184741e-03 -1.22037331e+00] [-2.72841007e-02 2.94609696e-04 9.99627676e-01 -6.58167514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854012738999998 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.22, Z:-0.66 [[ 9.95323801e-01 9.27190497e-02 2.70870648e-02 1.85225480e+01] [-9.26765830e-02 9.95692266e-01 -2.82171164e-03 -1.22480943e+00] [-2.72320073e-02 2.98180144e-04 9.99629096e-01 -6.58555778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.23, Z:-0.66 [[ 9.95228484e-01 9.37833943e-02 2.69247030e-02 1.85556317e+01] [-9.37416923e-02 9.95592588e-01 -2.80968301e-03 -1.22738636e+00] [-2.70695363e-02 2.72309342e-04 9.99633516e-01 -6.59780843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.23, Z:-0.66 [[ 9.95168710e-01 9.44780262e-02 2.67046974e-02 1.85871841e+01] [-9.44371148e-02 9.95526914e-01 -2.79187339e-03 -1.23085107e+00] [-2.68490157e-02 2.56470465e-04 9.99639467e-01 -6.60642118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.24, Z:-0.66 [[ 9.95166682e-01 9.46760297e-02 2.60715119e-02 1.86190565e+01] [-9.46370262e-02 9.95508105e-01 -2.72863460e-03 -1.23629913e+00] [-2.62127377e-02 2.48115892e-04 9.99656356e-01 -6.60624850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974012739 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.24, Z:-0.66 [[ 9.95144835e-01 9.48754289e-02 2.61803599e-02 1.86516485e+01] [-9.48360462e-02 9.95489122e-01 -2.74465061e-03 -1.23998073e+00] [-2.63226634e-02 2.48483058e-04 9.99653468e-01 -6.61927501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.24, Z:-0.66 [[ 9.95109309e-01 9.51584299e-02 2.65016215e-02 1.86842175e+01] [-9.51180440e-02 9.95462109e-01 -2.78323530e-03 -1.24313849e+00] [-2.66462083e-02 2.48840957e-04 9.99644896e-01 -6.62363922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034012738999998 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.25, Z:-0.66 [[ 9.95007538e-01 9.62810145e-02 2.62671995e-02 1.87172856e+01] [-9.62415961e-02 9.95354167e-01 -2.76372917e-03 -1.24734911e+00] [-2.64112611e-02 2.21934150e-04 9.99651137e-01 -6.64089493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.25, Z:-0.66 [[ 9.94967432e-01 9.69994964e-02 2.51178499e-02 1.87485625e+01] [-9.69635582e-02 9.95284411e-01 -2.64768329e-03 -1.25239614e+00] [-2.52562284e-02 1.98842542e-04 9.99680991e-01 -6.64822448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094012739 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.26, Z:-0.67 [[ 9.94896351e-01 9.80023799e-02 2.40163399e-02 1.87812934e+01] [-9.79697555e-02 9.95186166e-01 -2.53412990e-03 -1.25615227e+00] [-2.41490800e-02 1.68321640e-04 9.99708354e-01 -6.65529807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.26, Z:-0.67 [[ 9.94753117e-01 9.92945726e-02 2.46338092e-02 1.88129384e+01] [-9.92605217e-02 9.95058072e-01 -2.60425300e-03 -1.25864116e+00] [-2.47706589e-02 1.45424032e-04 9.99693150e-01 -6.66202988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154012739 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.26, Z:-0.67 [[ 9.94640870e-01 1.00283060e-01 2.51564450e-02 1.88460079e+01] [-1.00247747e-01 9.94958940e-01 -2.66415849e-03 -1.26157520e+00] [-2.52967998e-02 1.28003973e-04 9.99679977e-01 -6.67066528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters Centerline goodness : 0.997259 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.27, Z:-0.67 [[ 9.94517812e-01 1.01386793e-01 2.55937437e-02 1.88781599e+01] [-1.01350473e-01 9.94847077e-01 -2.71564414e-03 -1.26537863e+00] [-2.57371915e-02 1.06818431e-04 9.99668738e-01 -6.67968256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214012739 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.27, Z:-0.67 [[ 9.94476527e-01 1.01924952e-01 2.50547723e-02 1.89112061e+01] [-1.01890204e-01 9.94792086e-01 -2.66294578e-03 -1.26820821e+00] [-2.51957098e-02 9.54012176e-05 9.99682533e-01 -6.68291651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.27, Z:-0.67 [[ 9.94554277e-01 1.01371380e-01 2.41998706e-02 1.89445003e+01] [-1.01338689e-01 9.94848647e-01 -2.57660313e-03 -1.27069527e+00] [-2.43364024e-02 1.10188485e-04 9.99703820e-01 -6.70245212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274012739 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.28, Z:-0.67 [[ 9.94596636e-01 1.00886161e-01 2.44849697e-02 1.89756615e+01] [-1.00852429e-01 9.94897968e-01 -2.61181543e-03 -1.27533623e+00] [-2.46235426e-02 1.28334172e-04 9.99696786e-01 -6.71905728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.28, Z:-0.67 [[ 9.94668187e-01 9.99892168e-02 2.52458845e-02 1.90083016e+01] [-9.99529469e-02 9.94988508e-01 -2.69767517e-03 -1.28036531e+00] [-2.53891034e-02 1.59891109e-04 9.99677632e-01 -6.72449662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334012739 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.28, Z:-0.67 [[ 9.94732783e-01 9.91904749e-02 2.58445311e-02 1.90409756e+01] [-9.91520631e-02 9.95068447e-01 -2.76670055e-03 -1.28475635e+00] [-2.59915078e-02 1.89589159e-04 9.99662146e-01 -6.72594888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.29, Z:-0.67 [[ 9.94765277e-01 9.88504356e-02 2.58966085e-02 1.90734793e+01] [-9.88116238e-02 9.95102281e-01 -2.77725986e-03 -1.28893391e+00] [-2.60443076e-02 2.03835735e-04 9.99660769e-01 -6.73500395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394012739 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.29, Z:-0.67 [[ 9.94692480e-01 9.97439832e-02 2.52588230e-02 1.91048891e+01] [-9.97072240e-02 9.95013118e-01 -2.71373721e-03 -1.29346645e+00] [-2.54035392e-02 1.80846873e-04 9.99677262e-01 -6.74699494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.30, Z:-0.68 [[ 9.94463709e-01 1.01921611e-01 2.55718143e-02 1.91373268e+01] [-1.01884578e-01 9.94792425e-01 -2.75032450e-03 -1.30019065e+00] [-2.57189647e-02 1.29724395e-04 9.99669204e-01 -6.75481372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454012739 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.30, Z:-0.68 [[ 9.94296849e-01 1.03275122e-01 2.66087302e-02 1.91700102e+01] [-1.03235369e-01 9.94652823e-01 -2.86709125e-03 -1.30478751e+00] [-2.67625478e-02 1.03777711e-04 9.99641813e-01 -6.76454770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.31, Z:-0.67 [[ 9.94009626e-01 1.05771789e-01 2.75171060e-02 1.92013638e+01] [-1.05730076e-01 9.94390430e-01 -2.97055502e-03 -1.31196495e+00] [-2.76769478e-02 4.33745650e-05 9.99616919e-01 -6.66955973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514012738999998 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.32, Z:-0.68 [[ 9.93749608e-01 1.08153881e-01 2.76487614e-02 1.92331417e+01] [-1.08112549e-01 9.94134165e-01 -2.98982724e-03 -1.31675156e+00] [-2.78099397e-02 -1.80384213e-05 9.99613229e-01 -6.78052619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.32, Z:-0.68 [[ 9.93584177e-01 1.09860889e-01 2.68527185e-02 1.92662085e+01] [-1.09822443e-01 9.93946971e-01 -2.90681373e-03 -1.32117608e+00] [-2.70095234e-02 -6.08670260e-05 9.99635174e-01 -6.78798148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574012739 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.32, Z:-0.68 [[ 9.93184661e-01 1.13652781e-01 2.58316439e-02 1.92983890e+01] [-1.13618362e-01 9.93520519e-01 -2.80104260e-03 -1.32327280e+00] [-2.59826146e-02 -1.52996520e-04 9.99662383e-01 -6.80745676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.33, Z:-0.68 [[ 9.92939471e-01 1.15725693e-01 2.60532259e-02 1.93308777e+01] [-1.15691272e-01 9.93281190e-01 -2.82974050e-03 -1.32686145e+00] [-2.62056529e-02 -2.04369805e-04 9.99656552e-01 -6.82180077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634012739 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.33, Z:-0.68 [[ 9.92556186e-01 1.18846382e-01 2.66036775e-02 1.93627656e+01] [-1.18811473e-01 9.92912612e-01 -2.89466993e-03 -1.33108531e+00] [-2.67591480e-02 -2.87699577e-04 9.99641868e-01 -6.82644366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.33, Z:-0.68 [[ 9.92374639e-01 1.20340631e-01 2.66591049e-02 1.93954255e+01] [-1.20305990e-01 9.92732606e-01 -2.90538159e-03 -1.33365052e+00] [-2.68149981e-02 -3.24022980e-04 9.99640361e-01 -6.83590411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694012738999998 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.34, Z:-0.68 [[ 9.92359324e-01 1.20466982e-01 2.66585621e-02 1.94287000e+01] [-1.20432253e-01 9.92717282e-01 -2.91035287e-03 -1.33744360e+00] [-2.68150168e-02 -3.22434909e-04 9.99640361e-01 -6.84516243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.34, Z:-0.69 [[ 9.92252316e-01 1.21284065e-01 2.69354089e-02 1.94602772e+01] [-1.21248817e-01 9.92617780e-01 -2.94408783e-03 -1.33842291e+00] [-2.70936368e-02 -3.44608496e-04 9.99632841e-01 -6.85668962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.34, Z:-0.69 [[ 9.92061109e-01 1.22865906e-01 2.68090384e-02 1.94921630e+01] [-1.22831482e-01 9.92423207e-01 -2.93334567e-03 -1.33793501e+00] [-2.69663200e-02 -3.82935755e-04 9.99636269e-01 -6.86603277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.34, Z:-0.69 [[ 9.91969730e-01 1.23669834e-01 2.64919997e-02 1.95253929e+01] [-1.23636386e-01 9.92323342e-01 -2.90318125e-03 -1.34000408e+00] [-2.66476656e-02 -3.95507167e-04 9.99644810e-01 -6.87047277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814012739 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.34, Z:-0.69 [[ 9.91597603e-01 1.26842052e-01 2.54025248e-02 1.95572859e+01] [-1.26812221e-01 9.91922822e-01 -2.78837491e-03 -1.33836608e+00] [-2.55510273e-02 -4.56404703e-04 9.99673415e-01 -6.87204891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.34, Z:-0.69 [[ 9.91293458e-01 1.29250375e-01 2.51320525e-02 1.95894137e+01] [-1.29221839e-01 9.91611861e-01 -2.76304206e-03 -1.33852664e+00] [-2.52783656e-02 -5.08624526e-04 9.99680322e-01 -6.88511625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874012738999998 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.34, Z:-0.69 [[ 9.91023843e-01 1.31336030e-01 2.49517470e-02 1.96223902e+01] [-1.31308455e-01 9.91337753e-01 -2.74750192e-03 -1.33929889e+00] [-2.50964548e-02 -5.53535440e-04 9.99684881e-01 -6.89706847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.34, Z:-0.69 [[ 9.90641935e-01 1.34052285e-01 2.56620578e-02 1.96561185e+01] [-1.34023903e-01 9.90974057e-01 -2.83053567e-03 -1.33789606e+00] [-2.58098733e-02 -6.35281823e-04 9.99666668e-01 -6.90498686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934012739 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.34, Z:-0.69 [[ 9.90465841e-01 1.35284210e-01 2.59923263e-02 1.96879990e+01] [-1.35255390e-01 9.90806607e-01 -2.87184054e-03 -1.33838665e+00] [-2.61418833e-02 -6.71142270e-04 9.99658017e-01 -6.91168051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.34, Z:-0.69 [[ 9.90329071e-01 1.36303245e-01 2.58796693e-02 1.97211405e+01] [-1.36274907e-01 9.90666921e-01 -2.86379170e-03 -1.33830772e+00] [-2.60284764e-02 -6.90653343e-04 9.99660963e-01 -6.91989167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994012739 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.33, Z:-0.69 [[ 9.89962606e-01 1.38720125e-01 2.70326694e-02 1.97539463e+01] [-1.38689966e-01 9.90331315e-01 -2.99651836e-03 -1.33354963e+00] [-2.71869764e-02 -7.82718867e-04 9.99630059e-01 -6.92800030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.33, Z:-0.69 [[ 9.89672213e-01 1.40595761e-01 2.79596686e-02 1.97876660e+01] [-1.40564107e-01 9.90066713e-01 -3.10418539e-03 -1.33282126e+00] [-2.81183725e-02 -8.57999827e-04 9.99604232e-01 -6.93563348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.33, Z:-0.69 [[ 9.89056031e-01 1.44832694e-01 2.81364307e-02 1.98218203e+01] [-1.44802206e-01 9.89455674e-01 -3.12889836e-03 -1.32619902e+00] [-2.82929178e-02 -9.79561433e-04 9.99599195e-01 -6.93684236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.32, Z:-0.69 [[ 9.88802389e-01 1.46668678e-01 2.75342348e-02 1.98556492e+01] [-1.46640058e-01 9.89185164e-01 -3.06676306e-03 -1.32454289e+00] [-2.76862546e-02 -1.00519915e-03 9.99616157e-01 -6.94733569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114012739 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.32, Z:-0.70 [[ 9.88609643e-01 1.47990248e-01 2.73835879e-02 1.98890957e+01] [-1.47962309e-01 9.88988282e-01 -3.05495246e-03 -1.32288001e+00] [-2.75341508e-02 -1.03158344e-03 9.99620331e-01 -6.96173720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.32, Z:-0.70 [[ 9.88591180e-01 1.47827269e-01 2.88890621e-02 1.99218137e+01] [-1.47795943e-01 9.89012607e-01 -3.22845631e-03 -1.31642932e+00] [-2.90489005e-02 -1.07806275e-03 9.99577410e-01 -6.96578597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174012739 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.31, Z:-0.70 [[ 9.88700316e-01 1.46860713e-01 3.00601943e-02 1.99551759e+01] [-1.46826187e-01 9.89156585e-01 -3.36472052e-03 -1.31472529e+00] [-3.02283843e-02 -1.08692345e-03 9.99542427e-01 -6.97059036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.31, Z:-0.70 [[ 9.88861817e-01 1.45677930e-01 3.04999716e-02 1.99883926e+01] [-1.45641643e-01 9.89331500e-01 -3.41985343e-03 -1.31302961e+00] [-3.06727798e-02 -1.06030351e-03 9.99528917e-01 -6.98240999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234012739 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.31, Z:-0.70 [[ 9.89481078e-01 1.41860621e-01 2.83330406e-02 2.00211082e+01] [-1.41827600e-01 9.89886260e-01 -3.18191306e-03 -1.30927653e+00] [-2.84978758e-02 -8.69964390e-04 9.99593474e-01 -7.00730678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.31, Z:-0.70 [[ 9.89820343e-01 1.39808502e-01 2.66321387e-02 2.00526968e+01] [-1.39778464e-01 9.90178271e-01 -2.99540028e-03 -1.31049772e+00] [-2.67893474e-02 -7.57691292e-04 9.99640814e-01 -7.01727025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294012739 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.31, Z:-0.70 [[ 9.90531777e-01 1.35037379e-01 2.47326784e-02 2.00856768e+01] [-1.35009924e-01 9.90840335e-01 -2.78425202e-03 -1.30864631e+00] [-2.48821134e-02 -5.81266913e-04 9.99690223e-01 -7.02876780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.31, Z:-0.70 [[ 9.90859926e-01 1.32575766e-01 2.49052998e-02 2.01182723e+01] [-1.32547022e-01 9.91172739e-01 -2.80872979e-03 -1.30932622e+00] [-2.50578238e-02 -5.18065542e-04 9.99685869e-01 -7.04332797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354012738999998 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.31, Z:-0.69 [[ 9.91140989e-01 1.30368938e-01 2.53668870e-02 2.01515118e+01] [-1.30338321e-01 9.91465441e-01 -2.86375395e-03 -1.31185951e+00] [-2.55237363e-02 -4.67893526e-04 9.99674107e-01 -6.91644758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.31, Z:-0.71 [[ 9.91278805e-01 1.28932878e-01 2.72514814e-02 2.01830707e+01] [-1.28896840e-01 9.91653218e-01 -3.08231790e-03 -1.31275281e+00] [-2.74214313e-02 -4.57193429e-04 9.99623857e-01 -7.05729972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414012739 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.31, Z:-0.71 [[ 9.91500160e-01 1.27432744e-01 2.62360050e-02 2.02162773e+01] [-1.27398694e-01 9.91847135e-01 -2.97210769e-03 -1.31367505e+00] [-2.64008502e-02 -3.95587533e-04 9.99651359e-01 -7.06462272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.32, Z:-0.71 [[ 9.91547928e-01 1.27290706e-01 2.50954853e-02 2.02484383e+01] [-1.27259390e-01 9.91865384e-01 -2.84754305e-03 -1.31594200e+00] [-2.52538089e-02 -3.70160739e-04 9.99681003e-01 -7.07962434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.32, Z:-0.71 [[ 9.91752990e-01 1.25839074e-01 2.43009293e-02 2.02808926e+01] [-1.25809171e-01 9.92050617e-01 -2.76160358e-03 -1.31707722e+00] [-2.44552695e-02 -3.18451160e-04 9.99700874e-01 -7.09891397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.32, Z:-0.71 [[ 9.91956684e-01 1.24116214e-01 2.48415617e-02 2.03128117e+01] [-1.24084312e-01 9.92267650e-01 -2.82759635e-03 -1.31977055e+00] [-2.50004286e-02 -2.77594986e-04 9.99687402e-01 -7.11040769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534012738999998 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.32, Z:-0.71 [[ 9.92189020e-01 1.22185648e-01 2.51319783e-02 2.03441764e+01] [-1.22152265e-01 9.92507237e-01 -2.86499244e-03 -1.32313228e+00] [-2.52937313e-02 -2.27314043e-04 9.99680037e-01 -7.12478869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.33, Z:-0.71 [[ 9.92728075e-01 1.17768062e-01 2.49329528e-02 2.03771769e+01] [-1.17733743e-01 9.93041123e-01 -2.84505340e-03 -1.32660666e+00] [-2.50945038e-02 -1.11085484e-04 9.99685077e-01 -7.13454033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594012739 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.33, Z:-0.71 [[ 9.92936886e-01 1.16118024e-01 2.43504715e-02 2.04103729e+01] [-1.16084686e-01 9.93235420e-01 -2.78302027e-03 -1.32949210e+00] [-2.45089096e-02 -6.33533701e-05 9.99699610e-01 -7.14461699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.33, Z:-0.71 [[ 9.93026484e-01 1.15090010e-01 2.55478268e-02 2.04434135e+01] [-1.15052841e-01 9.93355067e-01 -2.92495803e-03 -1.33041334e+00] [-2.57146966e-02 -3.47892649e-05 9.99669322e-01 -7.14574355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654012739 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.33, Z:-0.71 [[ 9.92959052e-01 1.15445189e-01 2.65467596e-02 2.04755728e+01] [-1.15405043e-01 9.93313851e-01 -3.04453574e-03 -1.33163622e+00] [-2.67207410e-02 -4.05306237e-05 9.99642936e-01 -7.14323271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.33, Z:-0.72 [[ 9.92874505e-01 1.15980217e-01 2.73643219e-02 2.05084686e+01] [-1.15937627e-01 9.93251522e-01 -3.14325104e-03 -1.33265575e+00] [-2.75442094e-02 -5.17007360e-05 9.99620585e-01 -7.15432129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714012739 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.33, Z:-0.72 [[ 9.92787761e-01 1.16841560e-01 2.68423630e-02 2.05405991e+01] [-1.16800762e-01 9.93150565e-01 -3.08819149e-03 -1.33367371e+00] [-2.70193371e-02 -6.92897260e-05 9.99634909e-01 -7.16951878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.34, Z:-0.72 [[ 9.92768535e-01 1.17146960e-01 2.62149983e-02 2.05731168e+01] [-1.17108037e-01 9.93114588e-01 -3.02043337e-03 -1.33712524e+00] [-2.63883319e-02 -7.13957845e-05 9.99651765e-01 -7.17928858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774012739 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.34, Z:-0.72 [[ 9.92803260e-01 1.16914703e-01 2.59352718e-02 2.06054548e+01] [-1.16876401e-01 9.93141958e-01 -2.99304457e-03 -1.33953309e+00] [-2.61073375e-02 -5.97168130e-05 9.99659144e-01 -7.18503439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.34, Z:-0.72 [[ 9.92966189e-01 1.15363605e-01 2.66343050e-02 2.06381878e+01] [-1.15322568e-01 9.93323330e-01 -3.07683401e-03 -1.33747057e+00] [-2.68114312e-02 -1.63442997e-05 9.99640509e-01 -7.17862050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834012739 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.34, Z:-0.72 [[ 9.93296497e-01 1.12392414e-01 2.70187723e-02 2.06702856e+01] [-1.12348965e-01 9.93663897e-01 -3.12561997e-03 -1.34035867e+00] [-2.71988745e-02 6.91362686e-05 9.99630040e-01 -7.19534908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.35, Z:-0.72 [[ 9.93545832e-01 1.10259858e-01 2.66353834e-02 2.07017790e+01] [-1.10216747e-01 9.93902785e-01 -3.08577883e-03 -1.34560101e+00] [-2.68132193e-02 1.30197392e-04 9.99640453e-01 -7.20691664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894012739 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.35, Z:-0.72 [[ 9.93803348e-01 1.07901001e-01 2.66885596e-02 2.07347759e+01] [-1.07856787e-01 9.94161624e-01 -3.09490917e-03 -1.35018508e+00] [-2.68666856e-02 1.97188808e-04 9.99639006e-01 -7.21400208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.35, Z:-0.72 [[ 9.94262777e-01 1.03599468e-01 2.66210404e-02 2.07671378e+01] [-1.03553805e-01 9.94619047e-01 -3.09190359e-03 -1.35198630e+00] [-2.67981134e-02 3.17454621e-04 9.99640816e-01 -7.21544005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954012739 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.36, Z:-0.72 [[ 9.94321403e-01 1.02995947e-01 2.67727916e-02 2.08002538e+01] [-1.02949421e-01 9.94681717e-01 -3.11408102e-03 -1.35597575e+00] [-2.69511440e-02 3.40154006e-04 9.99636694e-01 -7.22795255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.36, Z:-0.72 [[ 9.94301224e-01 1.03328667e-01 2.62347443e-02 2.08316515e+01] [-1.03283983e-01 9.94647213e-01 -3.05625557e-03 -1.36261633e+00] [-2.64101142e-02 3.29209762e-04 9.99651138e-01 -7.22241503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014012738999998 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.37, Z:-0.72 [[ 9.94210944e-01 1.04100901e-01 2.66007709e-02 2.08645529e+01] [-1.04055113e-01 9.94566690e-01 -3.10354372e-03 -1.36653563e+00] [-2.67793224e-02 3.17630906e-04 9.99641319e-01 -7.22896045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.37, Z:-0.71 [[ 9.94144652e-01 1.04678987e-01 2.68089507e-02 2.08971305e+01] [-1.04632551e-01 9.94506015e-01 -3.13295522e-03 -1.37032851e+00] [-2.69896173e-02 3.09521783e-04 9.99635666e-01 -7.10398208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074012739 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.37, Z:-0.72 [[ 9.94255367e-01 1.03174627e-01 2.84826539e-02 2.09284608e+01] [-1.03121440e-01 9.94663186e-01 -3.33386735e-03 -1.37300121e+00] [-2.86746178e-02 3.77543217e-04 9.99588727e-01 -7.24311022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.38, Z:-0.73 [[ 9.94477419e-01 1.01161514e-01 2.79465773e-02 2.09613447e+01] [-1.01109388e-01 9.94869922e-01 -3.27569023e-03 -1.37881829e+00] [-2.81345829e-02 4.31938648e-04 9.99604051e-01 -7.26168784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134012739 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.39, Z:-0.73 [[ 9.94756418e-01 9.86750731e-02 2.68867739e-02 2.09925398e+01] [-9.86257961e-02 9.95119587e-01 -3.15598734e-03 -1.38562444e+00] [-2.70669726e-02 4.87709184e-04 9.99633503e-01 -7.27415416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.39, Z:-0.73 [[ 9.95345948e-01 9.23631543e-02 2.74862020e-02 2.10248247e+01] [-9.23091221e-02 9.95725156e-01 -3.23091675e-03 -1.39467959e+00] [-2.76671204e-02 6.78652723e-04 9.99616962e-01 -7.27857172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194012738999998 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.40, Z:-0.73 [[ 9.95602716e-01 8.92148247e-02 2.85647779e-02 2.10558923e+01] [-8.91550113e-02 9.96012084e-01 -3.36330607e-03 -1.40206849e+00] [-2.87509208e-02 8.01823565e-04 9.99586285e-01 -7.28320670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.41, Z:-0.73 [[ 9.95950323e-01 8.49365707e-02 2.94742641e-02 2.10874311e+01] [-8.48708550e-02 9.96385898e-01 -3.47577159e-03 -1.41444680e+00] [-2.96629612e-02 9.60189847e-04 9.99559496e-01 -7.27998542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254012739 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.42, Z:-0.73 [[ 9.96022556e-01 8.43020355e-02 2.88484837e-02 2.11185306e+01] [-8.42386564e-02 9.96439781e-01 -3.40745632e-03 -1.42122769e+00] [-2.90330323e-02 9.63745847e-04 9.99577988e-01 -7.28819479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters Centerline goodness : 0.986319 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.43, Z:-0.71 [[ 9.96082374e-01 8.43683546e-02 2.64931161e-02 2.11502890e+01] [-8.43148112e-02 9.96434239e-01 -3.13364161e-03 -1.42790815e+00] [-2.66630282e-02 8.87603093e-04 9.99644084e-01 -7.11105242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314012739 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.43, Z:-0.73 [[ 9.95948027e-01 8.58466690e-02 2.67932340e-02 2.11816776e+01] [-8.57923086e-02 9.96307987e-01 -3.17399348e-03 -1.43205095e+00] [-2.69667899e-02 8.62479139e-04 9.99635958e-01 -7.30834415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.44, Z:-0.73 [[ 9.95529048e-01 9.00500343e-02 2.85115041e-02 2.12128939e+01] [-8.99900429e-02 9.95936920e-01 -3.38291648e-03 -1.44144500e+00] [-2.87002914e-02 8.02040140e-04 9.99587740e-01 -7.32541248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374012738999998 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.45, Z:-0.73 [[ 9.95256936e-01 9.25666509e-02 2.99173136e-02 2.12452392e+01] [-9.25015559e-02 9.95706192e-01 -3.55554462e-03 -1.44870182e+00] [-3.01179793e-02 7.71282385e-04 9.99546053e-01 -7.32945405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.46, Z:-0.73 [[ 9.95063165e-01 9.49574939e-02 2.88508458e-02 2.12766179e+01] [-9.48978048e-02 9.95481096e-01 -3.43421516e-03 -1.45673152e+00] [-2.90465760e-02 6.79379082e-04 9.99577828e-01 -7.33982960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.46, Z:-0.74 [[ 9.95056349e-01 9.55598049e-02 2.70404371e-02 2.13091142e+01] [-9.55074709e-02 9.95423494e-01 -3.22330570e-03 -1.46251148e+00] [-2.72247048e-02 6.24807045e-04 9.99629144e-01 -7.36222399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:21.34, Y:-1.47, Z:-0.74 [[ 9.95090720e-01 9.58502239e-02 2.46413152e-02 2.13410958e+01] [-9.58067532e-02 9.95395607e-01 -2.94143476e-03 -1.47064541e+00] [-2.48097941e-02 5.66190025e-04 9.99692029e-01 -7.38269332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494012739 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.48, Z:-0.74 [[ 9.95029198e-01 9.62837860e-02 2.54229661e-02 2.13738333e+01] [-9.62375272e-02 9.95353755e-01 -3.03970879e-03 -1.47623268e+00] [-2.55975195e-02 5.77955605e-04 9.99672163e-01 -7.38607211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.48, Z:-0.74 [[ 9.94899511e-01 9.73573573e-02 2.63914231e-02 2.14059270e+01] [-9.73077401e-02 9.95249322e-01 -3.16090493e-03 -1.48072492e+00] [-2.65737833e-02 5.76693031e-04 9.99646688e-01 -7.38361676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554012739 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.49, Z:-0.74 [[ 9.94412740e-01 1.01836877e-01 2.77948456e-02 2.14389250e+01] [-1.01783439e-01 9.94800992e-01 -3.33435925e-03 -1.48502191e+00] [-2.79899007e-02 4.86674363e-04 9.99608088e-01 -7.39086146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.49, Z:-0.74 [[ 9.94404436e-01 1.01918096e-01 2.77942298e-02 2.14721663e+01] [-1.01864546e-01 9.94792673e-01 -3.33948405e-03 -1.48914809e+00] [-2.79898500e-02 4.89551161e-04 9.99608088e-01 -7.40011683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614012739 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.49, Z:-0.74 [[ 9.94053247e-01 1.05309238e-01 2.77147182e-02 2.15038608e+01] [-1.05257247e-01 9.94439444e-01 -3.33224432e-03 -1.49334044e+00] [-2.79115250e-02 3.95253350e-04 9.99610319e-01 -7.40439771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.50, Z:-0.74 [[ 9.93294982e-01 1.12457770e-01 2.68016390e-02 2.15369136e+01] [-1.12411625e-01 9.93656486e-01 -3.22701332e-03 -1.49683108e+00] [-2.69945251e-02 1.92560350e-04 9.99635563e-01 -7.41545206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674012739 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.50, Z:-0.74 [[ 9.92963300e-01 1.15361931e-01 2.67490309e-02 2.15702110e+01] [-1.15316886e-01 9.93323518e-01 -3.22566715e-03 -1.49929224e+00] [-2.69425607e-02 1.18354155e-04 9.99636976e-01 -7.42808860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.50, Z:-0.74 [[ 9.92675208e-01 1.17779438e-01 2.69060408e-02 2.16022941e+01] [-1.17734610e-01 9.93039778e-01 -3.24979627e-03 -1.50139116e+00] [-2.71015279e-02 5.82199835e-05 9.99632684e-01 -7.43496009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734012739 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.50, Z:-0.74 [[ 9.92411685e-01 1.19773143e-01 2.78108127e-02 2.16341150e+01] [-1.19725886e-01 9.92801286e-01 -3.36422353e-03 -1.50351103e+00] [-2.80135542e-02 9.02054979e-06 9.99607543e-01 -7.44009564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.50, Z:-0.74 [[ 9.92247596e-01 1.21168227e-01 2.76218787e-02 2.16676830e+01] [-1.21122018e-01 9.92631986e-01 -3.34616237e-03 -1.50431638e+00] [-2.78238089e-02 -2.53961161e-05 9.99612843e-01 -7.44824315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794012739 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.51, Z:-0.74 [[ 9.92484521e-01 1.19197877e-01 2.76828618e-02 2.17005946e+01] [-1.19150552e-01 9.92870518e-01 -3.35873588e-03 -1.50517383e+00] [-2.78858516e-02 3.50651189e-05 9.99611113e-01 -7.44994025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.51, Z:-0.75 [[ 9.92636190e-01 1.17794015e-01 2.82482578e-02 2.17327785e+01] [-1.17744013e-01 9.93038047e-01 -3.43278405e-03 -1.50772725e+00] [-2.84559562e-02 8.14424566e-05 9.99595044e-01 -7.45690363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854012738999998 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.51, Z:-0.75 [[ 9.92810677e-01 1.16224825e-01 2.86137932e-02 2.17654608e+01] [-1.16172721e-01 9.93222922e-01 -3.48234776e-03 -1.51038691e+00] [-2.88246105e-02 1.33169836e-04 9.99584476e-01 -7.46757650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.51, Z:-0.75 [[ 9.92992525e-01 1.14631615e-01 2.87304472e-02 2.17969228e+01] [-1.14578261e-01 9.93408052e-01 -3.50194067e-03 -1.51306371e+00] [-2.89424908e-02 1.85516223e-04 9.99581061e-01 -7.47634547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914012739 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.52, Z:-0.75 [[ 9.93265483e-01 1.12250762e-01 2.86957561e-02 2.18296949e+01] [-1.12196442e-01 9.93679878e-01 -3.50120772e-03 -1.51532309e+00] [-2.89074086e-02 2.58067040e-04 9.99582060e-01 -7.48744766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.52, Z:-0.75 [[ 9.93329250e-01 1.11606876e-01 2.89983913e-02 2.18611922e+01] [-1.11550962e-01 9.93752396e-01 -3.54387350e-03 -1.51853509e+00] [-2.92127414e-02 2.85434754e-04 9.99573176e-01 -7.48964239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974012739 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.52, Z:-0.75 [[ 9.93402002e-01 1.10807888e-01 2.95647551e-02 2.18943630e+01] [-1.10749250e-01 9.93841793e-01 -3.61859090e-03 -1.52070446e+00] [-2.97836577e-02 3.20440980e-04 9.99556317e-01 -7.50441936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.52, Z:-0.75 [[ 9.93333496e-01 1.11335600e-01 2.98822839e-02 2.19270371e+01] [-1.11275768e-01 9.93782816e-01 -3.66298481e-03 -1.52366179e+00] [-3.01043209e-02 3.13391421e-04 9.99546713e-01 -7.51905510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034012738999998 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.52, Z:-0.75 [[ 9.93251736e-01 1.12258398e-01 2.91383114e-02 2.19606476e+01] [-1.12201744e-01 9.93679008e-01 -3.57728104e-03 -1.52405927e+00] [-2.93557082e-02 2.83771245e-04 9.99568988e-01 -7.52065766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.53, Z:-0.75 [[ 9.93234422e-01 1.12518556e-01 2.87220714e-02 2.19932236e+01] [-1.12463461e-01 9.93649585e-01 -3.53164230e-03 -1.52677284e+00] [-2.89370496e-02 2.77565159e-04 9.99581197e-01 -7.53002332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094012739 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.53, Z:-0.75 [[ 9.93254018e-01 1.12357652e-01 2.86742557e-02 2.20247361e+01] [-1.12302513e-01 9.93667789e-01 -3.53127130e-03 -1.52985388e+00] [-2.88894496e-02 2.87258428e-04 9.99582571e-01 -7.54152822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.53, Z:-0.76 [[ 9.93223973e-01 1.12632280e-01 2.86375519e-02 2.20573573e+01] [-1.12577248e-01 9.93636699e-01 -3.53192711e-03 -1.53461816e+00] [-2.88531315e-02 2.84057899e-04 9.99583621e-01 -7.55377547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154012739 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.54, Z:-0.76 [[ 9.93176021e-01 1.12926322e-01 2.91382560e-02 2.20886514e+01] [-1.12869314e-01 9.93603323e-01 -3.59914400e-03 -1.53863233e+00] [-2.93583061e-02 2.85768561e-04 9.99568911e-01 -7.55641567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.54, Z:-0.76 [[ 9.93172811e-01 1.12907600e-01 2.93196287e-02 2.21210359e+01] [-1.12849766e-01 9.93605449e-01 -3.62513229e-03 -1.54194092e+00] [-2.95414478e-02 2.91669593e-04 9.99563514e-01 -7.56346620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.55, Z:-0.76 [[ 9.93238054e-01 1.12562604e-01 2.84223286e-02 2.21527178e+01] [-1.12507967e-01 9.93644590e-01 -3.51937427e-03 -1.54608219e+00] [-2.86378430e-02 2.97838046e-04 9.99589808e-01 -7.57426637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.55, Z:-0.76 [[ 9.93293326e-01 1.12293201e-01 2.75427758e-02 2.21852951e+01] [-1.12241660e-01 9.93675071e-01 -3.41515511e-03 -1.55030308e+00] [-2.77520684e-02 3.00803900e-04 9.99614792e-01 -7.59289735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274012739 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.56, Z:-0.75 [[ 9.93309133e-01 1.12236465e-01 2.72018784e-02 2.22172335e+01] [-1.12186031e-01 9.93681480e-01 -3.37796584e-03 -1.55599243e+00] [-2.74091337e-02 3.03693544e-04 9.99624253e-01 -7.52201184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.56, Z:-0.76 [[ 9.93211212e-01 1.12875665e-01 2.81171106e-02 2.22493360e+01] [-1.12821889e-01 9.93609075e-01 -3.49677167e-03 -1.56056049e+00] [-2.83321167e-02 3.00807290e-04 9.99598520e-01 -7.59120517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334012739 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.56, Z:-0.76 [[ 9.92956672e-01 1.14923012e-01 2.88053731e-02 2.22809913e+01] [-1.14867272e-01 9.93374369e-01 -3.58787201e-03 -1.56494863e+00] [-2.90268483e-02 2.53806818e-04 9.99578600e-01 -7.60050046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.57, Z:-0.76 [[ 9.92831555e-01 1.16038481e-01 2.86456701e-02 2.23140016e+01] [-1.15983678e-01 9.93244693e-01 -3.57295724e-03 -1.56857615e+00] [-2.88667604e-02 2.24914500e-04 9.99583243e-01 -7.60899130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.57, Z:-0.76 [[ 9.92656647e-01 1.17459971e-01 2.89125556e-02 2.23467202e+01] [-1.17404589e-01 9.93077600e-01 -3.61159851e-03 -1.57256554e+00] [-2.91366295e-02 1.90610579e-04 9.99575420e-01 -7.62531148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.58, Z:-0.76 [[ 9.92356886e-01 1.19791833e-01 2.96264676e-02 2.23785038e+01] [-1.19734552e-01 9.92799023e-01 -3.70640224e-03 -1.57602238e+00] [-2.98571248e-02 1.30761948e-04 9.99554168e-01 -7.58483783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454012739 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.58, Z:-0.76 [[ 9.92109625e-01 1.21680572e-01 3.02048176e-02 2.24114503e+01] [-1.21621743e-01 9.92569308e-01 -3.78414291e-03 -1.57962600e+00] [-3.04408316e-02 8.07220469e-05 9.99536567e-01 -7.62097501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.58, Z:-0.76 [[ 9.91540082e-01 1.26174348e-01 3.04680029e-02 2.24440024e+01] [-1.26116439e-01 9.92008080e-01 -3.82265113e-03 -1.58105199e+00] [-3.07068256e-02 -5.22042154e-05 9.99528433e-01 -7.62870762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514012738999998 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.58, Z:-0.76 [[ 9.91207010e-01 1.28773896e-01 3.04293814e-02 2.24766860e+01] [-1.28717198e-01 9.91673972e-01 -3.82300733e-03 -1.58432297e+00] [-3.06683291e-02 -1.27393069e-04 9.99529608e-01 -7.63114502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.59, Z:-0.76 [[ 9.90859141e-01 1.31318321e-01 3.08814083e-02 2.25091592e+01] [-1.31260986e-01 9.91340233e-01 -3.88541393e-03 -1.58758620e+00] [-3.11242085e-02 -2.03626198e-04 9.99515504e-01 -7.63833291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574012739 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.59, Z:-0.76 [[ 9.90436191e-01 1.34341597e-01 3.14402186e-02 2.25403889e+01] [-1.34283530e-01 9.90935036e-01 -3.96075744e-03 -1.58952803e+00] [-3.16873086e-02 -2.99026033e-04 9.99497786e-01 -7.64777232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.59, Z:-0.77 [[ 9.90463966e-01 1.34075500e-01 3.17000393e-02 2.25722006e+01] [-1.34016183e-01 9.90971078e-01 -3.99820088e-03 -1.59281971e+00] [-3.19498829e-02 -2.88244352e-04 9.99489431e-01 -7.66044875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634012739 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.60, Z:-0.77 [[ 9.90768452e-01 1.31923474e-01 3.12101040e-02 2.26044711e+01] [-1.31864754e-01 9.91259881e-01 -3.94132395e-03 -1.59841145e+00] [-3.14572771e-02 -2.10573258e-04 9.99505075e-01 -7.68049408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.60, Z:-0.77 [[ 9.90950048e-01 1.30748463e-01 3.03783020e-02 2.26360110e+01] [-1.30692108e-01 9.91415560e-01 -3.84186322e-03 -1.60340885e+00] [-3.06198390e-02 -1.63109794e-04 9.99531089e-01 -7.69346039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694012738999998 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.61, Z:-0.77 [[ 9.91052312e-01 1.30203520e-01 2.93659416e-02 2.26685784e+01] [-1.30150472e-01 9.91487279e-01 -3.71885374e-03 -1.60813515e+00] [-2.96001654e-02 -1.36412565e-04 9.99561810e-01 -7.70206759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.61, Z:-0.77 [[ 9.91117839e-01 1.29851958e-01 2.87036311e-02 2.27000222e+01] [-1.29800987e-01 9.91533386e-01 -3.63985789e-03 -1.61178600e+00] [-2.89332512e-02 -1.18231570e-04 9.99581339e-01 -7.71731849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.62, Z:-0.77 [[ 9.90998814e-01 1.30717838e-01 2.88824678e-02 2.27314566e+01] [-1.30666503e-01 9.91419602e-01 -3.66581580e-03 -1.61653547e+00] [-2.91138322e-02 -1.41151945e-04 9.99576093e-01 -7.72913953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.62, Z:-0.77 [[ 9.90669430e-01 1.33055026e-01 2.95032243e-02 2.27622243e+01] [-1.33002349e-01 9.91108630e-01 -3.74950625e-03 -1.62124255e+00] [-2.97397909e-02 -2.09476922e-04 9.99557653e-01 -7.74198711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814012739 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.63, Z:-0.77 [[ 9.90446704e-01 1.34645301e-01 2.97652413e-02 2.27950239e+01] [-1.34592262e-01 9.90893828e-01 -3.78746729e-03 -1.62538803e+00] [-3.00041586e-02 -2.54886680e-04 9.99549741e-01 -7.74913719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.63, Z:-0.78 [[ 9.90286838e-01 1.35835865e-01 2.96748283e-02 2.28266387e+01] [-1.35783516e-01 9.90731314e-01 -3.78153206e-03 -1.62892559e+00] [-2.99134493e-02 -2.84551098e-04 9.99552452e-01 -7.75723410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874012738999998 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.63, Z:-0.78 [[ 9.90130862e-01 1.36988640e-01 2.95802209e-02 2.28573555e+01] [-1.36937039e-01 9.90572568e-01 -3.77281926e-03 -1.63248328e+00] [-2.98181888e-02 -3.15043067e-04 9.99555289e-01 -7.77723767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.64, Z:-0.77 [[ 9.89956023e-01 1.38666006e-01 2.75465370e-02 2.28892810e+01] [-1.38621891e-01 9.90339146e-01 -3.51400668e-03 -1.63710939e+00] [-2.77676872e-02 -3.39840961e-04 9.99614346e-01 -7.69391261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934012739 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.64, Z:-0.78 [[ 9.89849903e-01 1.39501266e-01 2.71397537e-02 2.29190917e+01] [-1.39458636e-01 9.90221830e-01 -3.46653811e-03 -1.63911822e+00] [-2.73579630e-02 -3.53520622e-04 9.99625638e-01 -7.79759534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.64, Z:-0.78 [[ 9.89537620e-01 1.41749014e-01 2.68796530e-02 2.29487146e+01] [-1.41708027e-01 9.89902544e-01 -3.43331566e-03 -1.63964332e+00] [-2.70949060e-02 -4.11667571e-04 9.99632781e-01 -7.79686502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994012739 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.64, Z:-0.77 [[ 9.89363572e-01 1.42890120e-01 2.72421657e-02 2.29780504e+01] [-1.42848452e-01 9.89738456e-01 -3.47962289e-03 -1.64273628e+00] [-2.74598228e-02 -4.48889063e-04 9.99622807e-01 -7.70391990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.64, Z:-0.78 [[ 9.89125159e-01 1.44310198e-01 2.83899009e-02 2.30086795e+01] [-1.44265548e-01 9.89532368e-01 -3.62554539e-03 -1.64396339e+00] [-2.86159290e-02 -5.09566445e-04 9.99590351e-01 -7.81079011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054012739 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.64, Z:-0.78 [[ 9.88848491e-01 1.46156921e-01 2.85800067e-02 2.30375418e+01] [-1.46112443e-01 9.89261256e-01 -3.64978063e-03 -1.64076243e+00] [-2.88065341e-02 -5.66814540e-04 9.99584845e-01 -7.81439942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.64, Z:-0.78 [[ 9.88848107e-01 1.46194196e-01 2.84020981e-02 2.30658180e+01] [-1.46150314e-01 9.89255749e-01 -3.62604810e-03 -1.64169348e+00] [-2.86270460e-02 -5.65364756e-04 9.99590002e-01 -7.83046477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.64, Z:-0.78 [[ 9.89061741e-01 1.44579138e-01 2.92189357e-02 2.30958904e+01] [-1.44532021e-01 9.89493096e-01 -3.72929580e-03 -1.64225619e+00] [-2.94511135e-02 -5.34568048e-04 9.99566079e-01 -7.83956408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.64, Z:-0.78 [[ 9.89176457e-01 1.43675565e-01 2.97870752e-02 2.31242810e+01] [-1.43626210e-01 9.89624708e-01 -3.80110131e-03 -1.64315719e+00] [-3.00241510e-02 -5.18244784e-04 9.99549039e-01 -7.84295727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174012739 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.64, Z:-0.78 [[ 9.89222087e-01 1.43209530e-01 3.05072623e-02 2.31538811e+01] [-1.43157560e-01 9.89692257e-01 -3.89228098e-03 -1.64350807e+00] [-3.07502130e-02 -5.17014917e-04 9.99526967e-01 -7.84838039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.64, Z:-0.79 [[ 9.89343090e-01 1.42329326e-01 3.07020015e-02 2.31836574e+01] [-1.42276289e-01 9.89819236e-01 -3.91640652e-03 -1.64290837e+00] [-3.09468511e-02 -4.93497109e-04 9.99520910e-01 -7.85053175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234012739 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.65, Z:-0.79 [[ 9.89457727e-01 1.41737279e-01 2.97313120e-02 2.32118364e+01] [-1.41687297e-01 9.89904203e-01 -3.79187849e-03 -1.64578348e+00] [-2.99686013e-02 -4.60645776e-04 9.99550734e-01 -7.87175313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.65, Z:-0.79 [[ 9.89859582e-01 1.39398586e-01 2.73137887e-02 2.32414821e+01] [-1.39355537e-01 9.90236288e-01 -3.48267242e-03 -1.64724077e+00] [-2.75325843e-02 -3.58971010e-04 9.99620842e-01 -7.89153339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294012739 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.65, Z:-0.79 [[ 9.90102655e-01 1.37738952e-01 2.69204978e-02 2.32696301e+01] [-1.37696537e-01 9.90468518e-01 -3.43190872e-03 -1.64990441e+00] [-2.71366131e-02 -3.08917393e-04 9.99631687e-01 -7.90262613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.65, Z:-0.79 [[ 9.90405996e-01 1.35400621e-01 2.76158498e-02 2.32980085e+01] [-1.35355105e-01 9.90790900e-01 -3.51955987e-03 -1.65261008e+00] [-2.78380833e-02 -2.52153058e-04 9.99612414e-01 -7.90019568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354012738999998 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.67, Z:-0.78 [[ 9.90646334e-01 1.34161152e-01 2.49123521e-02 2.33249720e+01] [-1.34563109e-01 9.90788127e-01 1.52202984e-02 -1.66895043e+00] [-2.26408899e-02 -1.84302164e-02 9.99573768e-01 -7.80478739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.65, Z:-0.79 [[ 9.90607458e-01 1.34327282e-01 2.55547481e-02 2.33568434e+01] [-1.33770501e-01 9.90759544e-01 -2.23825462e-02 -1.64562481e+00] [-2.83251972e-02 1.87538457e-02 9.99422822e-01 -7.88290222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414012739 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.66, Z:-0.79 [[ 9.90740648e-01 1.32683367e-01 2.87766105e-02 2.33847596e+01] [-1.32632840e-01 9.91158459e-01 -3.66600243e-03 -1.66041653e+00] [-2.90085984e-02 -1.84665965e-04 9.99579145e-01 -7.90939608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.66, Z:-0.79 [[ 9.90847764e-01 1.32006249e-01 2.81967976e-02 2.34142617e+01] [-1.31957483e-01 9.91248871e-01 -3.59150536e-03 -1.66361547e+00] [-2.84241450e-02 -1.62143375e-04 9.99595939e-01 -7.92413463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474012739 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.67, Z:-0.79 [[ 9.91221519e-01 1.29590489e-01 2.61955156e-02 2.34448174e+01] [-1.29547564e-01 9.91567596e-01 -3.33630865e-03 -1.66639606e+00] [-2.64069783e-02 -8.65443213e-05 9.99651271e-01 -7.94421780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.67, Z:-0.80 [[ 9.91225993e-01 1.29556262e-01 2.61955137e-02 2.34739094e+01] [-1.29513324e-01 9.91572069e-01 -3.33632388e-03 -1.67001765e+00] [-2.64069814e-02 -8.56171132e-05 9.99651271e-01 -7.95209254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534012738999998 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.67, Z:-0.80 [[ 9.91428516e-01 1.28222926e-01 2.50674974e-02 2.35023929e+01] [-1.28183202e-01 9.91745370e-01 -3.19181703e-03 -1.67248791e+00] [-2.52698386e-02 -4.87736645e-05 9.99680665e-01 -7.96555394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.67, Z:-0.80 [[ 9.91626896e-01 1.26737363e-01 2.47737754e-02 2.35306238e+01] [-1.26698122e-01 9.91936309e-01 -3.15361373e-03 -1.67437108e+00] [-2.49736880e-02 -1.15826102e-05 9.99688109e-01 -7.97410951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594012739 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.68, Z:-0.80 [[ 9.91947156e-01 1.23941044e-01 2.60663949e-02 2.35590353e+01] [-1.23896679e-01 9.92289582e-01 -3.31644670e-03 -1.67639344e+00] [-2.62764559e-02 6.02000985e-05 9.99654713e-01 -7.96822527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.68, Z:-0.80 [[ 9.92076939e-01 1.22836769e-01 2.63529021e-02 2.35884779e+01] [-1.22791067e-01 9.92426884e-01 -3.35167863e-03 -1.68062610e+00] [-2.65650379e-02 8.92221104e-05 9.99647083e-01 -7.97674134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.69, Z:-0.80 [[ 9.92428702e-01 1.20340295e-01 2.45659361e-02 2.36185756e+01] [-1.20299831e-01 9.92732689e-01 -3.12384034e-03 -1.68502286e+00] [-2.47633317e-02 1.44910854e-04 9.99693331e-01 -7.99480384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.69, Z:-0.80 [[ 9.92612596e-01 1.18863948e-01 2.43227688e-02 2.36477418e+01] [-1.18823836e-01 9.92910534e-01 -3.09297086e-03 -1.68903813e+00] [-2.45179761e-02 1.79997137e-04 9.99699373e-01 -8.00010322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714012738999998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.69, Z:-0.80 [[ 9.92756126e-01 1.17603491e-01 2.45905159e-02 2.36777517e+01] [-1.17562119e-01 9.93060609e-01 -3.12641301e-03 -1.69376352e+00] [-2.47875498e-02 2.12852507e-04 9.99692719e-01 -8.00430230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.70, Z:-0.80 [[ 9.92760761e-01 1.17044577e-01 2.69562439e-02 2.37079928e+01] [-1.16994654e-01 9.93126631e-01 -3.42718925e-03 -1.70000214e+00] [-2.71720976e-02 2.48642570e-04 9.99630739e-01 -7.99521218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774012739 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.71, Z:-0.80 [[ 9.92753902e-01 1.16375478e-01 2.99405930e-02 2.37388551e+01] [-1.16313580e-01 9.93205246e-01 -3.80669378e-03 -1.70510684e+00] [-3.01801598e-02 2.96612556e-04 9.99544431e-01 -7.98310489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.71, Z:-0.80 [[ 9.92863198e-01 1.15342396e-01 3.03117493e-02 2.37702659e+01] [-1.15278433e-01 9.93325737e-01 -3.85515806e-03 -1.71054322e+00] [-3.05541039e-02 3.33353592e-04 9.99533059e-01 -7.99692012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.72, Z:-0.80 [[ 9.93051476e-01 1.13916074e-01 2.95278613e-02 2.38025975e+01] [-1.13854597e-01 9.93490307e-01 -3.76053436e-03 -1.71675283e+00] [-2.97640293e-02 3.72521461e-04 9.99556884e-01 -8.00260852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.73, Z:-0.80 [[ 9.93471762e-01 1.10686407e-01 2.76111857e-02 2.38339736e+01] [-1.10631272e-01 9.93855283e-01 -3.52122523e-03 -1.72609493e+00] [-2.78312745e-02 4.43577238e-04 9.99612537e-01 -8.01812145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894012739 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.73, Z:-0.80 [[ 9.93612899e-01 1.09366799e-01 2.77904665e-02 2.38662845e+01] [-1.09310293e-01 9.94001340e-01 -3.54896795e-03 -1.73290429e+00] [-2.80119002e-02 4.88516295e-04 9.99607470e-01 -8.02156995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.74, Z:-0.80 [[ 9.93749531e-01 1.07955446e-01 2.84163956e-02 2.38972671e+01] [-1.07895630e-01 9.94155583e-01 -3.63444537e-03 -1.74152775e+00] [-2.86426765e-02 5.45723470e-04 9.99589565e-01 -8.02333947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954012739 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.75, Z:-0.80 [[ 9.93728719e-01 1.08259750e-01 2.79831986e-02 2.39286308e+01] [-1.08201768e-01 9.94122499e-01 -3.58246669e-03 -1.74755609e+00] [-2.82065643e-02 5.32168484e-04 9.99601974e-01 -8.02994213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.75, Z:-0.80 [[ 9.93681332e-01 1.08943084e-01 2.69965901e-02 2.39601923e+01] [-1.08889246e-01 9.94047864e-01 -3.46076440e-03 -1.75353752e+00] [-2.72129291e-02 4.99258639e-04 9.99629535e-01 -8.04376855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014012738999998 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.76, Z:-0.81 [[ 9.93531980e-01 1.10871890e-01 2.45281323e-02 2.39921940e+01] [-1.10827942e-01 9.93834622e-01 -3.14814817e-03 -1.76240577e+00] [-2.47259482e-02 4.09383450e-04 9.99694183e-01 -8.07334562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.77, Z:-0.81 [[ 9.93446608e-01 1.11800229e-01 2.37601898e-02 2.40246887e+01] [-1.11759152e-01 9.93730630e-01 -3.05389632e-03 -1.76872968e+00] [-2.39526547e-02 3.78464261e-04 9.99713022e-01 -8.08916028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.78, Z:-0.81 [[ 9.93242641e-01 1.13629227e-01 2.36104652e-02 2.40561595e+01] [-1.13589076e-01 9.93523168e-01 -3.03914181e-03 -1.77651656e+00] [-2.38028795e-02 3.36714309e-04 9.99716615e-01 -8.09750070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.78, Z:-0.81 [[ 9.93182382e-01 1.14178885e-01 2.34933671e-02 2.40879620e+01] [-1.14139194e-01 9.93460153e-01 -3.02792771e-03 -1.78227412e+00] [-2.36854495e-02 3.25770460e-04 9.99719407e-01 -8.10471602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134012739 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.79, Z:-0.81 [[ 9.93130097e-01 1.14573271e-01 2.37818195e-02 2.41200631e+01] [-1.14532609e-01 9.93414747e-01 -3.06940807e-03 -1.78806416e+00] [-2.39768823e-02 3.24527696e-04 9.99712461e-01 -8.11647547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.80, Z:-0.81 [[ 9.93103538e-01 1.14636341e-01 2.45738017e-02 2.41509146e+01] [-1.14592840e-01 9.93407467e-01 -3.17582990e-03 -1.79635124e+00] [-2.47758636e-02 3.37946182e-04 9.99692974e-01 -8.12013354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194012738999998 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.80, Z:-0.81 [[ 9.93121924e-01 1.14360615e-01 2.51096305e-02 2.41822462e+01] [-1.14314992e-01 9.93439239e-01 -3.24963548e-03 -1.80315760e+00] [-2.53165225e-02 3.56877020e-04 9.99679422e-01 -8.12783691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.81, Z:-0.81 [[ 9.93011453e-01 1.15028844e-01 2.63935324e-02 2.42135568e+01] [-1.14978541e-01 9.93362086e-01 -3.42070579e-03 -1.81265318e+00] [-2.66118142e-02 3.62110175e-04 9.99645777e-01 -8.13550249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254012739 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.82, Z:-0.81 [[ 9.92858676e-01 1.16402552e-01 2.61169399e-02 2.42464392e+01] [-1.16353696e-01 9.93202064e-01 -3.38777820e-03 -1.81971065e+00] [-2.63337446e-02 3.24782501e-04 9.99653154e-01 -8.14270110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.83, Z:-0.82 [[ 9.92676094e-01 1.18190582e-01 2.50031850e-02 2.42783605e+01] [-1.18146260e-01 9.92990893e-01 -3.24771783e-03 -1.82701693e+00] [-2.52117847e-02 2.69899050e-04 9.99682096e-01 -8.16285347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314012739 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.84, Z:-0.82 [[ 9.92342437e-01 1.21307931e-01 2.32566773e-02 2.43098855e+01] [-1.21270339e-01 9.92614907e-01 -3.02523597e-03 -1.83609065e+00] [-2.34519096e-02 1.81724899e-04 9.99724950e-01 -8.17134021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.84, Z:-0.81 [[ 9.92246201e-01 1.22080202e-01 2.33216913e-02 2.43415394e+01] [-1.22042550e-01 9.92520225e-01 -3.03636379e-03 -1.84275579e+00] [-2.35179302e-02 1.66581761e-04 9.99723401e-01 -8.06937218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374012738999998 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.85, Z:-0.82 [[ 9.92120975e-01 1.22436159e-01 2.65585555e-02 2.43737951e+01] [-1.22387326e-01 9.92476374e-01 -3.46261300e-03 -1.85150314e+00] [-2.67826879e-02 1.84900398e-04 9.99641262e-01 -8.18618005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.86, Z:-0.82 [[ 9.92082729e-01 1.22496734e-01 2.76840810e-02 2.44065069e+01] [-1.22443542e-01 9.92468897e-01 -3.61492164e-03 -1.85872403e+00] [-2.79184054e-02 1.96564401e-04 9.99610186e-01 -8.19519043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434012739 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.87, Z:-0.82 [[ 9.92090823e-01 1.22467483e-01 2.75229739e-02 2.44379579e+01] [-1.22414751e-01 9.92472506e-01 -3.59913056e-03 -1.86520911e+00] [-2.77565714e-02 2.01446403e-04 9.99614692e-01 -8.19915575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.87, Z:-0.82 [[ 9.92141255e-01 1.22374905e-01 2.60789593e-02 2.44702395e+01] [-1.22327414e-01 9.92483926e-01 -3.41472442e-03 -1.87250763e+00] [-2.63008245e-02 1.97717324e-04 9.99654054e-01 -8.21283508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494012739 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.88, Z:-0.82 [[ 9.92137564e-01 1.22364738e-01 2.62664132e-02 2.45030009e+01] [-1.22316425e-01 9.92485178e-01 -3.44427180e-03 -1.87843648e+00] [-2.64904832e-02 2.04377669e-04 9.99649045e-01 -8.22290689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.89, Z:-0.82 [[ 9.92139061e-01 1.22153048e-01 2.71793592e-02 2.45352963e+01] [-1.22101091e-01 9.92511251e-01 -3.56932574e-03 -1.88740895e+00] [-2.74118238e-02 2.22638057e-04 9.99624201e-01 -8.21835723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554012739 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.89, Z:-0.82 [[ 9.92209190e-01 1.21612497e-01 2.70430094e-02 2.45665725e+01] [-1.21560720e-01 9.92577625e-01 -3.55658468e-03 -1.89373154e+00] [-2.72748112e-02 2.41508318e-04 9.99627944e-01 -8.22820395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.90, Z:-0.82 [[ 9.92332210e-01 1.20745433e-01 2.64069182e-02 2.45991398e+01] [-1.20695673e-01 9.92683470e-01 -3.47601742e-03 -1.90019226e+00] [-2.66334244e-02 2.62163271e-04 9.99645233e-01 -8.24099367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614012739 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.91, Z:-0.82 [[ 9.92501658e-01 1.19126814e-01 2.73726171e-02 2.46319685e+01] [-1.19072587e-01 9.92878995e-01 -3.60842661e-03 -1.90893375e+00] [-2.76075569e-02 3.22041066e-04 9.99618787e-01 -8.17743032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.92, Z:-0.83 [[ 9.92415682e-01 1.19498070e-01 2.88327304e-02 2.46641394e+01] [-1.19437893e-01 9.92834377e-01 -3.80656714e-03 -1.91547237e+00] [-2.90810033e-02 3.33976364e-04 9.99577002e-01 -8.25052694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674012739 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.92, Z:-0.83 [[ 9.92234749e-01 1.21199153e-01 2.79458186e-02 2.46954857e+01] [-1.21143152e-01 9.92628171e-01 -3.69459198e-03 -1.92215792e+00] [-2.81875883e-02 2.80457991e-04 9.99602612e-01 -8.25189126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.93, Z:-0.83 [[ 9.91972704e-01 1.23646089e-01 2.64915057e-02 2.47276921e+01] [-1.23596520e-01 9.92326359e-01 -3.50676574e-03 -1.92687744e+00] [-2.67218173e-02 2.04357972e-04 9.99642888e-01 -8.27228635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734012739 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.93, Z:-0.83 [[ 9.91279197e-01 1.29421076e-01 2.48140778e-02 2.47597641e+01] [-1.29379284e-01 9.91589725e-01 -3.28911755e-03 -1.93064856e+00] [-2.50310657e-02 5.00061992e-05 9.99686673e-01 -8.28930779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.93, Z:-0.83 [[ 9.90964369e-01 1.31810045e-01 2.48139543e-02 2.47923224e+01] [-1.31768893e-01 9.91274993e-01 -3.29345446e-03 -1.93441471e+00] [-2.50315628e-02 -6.01126358e-06 9.99686661e-01 -8.29455362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.94, Z:-0.83 [[ 9.90736519e-01 1.33461001e-01 2.50860719e-02 2.48237630e+01] [-1.33419350e-01 9.91054065e-01 -3.33433708e-03 -1.93768339e+00] [-2.53066575e-02 -4.35178925e-05 9.99679734e-01 -8.30489066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.94, Z:-0.83 [[ 9.90760724e-01 1.33363468e-01 2.46449356e-02 2.48568104e+01] [-1.33323134e-01 9.91067195e-01 -3.27992239e-03 -1.94071157e+00] [-2.48622090e-02 -3.61217720e-05 9.99690887e-01 -8.32167986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854012738999998 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.94, Z:-0.83 [[ 9.91013778e-01 1.31442567e-01 2.47900002e-02 2.48893623e+01] [-1.31401039e-01 9.91323787e-01 -3.30387923e-03 -1.94482093e+00] [-2.50091872e-02 1.67580673e-05 9.99687221e-01 -8.33069189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.95, Z:-0.83 [[ 9.91889220e-01 1.24576041e-01 2.52306432e-02 2.49211134e+01] [-1.24530678e-01 9.92210044e-01 -3.36741185e-03 -1.95047918e+00] [-2.54535964e-02 1.98110411e-04 9.99675985e-01 -8.34397093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914012739 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.96, Z:-0.83 [[ 9.92400360e-01 1.20473156e-01 2.50548306e-02 2.49536242e+01] [-1.20427007e-01 9.92716538e-01 -3.34823254e-03 -1.95645428e+00] [-2.52757169e-02 3.05508919e-04 9.99680471e-01 -8.26250824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters Centerline goodness : 0.984123 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.96, Z:-0.82 [[ 9.93128930e-01 1.14310928e-01 2.50587294e-02 2.49862307e+01] [-1.14262681e-01 9.93444912e-01 -3.35356641e-03 -1.96476761e+00] [-2.52778166e-02 4.67246220e-04 9.99680356e-01 -8.18670106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974012739 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.97, Z:-0.84 [[ 9.93273732e-01 1.12746420e-01 2.63730478e-02 2.50178182e+01] [-1.12692284e-01 9.93623648e-01 -3.53481283e-03 -1.97048492e+00] [-2.66034214e-02 5.38997743e-04 9.99645921e-01 -8.36363630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.98, Z:-0.84 [[ 9.93439302e-01 1.11197089e-01 2.67125563e-02 2.50492678e+01] [-1.11140850e-01 9.93798197e-01 -3.58550535e-03 -1.97607806e+00] [-2.69455881e-02 5.93125717e-04 9.99636726e-01 -8.36957520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034012738999998 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.98, Z:-0.83 [[ 9.93639434e-01 1.09468774e-01 2.64057479e-02 2.50818554e+01] [-1.09413085e-01 9.93990031e-01 -3.54899776e-03 -1.98386006e+00] [-2.66355546e-02 6.37289779e-04 9.99645008e-01 -8.31264654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.99, Z:-0.84 [[ 9.93641941e-01 1.09495579e-01 2.61994453e-02 2.51144506e+01] [-1.09440637e-01 9.93987079e-01 -3.52615709e-03 -1.99038231e+00] [-2.64280087e-02 6.36453597e-04 9.99650517e-01 -8.38726029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.00, Z:-0.84 [[ 9.93625523e-01 1.10036638e-01 2.45001863e-02 2.51466554e+01] [-1.09988653e-01 9.93927359e-01 -3.30172788e-03 -1.99907367e+00] [-2.47147165e-02 5.85938611e-04 9.99694373e-01 -8.38293917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.01, Z:-0.84 [[ 9.93530012e-01 1.10824496e-01 2.48202898e-02 2.51778698e+01] [-1.10775373e-01 9.93839824e-01 -3.34968891e-03 -2.00662838e+00] [-2.50386200e-02 5.78539594e-04 9.99686317e-01 -8.38897721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154012739 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.02, Z:-0.84 [[ 9.93311751e-01 1.12430903e-01 2.62879696e-02 2.52101593e+01] [-1.12376228e-01 9.93659379e-01 -3.55271891e-03 -2.01804940e+00] [-2.65207230e-02 5.74814566e-04 9.99648099e-01 -8.38724801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.03, Z:-0.83 [[ 9.93220269e-01 1.13267208e-01 2.61540929e-02 2.52418572e+01] [-1.13213241e-01 9.93564407e-01 -3.53979945e-03 -2.02575410e+00] [-2.63867190e-02 5.54810924e-04 9.99651656e-01 -8.28564164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214012738999998 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.03, Z:-0.84 [[ 9.93049593e-01 1.14530341e-01 2.71165455e-02 2.52741197e+01] [-1.14472657e-01 9.93419601e-01 -3.67524893e-03 -2.03289883e+00] [-2.73590354e-02 5.45601424e-04 9.99625523e-01 -8.40369689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.04, Z:-0.84 [[ 9.92823914e-01 1.16523946e-01 2.68858067e-02 2.53049117e+01] [-1.16467829e-01 9.93187761e-01 -3.64916676e-03 -2.04408492e+00] [-2.71278694e-02 4.91648487e-04 9.99631851e-01 -8.41713121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274012739 meters Centerline goodness : 0.987874 Centerline is valid? [True, True] Translation: X:25.34, Y:-2.05, Z:-0.83 [[ 9.92713872e-01 1.17677944e-01 2.59050296e-02 2.53373217e+01] [-1.17626162e-01 9.93051712e-01 -3.51904268e-03 -2.05315689e+00] [-2.61391477e-02 4.46293288e-04 9.99658214e-01 -8.29157015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.06, Z:-0.83 [[ 9.92212306e-01 1.21759742e-01 2.62546348e-02 2.53679184e+01] [-1.21707841e-01 9.92559542e-01 -3.57181759e-03 -2.06238792e+00] [-2.64941919e-02 3.48606463e-04 9.99648907e-01 -8.28418505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334012739 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.07, Z:-0.84 [[ 9.91759568e-01 1.25209636e-01 2.71202351e-02 2.53999324e+01] [-1.25155402e-01 9.92130271e-01 -3.69477120e-03 -2.06731011e+00] [-2.73694272e-02 2.70080776e-04 9.99625351e-01 -8.43653872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.07, Z:-0.85 [[ 9.90915460e-01 1.31719010e-01 2.71413603e-02 2.54315245e+01] [-1.31666988e-01 9.91287089e-01 -3.70282638e-03 -2.07227774e+00] [-2.73926127e-02 9.55667421e-05 9.99624747e-01 -8.45458047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.08, Z:-0.85 [[ 9.90904803e-01 1.31799299e-01 2.71406792e-02 2.54646898e+01] [-1.31747171e-01 9.91276417e-01 -3.70781255e-03 -2.07694778e+00] [-2.73926023e-02 9.83815641e-05 9.99624747e-01 -8.46357878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.08, Z:-0.85 [[ 9.90526766e-01 1.34449391e-01 2.79300263e-02 2.54977459e+01] [-1.34395168e-01 9.90920461e-01 -3.81815558e-03 -2.08166078e+00] [-2.81897832e-02 2.83247291e-05 9.99602589e-01 -8.47011553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454012739 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.08, Z:-0.85 [[ 9.89720485e-01 1.39899358e-01 2.96906007e-02 2.55301314e+01] [-1.39840356e-01 9.90165720e-01 -4.06470727e-03 -2.08327084e+00] [-2.99672649e-02 -1.29020121e-04 9.99550872e-01 -8.47093159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.09, Z:-0.85 [[ 9.89319002e-01 1.42659397e-01 2.99367508e-02 2.55632003e+01] [-1.42600513e-01 9.89771819e-01 -4.10377567e-03 -2.08563157e+00] [-3.02159944e-02 -2.09052763e-04 9.99543371e-01 -8.48584496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514012738999998 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.09, Z:-0.85 [[ 9.89003689e-01 1.44914740e-01 2.95198551e-02 2.55949283e+01] [-1.44858327e-01 9.89444110e-01 -4.05206131e-03 -2.08829188e+00] [-2.97954502e-02 -2.68693238e-04 9.99555981e-01 -8.50469219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.09, Z:-0.85 [[ 9.88731413e-01 1.46897527e-01 2.88324488e-02 2.56281950e+01] [-1.46844450e-01 9.89151665e-01 -3.96126211e-03 -2.08936162e+00] [-2.91015644e-02 -3.17260812e-04 9.99576409e-01 -8.52386932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.09, Z:-0.85 [[ 9.88762550e-01 1.46674939e-01 2.88977941e-02 2.56613057e+01] [-1.46621368e-01 9.89184699e-01 -3.97566677e-03 -2.09113435e+00] [-2.91683865e-02 -3.06043690e-04 9.99574465e-01 -8.53498104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.09, Z:-0.86 [[ 9.88944635e-01 1.45786273e-01 2.71085260e-02 2.56938030e+01] [-1.45738665e-01 9.89316075e-01 -3.73434710e-03 -2.08972536e+00] [-2.73633171e-02 -2.57697860e-04 9.99625521e-01 -8.55558646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634012739 meters Centerline goodness : 0.988330 Centerline is valid? [True, True] Translation: X:25.73, Y:-2.09, Z:-0.85 [[ 9.89151159e-01 1.44828541e-01 2.45902144e-02 2.57274227e+01] [-1.44788976e-01 9.89456746e-01 -3.39133282e-03 -2.09301999e+00] [-2.48221153e-02 -2.05851173e-04 9.99691863e-01 -8.45079816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:25.76, Y:-2.10, Z:-0.86 [[ 9.89318428e-01 1.43701561e-01 2.44726154e-02 2.57588217e+01] [-1.43661909e-01 9.89621055e-01 -3.37995629e-03 -2.09617084e+00] [-2.47043204e-02 -1.71929608e-04 9.99694787e-01 -8.58726645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694012738999998 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.10, Z:-0.86 [[ 9.90072791e-01 1.38450528e-01 2.42346670e-02 2.57918936e+01] [-1.38510092e-01 9.90360708e-01 7.88568962e-04 -2.10158933e+00] [-2.38918841e-02 -4.13748662e-03 9.99705986e-01 -8.56107590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:25.82, Y:-2.10, Z:-0.86 [[ 9.90444947e-01 1.35409161e-01 2.61374350e-02 2.58236430e+01] [-1.35249473e-01 9.90780938e-01 -7.79182350e-03 -2.09946887e+00] [-2.69515567e-02 4.18229791e-03 9.99627992e-01 -8.59498469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754012739 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:25.85, Y:-2.11, Z:-0.86 [[ 9.90799081e-01 1.32461935e-01 2.77671946e-02 2.58546609e+01] [-1.32406180e-01 9.91188084e-01 -3.84519696e-03 -2.10599897e+00] [-2.80318546e-02 1.33269455e-04 9.99607021e-01 -8.60416643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.11, Z:-0.86 [[ 9.91261862e-01 1.28895747e-01 2.80322597e-02 2.58881973e+01] [-1.28837352e-01 9.91658121e-01 -3.88698823e-03 -2.10778330e+00] [-2.82994343e-02 2.41421079e-04 9.99599462e-01 -8.60690311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.11, Z:-0.86 [[ 9.91305116e-01 1.28532068e-01 2.81722386e-02 2.59196308e+01] [-1.28472785e-01 9.91705320e-01 -3.91187737e-03 -2.11077824e+00] [-2.84413606e-02 2.58498100e-04 9.99595429e-01 -8.62274055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.12, Z:-0.86 [[ 9.91423491e-01 1.27785784e-01 2.73907738e-02 2.59508141e+01] [-1.27729327e-01 9.91801753e-01 -3.80818339e-03 -2.11565254e+00] [-2.76528492e-02 2.76917361e-04 9.99617548e-01 -8.63090613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874012738999998 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.12, Z:-0.86 [[ 9.91529001e-01 1.27030103e-01 2.70849086e-02 2.59830896e+01] [-1.26974487e-01 9.91898817e-01 -3.77046753e-03 -2.12121385e+00] [-2.73444517e-02 2.99435535e-04 9.99626026e-01 -8.64176974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:26.02, Y:-2.13, Z:-0.86 [[ 9.91603406e-01 1.26442588e-01 2.71101030e-02 2.60159880e+01] [-1.26386509e-01 9.91973875e-01 -3.77906776e-03 -2.12648551e+00] [-2.73703491e-02 3.20985175e-04 9.99625310e-01 -8.64643676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.13, Z:-0.86 [[ 9.91577339e-01 1.26091903e-01 2.95839918e-02 2.60478064e+01] [-1.26024785e-01 9.92018497e-01 -4.12991942e-03 -2.13020500e+00] [-2.98686165e-02 3.66818313e-04 9.99553766e-01 -8.63629971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:26.08, Y:-2.13, Z:-0.86 [[ 9.91451318e-01 1.26609589e-01 3.15324575e-02 2.60808274e+01] [-1.26533410e-01 9.91952553e-01 -4.40782167e-03 -2.13484360e+00] [-3.18367742e-02 3.80231241e-04 9.99493009e-01 -8.63727549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.14, Z:-0.86 [[ 9.91151108e-01 1.28254115e-01 3.42105571e-02 2.61134473e+01] [-1.28165185e-01 9.91741272e-01 -4.78898603e-03 -2.13974999e+00] [-3.45422286e-02 3.62006438e-04 9.99403174e-01 -8.64662209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.14, Z:-0.87 [[ 9.91083309e-01 1.28900893e-01 3.37407079e-02 2.61449991e+01] [-1.28814553e-01 9.91657423e-01 -4.72940880e-03 -2.14395429e+00] [-3.40688485e-02 3.40943915e-04 9.99419430e-01 -8.65714056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054012739 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:26.18, Y:-2.15, Z:-0.87 [[ 9.91017092e-01 1.29702693e-01 3.25934880e-02 2.61766651e+01] [-1.29622378e-01 9.91552881e-01 -4.57415441e-03 -2.14856745e+00] [-3.29114471e-02 3.08219795e-04 9.99458224e-01 -8.66354249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:26.21, Y:-2.15, Z:-0.87 [[ 9.90881804e-01 1.31209958e-01 3.06136902e-02 2.62086927e+01] [-1.31139667e-01 9.91354571e-01 -4.30139093e-03 -2.15422719e+00] [-3.09134071e-02 2.47500852e-04 9.99522036e-01 -8.68395930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.16, Z:-0.87 [[ 9.90787519e-01 1.32047695e-01 3.00582677e-02 2.62403808e+01] [-1.31980153e-01 9.91243339e-01 -4.22878716e-03 -2.15908430e+00] [-3.03534593e-02 2.22734781e-04 9.99539203e-01 -8.69577316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.16, Z:-0.87 [[ 9.90603405e-01 1.33643558e-01 2.90567193e-02 2.62720580e+01] [-1.33580979e-01 9.91029449e-01 -4.09301426e-03 -2.16293075e+00] [-2.93430695e-02 1.73128867e-04 9.99569384e-01 -8.70883480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174012739 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.17, Z:-0.87 [[ 9.90540708e-01 1.34293041e-01 2.81865976e-02 2.63042867e+01] [-1.34234283e-01 9.90941651e-01 -3.97516688e-03 -2.16803403e+00] [-2.84651109e-02 1.53956887e-04 9.99594775e-01 -8.68568033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.17, Z:-0.87 [[ 9.90482544e-01 1.34829086e-01 2.76667193e-02 2.63358360e+01] [-1.34772544e-01 9.90868860e-01 -3.90689130e-03 -2.17352272e+00] [-2.79408532e-02 1.40993493e-04 9.99609568e-01 -8.74592464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234012739 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.18, Z:-0.88 [[ 9.90138276e-01 1.36756773e-01 3.03937584e-02 2.63660483e+01] [-1.36910495e-01 9.90578801e-01 3.02568275e-03 -2.18395915e+00] [-2.96936301e-02 -7.15706880e-03 9.99533424e-01 -8.76143070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.19, Z:-0.87 [[ 9.89976890e-01 1.38780962e-01 2.61839949e-02 2.63973239e+01] [-1.38985438e-01 9.90275333e-01 6.14913041e-03 -2.18962978e+00] [-2.50759821e-02 -9.72669102e-03 9.99638228e-01 -8.68282129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294012739 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.17, Z:-0.88 [[ 9.89155716e-01 1.43889701e-01 2.94401717e-02 2.64308659e+01] [-1.43328771e-01 9.89465651e-01 -2.03614357e-02 -2.17464227e+00] [-3.20598396e-02 1.59210068e-02 9.99359139e-01 -8.76568798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.19, Z:-0.88 [[ 9.88891675e-01 1.45051568e-01 3.24545462e-02 2.64612810e+01] [-1.44978865e-01 9.89424083e-01 -4.59481618e-03 -2.19008928e+00] [-3.27777949e-02 -1.61447790e-04 9.99462651e-01 -8.76899561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354012738999998 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.19, Z:-0.88 [[ 9.88755511e-01 1.46315953e-01 3.08898398e-02 2.64943586e+01] [-1.46250538e-01 9.89237892e-01 -4.37875463e-03 -2.19303200e+00] [-3.11980817e-02 -1.88137919e-04 9.99513204e-01 -8.78362184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:26.53, Y:-2.20, Z:-0.88 [[ 9.88635673e-01 1.47293367e-01 3.00694325e-02 2.65268902e+01] [-1.47231660e-01 9.89092827e-01 -4.26815883e-03 -2.19689821e+00] [-3.03701315e-02 -2.07518403e-04 9.99538700e-01 -8.80320302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414012739 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.21, Z:-0.88 [[ 9.88438953e-01 1.48353856e-01 3.12980822e-02 2.65576627e+01] [-1.48430052e-01 9.88922902e-01 1.12437005e-04 -2.20509561e+00] [-3.09347098e-02 -4.75671308e-03 9.99510089e-01 -8.81392854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.20, Z:-0.88 [[ 9.88390826e-01 1.49028582e-01 2.95644622e-02 2.65911087e+01] [-1.48823320e-01 9.88822497e-01 -9.03823156e-03 -2.20460951e+00] [-3.05809602e-02 4.53342373e-03 9.99522012e-01 -8.80588316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474012739 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.21, Z:-0.88 [[ 9.88356808e-01 1.48932080e-01 3.11457203e-02 2.66235237e+01] [-1.48866268e-01 9.88847395e-01 -4.43430680e-03 -2.21227200e+00] [-3.14587749e-02 -2.53869844e-04 9.99505018e-01 -8.81091769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.21, Z:-0.88 [[ 9.88179477e-01 1.49876627e-01 3.22229311e-02 2.66566922e+01] [-1.49806471e-01 9.88704665e-01 -4.59424393e-03 -2.21483978e+00] [-3.25475321e-02 -2.87266026e-04 9.99470147e-01 -8.80986054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534012738999998 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.22, Z:-0.88 [[ 9.88028241e-01 1.50873823e-01 3.22069033e-02 2.66884402e+01] [-1.50804061e-01 9.88552978e-01 -4.59825255e-03 -2.21989388e+00] [-3.25319862e-02 -3.13728439e-04 9.99470646e-01 -8.82357328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.23, Z:-0.88 [[ 9.87849924e-01 1.52135501e-01 3.17382715e-02 2.67202955e+01] [-1.52068221e-01 9.88359586e-01 -4.53711155e-03 -2.22524772e+00] [-3.20590806e-02 -3.44397198e-04 9.99485916e-01 -8.83032525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594012739 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.23, Z:-0.88 [[ 9.87744373e-01 1.52835165e-01 3.16617396e-02 2.67527963e+01] [-1.52768383e-01 9.88251629e-01 -4.53195701e-03 -2.22903924e+00] [-3.19824081e-02 -3.60497724e-04 9.99488367e-01 -8.84553263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.23, Z:-0.89 [[ 9.87792077e-01 1.52470660e-01 3.19297771e-02 2.67847937e+01] [-1.52402354e-01 9.88307937e-01 -4.57646831e-03 -2.23276862e+00] [-3.22542293e-02 -3.45574061e-04 9.99479637e-01 -8.85171466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654012739 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.24, Z:-0.89 [[ 9.87931060e-01 1.51475094e-01 3.23653590e-02 2.68174077e+01] [-1.51404182e-01 9.88461025e-01 -4.64486190e-03 -2.23692465e+00] [-3.26954768e-02 -3.11447367e-04 9.99465311e-01 -8.86338075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:26.85, Y:-2.24, Z:-0.89 [[ 9.87964784e-01 1.51352593e-01 3.19057779e-02 2.68503084e+01] [-1.51283420e-01 9.88479795e-01 -4.58501787e-03 -2.24115574e+00] [-3.22321711e-02 -2.96979019e-04 9.99480364e-01 -8.87393282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714012738999998 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.24, Z:-0.89 [[ 9.88017451e-01 1.51120373e-01 3.13711439e-02 2.68824932e+01] [-1.51053201e-01 9.88515329e-01 -4.51390263e-03 -2.24478210e+00] [-3.16929992e-02 -2.78897129e-04 9.99497612e-01 -8.87855629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.25, Z:-0.89 [[ 9.88035777e-01 1.51111523e-01 3.08319971e-02 2.69140545e+01] [-1.51046516e-01 9.88516684e-01 -4.44018774e-03 -2.24687420e+00] [-3.11489071e-02 -2.70001394e-04 9.99514719e-01 -8.89893103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774012739 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:26.95, Y:-2.25, Z:-0.89 [[ 9.88001772e-01 1.51211201e-01 3.14272268e-02 2.69468903e+01] [-1.51143526e-01 9.88501441e-01 -4.53168029e-03 -2.25103464e+00] [-3.17510998e-02 -2.72713711e-04 9.99495770e-01 -8.91282744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:26.98, Y:-2.26, Z:-0.89 [[ 9.87935492e-01 1.51516956e-01 3.20324233e-02 2.69800152e+01] [-1.51446610e-01 9.88454618e-01 -4.62512571e-03 -2.25552898e+00] [-3.23633817e-02 -2.81876090e-04 9.99476129e-01 -8.92494461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:27.01, Y:-2.26, Z:-0.89 [[ 9.87816356e-01 1.52341238e-01 3.17961158e-02 2.70131823e+01] [-1.52272160e-01 9.88327909e-01 -4.59700911e-03 -2.25961969e+00] [-3.21253027e-02 -3.00662448e-04 9.99483804e-01 -8.94253620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:27.04, Y:-2.26, Z:-0.90 [[ 9.87855769e-01 1.52301728e-01 3.07435095e-02 2.70445613e+01] [-1.52236950e-01 9.88334004e-01 -4.45063167e-03 -2.26318470e+00] [-3.10626948e-02 -2.83715940e-04 9.99517398e-01 -8.95784286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894012739 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.26, Z:-0.90 [[ 9.87916031e-01 1.52118819e-01 2.96947758e-02 2.70775424e+01] [-1.52058144e-01 9.88362178e-01 -4.30409394e-03 -2.26475475e+00] [-3.00039270e-02 -2.63249100e-04 9.99549746e-01 -8.97136604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.27, Z:-0.90 [[ 9.87919621e-01 1.51915128e-01 3.06041856e-02 2.71098714e+01] [-1.51850395e-01 9.88393508e-01 -4.44194620e-03 -2.26824268e+00] [-3.09237772e-02 -2.58971860e-04 9.99521712e-01 -8.98215454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954012739 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.28, Z:-0.89 [[ 9.88123028e-01 1.50737341e-01 2.98518803e-02 2.71411031e+01] [-1.51023750e-01 9.88501141e-01 7.57108814e-03 -2.28143408e+00] [-2.83673721e-02 -1.19895095e-02 9.99525659e-01 -8.92160878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.27, Z:-0.90 [[ 9.88473424e-01 1.48123053e-01 3.13025692e-02 2.71741213e+01] [-1.47658267e-01 9.88897698e-01 -1.66846871e-02 -2.27063266e+00] [-3.34264254e-02 1.18702867e-02 9.99370687e-01 -8.98901842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014012738999998 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.28, Z:-0.90 [[ 9.88665120e-01 1.46430704e-01 3.31561339e-02 2.72043449e+01] [-1.46351189e-01 9.89220927e-01 -4.82568829e-03 -2.28437863e+00] [-3.35053704e-02 -8.14499218e-05 9.99438534e-01 -8.99491778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.29, Z:-0.90 [[ 9.88843760e-01 1.45534109e-01 3.17465086e-02 2.72370947e+01] [-1.45460575e-01 9.89353234e-01 -4.62599840e-03 -2.28999975e+00] [-3.20817515e-02 -4.34757267e-05 9.99485247e-01 -9.02105095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074012739 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.30, Z:-0.90 [[ 9.88863410e-01 1.45570820e-01 3.09563033e-02 2.72692285e+01] [-1.45500742e-01 9.89347833e-01 -4.51651375e-03 -2.29567584e+00] [-3.12840242e-02 -3.79499260e-05 9.99510534e-01 -9.03619660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.30, Z:-0.90 [[ 9.88901770e-01 1.45383754e-01 3.06080634e-02 2.73012367e+01] [-1.45314981e-01 9.89375340e-01 -4.47133711e-03 -2.30114615e+00] [-3.09329229e-02 -2.60969884e-05 9.99521462e-01 -9.04313732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134012739 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.31, Z:-0.90 [[ 9.88973744e-01 1.44908658e-01 3.05354505e-02 2.73335520e+01] [-1.44839819e-01 9.89445037e-01 -4.46608818e-03 -2.30691246e+00] [-3.08603248e-02 -5.90516996e-06 9.99523707e-01 -9.04097945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.31, Z:-0.90 [[ 9.88938186e-01 1.45143098e-01 3.05736229e-02 2.73651796e+01] [-1.45074028e-01 9.89410674e-01 -4.47718819e-03 -2.31230143e+00] [-3.08997017e-02 -7.77626471e-06 9.99522490e-01 -9.04973300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194012738999998 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.32, Z:-0.91 [[ 9.88714682e-01 1.46752265e-01 3.01172705e-02 2.73977254e+01] [-1.46685878e-01 9.89173276e-01 -4.41400998e-03 -2.31877765e+00] [-3.04389650e-02 -5.35817818e-05 9.99536626e-01 -9.06186256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.32, Z:-0.91 [[ 9.88481200e-01 1.48075278e-01 3.12830515e-02 2.74307069e+01] [-1.48004116e-01 9.88976088e-01 -4.59110728e-03 -2.32397944e+00] [-3.16180194e-02 -9.17971418e-05 9.99500021e-01 -9.07225690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.33, Z:-0.91 [[ 9.88234945e-01 1.49475136e-01 3.23863881e-02 2.74627363e+01] [-1.49399403e-01 9.88765476e-01 -4.75949290e-03 -2.32872894e+00] [-3.27339682e-02 -1.35009852e-04 9.99464091e-01 -9.08084140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:27.50, Y:-2.33, Z:-0.91 [[ 9.88187482e-01 1.49706046e-01 3.27658438e-02 2.74950591e+01] [-1.49628456e-01 9.88730540e-01 -4.82127125e-03 -2.33165959e+00] [-3.31183639e-02 -1.38382717e-04 9.99451427e-01 -9.10169885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314012739 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:27.53, Y:-2.34, Z:-0.91 [[ 9.88175231e-01 1.49787057e-01 3.27650712e-02 2.75281764e+01] [-1.49709337e-01 9.88718271e-01 -4.82651669e-03 -2.33667573e+00] [-3.31183742e-02 -1.35792828e-04 9.99451427e-01 -9.11104788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.34, Z:-0.91 [[ 9.88306320e-01 1.49115608e-01 3.18614642e-02 2.75607192e+01] [-1.49041669e-01 9.88819763e-01 -4.69647888e-03 -2.34037882e+00] [-3.22055638e-02 -1.07126031e-04 9.99481261e-01 -9.12289277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374012738999998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.34, Z:-0.91 [[ 9.88633432e-01 1.47068744e-01 3.12205498e-02 2.75923226e+01] [-1.46996544e-01 9.89126273e-01 -4.60789598e-03 -2.34369370e+00] [-3.15587435e-02 -3.37928928e-05 9.99501898e-01 -9.13853986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.35, Z:-0.91 [[ 9.88811418e-01 1.45815883e-01 3.14596101e-02 2.76246911e+01] [-1.45741756e-01 9.89311745e-01 -4.64892629e-03 -2.34868979e+00] [-3.18012491e-02 1.19325788e-05 9.99494212e-01 -9.14721018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434012739 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.35, Z:-0.92 [[ 9.89021392e-01 1.44309548e-01 3.18031661e-02 2.76565716e+01] [-1.44232819e-01 9.89532592e-01 -4.70574024e-03 -2.35335946e+00] [-3.21493526e-02 6.70174584e-05 9.99483074e-01 -9.15758472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.36, Z:-0.92 [[ 9.89663902e-01 1.39958734e-01 3.12556161e-02 2.76893408e+01] [-1.39882281e-01 9.90157315e-01 -4.63020664e-03 -2.35703195e+00] [-3.15960147e-02 2.10241502e-04 9.99500699e-01 -9.16756965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494012739 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.36, Z:-0.92 [[ 9.89964889e-01 1.38033808e-01 3.02685806e-02 2.77218886e+01] [-1.37961040e-01 9.90427481e-01 -4.48952433e-03 -2.36177523e+00] [-3.05985402e-02 2.68586602e-04 9.99531719e-01 -9.18414254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.37, Z:-0.92 [[ 9.90373263e-01 1.35235428e-01 2.95326861e-02 2.77544490e+01] [-1.35164750e-01 9.90813431e-01 -4.38579817e-03 -2.36811187e+00] [-2.98544973e-02 3.51799110e-04 9.99554193e-01 -9.20168845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554012738999997 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.37, Z:-0.92 [[ 9.90426401e-01 1.34693786e-01 3.02180177e-02 2.77865458e+01] [-1.34619354e-01 9.90887197e-01 -4.49354171e-03 -2.37345018e+00] [-3.05478990e-02 3.82592327e-04 9.99533231e-01 -9.20608259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.38, Z:-0.92 [[ 9.90408676e-01 1.34622546e-01 3.11034585e-02 2.78184258e+01] [-1.34543456e-01 9.90896871e-01 -4.63146046e-03 -2.37839882e+00] [-3.14438187e-02 4.02271840e-04 9.99505440e-01 -9.20607275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.38, Z:-0.92 [[ 9.90259779e-01 1.35588354e-01 3.16443943e-02 2.78502915e+01] [-1.35506792e-01 9.90765185e-01 -4.71788560e-03 -2.38365857e+00] [-3.19918545e-02 3.83901987e-04 9.99488056e-01 -9.21708447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.39, Z:-0.92 [[ 9.90114579e-01 1.36842284e-01 3.07783967e-02 2.78832275e+01] [-1.36765567e-01 9.90592789e-01 -4.59406952e-03 -2.38863394e+00] [-3.11175208e-02 3.39230341e-04 9.99515675e-01 -9.22751430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674012739 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.39, Z:-0.92 [[ 9.89780980e-01 1.39574466e-01 2.91989728e-02 2.79152170e+01] [-1.39506452e-01 9.90211547e-01 -4.36370724e-03 -2.39211454e+00] [-2.95222221e-02 2.45669345e-04 9.99564094e-01 -9.23610546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.40, Z:-0.92 [[ 9.89500340e-01 1.41533476e-01 2.92805726e-02 2.79474460e+01] [-1.41465779e-01 9.89933451e-01 -4.38127288e-03 -2.39652213e+00] [-2.96059151e-02 1.93071995e-04 9.99561630e-01 -9.24204967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734012739 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.40, Z:-0.93 [[ 9.89209552e-01 1.43340244e-01 3.02991157e-02 2.79800725e+01] [-1.43268417e-01 9.89673457e-01 -4.53969791e-03 -2.40105346e+00] [-3.06369520e-02 1.49806199e-04 9.99530567e-01 -9.25503364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.40, Z:-0.93 [[ 9.88931304e-01 1.44828081e-01 3.22444195e-02 2.80131938e+01] [-1.44747307e-01 9.89456827e-01 -4.83776894e-03 -2.40406033e+00] [-3.26051058e-02 1.16928258e-04 9.99468305e-01 -9.25988554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794012739 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.41, Z:-0.93 [[ 9.88954203e-01 1.44519454e-01 3.29197802e-02 2.80445887e+01] [-1.44434871e-01 9.89501950e-01 -4.94563083e-03 -2.40735680e+00] [-3.32889266e-02 1.36238182e-04 9.99445761e-01 -9.26164855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.41, Z:-0.93 [[ 9.89225319e-01 1.42512183e-01 3.35193315e-02 2.80767728e+01] [-1.42423138e-01 9.89793025e-01 -5.04158773e-03 -2.41136149e+00] [-3.38956882e-02 2.13337857e-04 9.99425353e-01 -9.27132287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854012738999998 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.42, Z:-0.93 [[ 9.89361738e-01 1.41575995e-01 3.34602543e-02 2.81084248e+01] [-1.41486582e-01 9.89927359e-01 -5.03703337e-03 -2.41704674e+00] [-3.38363442e-02 2.49271090e-04 9.99427356e-01 -9.28076573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.42, Z:-0.93 [[ 9.89211153e-01 1.42610712e-01 3.35183352e-02 2.81412024e+01] [-1.42521377e-01 9.89778832e-01 -5.05181532e-03 -2.42245660e+00] [-3.38961817e-02 2.20232788e-04 9.99425335e-01 -9.28568197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.43, Z:-0.93 [[ 9.88973017e-01 1.44335796e-01 3.31594627e-02 2.81737184e+01] [-1.44249124e-01 9.89528752e-01 -5.00398447e-03 -2.42690492e+00] [-3.35344958e-02 1.65582185e-04 9.99437547e-01 -9.29464430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.43, Z:-0.93 [[ 9.88662766e-01 1.46494767e-01 3.29426408e-02 2.82064648e+01] [-1.46410211e-01 9.89211440e-01 -4.97761122e-03 -2.43188200e+00] [-3.33164312e-02 9.80398936e-05 9.99444849e-01 -9.30990893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974012739 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.44, Z:-0.93 [[ 9.88142927e-01 1.50186516e-01 3.18993205e-02 2.82377257e+01] [-1.50108959e-01 9.88657681e-01 -4.82600933e-03 -2.43688078e+00] [-3.22623098e-02 -1.95868143e-05 9.99479436e-01 -9.32487800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:28.27, Y:-2.44, Z:-0.93 [[ 9.87818169e-01 1.52318896e-01 3.18468148e-02 2.82705737e+01] [-1.52242513e-01 9.88331395e-01 -4.82392163e-03 -2.44111400e+00] [-3.22099813e-02 -8.32816738e-05 9.99481120e-01 -9.33710666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034012738999998 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.44, Z:-0.94 [[ 9.87455269e-01 1.54635790e-01 3.19353027e-02 2.83032313e+01] [-1.54559996e-01 9.87971533e-01 -4.84342171e-03 -2.44474691e+00] [-3.23001363e-02 -1.53257954e-04 9.99478203e-01 -9.35836853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:28.33, Y:-2.45, Z:-0.94 [[ 9.87465683e-01 1.54570362e-01 3.19300365e-02 2.83345767e+01] [-1.54494368e-01 9.87981772e-01 -4.84851692e-03 -2.45082576e+00] [-3.22957311e-02 -1.45266748e-04 9.99478346e-01 -9.37103848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094012739 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.46, Z:-0.94 [[ 9.87628394e-01 1.53388007e-01 3.25925652e-02 2.83667951e+01] [-1.53308039e-01 9.88166033e-01 -4.95347916e-03 -2.45775158e+00] [-3.29666702e-02 -1.04505589e-04 9.99456446e-01 -9.37954789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.46, Z:-0.94 [[ 9.88101340e-01 1.49891001e-01 3.44736051e-02 2.83993222e+01] [-1.49799165e-01 9.88702527e-01 -5.24620909e-03 -2.46405501e+00] [-3.48705000e-02 1.96689672e-05 9.99391839e-01 -9.36892636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154012739 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.47, Z:-0.94 [[ 9.88289665e-01 1.48519192e-01 3.50084030e-02 2.84318301e+01] [-1.48423383e-01 9.88909523e-01 -5.33435615e-03 -2.46902713e+00] [-3.54123974e-02 7.58234393e-05 9.99372781e-01 -9.37205904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:28.46, Y:-2.48, Z:-0.94 [[ 9.88594620e-01 1.46444256e-01 3.51391005e-02 2.84629158e+01] [-1.46346181e-01 9.89218912e-01 -5.36097450e-03 -2.47519730e+00] [-3.55453466e-02 1.57357382e-04 9.99368052e-01 -9.39347439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214012738999998 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.48, Z:-0.94 [[ 9.88662400e-01 1.46014996e-01 3.50182635e-02 2.84956563e+01] [-1.45917099e-01 9.89282361e-01 -5.34894009e-03 -2.48159237e+00] [-3.54239758e-02 1.78532532e-04 9.99372358e-01 -9.40812639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.49, Z:-0.94 [[ 9.88698485e-01 1.45776398e-01 3.49935437e-02 2.85275892e+01] [-1.45678250e-01 9.89317545e-01 -5.35191121e-03 -2.48734286e+00] [-3.53999091e-02 1.93628285e-04 9.99373208e-01 -9.41265590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274012739 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.49, Z:-0.94 [[ 9.88452349e-01 1.47645804e-01 3.40979626e-02 2.85602942e+01] [-1.47553517e-01 9.89040292e-01 -5.22109484e-03 -2.49213403e+00] [-3.44951316e-02 1.29529162e-04 9.99404857e-01 -9.42691179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.50, Z:-0.94 [[ 9.88161780e-01 1.49679458e-01 3.36505046e-02 2.85914602e+01] [-1.49590541e-01 9.88734573e-01 -5.15890406e-03 -2.49793218e+00] [-3.40435993e-02 6.40346346e-05 9.99420347e-01 -9.44113636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334012739 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.51, Z:-0.95 [[ 9.87619038e-01 1.53337774e-01 3.31083599e-02 2.86227567e+01] [-1.53253557e-01 9.88173833e-01 -5.08165488e-03 -2.50552526e+00] [-3.34960245e-02 -5.52348288e-05 9.99438849e-01 -9.45445237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.51, Z:-0.95 [[ 9.87285694e-01 1.55556643e-01 3.26969293e-02 2.86557095e+01] [-1.55475529e-01 9.87826966e-01 -5.02436186e-03 -2.51088072e+00] [-3.30804813e-02 -1.23091792e-04 9.99452684e-01 -9.46434931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394012739 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.52, Z:-0.95 [[ 9.86934684e-01 1.57041241e-01 3.60274596e-02 2.86879437e+01] [-1.57269207e-01 9.87549332e-01 3.56567830e-03 -2.52168886e+00] [-3.50189351e-02 -9.18510160e-03 9.99344439e-01 -9.48147811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:28.72, Y:-2.51, Z:-0.95 [[ 9.86191927e-01 1.62825950e-01 3.02190940e-02 2.87213744e+01] [-1.62472360e-01 9.86616231e-01 -1.38255432e-02 -2.51265824e+00] [-3.20658058e-02 8.72487156e-03 9.99447678e-01 -9.48560662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454012739 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.52, Z:-0.95 [[ 9.85725485e-01 1.65358270e-01 3.16529695e-02 2.87521033e+01] [-1.65286874e-01 9.86233473e-01 -4.87716630e-03 -2.52366740e+00] [-3.20236978e-02 -4.24273265e-04 9.99487020e-01 -9.49385262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.53, Z:-0.95 [[ 9.84755905e-01 1.70882708e-01 3.24793329e-02 2.87848934e+01] [-1.70810337e-01 9.85291187e-01 -5.01051506e-03 -2.52581461e+00] [-3.28578109e-02 -6.13671493e-04 9.99459848e-01 -9.50999539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514012738999998 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.53, Z:-0.95 [[ 9.84294383e-01 1.73507381e-01 3.25539055e-02 2.88168151e+01] [-1.73435906e-01 9.84832322e-01 -5.02826084e-03 -2.52870532e+00] [-3.29325788e-02 -6.96727183e-04 9.99457333e-01 -9.52307439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.54, Z:-0.95 [[ 9.83986670e-01 1.74858206e-01 3.45664614e-02 2.88465216e+01] [-1.74986020e-01 9.84570680e-01 6.84144031e-04 -2.53505528e+00] [-3.39134962e-02 -6.72183612e-03 9.99402167e-01 -9.54775128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574012739 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.53, Z:-0.95 [[ 9.83800164e-01 1.76604896e-01 3.07887783e-02 2.88779039e+01] [-1.76346822e-01 9.84267447e-01 -1.09266433e-02 -2.52868618e+00] [-3.22340909e-02 5.32013027e-03 9.99466187e-01 -9.54404862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.53, Z:-0.95 [[ 9.83910861e-01 1.75608825e-01 3.28779277e-02 2.89080745e+01] [-1.75551554e-01 9.84459290e-01 -4.64318240e-03 -2.53244622e+00] [-3.31823651e-02 -1.20329369e-03 9.99448589e-01 -9.54050827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634012739 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.53, Z:-0.96 [[ 9.84507970e-01 1.72036282e-01 3.38758680e-02 2.89380590e+01] [-1.71938900e-01 9.85090606e-01 -5.78903048e-03 -2.53374917e+00] [-3.43667226e-02 -1.25232814e-04 9.99409282e-01 -9.55615188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.54, Z:-0.96 [[ 9.85155862e-01 1.68406054e-01 3.32765445e-02 2.89701039e+01] [-1.68327957e-01 9.85717570e-01 -5.15477265e-03 -2.53894099e+00] [-3.36693695e-02 -5.23118263e-04 9.99432889e-01 -9.57209083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694012738999998 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.54, Z:-0.96 [[ 9.85876751e-01 1.64184115e-01 3.30243601e-02 2.90009451e+01] [-1.64104649e-01 9.86429642e-01 -5.12105545e-03 -2.54455727e+00] [-3.34170037e-02 -3.70721509e-04 9.99441427e-01 -9.60065358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.55, Z:-0.96 [[ 9.86578617e-01 1.59987041e-01 3.26615969e-02 2.90332000e+01] [-1.59906842e-01 9.87119090e-01 -5.06992274e-03 -2.55070294e+00] [-3.30520077e-02 -2.20935427e-04 9.99453609e-01 -9.60792104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.56, Z:-0.96 [[ 9.87290329e-01 1.55489580e-01 3.28754674e-02 2.90639114e+01] [-1.55405638e-01 9.87837530e-01 -5.10894389e-03 -2.55868842e+00] [-3.32700081e-02 -6.50220978e-05 9.99446398e-01 -9.60534817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.57, Z:-0.96 [[ 9.87301471e-01 1.55349327e-01 3.32022989e-02 2.90963133e+01] [-1.55263484e-01 9.87859597e-01 -5.16403070e-03 -2.56527853e+00] [-3.36014383e-02 -5.66494863e-05 9.99435311e-01 -9.60761370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.57, Z:-0.96 [[ 9.86786366e-01 1.58340888e-01 3.43632217e-02 2.91280747e+01] [-1.58250522e-01 9.87384494e-01 -5.35107633e-03 -2.57211577e+00] [-3.47770064e-02 -1.57628591e-04 9.99395085e-01 -9.61539884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.58, Z:-0.96 [[ 9.86327281e-01 1.61057281e-01 3.49148657e-02 2.91607295e+01] [-1.60965471e-01 9.86945028e-01 -5.44318211e-03 -2.57805894e+00] [-3.53357172e-02 -2.51328780e-04 9.99375467e-01 -9.62393768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874012738999998 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.58, Z:-0.96 [[ 9.85856601e-01 1.63881754e-01 3.50646951e-02 2.91934522e+01] [-1.63790709e-01 9.86479929e-01 -5.47299839e-03 -2.58390760e+00] [-3.54875425e-02 -3.47679690e-04 9.99370058e-01 -9.63484329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.59, Z:-0.96 [[ 9.85039475e-01 1.68468700e-01 3.62702456e-02 2.92257789e+01] [-1.68374138e-01 9.85706865e-01 -5.66805087e-03 -2.59148770e+00] [-3.67067192e-02 -5.23717488e-04 9.99325944e-01 -9.63919272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934012739 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.60, Z:-0.97 [[ 9.84679119e-01 1.70192390e-01 3.79681954e-02 2.92574452e+01] [-1.70196015e-01 9.85405159e-01 -3.16045852e-03 -2.59936804e+00] [-3.79519416e-02 -3.34999805e-03 9.99273950e-01 -9.65979391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.60, Z:-0.97 [[ 9.84622562e-01 1.71050364e-01 3.54990510e-02 2.92904297e+01] [-1.70860375e-01 9.85259947e-01 -8.34086580e-03 -2.60134048e+00] [-3.64025012e-02 2.14722351e-03 9.99334902e-01 -9.68583709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994012739 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.61, Z:-0.97 [[ 9.84805977e-01 1.70128274e-01 3.48361648e-02 2.93219938e+01] [-1.70041372e-01 9.85421776e-01 -5.46404077e-03 -2.60858155e+00] [-3.52579032e-02 -5.42569269e-04 9.99378100e-01 -9.70120907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.62, Z:-0.97 [[ 9.84901824e-01 1.68981001e-01 3.76007720e-02 2.93527848e+01] [-1.69193798e-01 9.85579559e-01 2.52813604e-03 -2.61912032e+00] [-3.66313454e-02 -8.85178322e-03 9.99289643e-01 -9.72847212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054012738999997 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.61, Z:-0.97 [[ 9.85090093e-01 1.69074297e-01 3.18023699e-02 2.93880447e+01] [-1.68731417e-01 9.85573778e-01 -1.31923140e-02 -2.61058871e+00] [-3.35740631e-02 7.62955893e-03 9.99407110e-01 -9.73064975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.62, Z:-0.97 [[ 9.84983163e-01 1.69497159e-01 3.28463417e-02 2.94203245e+01] [-1.69419068e-01 9.85530561e-01 -5.16651279e-03 -2.61963986e+00] [-3.32467828e-02 -4.75868475e-04 9.99447060e-01 -9.74307958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114012739 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.62, Z:-0.98 [[ 9.84702465e-01 1.70411809e-01 3.63437977e-02 2.94511667e+01] [-1.70592683e-01 9.85339779e-01 1.91231670e-03 -2.62453838e+00] [-3.54851083e-02 -8.08304893e-03 9.99337516e-01 -9.76876841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.62, Z:-0.98 [[ 9.84640878e-01 1.71433646e-01 3.30582326e-02 2.94850693e+01] [-1.71097858e-01 9.85171498e-01 -1.27531717e-02 -2.61675251e+00] [-3.47543512e-02 6.90110139e-03 9.99372058e-01 -9.76880956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.62, Z:-0.98 [[ 9.84738156e-01 1.70462526e-01 3.51182321e-02 2.95160304e+01] [-1.70373408e-01 9.85364017e-01 -5.53683893e-03 -2.62398287e+00] [-3.55480658e-02 -5.30876322e-04 9.99367827e-01 -9.76651868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.63, Z:-0.98 [[ 9.84728214e-01 1.70520080e-01 3.51176300e-02 2.95482774e+01] [-1.70430862e-01 9.85354059e-01 -5.54065500e-03 -2.62916387e+00] [-3.55480922e-02 -5.29088645e-04 9.99367827e-01 -9.77578891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234012739 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.63, Z:-0.98 [[ 9.84854921e-01 1.69828400e-01 3.49156150e-02 2.95788839e+01] [-1.69739674e-01 9.85473524e-01 -5.51151364e-03 -2.63306099e+00] [-3.53444257e-02 -4.98523795e-04 9.99375066e-01 -9.78370534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.64, Z:-0.98 [[ 9.85133391e-01 1.68394397e-01 3.39930818e-02 2.96095213e+01] [-1.68309269e-01 9.85719606e-01 -5.37102001e-03 -2.63708928e+00] [-3.44120969e-02 -4.30179607e-04 9.99407636e-01 -9.80395487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.64, Z:-0.98 [[ 9.85698005e-01 1.65316012e-01 3.27117467e-02 2.96418269e+01] [-1.65235325e-01 9.86240601e-01 -5.17347204e-03 -2.64141589e+00] [-3.31169105e-02 -3.05655019e-04 9.99451438e-01 -9.82840340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.65, Z:-0.98 [[ 9.85925595e-01 1.63958196e-01 3.26868676e-02 2.96724911e+01] [-1.63876707e-01 9.86467255e-01 -5.17492919e-03 -2.64617697e+00] [-3.30929966e-02 -2.54521073e-04 9.99452244e-01 -9.83318753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354012738999998 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.65, Z:-0.98 [[ 9.86438625e-01 1.60520084e-01 3.42365476e-02 2.97040406e+01] [-1.60428419e-01 9.87032564e-01 -5.42581939e-03 -2.65124373e+00] [-3.46635403e-02 -1.40277371e-04 9.99399029e-01 -9.82878022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.66, Z:-0.98 [[ 9.86613408e-01 1.59364993e-01 3.45945345e-02 2.97370115e+01] [-1.59270483e-01 9.87219727e-01 -5.48846943e-03 -2.65659582e+00] [-3.50270768e-02 -9.48906882e-05 9.99386359e-01 -9.83225611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414012739 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.66, Z:-0.99 [[ 9.86649707e-01 1.58868009e-01 3.58233445e-02 2.97679472e+01] [-1.58910880e-01 9.87291526e-01 -1.66558148e-03 -2.66430520e+00] [-3.56326921e-02 -4.04937371e-03 9.99356750e-01 -9.85175010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.66, Z:-0.99 [[ 9.86910291e-01 1.58227817e-01 3.11774914e-02 2.98017890e+01] [-1.58026286e-01 9.87395326e-01 -8.84096905e-03 -2.66461523e+00] [-3.21833965e-02 3.79838015e-03 9.99474763e-01 -9.88104458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474012739 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.67, Z:-0.99 [[ 9.86915722e-01 1.58207523e-01 3.11084783e-02 2.98327920e+01] [-1.58130086e-01 9.87405883e-01 -4.94949733e-03 -2.67387414e+00] [-3.14997422e-02 -3.44496146e-05 9.99503759e-01 -9.89427170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.69, Z:-0.99 [[ 9.86731146e-01 1.58364024e-01 3.58117459e-02 2.98631839e+01] [-1.58466744e-01 9.87364315e-01 3.03175806e-05 -2.68556753e+00] [-3.53544388e-02 -5.70488608e-03 9.99358553e-01 -9.89818892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534012738999998 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.69, Z:-0.99 [[ 9.86744701e-01 1.58203593e-01 3.61457958e-02 2.98951339e+01] [-1.58148184e-01 9.87405564e-01 -4.40509102e-03 -2.68790139e+00] [-3.63874611e-02 -1.36969175e-03 9.99336818e-01 -9.90181543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.69, Z:-0.99 [[ 9.86968929e-01 1.56656398e-01 3.67574016e-02 2.99283620e+01] [-1.56637367e-01 9.87650279e-01 -3.41486512e-03 -2.69406750e+00] [-3.68384185e-02 -2.38721683e-03 9.99318384e-01 -9.91147468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594012739 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.69, Z:-0.99 [[ 9.87094728e-01 1.56527803e-01 3.38089389e-02 2.99602710e+01] [-1.56111671e-01 9.87631023e-01 -1.46324205e-02 -2.69275158e+00] [-3.56811375e-02 9.16561523e-03 9.99321194e-01 -9.91648324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.70, Z:-0.99 [[ 9.87018670e-01 1.56607737e-01 3.56112527e-02 2.99906573e+01] [-1.56504187e-01 9.87660880e-01 -5.69427327e-03 -2.70481868e+00] [-3.60636084e-02 4.70438780e-05 9.99349495e-01 -9.91820343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654012739 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.71, Z:-0.99 [[ 9.86806097e-01 1.57558007e-01 3.72719816e-02 3.00237977e+01] [-1.57444983e-01 9.87509734e-01 -5.96684853e-03 -2.70802980e+00] [-3.77465694e-02 1.98359823e-05 9.99287344e-01 -9.91668685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.71, Z:-0.99 [[ 9.86602315e-01 1.58681108e-01 3.78969404e-02 3.00564291e+01] [-1.58564811e-01 9.87329887e-01 -6.07412943e-03 -2.71243726e+00] [-3.83806314e-02 -1.63710151e-05 9.99263192e-01 -9.92598244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714012738999998 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.72, Z:-0.99 [[ 9.86443943e-01 1.59543628e-01 3.83950316e-02 3.00888245e+01] [-1.59424617e-01 9.87190878e-01 -6.16136948e-03 -2.71703208e+00] [-3.88862322e-02 -4.32676126e-05 9.99243643e-01 -9.93956125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.72, Z:-1.00 [[ 9.86338104e-01 1.60485197e-01 3.71705101e-02 3.01209242e+01] [-1.60374085e-01 9.87038245e-01 -5.97129290e-03 -2.72071043e+00] [-3.76470192e-02 -7.14728342e-05 9.99291097e-01 -9.95106891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774012739 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.72, Z:-1.00 [[ 9.86338393e-01 1.60674793e-01 3.63343659e-02 3.01533803e+01] [-1.60568574e-01 9.87007399e-01 -5.84186847e-03 -2.72460151e+00] [-3.68009290e-02 -7.20981589e-05 9.99322614e-01 -9.96104011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.73, Z:-1.00 [[ 9.86314549e-01 1.61025176e-01 3.54189697e-02 3.01858364e+01] [-1.60924235e-01 9.86950296e-01 -5.70122746e-03 -2.72684329e+00] [-3.58748038e-02 -7.65670027e-05 9.99356289e-01 -9.98327787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834012739 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.73, Z:-1.00 [[ 9.86219782e-01 1.61620984e-01 3.53440116e-02 3.02180429e+01] [-1.61520623e-01 9.86852902e-01 -5.69553646e-03 -2.73162436e+00] [-3.57998586e-02 -9.17360495e-05 9.99358975e-01 -1.00004200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.74, Z:-1.00 [[ 9.86138583e-01 1.62210495e-01 3.49063177e-02 3.02500328e+01] [-1.62112744e-01 9.86756173e-01 -5.63151736e-03 -2.73639726e+00] [-3.53575157e-02 -1.05302399e-04 9.99374722e-01 -1.00066225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894012739 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.74, Z:-1.00 [[ 9.86003296e-01 1.63181662e-01 3.41942406e-02 3.02816650e+01] [-1.63088268e-01 9.86596031e-01 -5.52170850e-03 -2.73814747e+00] [-3.46369436e-02 -1.32256683e-04 9.99399952e-01 -1.00174285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:30.31, Y:-2.74, Z:-1.00 [[ 9.85854953e-01 1.64144893e-01 3.38594967e-02 3.03134399e+01] [-1.64053831e-01 9.86436226e-01 -5.46926813e-03 -2.74065267e+00] [-3.42979866e-02 -1.62875088e-04 9.99411638e-01 -1.00274173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954012739 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.74, Z:-1.00 [[ 9.85466579e-01 1.66205993e-01 3.50883040e-02 3.03440522e+01] [-1.66109313e-01 9.86091026e-01 -5.67317620e-03 -2.74253685e+00] [-3.55431775e-02 -2.37768523e-04 9.99368113e-01 -1.00401433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.75, Z:-1.00 [[ 9.85353443e-01 1.66859906e-01 3.51619620e-02 3.03744613e+01] [-1.66763178e-01 9.85980580e-01 -5.68670325e-03 -2.74624358e+00] [-3.56178944e-02 -2.60307899e-04 9.99365448e-01 -1.00465414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014012738999995 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.75, Z:-1.01 [[ 9.85341826e-01 1.67084281e-01 3.44140827e-02 3.04050848e+01] [-1.66991761e-01 9.85942582e-01 -5.56574959e-03 -2.74855525e+00] [-3.48602588e-02 -2.62702410e-04 9.99392162e-01 -1.00608783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.75, Z:-1.01 [[ 9.85358753e-01 1.67437975e-01 3.21349137e-02 3.04363942e+01] [-1.67357495e-01 9.85882579e-01 -5.19714225e-03 -2.74744029e+00] [-3.25514506e-02 -2.56969054e-04 9.99470028e-01 -1.00914953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074012739 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.75, Z:-1.01 [[ 9.85434662e-01 1.67152196e-01 3.12837109e-02 3.04647671e+01] [-1.67075784e-01 9.85931075e-01 -5.05937090e-03 -2.74968644e+00] [-3.16892677e-02 -2.41071061e-04 9.99497740e-01 -1.01090059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.75, Z:-1.01 [[ 9.85564200e-01 1.66565452e-01 3.03176326e-02 3.04939347e+01] [-1.66493441e-01 9.86030377e-01 -4.90210083e-03 -2.75243936e+00] [-3.07106273e-02 -2.16351898e-04 9.99528294e-01 -1.01181744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13401273899999 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.75, Z:-1.01 [[ 9.85991737e-01 1.64117767e-01 2.97599133e-02 3.05239377e+01] [-1.64047288e-01 9.86440743e-01 -4.81123216e-03 -2.75226495e+00] [-3.01459997e-02 -1.38197917e-04 9.99545497e-01 -1.01242795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.75, Z:-1.01 [[ 9.86235459e-01 1.62541610e-01 3.03289380e-02 3.05523540e+01] [-1.62467688e-01 9.86701686e-01 -4.90244285e-03 -2.75431997e+00] [-3.07224652e-02 -9.25094437e-05 9.99527949e-01 -1.01328119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194012738999994 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.75, Z:-1.01 [[ 9.86906300e-01 1.58173732e-01 3.15756987e-02 3.05812461e+01] [-1.58091408e-01 9.87411296e-01 -5.10277592e-03 -2.75494526e+00] [-3.19853267e-02 4.41150416e-05 9.99488338e-01 -1.01375126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.76, Z:-1.01 [[ 9.87253546e-01 1.55876445e-01 3.21398615e-02 3.06110588e+01] [-1.55789971e-01 9.87776553e-01 -5.19281601e-03 -2.75823764e+00] [-3.25564394e-02 1.19557927e-04 9.99469891e-01 -1.01486093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254012739 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.76, Z:-1.02 [[ 9.87570353e-01 1.53785531e-01 3.24778263e-02 3.06417055e+01] [-1.53696120e-01 9.88104233e-01 -5.24672763e-03 -2.76143548e+00] [-3.28983484e-02 1.89796778e-04 9.99458685e-01 -1.01603921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.76, Z:-1.02 [[ 9.88107751e-01 1.50523386e-01 3.13971654e-02 3.06713478e+01] [-1.50438182e-01 9.88606407e-01 -5.07211161e-03 -2.76336651e+00] [-3.18029102e-02 2.88460325e-04 9.99494118e-01 -1.01745865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314012739 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.77, Z:-1.02 [[ 9.88385220e-01 1.48706604e-01 3.13209654e-02 3.07005100e+01] [-1.48620913e-01 9.88881300e-01 -5.05942560e-03 -2.76748550e+00] [-3.17250870e-02 3.45711017e-04 9.99496573e-01 -1.01814246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.77, Z:-1.02 [[ 9.88629220e-01 1.46635220e-01 3.33223298e-02 3.07309577e+01] [-1.46537061e-01 9.89190538e-01 -5.38235709e-03 -2.77160158e+00] [-3.37513765e-02 4.38199233e-04 9.99430164e-01 -1.01666170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374012738999994 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.78, Z:-1.02 [[ 9.88567251e-01 1.46811731e-01 3.43672359e-02 3.07606257e+01] [-1.46707425e-01 9.89164353e-01 -5.55106318e-03 -2.77557168e+00] [-3.48098058e-02 4.45670574e-04 9.99393856e-01 -1.01659546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.78, Z:-1.02 [[ 9.88483471e-01 1.47113591e-01 3.54685722e-02 3.07906902e+01] [-1.47002697e-01 9.89119502e-01 -5.72861028e-03 -2.77820086e+00] [-3.59254129e-02 4.48660804e-04 9.99354373e-01 -1.01628412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434012738999996 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.78, Z:-1.02 [[ 9.88375730e-01 1.47461623e-01 3.69930595e-02 3.08205893e+01] [-1.47341236e-01 9.89067674e-01 -5.97473178e-03 -2.77805371e+00] [-3.74696829e-02 4.54676793e-04 9.99297661e-01 -1.01731613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.78, Z:-1.02 [[ 9.88346807e-01 1.47521181e-01 3.75245283e-02 3.08518162e+01] [-1.47397355e-01 9.89058790e-01 -6.06044732e-03 -2.78128344e+00] [-3.80080089e-02 4.58807527e-04 9.99277329e-01 -1.01800581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494012739 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.78, Z:-1.02 [[ 9.88407515e-01 1.46865211e-01 3.84862742e-02 3.08822500e+01] [-1.46734426e-01 9.89156389e-01 -6.21656711e-03 -2.78434208e+00] [-3.89819415e-02 4.97240282e-04 9.99239792e-01 -1.01897578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.79, Z:-1.02 [[ 9.88597073e-01 1.45712049e-01 3.79977091e-02 3.09129183e+01] [-1.45583693e-01 9.89326898e-01 -6.13819768e-03 -2.78809881e+00] [-3.84865650e-02 5.36357454e-04 9.99258974e-01 -1.01953015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554012738999994 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.79, Z:-1.02 [[ 9.88904352e-01 1.43982768e-01 3.65669998e-02 3.09435115e+01] [-1.43862691e-01 9.89580024e-01 -5.90780034e-03 -2.79124220e+00] [-3.70365939e-02 5.81622488e-04 9.99313741e-01 -1.02124228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.79, Z:-1.02 [[ 9.89530485e-01 1.40156029e-01 3.44340966e-02 3.09742689e+01] [-1.40047223e-01 9.90129194e-01 -5.56365065e-03 -2.79406357e+00] [-3.48739835e-02 6.83002311e-04 9.99391484e-01 -1.02376992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614012738999996 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.80, Z:-1.02 [[ 9.89825169e-01 1.38039737e-01 3.45132799e-02 3.10049139e+01] [-1.37929117e-01 9.90426400e-01 -5.57722940e-03 -2.79885163e+00] [-3.49527428e-02 7.60095827e-04 9.99388677e-01 -1.02451831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.80, Z:-1.02 [[ 9.90236885e-01 1.34860870e-01 3.52626818e-02 3.10354157e+01] [-1.34743350e-01 9.90864143e-01 -5.69906752e-03 -2.80338386e+00] [-3.57091082e-02 8.92014986e-04 9.99361828e-01 -1.02360303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674012739 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.81, Z:-1.03 [[ 9.90255293e-01 1.34752060e-01 3.51615924e-02 3.10667226e+01] [-1.34635128e-01 9.90878945e-01 -5.68320155e-03 -2.80794941e+00] [-3.56067047e-02 8.93834916e-04 9.99365481e-01 -1.02517109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.81, Z:-1.03 [[ 9.90109330e-01 1.36479530e-01 3.25092619e-02 3.10962533e+01] [-1.36380489e-01 9.90642592e-01 -5.25513419e-03 -2.81297704e+00] [-3.29222777e-02 7.69528344e-04 9.99457619e-01 -1.02848586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73401273899999 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.82, Z:-1.03 [[ 9.89967760e-01 1.37697627e-01 3.16733016e-02 3.11266009e+01] [-1.37604229e-01 9.90474058e-01 -5.12030634e-03 -2.81850634e+00] [-3.20766376e-02 7.10557953e-04 9.99485160e-01 -1.03070912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.82, Z:-1.03 [[ 9.89847620e-01 1.38794364e-01 3.06237534e-02 3.11556942e+01] [-1.38707581e-01 9.90321008e-01 -4.95058447e-03 -2.82319318e+00] [-3.10144596e-02 6.52577497e-04 9.99518723e-01 -1.03107941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794012738999996 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.83, Z:-1.03 [[ 9.89597317e-01 1.40513780e-01 3.08711552e-02 3.11840530e+01] [-1.40426446e-01 9.90078539e-01 -4.98988383e-03 -2.82544303e+00] [-3.12660157e-02 6.02849025e-04 9.99510917e-01 -1.03163768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.83, Z:-1.03 [[ 9.89438863e-01 1.41492305e-01 3.14748039e-02 3.12128158e+01] [-1.41402042e-01 9.89939184e-01 -5.08667016e-03 -2.82954791e+00] [-3.18778664e-02 5.82347598e-04 9.99491602e-01 -1.03264047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854012739 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.84, Z:-1.03 [[ 9.89124475e-01 1.43534181e-01 3.21047017e-02 3.12418729e+01] [-1.43441375e-01 9.89645221e-01 -5.18742797e-03 -2.83575125e+00] [-3.25168378e-02 5.25869399e-04 9.99471049e-01 -1.03311861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.84, Z:-1.03 [[ 9.89152304e-01 1.43346014e-01 3.20880081e-02 3.12707314e+01] [-1.43253230e-01 9.89672490e-01 -5.18400035e-03 -2.84107479e+00] [-3.24997246e-02 5.31055083e-04 9.99471603e-01 -1.03385554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91401273899999 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.85, Z:-1.03 [[ 9.89492786e-01 1.40940965e-01 3.22439198e-02 3.12985623e+01] [-1.40846026e-01 9.90017813e-01 -5.20840809e-03 -2.84553080e+00] [-3.26561330e-02 6.12254264e-04 9.99466459e-01 -1.03396928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.85, Z:-1.03 [[ 9.89638119e-01 1.39864202e-01 3.24715157e-02 3.13284629e+01] [-1.39767369e-01 9.90170481e-01 -5.24420702e-03 -2.85060955e+00] [-3.28858132e-02 6.51408830e-04 9.99458903e-01 -1.03485271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974012738999996 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.86, Z:-1.04 [[ 9.89711779e-01 1.39371313e-01 3.23454952e-02 3.13570768e+01] [-1.39274970e-01 9.90239968e-01 -5.22380770e-03 -2.85610649e+00] [-3.27578511e-02 6.65146151e-04 9.99463096e-01 -1.03580330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.86, Z:-1.04 [[ 9.89502813e-01 1.40613384e-01 3.33475438e-02 3.13862426e+01] [-1.40511694e-01 9.90064373e-01 -5.38524657e-03 -2.86228023e+00] [-3.37734528e-02 6.42996754e-04 9.99429307e-01 -1.03599332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034012739 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.87, Z:-1.04 [[ 9.89386539e-01 1.41456000e-01 3.32336580e-02 3.14153114e+01] [-1.41355493e-01 9.89944355e-01 -5.36643654e-03 -2.86767642e+00] [-3.36585868e-02 6.11719947e-04 9.99433202e-01 -1.03607594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.87, Z:-1.04 [[ 9.89196591e-01 1.42841366e-01 3.29613221e-02 3.14453996e+01] [-1.42743289e-01 9.89745438e-01 -5.32184737e-03 -2.87348482e+00] [-3.33834982e-02 5.59345737e-04 9.99442459e-01 -1.03674211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09401273899999 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.88, Z:-1.04 [[ 9.89138984e-01 1.43357670e-01 3.24445391e-02 3.14743909e+01] [-1.43262925e-01 9.89670801e-01 -5.23836200e-03 -2.87867592e+00] [-3.28603724e-02 5.33368496e-04 9.99459810e-01 -1.03813639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.88, Z:-1.04 [[ 9.89140560e-01 1.43346783e-01 3.24445968e-02 3.15041638e+01] [-1.43252043e-01 9.89672378e-01 -5.23800450e-03 -2.88344382e+00] [-3.28603724e-02 5.33367915e-04 9.99459810e-01 -1.03900088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154012738999995 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.89, Z:-1.04 [[ 9.89040508e-01 1.44149943e-01 3.19322435e-02 3.15337206e+01] [-1.44058601e-01 9.89555731e-01 -5.15497351e-03 -2.88995263e+00] [-3.23418237e-02 4.98363290e-04 9.99476742e-01 -1.04081161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.90, Z:-1.04 [[ 9.88986707e-01 1.44507882e-01 3.19806903e-02 3.15627141e+01] [-1.44416451e-01 9.89503529e-01 -5.16275061e-03 -2.89621919e+00] [-3.23910641e-02 4.87353924e-04 9.99475153e-01 -1.04138489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214012739 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.90, Z:-1.04 [[ 9.88968573e-01 1.44592176e-01 3.21599727e-02 3.15924287e+01] [-1.44499773e-01 9.89491215e-01 -5.19135423e-03 -2.90239317e+00] [-3.25726397e-02 4.86977425e-04 9.99469252e-01 -1.04179830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.91, Z:-1.04 [[ 9.88894693e-01 1.44990592e-01 3.26345554e-02 3.16219512e+01] [-1.44895657e-01 9.89432917e-01 -5.26796272e-03 -2.90895060e+00] [-3.30535084e-02 4.80855030e-04 9.99453468e-01 -1.04224510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27401273899999 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.92, Z:-1.04 [[ 9.88798875e-01 1.45499687e-01 3.32659812e-02 3.16520487e+01] [-1.45401330e-01 9.89358185e-01 -5.36988928e-03 -2.91542133e+00] [-3.36932880e-02 4.72822571e-04 9.99432108e-01 -1.04259930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.93, Z:-1.04 [[ 9.88565053e-01 1.46736964e-01 3.47476629e-02 3.16820122e+01] [-1.46630405e-01 9.89175445e-01 -5.60922266e-03 -2.92581454e+00] [-3.51946153e-02 4.50017594e-04 9.99380376e-01 -1.04300715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334012738999995 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:31.71, Y:-2.93, Z:-1.04 [[ 9.88458455e-01 1.47442618e-01 3.47930632e-02 3.17121987e+01] [-1.47336158e-01 9.89070519e-01 -5.61825567e-03 -2.93331261e+00] [-3.52411634e-02 4.27136072e-04 9.99378746e-01 -1.04342940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.94, Z:-1.04 [[ 9.88259916e-01 1.48907119e-01 3.41907612e-02 3.17437395e+01] [-1.48805004e-01 9.88851116e-01 -5.52634047e-03 -2.94097314e+00] [-3.46324838e-02 3.73704417e-04 9.99400046e-01 -1.04475823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394012739 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.95, Z:-1.05 [[ 9.88119636e-01 1.49769816e-01 3.44758906e-02 3.17745033e+01] [-1.49666344e-01 9.88720830e-01 -5.57733242e-03 -2.94697770e+00] [-3.49223472e-02 3.51191200e-04 9.99389967e-01 -1.04607374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.95, Z:-1.05 [[ 9.87954857e-01 1.50846305e-01 3.45049661e-02 3.18039428e+01] [-1.50743288e-01 9.88557178e-01 -5.58278492e-03 -2.95360447e+00] [-3.49522744e-02 3.14147450e-04 9.99388933e-01 -1.04690975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45401273899999 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.96, Z:-1.05 [[ 9.87752600e-01 1.52177324e-01 3.44508948e-02 3.18341631e+01] [-1.52075422e-01 9.88353171e-01 -5.57451844e-03 -2.96084457e+00] [-3.48979664e-02 2.67110721e-04 9.99390845e-01 -1.04769214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.97, Z:-1.05 [[ 9.87304311e-01 1.55302432e-01 3.33369449e-02 3.18635248e+01] [-1.55208772e-01 9.87866960e-01 -5.39497987e-03 -2.96960688e+00] [-3.37703199e-02 1.52300606e-04 9.99429608e-01 -1.04919996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514012738999995 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.98, Z:-1.05 [[ 9.86890329e-01 1.57767447e-01 3.40133966e-02 3.18930648e+01] [-1.57671397e-01 9.87476292e-01 -5.50479218e-03 -2.97688531e+00] [-3.44558998e-02 6.96863906e-05 9.99406217e-01 -1.05024474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.98, Z:-1.05 [[ 9.86647050e-01 1.59282933e-01 3.40080282e-02 3.19230889e+01] [-1.59187813e-01 9.87232975e-01 -5.50392335e-03 -2.98300043e+00] [-3.44505279e-02 1.67661046e-05 9.99406404e-01 -1.05150046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574012739 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.99, Z:-1.05 [[ 9.86375759e-01 1.61053732e-01 3.35344191e-02 3.19517406e+01] [-1.60962268e-01 9.86945639e-01 -5.42720979e-03 -2.98923227e+00] [-3.39707211e-02 -4.45079932e-05 9.99422827e-01 -1.05312035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:31.98, Y:-3.00, Z:-1.06 [[ 9.86102560e-01 1.62846202e-01 3.29067835e-02 3.19816478e+01] [-1.62759140e-01 9.86651460e-01 -5.32529570e-03 -2.99554807e+00] [-3.33347301e-02 -1.04592057e-04 9.99444238e-01 -1.05516734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63401273899999 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.00, Z:-1.06 [[ 9.85430978e-01 1.67133850e-01 3.14970418e-02 3.20105171e+01] [-1.67056281e-01 9.85934186e-01 -5.09704560e-03 -2.99894139e+00] [-3.19058991e-02 -2.38992023e-04 9.99490849e-01 -1.05716222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:32.04, Y:-3.00, Z:-1.06 [[ 9.85050241e-01 1.69393744e-01 3.13334188e-02 3.20397770e+01] [-1.69318155e-01 9.85548407e-01 -5.06950977e-03 -3.00181829e+00] [-3.17393442e-02 -3.11594835e-04 9.99496132e-01 -1.05804813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694012738999994 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.00, Z:-1.06 [[ 9.84529716e-01 1.72236716e-01 3.21831081e-02 3.20670747e+01] [-1.72158520e-01 9.85055502e-01 -5.20603329e-03 -3.00483177e+00] [-3.25988177e-02 -4.15101767e-04 9.99468431e-01 -1.05857610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:32.10, Y:-3.01, Z:-1.06 [[ 9.84565932e-01 1.71889504e-01 3.29230019e-02 3.20952708e+01] [-1.71807540e-01 9.85116149e-01 -5.32378805e-03 -3.01059036e+00] [-3.33480841e-02 -4.14799630e-04 9.99443712e-01 -1.05909285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:32.12, Y:-3.02, Z:-1.06 [[ 9.84852634e-01 1.70119307e-01 3.35366963e-02 3.21229243e+01] [-1.70033278e-01 9.85423406e-01 -5.42168842e-03 -3.01597612e+00] [-3.39701794e-02 -3.62790280e-04 9.99422781e-01 -1.05922623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:32.15, Y:-3.02, Z:-1.06 [[ 9.85649888e-01 1.65250247e-01 3.44478476e-02 3.21509837e+01] [-1.65156569e-01 9.86251649e-01 -5.56712050e-03 -3.02064455e+00] [-3.48942145e-02 -2.02056610e-04 9.99390991e-01 -1.06045120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814012739 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:32.18, Y:-3.03, Z:-1.05 [[ 9.86039290e-01 1.63208638e-01 3.30069564e-02 3.21813449e+01] [-1.63121521e-01 9.86591569e-01 -5.33333327e-03 -3.02557357e+00] [-3.34348310e-02 -1.25268790e-04 9.99440892e-01 -1.04633703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:32.21, Y:-3.04, Z:-1.06 [[ 9.86455131e-01 1.60490954e-01 3.38958500e-02 3.22103492e+01] [-1.60397472e-01 9.87037311e-01 -5.47709874e-03 -3.03777228e+00] [-3.43354935e-02 -3.38964986e-05 9.99410363e-01 -1.06342219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874012738999994 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:32.24, Y:-3.05, Z:-1.06 [[ 9.86642237e-01 1.59343588e-01 3.38632192e-02 3.22406459e+01] [-1.59249556e-01 9.87223187e-01 -5.47338936e-03 -3.04509715e+00] [-3.43027047e-02 7.57449727e-06 9.99411489e-01 -1.06452144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:32.27, Y:-3.05, Z:-1.07 [[ 9.86860957e-01 1.58042065e-01 3.35880567e-02 3.22704242e+01] [-1.57948651e-01 9.87432379e-01 -5.43332851e-03 -3.05488821e+00] [-3.40246292e-02 5.67515255e-05 9.99420993e-01 -1.06510965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934012738999996 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:32.30, Y:-3.06, Z:-1.07 [[ 9.86803129e-01 1.58412123e-01 3.35437459e-02 3.23022719e+01] [-1.58319134e-01 9.87373079e-01 -5.42721726e-03 -3.06390668e+00] [-3.39799287e-02 4.49781803e-05 9.99422514e-01 -1.06685619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:32.33, Y:-3.07, Z:-1.07 [[ 9.86620720e-01 1.59480103e-01 3.38474853e-02 3.23332641e+01] [-1.59385817e-01 9.87201143e-01 -5.48314601e-03 -3.07273751e+00] [-3.42887288e-02 1.49763631e-05 9.99411969e-01 -1.06749770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994012739 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:32.36, Y:-3.08, Z:-1.07 [[ 9.85957224e-01 1.63396837e-01 3.44938630e-02 3.23643571e+01] [-1.63301107e-01 9.86560419e-01 -5.59364091e-03 -3.08180217e+00] [-3.49442632e-02 -1.17795350e-04 9.99389256e-01 -1.06777785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters Centerline goodness : 0.991562 Centerline is valid? [True, True] Translation: X:32.39, Y:-3.09, Z:-1.06 [[ 9.85499169e-01 1.66435789e-01 3.30229522e-02 3.23949442e+01] [-1.66349677e-01 9.86052272e-01 -5.35746249e-03 -3.08705090e+00] [-3.34540305e-02 -2.13582600e-04 9.99440234e-01 -1.05825099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054012738999994 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:32.42, Y:-3.09, Z:-1.07 [[ 9.84659862e-01 1.71353911e-01 3.29058359e-02 3.24236914e+01] [-1.71270998e-01 9.85209468e-01 -5.34308242e-03 -3.09474650e+00] [-3.33346992e-02 -3.74696561e-04 9.99444174e-01 -1.07104347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:32.45, Y:-3.10, Z:-1.07 [[ 9.84329462e-01 1.73254786e-01 3.28373160e-02 3.24522152e+01] [-1.73173225e-01 9.84876941e-01 -5.33344343e-03 -3.10006586e+00] [-3.32647599e-02 -4.36678421e-04 9.99446479e-01 -1.07316411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114012738999996 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:32.48, Y:-3.10, Z:-1.07 [[ 9.83790632e-01 1.76261908e-01 3.29807956e-02 3.24817168e+01] [-1.76181334e-01 9.84343155e-01 -5.35636055e-03 -3.10341427e+00] [-3.34085427e-02 -5.41063226e-04 9.99441632e-01 -1.07395534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:32.51, Y:-3.11, Z:-1.08 [[ 9.83583366e-01 1.77413631e-01 3.29873495e-02 3.25115392e+01] [-1.77333683e-01 9.84136203e-01 -5.35709671e-03 -3.10726009e+00] [-3.34144668e-02 -5.80616959e-04 9.99441412e-01 -1.07571402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174012739 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:32.54, Y:-3.11, Z:-1.08 [[ 9.83473635e-01 1.78058358e-01 3.27845972e-02 3.25410350e+01] [-1.77979751e-01 9.84019747e-01 -5.32406539e-03 -3.11125675e+00] [-3.32086854e-02 -5.98916510e-04 9.99448260e-01 -1.07635548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:32.57, Y:-3.11, Z:-1.08 [[ 9.83578798e-01 1.77638362e-01 3.18961062e-02 3.25696961e+01] [-1.77563763e-01 9.84095670e-01 -5.17901298e-03 -3.11457994e+00] [-3.23088114e-02 -5.69625268e-04 9.99477772e-01 -1.07802920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23401273899999 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:32.60, Y:-3.12, Z:-1.08 [[ 9.83705702e-01 1.77009107e-01 3.14780440e-02 3.25986059e+01] [-1.76936164e-01 9.84209064e-01 -5.11005428e-03 -3.11803696e+00] [-3.18855023e-02 -5.42814804e-04 9.99491381e-01 -1.07928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:32.63, Y:-3.12, Z:-1.08 [[ 9.84129574e-01 1.74579787e-01 3.17943445e-02 3.26277712e+01] [-1.74504136e-01 9.84642919e-01 -5.16034597e-03 -3.12064925e+00] [-3.22069682e-02 -4.69795535e-04 9.99481111e-01 -1.08076377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294012738999996 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:32.66, Y:-3.12, Z:-1.08 [[ 9.84505294e-01 1.72244997e-01 3.28783790e-02 3.26565172e+01] [-1.72162824e-01 9.85054057e-01 -5.33545471e-03 -3.12467200e+00] [-3.33059860e-02 -4.07651164e-04 9.99445119e-01 -1.08094154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:32.69, Y:-3.13, Z:-1.08 [[ 9.85480644e-01 1.66107574e-01 3.51592690e-02 3.26867035e+01] [-1.66009727e-01 9.86107615e-01 -5.70462917e-03 -3.12984495e+00] [-3.56184050e-02 -2.14979018e-04 9.99365440e-01 -1.08168751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354012739 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:32.72, Y:-3.14, Z:-1.08 [[ 9.85906872e-01 1.63606220e-01 3.49377264e-02 3.27185089e+01] [-1.63507983e-01 9.86525717e-01 -5.67008852e-03 -3.13545019e+00] [-3.53946273e-02 -1.22417928e-04 9.99373406e-01 -1.08293856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:32.75, Y:-3.14, Z:-1.08 [[ 9.86259495e-01 1.61675425e-01 3.39597489e-02 3.27508410e+01] [-1.61581275e-01 9.86843987e-01 -5.51694386e-03 -3.14147636e+00] [-3.44049282e-02 -4.61212646e-05 9.99407974e-01 -1.08461780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41401273899999 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:32.78, Y:-3.15, Z:-1.09 [[ 9.86445766e-01 1.60920180e-01 3.20849931e-02 3.27821518e+01] [-1.60835554e-01 9.86967424e-01 -5.21815339e-03 -3.14874178e+00] [-3.25065492e-02 -1.29823356e-05 9.99471522e-01 -1.08595299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:32.81, Y:-3.15, Z:-1.09 [[ 9.86426060e-01 1.61260105e-01 3.09645927e-02 3.28125927e+01] [-1.61181300e-01 9.86911940e-01 -5.04085213e-03 -3.15401588e+00] [-3.13722147e-02 -1.84854072e-05 9.99507771e-01 -1.08707806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474012738999996 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:32.84, Y:-3.16, Z:-1.09 [[ 9.86155144e-01 1.63101838e-01 2.99302951e-02 3.28423966e+01] [-1.63029040e-01 9.86609236e-01 -4.87308675e-03 -3.15730990e+00] [-3.03243149e-02 -7.38877144e-05 9.99540109e-01 -1.08876380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.16, Z:-1.09 [[ 9.85957084e-01 1.64165268e-01 3.06331923e-02 3.28723665e+01] [-1.64089533e-01 9.86432843e-01 -4.98719577e-03 -3.16086362e+00] [-3.10363113e-02 -1.09425224e-04 9.99518252e-01 -1.08925325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534012739 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:32.90, Y:-3.16, Z:-1.09 [[ 9.85640257e-01 1.65811463e-01 3.19349859e-02 3.29022684e+01] [-1.65730017e-01 9.86157457e-01 -5.19913254e-03 -3.16433162e+00] [-3.23550003e-02 -1.68111436e-04 9.99476426e-01 -1.08929973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.17, Z:-1.09 [[ 9.85559509e-01 1.66218657e-01 3.23080737e-02 3.29310982e+01] [-1.66135513e-01 9.86088903e-01 -5.25992020e-03 -3.16845509e+00] [-3.27329298e-02 -1.83554026e-04 9.99464117e-01 -1.09000000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59401273899999 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.17, Z:-1.09 [[ 9.85560815e-01 1.66237809e-01 3.21694136e-02 3.29612046e+01] [-1.66155378e-01 9.86085674e-01 -5.23767895e-03 -3.17332687e+00] [-3.25924981e-02 -1.83069930e-04 9.99468707e-01 -1.09177308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.19, Z:-1.09 [[ 9.85981765e-01 1.64202551e-01 2.96223166e-02 3.29915137e+01] [-1.64595963e-01 9.86295719e-01 1.13544310e-02 -3.19449881e+00] [-2.73519375e-02 -1.60709756e-02 9.99496671e-01 -1.08587351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654012738999995 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.17, Z:-1.09 [[ 9.86338082e-01 1.62515899e-01 2.69401259e-02 3.30244974e+01] [-1.61875469e-01 9.86507731e-01 -2.44709937e-02 -3.17322242e+00] [-3.05535681e-02 1.97757275e-02 9.99337481e-01 -1.09303208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.21, Z:-1.09 [[ 9.86794081e-01 1.58805491e-01 3.19101616e-02 3.30494174e+01] [-1.59212930e-01 9.87186877e-01 1.06448823e-02 -3.20966096e+00] [-2.98108270e-02 -1.55848172e-02 9.99434054e-01 -1.08741381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714012739 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:33.08, Y:-3.19, Z:-1.10 [[ 9.86995473e-01 1.57491505e-01 3.21925826e-02 3.30815045e+01] [-1.56996730e-01 9.87446275e-01 -1.73747327e-02 -3.19454165e+00] [-3.45248186e-02 1.20946523e-02 9.99330654e-01 -1.09578311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.21, Z:-1.10 [[ 9.87122712e-01 1.56339390e-01 3.38636506e-02 3.31112306e+01] [-1.56241960e-01 9.87703382e-01 -5.52086255e-03 -3.21168409e+00] [-3.43103705e-02 1.58845654e-04 9.99411213e-01 -1.09804525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77401273899999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.22, Z:-1.10 [[ 9.87169326e-01 1.56657878e-01 3.09035702e-02 3.31425370e+01] [-1.56576737e-01 9.87652920e-01 -5.04341104e-03 -3.22376086e+00] [-3.13120914e-02 1.39920508e-04 9.99509646e-01 -1.10138232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:33.17, Y:-3.23, Z:-1.10 [[ 9.87106977e-01 1.57328768e-01 2.94529418e-02 3.31746297e+01] [-1.57255207e-01 9.87546275e-01 -4.81196832e-03 -3.23197897e+00] [-2.98432040e-02 1.18299041e-04 9.99554585e-01 -1.10325516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834012738999995 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.24, Z:-1.10 [[ 9.86900120e-01 1.58868613e-01 2.80876647e-02 3.32053576e+01] [-1.58802192e-01 9.87299731e-01 -4.59407284e-03 -3.24181458e+00] [-2.84607978e-02 7.35083089e-05 9.99594907e-01 -1.10455931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:33.24, Y:-3.25, Z:-1.11 [[ 9.86755479e-01 1.59708017e-01 2.84072801e-02 3.32368683e+01] [-1.59640274e-01 9.87164295e-01 -4.65153312e-03 -3.24962790e+00] [-2.87855398e-02 5.49798202e-05 9.99585609e-01 -1.10568311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894012739 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:33.27, Y:-3.26, Z:-1.11 [[ 9.86619490e-01 1.60505142e-01 2.86370548e-02 3.32677525e+01] [-1.60436584e-01 9.87035004e-01 -4.69087039e-03 -3.25735267e+00] [-2.90186843e-02 3.36729060e-05 9.99578869e-01 -1.10576711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.27, Z:-1.11 [[ 9.86207065e-01 1.63043102e-01 2.85056519e-02 3.32992303e+01] [-1.62976087e-01 9.86618946e-01 -4.67435792e-03 -3.26560523e+00] [-2.88863380e-02 -3.58547979e-05 9.99582702e-01 -1.10749353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95401273899999 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:33.33, Y:-3.27, Z:-1.11 [[ 9.85891125e-01 1.64975610e-01 2.83149710e-02 3.33294689e+01] [-1.64910154e-01 9.86297643e-01 -4.64763489e-03 -3.27157324e+00] [-2.86937356e-02 -8.73642388e-05 9.99588246e-01 -1.10831022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.28, Z:-1.11 [[ 9.85527321e-01 1.67149160e-01 2.82322145e-02 3.33604263e+01] [-1.67084858e-01 9.85931609e-01 -4.63827079e-03 -3.27855948e+00] [-2.86103157e-02 -1.46032956e-04 9.99590630e-01 -1.10897604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014012738999995 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.28, Z:-1.11 [[ 9.85521750e-01 1.67182125e-01 2.82314823e-02 3.33918197e+01] [-1.67117708e-01 9.85926020e-01 -4.64272305e-03 -3.28377151e+00] [-2.86103333e-02 -1.42476076e-04 9.99590630e-01 -1.10989618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.29, Z:-1.11 [[ 9.85325301e-01 1.68332616e-01 2.82520896e-02 3.34236109e+01] [-1.68268551e-01 9.85730237e-01 -4.64704636e-03 -3.29041695e+00] [-2.86311884e-02 -1.75085823e-04 9.99590028e-01 -1.11079633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074012739 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.30, Z:-1.11 [[ 9.85118555e-01 1.69523535e-01 2.83408527e-02 3.34547096e+01] [-1.69459429e-01 9.85526118e-01 -4.66618113e-03 -3.29723591e+00] [-2.87216780e-02 -2.05883092e-04 9.99587426e-01 -1.11108113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:33.49, Y:-3.30, Z:-1.11 [[ 9.84767227e-01 1.71425737e-01 2.90985570e-02 3.34858559e+01] [-1.71358844e-01 9.85197009e-01 -4.79576166e-03 -3.30446224e+00] [-2.94899283e-02 -2.63586171e-04 9.99565043e-01 -1.11210560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13401273899999 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:33.52, Y:-3.31, Z:-1.11 [[ 9.84440811e-01 1.72915806e-01 3.12476155e-02 3.35164230e+01] [-1.72839244e-01 9.84936555e-01 -5.15535368e-03 -3.30980947e+00] [-3.16683609e-02 -3.25673683e-04 9.99498379e-01 -1.11290619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:33.55, Y:-3.32, Z:-1.11 [[ 9.84385498e-01 1.73068189e-01 3.21339830e-02 3.35475658e+01] [-1.72987145e-01 9.84909788e-01 -5.30641315e-03 -3.31553655e+00] [-3.25674457e-02 -3.35209814e-04 9.99469484e-01 -1.11380878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194012738999994 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:33.58, Y:-3.32, Z:-1.12 [[ 9.84237710e-01 1.73740472e-01 3.30208874e-02 3.35799413e+01] [-1.73655130e-01 9.84791408e-01 -5.45704426e-03 -3.32203696e+00] [-3.34667956e-02 -3.63217767e-04 9.99439764e-01 -1.11513634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.33, Z:-1.12 [[ 9.83958823e-01 1.75610905e-01 3.13981531e-02 3.36107921e+01] [-1.75534527e-01 9.84459572e-01 -5.19426088e-03 -3.32868714e+00] [-3.18223813e-02 -4.00521130e-04 9.99493460e-01 -1.11631313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254012739 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:33.64, Y:-3.33, Z:-1.12 [[ 9.83863091e-01 1.76423448e-01 2.98024225e-02 3.36428117e+01] [-1.76354866e-01 9.84314282e-01 -4.93505812e-03 -3.33430634e+00] [-3.02056100e-02 -4.00380666e-04 9.99543626e-01 -1.11878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.34, Z:-1.12 [[ 9.83939838e-01 1.76432850e-01 2.70895519e-02 3.36732550e+01] [-1.76376080e-01 9.84312613e-01 -4.48986180e-03 -3.33912617e+00] [-2.74567467e-02 -3.60195066e-04 9.99622928e-01 -1.12125257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31401273899999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.34, Z:-1.12 [[ 9.84080123e-01 1.75734459e-01 2.65275592e-02 3.37029394e+01] [-1.75679749e-01 9.84437550e-01 -4.39732188e-03 -3.34472001e+00] [-2.68874863e-02 -3.33037892e-04 9.99638411e-01 -1.12162174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.35, Z:-1.12 [[ 9.84407522e-01 1.74070468e-01 2.53239601e-02 3.37330337e+01] [-1.74020054e-01 9.84733160e-01 -4.19804202e-03 -3.35181086e+00] [-2.56680984e-02 -2.74292783e-04 9.99670482e-01 -1.12243028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374012738999994 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.36, Z:-1.12 [[ 9.84458317e-01 1.73857146e-01 2.48095524e-02 3.37635274e+01] [-1.73808678e-01 9.84770848e-01 -4.11339029e-03 -3.35678889e+00] [-2.51468663e-02 -2.62654207e-04 9.99683733e-01 -1.12336485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.36, Z:-1.12 [[ 9.84505718e-01 1.73687115e-01 2.41096953e-02 3.37926916e+01] [-1.73641289e-01 9.84800854e-01 -3.99745261e-03 -3.36001559e+00] [-2.44375545e-02 -2.50923630e-04 9.99701327e-01 -1.12447476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434012738999996 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.38, Z:-1.11 [[ 9.84565794e-01 1.73561975e-01 2.25041761e-02 3.38220464e+01] [-1.74013310e-01 9.84541536e-01 1.99331706e-02 -3.38076045e+00] [-1.86966556e-02 -2.35415441e-02 9.99548013e-01 -1.11357474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.35, Z:-1.11 [[ 9.84171405e-01 1.76018969e-01 2.05904671e-02 3.38567750e+01] [-1.75439609e-01 9.84114276e-01 -2.72035838e-02 -3.35035439e+00] [-2.50517195e-02 2.31606058e-02 9.99417829e-01 -1.10791223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494012739 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.37, Z:-1.12 [[ 9.84275363e-01 1.74791642e-01 2.54929584e-02 3.38830163e+01] [-1.74740760e-01 9.84605401e-01 -4.22743234e-03 -3.37234208e+00] [-2.58394244e-02 -2.93701432e-04 9.99666063e-01 -1.12498900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.38, Z:-1.13 [[ 9.84287999e-01 1.74691209e-01 2.56927322e-02 3.39137328e+01] [-1.74639483e-01 9.84623225e-01 -4.26090791e-03 -3.37635602e+00] [-2.60420040e-02 -2.93004959e-04 9.99660807e-01 -1.12581405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554012738999994 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.38, Z:-1.13 [[ 9.84230388e-01 1.75013613e-01 2.57056214e-02 3.39443327e+01] [-1.74961945e-01 9.84565967e-01 -4.26304547e-03 -3.37846319e+00] [-2.60549710e-02 -3.01686631e-04 9.99660466e-01 -1.12772692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.38, Z:-1.13 [[ 9.84217344e-01 1.75042148e-01 2.60089474e-02 3.39740950e+01] [-1.74989263e-01 9.84560893e-01 -4.31334935e-03 -3.38293126e+00] [-2.63624104e-02 -3.06013298e-04 9.99652404e-01 -1.12935735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614012738999996 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.39, Z:-1.13 [[ 9.84585063e-01 1.72990011e-01 2.58207185e-02 3.40058525e+01] [-1.72937196e-01 9.84923547e-01 -4.28165978e-03 -3.38759202e+00] [-2.61721181e-02 -2.49704393e-04 9.99657420e-01 -1.12992516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.39, Z:-1.13 [[ 9.84848398e-01 1.71405531e-01 2.63396382e-02 3.40372354e+01] [-1.71349879e-01 9.85200539e-01 -4.37238712e-03 -3.39137781e+00] [-2.66992771e-02 -2.07155378e-04 9.99643489e-01 -1.13098620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674012739 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.40, Z:-1.13 [[ 9.85034585e-01 1.70249385e-01 2.68702938e-02 3.40680157e+01] [-1.70190919e-01 9.85400993e-01 -4.46485722e-03 -3.39554510e+00] [-2.72381534e-02 -1.75041207e-04 9.99628957e-01 -1.13126918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.40, Z:-1.13 [[ 9.85076950e-01 1.69815652e-01 2.80365108e-02 3.40983030e+01] [-1.69751693e-01 9.85475833e-01 -4.66327460e-03 -3.40272813e+00] [-2.84212008e-02 -1.65560831e-04 9.99596022e-01 -1.13231010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73401273899999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.41, Z:-1.13 [[ 9.85002273e-01 1.70331645e-01 2.75255095e-02 3.41293915e+01] [-1.70270081e-01 9.85386777e-01 -4.58245702e-03 -3.41113499e+00] [-2.79038105e-02 -1.73040150e-04 9.99610598e-01 -1.13277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.42, Z:-1.13 [[ 9.85006367e-01 1.70381237e-01 2.70682718e-02 3.41612112e+01] [-1.70321600e-01 9.85378205e-01 -4.51068853e-03 -3.41610987e+00] [-2.74410218e-02 -1.67254441e-04 9.99623410e-01 -1.13343600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794012738999996 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.42, Z:-1.13 [[ 9.84997792e-01 1.70523366e-01 2.64788704e-02 3.41929882e+01] [-1.70466234e-01 9.85353619e-01 -4.41679868e-03 -3.42180390e+00] [-2.68442181e-02 -1.63216358e-04 9.99639616e-01 -1.13462619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.43, Z:-1.14 [[ 9.85263799e-01 1.69168237e-01 2.52458740e-02 3.42228638e+01] [-1.69115753e-01 9.85587182e-01 -4.21519536e-03 -3.43057981e+00] [-2.55950870e-02 -1.16395604e-04 9.99672385e-01 -1.13672357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854012739 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.44, Z:-1.14 [[ 9.85521629e-01 1.67744755e-01 2.46741841e-02 3.42544039e+01] [-1.67694083e-01 9.85830458e-01 -4.12344409e-03 -3.43830807e+00] [-2.50162483e-02 -7.39713404e-05 9.99687042e-01 -1.13846726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.45, Z:-1.14 [[ 9.85777171e-01 1.66306675e-01 2.41962634e-02 3.42844136e+01] [-1.66257416e-01 9.86074079e-01 -4.04755929e-03 -3.44550851e+00] [-2.45324443e-02 -3.28166867e-05 9.99699034e-01 -1.13974617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91401273899999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.46, Z:-1.14 [[ 9.86202985e-01 1.63580386e-01 2.53993864e-02 3.43149359e+01] [-1.63525097e-01 9.86530007e-01 -4.25289232e-03 -3.45542075e+00] [-2.57529467e-02 4.07779651e-05 9.99668337e-01 -1.13892970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.48, Z:-1.13 [[ 9.86415207e-01 1.62275977e-01 2.55254265e-02 3.43439448e+01] [-1.62781037e-01 9.86476826e-01 1.91260372e-02 -3.48100568e+00] [-2.20765453e-02 -2.30212694e-02 9.99491194e-01 -1.12689066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974012738999996 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.46, Z:-1.14 [[ 9.86222301e-01 1.63640476e-01 2.42356835e-02 3.43800535e+01] [-1.62965867e-01 9.86245376e-01 -2.76076728e-02 -3.45718207e+00] [-2.84200635e-02 2.32777134e-02 9.99324996e-01 -1.14001359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:34.41, Y:-3.48, Z:-1.14 [[ 9.86098900e-01 1.63853033e-01 2.75888211e-02 3.44088398e+01] [-1.63787534e-01 9.86484760e-01 -4.63277412e-03 -3.48261646e+00] [-2.79750456e-02 4.96684963e-05 9.99608621e-01 -1.14173691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034012739 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:34.44, Y:-3.49, Z:-1.14 [[ 9.85576919e-01 1.67028099e-01 2.71983711e-02 3.44388913e+01] [-1.66965512e-01 9.85952135e-01 -4.57216330e-03 -3.49426102e+00] [-2.75799718e-02 -3.49713426e-05 9.99619600e-01 -1.14317401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:34.47, Y:-3.50, Z:-1.14 [[ 9.85162417e-01 1.69418671e-01 2.74285689e-02 3.44709394e+01] [-1.69355814e-01 9.85544167e-01 -4.61561783e-03 -3.50187774e+00] [-2.78140379e-02 -9.80543821e-05 9.99613110e-01 -1.14314926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09401273899999 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.52, Z:-1.13 [[ 9.84782877e-01 1.71801532e-01 2.62091325e-02 3.45003451e+01] [-1.72144623e-01 9.85005337e-01 1.14330614e-02 -3.52020252e+00] [-2.38519179e-02 -1.57708443e-02 9.99591100e-01 -1.13282644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.52, Z:-1.14 [[ 9.83577568e-01 1.78838045e-01 2.43335489e-02 3.45320559e+01] [-1.78834021e-01 9.83876429e-01 -2.35912771e-03 -3.51704005e+00] [-2.43631070e-02 -2.03128130e-03 9.99701112e-01 -1.13571872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154012738999995 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.51, Z:-1.15 [[ 9.82742876e-01 1.83428542e-01 2.38832596e-02 3.45639243e+01] [-1.82947902e-01 9.82898831e-01 -2.09750449e-02 -3.50934806e+00] [-2.73222499e-02 1.62436837e-02 9.99494691e-01 -1.14719941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.53, Z:-1.15 [[ 9.81474566e-01 1.90073574e-01 2.40772410e-02 3.45932067e+01] [-1.90031121e-01 9.81769671e-01 -4.06020801e-03 -3.52575853e+00] [-2.44100432e-02 -5.90434199e-04 9.99701856e-01 -1.15015880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214012739 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.53, Z:-1.15 [[ 9.80851216e-01 1.93256481e-01 2.41417836e-02 3.46230503e+01] [-1.93214643e-01 9.81148046e-01 -4.07597402e-03 -3.52931901e+00] [-2.44743722e-02 -6.66622034e-04 9.99700235e-01 -1.15088357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.53, Z:-1.15 [[ 9.79599052e-01 1.99252299e-01 2.61575756e-02 3.46527895e+01] [-1.99205316e-01 9.79947824e-01 -4.41626834e-03 -3.53156519e+00] [-2.65130109e-02 -8.84555820e-04 9.99648077e-01 -1.14942270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27401273899999 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.53, Z:-1.15 [[ 9.79197914e-01 2.01134200e-01 2.67671086e-02 3.46835633e+01] [-2.01085693e-01 9.79563228e-01 -4.51954312e-03 -3.53443429e+00] [-2.71291100e-02 -9.56955404e-04 9.99631480e-01 -1.14959912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:34.72, Y:-3.54, Z:-1.15 [[ 9.79042906e-01 2.01920483e-01 2.65161418e-02 3.47153009e+01] [-2.01873171e-01 9.79401439e-01 -4.47709377e-03 -3.53710361e+00] [-2.68739644e-02 -9.69630738e-04 9.99638360e-01 -1.15060669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334012738999995 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.54, Z:-1.15 [[ 9.79369370e-01 2.00594583e-01 2.44427995e-02 3.47456331e+01] [-2.00553951e-01 9.79673963e-01 -4.12774125e-03 -3.53591830e+00] [-2.47739768e-02 -8.59516655e-04 9.99692708e-01 -1.15257309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:34.78, Y:-3.54, Z:-1.15 [[ 9.79607503e-01 1.99575305e-01 2.32128892e-02 3.47751932e+01] [-1.99538378e-01 9.79882172e-01 -3.91985724e-03 -3.53750241e+00] [-2.35282030e-02 -7.91940695e-04 9.99722860e-01 -1.15488339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394012739 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.54, Z:-1.16 [[ 9.79825430e-01 1.98514773e-01 2.31086850e-02 3.48036740e+01] [-1.98477890e-01 9.80097598e-01 -3.90194509e-03 -3.53625665e+00] [-2.34233604e-02 -7.63338002e-04 9.99725344e-01 -1.15550643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.54, Z:-1.16 [[ 9.79832990e-01 1.98385093e-01 2.38886459e-02 3.48324194e+01] [-1.98345676e-01 9.80123837e-01 -4.03210671e-03 -3.53815928e+00] [-2.42137411e-02 -7.87418448e-04 9.99706494e-01 -1.15570518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45401273899999 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.54, Z:-1.16 [[ 9.79928059e-01 1.97853403e-01 2.43932396e-02 3.48612164e+01] [-1.97812167e-01 9.80231301e-01 -4.11613511e-03 -3.53597512e+00] [-2.47254084e-02 -7.91763286e-04 9.99693967e-01 -1.15664898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.54, Z:-1.16 [[ 9.79964519e-01 1.97703863e-01 2.41396836e-02 3.48900804e+01] [-1.97663471e-01 9.80261482e-01 -4.07185644e-03 -3.53768658e+00] [-2.44682238e-02 -7.81258823e-04 9.99700303e-01 -1.15886857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514012738999995 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:34.92, Y:-3.54, Z:-1.16 [[ 9.80248878e-01 1.96308810e-01 2.39789161e-02 3.49196930e+01] [-1.96268564e-01 9.80541840e-01 -4.04360793e-03 -3.53634083e+00] [-2.43061264e-02 -7.42565294e-04 9.99704287e-01 -1.16025884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.54, Z:-1.16 [[ 9.80366261e-01 1.95736899e-01 2.38549889e-02 3.49473074e+01] [-1.95696925e-01 9.80656178e-01 -4.02167113e-03 -3.53755206e+00] [-2.41807317e-02 -7.25637280e-04 9.99707340e-01 -1.16065038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574012739 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:34.98, Y:-3.54, Z:-1.16 [[ 9.80461797e-01 1.95365188e-01 2.29588313e-02 3.49755410e+01] [-1.95328092e-01 9.80730323e-01 -3.86915628e-03 -3.53891452e+00] [-2.32723205e-02 -6.90944811e-04 9.99728924e-01 -1.16111252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.54, Z:-1.16 [[ 9.80762583e-01 1.93958368e-01 2.20205938e-02 3.50045584e+01] [-1.93923917e-01 9.81009558e-01 -3.70972594e-03 -3.53781861e+00] [-2.23219454e-02 -6.31959411e-04 9.99750635e-01 -1.16221192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63401273899999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.54, Z:-1.16 [[ 9.81104531e-01 1.92163712e-01 2.25168312e-02 3.50326885e+01] [-1.92127242e-01 9.81362696e-01 -3.79230514e-03 -3.53989250e+00] [-2.28259216e-02 -6.05448931e-04 9.99739271e-01 -1.16370656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.54, Z:-1.16 [[ 9.82061521e-01 1.87081218e-01 2.35751149e-02 3.50615296e+01] [-1.87039816e-01 9.82344316e-01 -3.96880642e-03 -3.53968315e+00] [-2.39013692e-02 -5.11873077e-04 9.99714190e-01 -1.16418142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694012738999994 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:35.09, Y:-3.54, Z:-1.16 [[ 9.82641794e-01 1.83939290e-01 2.41131250e-02 3.50894454e+01] [-1.83895059e-01 9.82937505e-01 -4.05820208e-03 -3.54244055e+00] [-2.44481577e-02 -4.46525587e-04 9.99700999e-01 -1.16444496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.55, Z:-1.16 [[ 9.83436322e-01 1.79646539e-01 2.40857002e-02 3.51173697e+01] [-1.79601158e-01 9.83731165e-01 -4.05206064e-03 -3.54538530e+00] [-2.44217926e-02 -3.40876034e-04 9.99701685e-01 -1.16423345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754012739 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.55, Z:-1.16 [[ 9.83660001e-01 1.78416670e-01 2.40934365e-02 3.51462937e+01] [-1.78370927e-01 9.83954976e-01 -4.05187505e-03 -3.54959664e+00] [-2.44297788e-02 -3.11901193e-04 9.99701500e-01 -1.16497596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.55, Z:-1.17 [[ 9.83830600e-01 1.77529054e-01 2.36809225e-02 3.51735058e+01] [-1.77484632e-01 9.84115518e-01 -3.98146700e-03 -3.55274086e+00] [-2.40115894e-02 -2.85910748e-04 9.99711639e-01 -1.16539723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81401273899999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.56, Z:-1.17 [[ 9.83907680e-01 1.77115119e-01 2.35777938e-02 3.52024629e+01] [-1.77070999e-01 9.84190103e-01 -3.96267848e-03 -3.55553652e+00] [-2.39068815e-02 -2.76033709e-04 9.99714152e-01 -1.16538538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.56, Z:-1.17 [[ 9.83872792e-01 1.76977229e-01 2.59497359e-02 3.52296028e+01] [-1.76923772e-01 9.84214900e-01 -4.35994592e-03 -3.55908029e+00] [-2.63117279e-02 -3.01493004e-04 9.99653741e-01 -1.16506647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874012738999994 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.56, Z:-1.17 [[ 9.83754555e-01 1.77443309e-01 2.72185294e-02 3.52575163e+01] [-1.77384723e-01 9.84130968e-01 -4.57136572e-03 -3.56299980e+00] [-2.75977560e-02 -3.31049458e-04 9.99619055e-01 -1.16562965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.57, Z:-1.17 [[ 9.83562900e-01 1.78351755e-01 2.81899491e-02 3.52870538e+01] [-1.78289338e-01 9.83966724e-01 -4.73270338e-03 -3.56710718e+00] [-2.85820578e-02 -3.71055894e-04 9.99591381e-01 -1.16688118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934012738999996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.57, Z:-1.17 [[ 9.83565093e-01 1.78339642e-01 2.81900686e-02 3.53167955e+01] [-1.78277240e-01 9.83968919e-01 -4.73199187e-03 -3.57206161e+00] [-2.85820530e-02 -3.71425587e-04 9.99591381e-01 -1.16778687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.58, Z:-1.17 [[ 9.83355523e-01 1.79578871e-01 2.76286751e-02 3.53450442e+01] [-1.79519427e-01 9.83743498e-01 -4.63746400e-03 -3.57693905e+00] [-2.80123201e-02 -3.99608094e-04 9.99607498e-01 -1.16895646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994012739 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.58, Z:-1.17 [[ 9.83409124e-01 1.79638768e-01 2.52271199e-02 3.53724360e+01] [-1.79589249e-01 9.83732575e-01 -4.23360609e-03 -3.58191131e+00] [-2.55772593e-02 -3.67152642e-04 9.99672781e-01 -1.17063275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.59, Z:-1.17 [[ 9.83569729e-01 1.79480875e-01 1.94217269e-02 3.54009931e+01] [-1.79451512e-01 9.83761423e-01 -3.25848426e-03 -3.58735925e+00] [-1.96911813e-02 -2.80311781e-04 9.99806071e-01 -1.17468628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054012738999994 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.59, Z:-1.18 [[ 9.83675783e-01 1.79044269e-01 1.80306280e-02 3.54279911e+01] [-1.79018901e-01 9.83840986e-01 -3.02444667e-03 -3.59268396e+00] [-1.82807807e-02 -2.52748272e-04 9.99832861e-01 -1.17642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.60, Z:-1.18 [[ 9.84093014e-01 1.76634260e-01 1.90073327e-02 3.54556459e+01] [-1.76605647e-01 9.84276531e-01 -3.18686578e-03 -3.60120431e+00] [-1.92713811e-02 -2.20629932e-04 9.99814265e-01 -1.17756483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114012738999996 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.61, Z:-1.18 [[ 9.84312306e-01 1.75167385e-01 2.11109463e-02 3.54825507e+01] [-1.75131773e-01 9.84538644e-01 -3.53848100e-03 -3.60744450e+00] [-2.14043689e-02 -2.14227069e-04 9.99770877e-01 -1.17726630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.61, Z:-1.18 [[ 9.84531092e-01 1.73760315e-01 2.24918273e-02 3.55110542e+01] [-1.73719559e-01 9.84787954e-01 -3.76839410e-03 -3.61361815e+00] [-2.28044779e-02 -1.97169163e-04 9.99739925e-01 -1.17648946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174012739 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.62, Z:-1.18 [[ 9.84821399e-01 1.72061185e-01 2.28420672e-02 3.55386601e+01] [-1.72018722e-01 9.85086251e-01 -3.82582024e-03 -3.61983492e+00] [-2.31596815e-02 -1.61513564e-04 9.99731766e-01 -1.17742147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.63, Z:-1.18 [[ 9.84919003e-01 1.71653201e-01 2.16733981e-02 3.55669918e+01] [-1.71614888e-01 9.85157428e-01 -3.62940636e-03 -3.62556630e+00] [-2.19747083e-02 -1.44806480e-04 9.99758516e-01 -1.17850802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23401273899999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.63, Z:-1.18 [[ 9.85027190e-01 1.71283195e-01 1.95832314e-02 3.55936847e+01] [-1.71251856e-01 9.85221829e-01 -3.27871101e-03 -3.63253502e+00] [-1.98554151e-02 -1.24045236e-04 9.99802854e-01 -1.18060525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.64, Z:-1.18 [[ 9.84946334e-01 1.71803450e-01 1.90865021e-02 3.56217311e+01] [-1.71773802e-01 9.85131239e-01 -3.19436232e-03 -3.63783915e+00] [-1.93515119e-02 -1.32285576e-04 9.99812733e-01 -1.18172466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294012738999996 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.64, Z:-1.18 [[ 9.84678235e-01 1.73355369e-01 1.88862301e-02 3.56490236e+01] [-1.73326640e-01 9.84859325e-01 -3.16006494e-03 -3.64116982e+00] [-1.91480941e-02 -1.61839642e-04 9.99816645e-01 -1.18194281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.65, Z:-1.18 [[ 9.84569511e-01 1.73943091e-01 1.91488806e-02 3.56767549e+01] [-1.73913692e-01 9.84755690e-01 -3.20281142e-03 -3.64503730e+00] [-1.94140760e-02 -1.76862047e-04 9.99811513e-01 -1.18239698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354012739 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.65, Z:-1.18 [[ 9.84519172e-01 1.73977179e-01 2.13059085e-02 3.57048066e+01] [-1.73940823e-01 9.84749664e-01 -3.56211185e-03 -3.64892448e+00] [-2.16007124e-02 -1.98999851e-04 9.99766658e-01 -1.18204440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.65, Z:-1.18 [[ 9.84457704e-01 1.74235491e-01 2.20232286e-02 3.57331567e+01] [-1.74196742e-01 9.84703990e-01 -3.68059317e-03 -3.65319360e+00] [-2.23276510e-02 -2.12986365e-04 9.99750684e-01 -1.18269465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41401273899999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.67, Z:-1.17 [[ 9.84528405e-01 1.74003636e-01 2.06532104e-02 3.57579809e+01] [-1.74354554e-01 9.84542906e-01 1.66059073e-02 -3.67179454e+00] [-1.74444835e-02 -1.99499687e-02 9.99648783e-01 -1.17363406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.65, Z:-1.18 [[ 9.84158011e-01 1.76306471e-01 1.86825352e-02 3.57914477e+01] [-1.75862692e-01 9.84140910e-01 -2.32159928e-02 -3.64607156e+00] [-2.24793770e-02 1.95626444e-02 9.99555892e-01 -1.18430650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474012738999996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.66, Z:-1.18 [[ 9.84068241e-01 1.76451600e-01 2.17837227e-02 3.58180645e+01] [-1.76414283e-01 9.84309283e-01 -3.63825357e-03 -3.66454727e+00] [-2.20838961e-02 -2.62670032e-04 9.99756087e-01 -1.18460937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.67, Z:-1.18 [[ 9.84016812e-01 1.76664987e-01 2.23695166e-02 3.58462686e+01] [-1.76625706e-01 9.84271003e-01 -3.73544051e-03 -3.66593383e+00] [-2.26775880e-02 -2.75295398e-04 9.99742793e-01 -1.18454435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534012739 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.67, Z:-1.19 [[ 9.84066069e-01 1.76417560e-01 2.21543780e-02 3.58747955e+01] [-1.76378999e-01 9.84315383e-01 -3.69813196e-03 -3.66866771e+00] [-2.24593105e-02 -2.68360845e-04 9.99747722e-01 -1.18587479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.67, Z:-1.19 [[ 9.84096656e-01 1.76301808e-01 2.17127505e-02 3.59019833e+01] [-1.76264761e-01 9.84336124e-01 -3.62350135e-03 -3.67166160e+00] [-2.20114745e-02 -2.61317218e-04 9.99757684e-01 -1.18698364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59401273899999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:35.93, Y:-3.67, Z:-1.19 [[ 9.84215590e-01 1.75700215e-01 2.11921316e-02 3.59308755e+01] [-1.75664812e-01 9.84443688e-01 -3.53530945e-03 -3.67305476e+00] [-2.14836148e-02 -2.43205135e-04 9.99769171e-01 -1.18738333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:35.96, Y:-3.68, Z:-1.19 [[ 9.84230789e-01 1.75691169e-01 2.05515848e-02 3.59584347e+01] [-1.75657889e-01 9.84445304e-01 -3.42765578e-03 -3.67572325e+00] [-2.08341200e-02 -2.36443659e-04 9.99782918e-01 -1.18748776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654012738999995 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:35.99, Y:-3.68, Z:-1.17 [[ 9.84221666e-01 1.75888589e-01 1.92592051e-02 3.59864044e+01] [-1.75859419e-01 9.84410053e-01 -3.21116033e-03 -3.67657397e+00] [-1.95237616e-02 -2.26419055e-04 9.99809368e-01 -1.17210875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:36.02, Y:-3.68, Z:-1.19 [[ 9.84346753e-01 1.75039395e-01 2.05592017e-02 3.60152213e+01] [-1.75006014e-01 9.84561404e-01 -3.42578833e-03 -3.67832143e+00] [-2.08414445e-02 -2.25820324e-04 9.99782768e-01 -1.19008295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714012739 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.68, Z:-1.19 [[ 9.84424353e-01 1.74541613e-01 2.10693691e-02 3.60427940e+01] [-1.74506461e-01 9.84649773e-01 -3.50981572e-03 -3.67987962e+00] [-2.13585584e-02 -2.21592965e-04 9.99771855e-01 -1.19049349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.68, Z:-1.19 [[ 9.84688771e-01 1.72840943e-01 2.26723094e-02 3.60716819e+01] [-1.72799825e-01 9.84949729e-01 -3.77521094e-03 -3.68159379e+00] [-2.29835960e-02 -2.00363268e-04 9.99735822e-01 -1.19126597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77401273899999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.69, Z:-1.19 [[ 9.85373356e-01 1.68807605e-01 2.33096736e-02 3.60989702e+01] [-1.68763039e-01 9.85649015e-01 -3.88026142e-03 -3.68726154e+00] [-2.36301744e-02 -1.10305122e-04 9.99720762e-01 -1.19171278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.69, Z:-1.19 [[ 9.85684652e-01 1.66995628e-01 2.31997387e-02 3.61273872e+01] [-1.66951018e-01 9.85957634e-01 -3.86031161e-03 -3.69294084e+00] [-2.35186146e-02 -6.81700852e-05 9.99723397e-01 -1.19239868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834012738999995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:36.16, Y:-3.70, Z:-1.19 [[ 9.85960775e-01 1.65369102e-01 2.31173255e-02 3.61554329e+01] [-1.65324386e-01 9.86231747e-01 -3.84554358e-03 -3.69855382e+00] [-2.34349744e-02 -3.03025166e-05 9.99725363e-01 -1.19352590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.71, Z:-1.19 [[ 9.86253048e-01 1.63642066e-01 2.29390591e-02 3.61828240e+01] [-1.63597593e-01 9.86519779e-01 -3.81489151e-03 -3.70538108e+00] [-2.32541122e-02 9.67352946e-06 9.99729587e-01 -1.19440189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894012739 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.71, Z:-1.19 [[ 9.86219782e-01 1.63846516e-01 2.29098455e-02 3.62097892e+01] [-1.63802243e-01 9.86485843e-01 -3.80868650e-03 -3.71085734e+00] [-2.32242782e-02 3.51789230e-06 9.99730280e-01 -1.19458109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.72, Z:-1.20 [[ 9.85727660e-01 1.66806148e-01 2.27307966e-02 3.62381397e+01] [-1.66763382e-01 9.85989708e-01 -3.77754448e-03 -3.71648771e+00] [-2.30424491e-02 -6.70344408e-05 9.99734485e-01 -1.19542839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95401273899999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.72, Z:-1.20 [[ 9.85300060e-01 1.69347092e-01 2.24800931e-02 3.62669077e+01] [-1.69305950e-01 9.85556465e-01 -3.73481714e-03 -3.72150996e+00] [-2.27878815e-02 -1.26097971e-04 9.99740315e-01 -1.19709282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.73, Z:-1.20 [[ 9.84902838e-01 1.71737783e-01 2.17378456e-02 3.62954793e+01] [-1.71699917e-01 9.85142681e-01 -3.61050899e-03 -3.72692045e+00] [-2.20349404e-02 -1.76385727e-04 9.99757186e-01 -1.19845559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014012738999995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.73, Z:-1.20 [[ 9.84255857e-01 1.75627597e-01 1.98835599e-02 3.63224093e+01] [-1.75596724e-01 9.84456647e-01 -3.30178816e-03 -3.73149941e+00] [-2.01543878e-02 -2.41683634e-04 9.99796850e-01 -1.19986673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.74, Z:-1.20 [[ 9.83903272e-01 1.77636519e-01 1.94837785e-02 3.63494238e+01] [-1.77607292e-01 9.84096128e-01 -3.23423207e-03 -3.73510071e+00] [-1.97484287e-02 -2.78289626e-04 9.99804942e-01 -1.20341290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074012739 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.74, Z:-1.20 [[ 9.83965539e-01 1.77310257e-01 1.93103584e-02 3.63772007e+01] [-1.77281505e-01 9.84154967e-01 -3.20443633e-03 -3.74025944e+00] [-1.95725646e-02 -2.70314466e-04 9.99808402e-01 -1.20483235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.75, Z:-1.21 [[ 9.84167497e-01 1.76217879e-01 1.90157013e-02 3.64041913e+01] [-1.76189819e-01 9.84351156e-01 -3.15422510e-03 -3.74558947e+00] [-1.92739584e-02 -2.46087148e-04 9.99814210e-01 -1.20535137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13401273899999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.75, Z:-1.20 [[ 9.84623015e-01 1.73822949e-01 1.74098057e-02 3.64315454e+01] [-1.73799075e-01 9.84776903e-01 -2.88664290e-03 -3.75140021e+00] [-1.76465393e-02 -1.83553100e-04 9.99844271e-01 -1.20470271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.76, Z:-1.20 [[ 9.84701090e-01 1.73361090e-01 1.75981538e-02 3.64581622e+01] [-1.73336637e-01 9.84858315e-01 -2.91709370e-03 -3.75588067e+00] [-1.78373987e-02 -1.77939460e-04 9.99840885e-01 -1.20491317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194012738999994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.76, Z:-1.21 [[ 9.84868557e-01 1.72269034e-01 1.89025278e-02 3.64860043e+01] [-1.72240660e-01 9.85049923e-01 -3.13123693e-03 -3.76126763e+00] [-1.91593487e-02 -1.71927074e-04 9.99816428e-01 -1.20635690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.77, Z:-1.21 [[ 9.85058710e-01 1.71085861e-01 1.97222342e-02 3.65146879e+01] [-1.71054755e-01 9.85256111e-01 -3.26603285e-03 -3.76628347e+00] [-1.99902238e-02 -1.56347843e-04 9.99800163e-01 -1.20720753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254012739 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.77, Z:-1.21 [[ 9.85630069e-01 1.67510966e-01 2.17587472e-02 3.65429832e+01] [-1.67472259e-01 9.85870208e-01 -3.60207793e-03 -3.77162295e+00] [-2.20546882e-02 -9.36702398e-05 9.99756761e-01 -1.20669600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.78, Z:-1.21 [[ 9.85939373e-01 1.65514009e-01 2.29927423e-02 3.65707729e+01] [-1.65470269e-01 9.86207438e-01 -3.80524839e-03 -3.77645380e+00] [-2.33054354e-02 -5.28710459e-05 9.99728390e-01 -1.20612068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31401273899999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.78, Z:-1.21 [[ 9.86190683e-01 1.63887510e-01 2.38499814e-02 3.66002581e+01] [-1.63840013e-01 9.86479034e-01 -3.94541735e-03 -3.78162869e+00] [-2.41741112e-02 -1.66474246e-05 9.99707763e-01 -1.20569105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.79, Z:-1.21 [[ 9.86564154e-01 1.61665020e-01 2.35709797e-02 3.66293465e+01] [-1.61618007e-01 9.86845692e-01 -3.89871163e-03 -3.78877510e+00] [-2.38912051e-02 3.68343904e-05 9.99714564e-01 -1.20717936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374012738999994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.79, Z:-1.21 [[ 9.86664748e-01 1.61127342e-01 2.30359225e-02 3.66576624e+01] [-1.61082304e-01 9.86933623e-01 -3.80974629e-03 -3.79481121e+00] [-2.33487808e-02 4.82628913e-05 9.99727379e-01 -1.20844815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.80, Z:-1.21 [[ 9.86700761e-01 1.60925675e-01 2.29027384e-02 3.66869501e+01] [-1.60881122e-01 9.86966527e-01 -3.78681474e-03 -3.80150226e+00] [-2.32136319e-02 5.18347277e-05 9.99730526e-01 -1.20984012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434012738999996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.81, Z:-1.21 [[ 9.86701364e-01 1.60876676e-01 2.32188032e-02 3.67151561e+01] [-1.60830883e-01 9.86974514e-01 -3.83858310e-03 -3.80711093e+00] [-2.35339055e-02 5.32345534e-05 9.99723038e-01 -1.21026294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.81, Z:-1.21 [[ 9.86664987e-01 1.61044701e-01 2.35967760e-02 3.67430030e+01] [-1.60997474e-01 9.86947112e-01 -3.90020634e-03 -3.81294070e+00] [-2.39168775e-02 4.91757108e-05 9.99713949e-01 -1.21011997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494012739 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.82, Z:-1.21 [[ 9.86124839e-01 1.64215795e-01 2.43099706e-02 3.67724499e+01] [-1.64166656e-01 9.86424438e-01 -4.01713953e-03 -3.81958351e+00] [-2.46396268e-02 -2.94855059e-05 9.99696398e-01 -1.20944534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.82, Z:-1.21 [[ 9.85622517e-01 1.67342290e-01 2.33411853e-02 3.68009650e+01] [-1.67297877e-01 9.85898852e-01 -3.85657870e-03 -3.82344668e+00] [-2.36574165e-02 -1.03799939e-04 9.99720119e-01 -1.21072242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554012738999994 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.82, Z:-1.21 [[ 9.84403319e-01 1.74519735e-01 2.22028840e-02 3.68296152e+01] [-1.74481386e-01 9.84653641e-01 -3.66782424e-03 -3.82433199e+00] [-2.25022583e-02 -2.63371635e-04 9.99746757e-01 -1.21173145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.83, Z:-1.21 [[ 9.83863188e-01 1.77571302e-01 2.19467352e-02 3.68576390e+01] [-1.77534614e-01 9.84107882e-01 -3.62453327e-03 -3.82694174e+00] [-2.22415682e-02 -3.30260291e-04 9.99752571e-01 -1.21245990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614012738999996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.83, Z:-1.21 [[ 9.82944381e-01 1.82384955e-01 2.35811972e-02 3.68861237e+01] [-1.82344020e-01 9.83227087e-01 -3.89287185e-03 -3.82725603e+00] [-2.38956731e-02 -4.73413769e-04 9.99714346e-01 -1.21258184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.83, Z:-1.21 [[ 9.82601868e-01 1.84184941e-01 2.38637265e-02 3.69145864e+01] [-1.84143586e-01 9.82891465e-01 -3.93798189e-03 -3.82893677e+00] [-2.41807700e-02 -5.24883807e-04 9.99707465e-01 -1.21339479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674012739 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.83, Z:-1.21 [[ 9.82133143e-01 1.86786273e-01 2.29211013e-02 3.69426579e+01] [-1.86748850e-01 9.82400411e-01 -3.78147557e-03 -3.82662369e+00] [-2.32240271e-02 -5.66576832e-04 9.99730125e-01 -1.21465169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.83, Z:-1.22 [[ 9.82054849e-01 1.87219640e-01 2.27393902e-02 3.69721022e+01] [-1.87182961e-01 9.82317910e-01 -3.74992584e-03 -3.82808773e+00] [-2.30393701e-02 -5.73793532e-04 9.99734394e-01 -1.21567072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73401273899999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.83, Z:-1.22 [[ 9.82137064e-01 1.86832739e-01 2.23677226e-02 3.69996531e+01] [-1.86797173e-01 9.82391581e-01 -3.68758633e-03 -3.83022016e+00] [-2.26628242e-02 -5.56512134e-04 9.99743010e-01 -1.21626501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.83, Z:-1.22 [[ 9.82769009e-01 1.83453147e-01 2.25835640e-02 3.70273745e+01] [-1.83416030e-01 9.83028335e-01 -3.72181231e-03 -3.83065854e+00] [-2.28830615e-02 -4.84505859e-04 9.99738031e-01 -1.21745302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794012738999996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.83, Z:-1.22 [[ 9.83398826e-01 1.80078330e-01 2.23281069e-02 3.70553267e+01] [-1.80041221e-01 9.83652191e-01 -3.67779555e-03 -3.83370639e+00] [-2.26253825e-02 -4.03239804e-04 9.99743932e-01 -1.21843774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.84, Z:-1.22 [[ 9.83409324e-01 1.80020959e-01 2.23283778e-02 3.70834481e+01] [-1.79983872e-01 9.83662692e-01 -3.67615003e-03 -3.83820569e+00] [-2.26253762e-02 -4.03587680e-04 9.99743932e-01 -1.21929420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854012739 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.84, Z:-1.22 [[ 9.85060216e-01 1.70882486e-01 2.13435609e-02 3.71108477e+01] [-1.70846477e-01 9.85291399e-01 -3.51280705e-03 -3.84226661e+00] [-2.16299042e-02 -1.86145728e-04 9.99766029e-01 -1.22087915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.85, Z:-1.22 [[ 9.85869200e-01 1.66136851e-01 2.14585086e-02 3.71387175e+01] [-1.66099359e-01 9.86102702e-01 -3.53033577e-03 -3.84836585e+00] [-2.17468122e-02 -8.37952425e-05 9.99763507e-01 -1.22179693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91401273899999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.85, Z:-1.22 [[ 9.86566310e-01 1.61856768e-01 2.21201698e-02 3.71668638e+01] [-1.61815876e-01 9.86814261e-01 -3.63811871e-03 -3.85467279e+00] [-2.24173532e-02 9.85070581e-06 9.99748700e-01 -1.22229149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.86, Z:-1.22 [[ 9.87327320e-01 1.57157741e-01 2.20501021e-02 3.71942798e+01] [-1.57115957e-01 9.87573507e-01 -3.62560395e-03 -3.86233747e+00] [-2.23458884e-02 1.15234939e-04 9.99750293e-01 -1.22250569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974012738999996 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.87, Z:-1.22 [[ 9.87358448e-01 1.56959266e-01 2.20699857e-02 3.72214004e+01] [-1.56917387e-01 9.87605070e-01 -3.62752436e-03 -3.86832005e+00] [-2.23658034e-02 1.18502336e-04 9.99749847e-01 -1.22348799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.88, Z:-1.22 [[ 9.87222130e-01 1.57880729e-01 2.15902886e-02 3.72484098e+01] [-1.57840899e-01 9.87458185e-01 -3.54741594e-03 -3.87674092e+00] [-2.18795758e-02 9.42569692e-05 9.99760609e-01 -1.22436670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034012739 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.88, Z:-1.23 [[ 9.87206478e-01 1.58030737e-01 2.12050800e-02 3.72756409e+01] [-1.57992376e-01 9.87434189e-01 -3.48291600e-03 -3.88376965e+00] [-2.14890288e-02 8.81162610e-05 9.99769080e-01 -1.22537975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.90, Z:-1.22 [[ 9.87143772e-01 1.58663581e-01 1.93142809e-02 3.73021731e+01] [-1.58887454e-01 9.87239169e-01 1.06583447e-02 -3.90083052e+00] [-1.73767234e-02 -1.35901155e-02 9.99756650e-01 -1.21851855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09401273899999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.89, Z:-1.23 [[ 9.86882785e-01 1.60357907e-01 1.86469664e-02 3.73340513e+01] [-1.60052228e-01 9.86964237e-01 -1.68783911e-02 -3.88630170e+00] [-2.11104724e-02 1.36725051e-02 9.99683655e-01 -1.22589529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.90, Z:-1.23 [[ 9.86775813e-01 1.60801302e-01 2.04067675e-02 3.73606178e+01] [-1.60766436e-01 9.86986799e-01 -3.34845784e-03 -3.90185533e+00] [-2.06796465e-02 2.34539158e-05 9.99786153e-01 -1.22774144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154012738999995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.91, Z:-1.23 [[ 9.86761601e-01 1.60884042e-01 2.04417933e-02 3.73873524e+01] [-1.60849093e-01 9.86973315e-01 -3.35332451e-03 -3.91110449e+00] [-2.07150009e-02 2.08879706e-05 9.99785421e-01 -1.22830843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.92, Z:-1.23 [[ 9.86912237e-01 1.59716968e-01 2.22424676e-02 3.74147779e+01] [-1.59675327e-01 9.87162848e-01 -3.64720567e-03 -3.91848308e+00] [-2.25394583e-02 4.78986142e-05 9.99745953e-01 -1.22770243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214012739 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.92, Z:-1.23 [[ 9.86955540e-01 1.59449081e-01 2.22430236e-02 3.74439155e+01] [-1.59407406e-01 9.87206153e-01 -3.64570757e-03 -3.92382074e+00] [-2.25397545e-02 5.24485917e-05 9.99745946e-01 -1.22897213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.93, Z:-1.23 [[ 9.87002957e-01 1.59191446e-01 2.19828757e-02 3.74719014e+01] [-1.59150685e-01 9.87247730e-01 -3.60264549e-03 -3.92924337e+00] [-2.22760545e-02 5.72320285e-05 9.99751856e-01 -1.23019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27401273899999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.94, Z:-1.23 [[ 9.86967825e-01 1.59304785e-01 2.27265814e-02 3.75008805e+01] [-1.59261271e-01 9.87229448e-01 -3.72360140e-03 -3.93738064e+00] [-2.30295380e-02 5.56105355e-05 9.99734783e-01 -1.23024074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.94, Z:-1.23 [[ 9.86796555e-01 1.60035359e-01 2.49247338e-02 3.75301408e+01] [-1.59983269e-01 9.87111281e-01 -4.08310222e-03 -3.94291151e+00] [-2.52569266e-02 4.16508202e-05 9.99680992e-01 -1.22919289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334012738999995 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.95, Z:-1.23 [[ 9.86557774e-01 1.61348169e-01 2.58945418e-02 3.75600578e+01] [-1.61292416e-01 9.86897547e-01 -4.24125140e-03 -3.94679991e+00] [-2.62395780e-02 7.64633927e-06 9.99655683e-01 -1.22963433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:37.59, Y:-3.95, Z:-1.23 [[ 9.86154225e-01 1.63679722e-01 2.66231594e-02 3.75888420e+01] [-1.63621635e-01 9.86513530e-01 -4.36062826e-03 -3.95091288e+00] [-2.69778534e-02 -5.58728957e-05 9.99636030e-01 -1.23046135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394012739 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.95, Z:-1.23 [[ 9.85325154e-01 1.68693323e-01 2.60173691e-02 3.76169328e+01] [-1.68639601e-01 9.85668569e-01 -4.26118466e-03 -3.95430500e+00] [-2.63633364e-02 -1.88906315e-04 9.99652409e-01 -1.23206163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.96, Z:-1.23 [[ 9.84939466e-01 1.71103559e-01 2.48560068e-02 3.76462818e+01] [-1.71055316e-01 9.85253020e-01 -4.07009652e-03 -3.95736359e+00] [-2.51858637e-02 -2.42953398e-04 9.99682756e-01 -1.23314824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45401273899999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.96, Z:-1.23 [[ 9.84158869e-01 1.75603599e-01 2.43863835e-02 3.76741638e+01] [-1.75558552e-01 9.84460894e-01 -3.99279974e-03 -3.95619096e+00] [-2.47085909e-02 -3.51688903e-04 9.99694634e-01 -1.23378108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.96, Z:-1.23 [[ 9.83988992e-01 1.76428590e-01 2.52708668e-02 3.77027109e+01] [-1.76380531e-01 9.84313366e-01 -4.13593969e-03 -3.95828378e+00] [-2.56041500e-02 -3.87569765e-04 9.99672085e-01 -1.23432587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514012738999995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.96, Z:-1.23 [[ 9.83914009e-01 1.76565267e-01 2.71648683e-02 3.77313531e+01] [-1.76509824e-01 9.84288844e-01 -4.44447685e-03 -3.95858818e+00] [-2.75228171e-02 -4.21883104e-04 9.99621086e-01 -1.23400526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.96, Z:-1.23 [[ 9.83958487e-01 1.76387166e-01 2.67070067e-02 3.77600313e+01] [-1.76333556e-01 9.84320780e-01 -4.36789595e-03 -3.96020545e+00] [-2.70587024e-02 -4.11513168e-04 9.99633762e-01 -1.23476202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574012739 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.96, Z:-1.24 [[ 9.84061965e-01 1.76062210e-01 2.49829238e-02 3.77884082e+01] [-1.76015222e-01 9.84378970e-01 -4.08484654e-03 -3.96080596e+00] [-2.53118519e-02 -3.77632763e-04 9.99679532e-01 -1.23548130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:37.82, Y:-3.96, Z:-1.24 [[ 9.84080087e-01 1.76194926e-01 2.32750878e-02 3.78177145e+01] [-1.76154214e-01 9.84355231e-01 -3.80422087e-03 -3.95693529e+00] [-2.35812388e-02 -3.56346776e-04 9.99721860e-01 -1.23828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63401273899999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:37.85, Y:-3.95, Z:-1.24 [[ 9.84119633e-01 1.75546529e-01 2.63052168e-02 3.78461908e+01] [-1.75494329e-01 9.84471059e-01 -4.29811242e-03 -3.95458549e+00] [-2.66512433e-02 -3.86559553e-04 9.99644718e-01 -1.23777760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.96, Z:-1.24 [[ 9.84205803e-01 1.74837474e-01 2.77632008e-02 3.78743223e+01] [-1.74779106e-01 9.84597230e-01 -4.53414026e-03 -3.95641700e+00] [-2.81283083e-02 -3.89900276e-04 9.99604245e-01 -1.23795567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694012738999994 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.96, Z:-1.24 [[ 9.84409533e-01 1.73624238e-01 2.81512967e-02 3.79033595e+01] [-1.73563780e-01 9.84811907e-01 -4.59576118e-03 -3.95868804e+00] [-2.85216677e-02 -3.61934358e-04 9.99593109e-01 -1.23826610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.96, Z:-1.24 [[ 9.85044902e-01 1.70353760e-01 2.58096486e-02 3.79316405e+01] [-1.70301849e-01 9.85382939e-01 -4.21238274e-03 -3.95847476e+00] [-2.61499826e-02 -2.46044739e-04 9.99658000e-01 -1.24097281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754012739 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.96, Z:-1.24 [[ 9.85433479e-01 1.68344347e-01 2.41047634e-02 3.79603683e+01] [-1.68298502e-01 9.85728232e-01 -3.93270440e-03 -3.96209454e+00] [-2.44227944e-02 -1.81376994e-04 9.99701703e-01 -1.24357727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.97, Z:-1.25 [[ 9.85954979e-01 1.65435045e-01 2.28915910e-02 3.79888488e+01] [-1.65392939e-01 9.86220683e-01 -3.73374141e-03 -3.96619886e+00] [-2.31938522e-02 -1.04806585e-04 9.99730981e-01 -1.24537227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81401273899999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.97, Z:-1.25 [[ 9.86124204e-01 1.64367757e-01 2.32872028e-02 3.80164588e+01] [-1.64323912e-01 9.86399125e-01 -3.79716757e-03 -3.96957922e+00] [-2.35946083e-02 -8.21653987e-05 9.99721605e-01 -1.24524335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.97, Z:-1.25 [[ 9.86386246e-01 1.62635872e-01 2.43258540e-02 3.80454703e+01] [-1.62587541e-01 9.86686156e-01 -3.96489743e-03 -3.97148246e+00] [-2.46468180e-02 -4.41604905e-05 9.99696220e-01 -1.24522742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874012738999994 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.98, Z:-1.25 [[ 9.86403132e-01 1.62557214e-01 2.41663790e-02 3.80728580e+01] [-1.62509518e-01 9.86699119e-01 -3.93777520e-03 -3.97543061e+00] [-2.44850586e-02 -4.30328147e-05 9.99700195e-01 -1.24585241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.98, Z:-1.25 [[ 9.86382447e-01 1.62741859e-01 2.37645728e-02 3.81013903e+01] [-1.62695826e-01 9.86668681e-01 -3.87078791e-03 -3.97956614e+00] [-2.40776989e-02 -4.83195506e-05 9.99710089e-01 -1.24728873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934012738999996 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.98, Z:-1.25 [[ 9.86491105e-01 1.62062199e-01 2.38986003e-02 3.81306814e+01] [-1.62015474e-01 9.86780544e-01 -3.89146594e-03 -3.98195560e+00] [-2.42133334e-02 -3.30465377e-05 9.99706814e-01 -1.24736109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.99, Z:-1.25 [[ 9.86719838e-01 1.60381504e-01 2.57242142e-02 3.81589013e+01] [-1.60326831e-01 9.87055101e-01 -4.18738683e-03 -3.98587281e+00] [-2.60627963e-02 7.49591011e-06 9.99660308e-01 -1.24751235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994012739 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:38.19, Y:-3.99, Z:-1.25 [[ 9.87565715e-01 1.54603685e-01 2.84896204e-02 3.81865039e+01] [-1.54534260e-01 9.87976553e-01 -4.63602487e-03 -3.99334514e+00] [-2.88638235e-02 1.75756815e-04 9.99583338e-01 -1.24872581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:38.21, Y:-4.00, Z:-1.25 [[ 9.88200766e-01 1.50612319e-01 2.78419561e-02 3.82147710e+01] [-1.50544468e-01 9.88592863e-01 -4.52929572e-03 -4.00055442e+00] [-2.82065268e-02 2.84401015e-04 9.99602076e-01 -1.24952261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054012738999994 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:38.24, Y:-4.01, Z:-1.25 [[ 9.89420981e-01 1.42680604e-01 2.62367490e-02 3.82445816e+01] [-1.42617589e-01 9.89768667e-01 -4.26715561e-03 -4.01022041e+00] [-2.65771524e-02 4.80191417e-04 9.99646650e-01 -1.25030948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:38.27, Y:-4.02, Z:-1.25 [[ 9.89952402e-01 1.39005578e-01 2.59169955e-02 3.82743444e+01] [-1.38942831e-01 9.90291433e-01 -4.21515078e-03 -4.01775267e+00] [-2.62513081e-02 5.71817906e-04 9.99655211e-01 -1.25129910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114012738999996 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:38.30, Y:-4.03, Z:-1.25 [[ 9.90383143e-01 1.35867408e-01 2.61013008e-02 3.83044192e+01] [-1.35802675e-01 9.90726810e-01 -4.24512627e-03 -4.02576612e+00] [-2.64360328e-02 6.59675024e-04 9.99650289e-01 -1.25211334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.04, Z:-1.25 [[ 9.90926470e-01 1.31437730e-01 2.80865403e-02 3.83346787e+01] [-1.31360996e-01 9.91324075e-01 -4.56796830e-03 -4.03793735e+00] [-2.84432669e-02 8.37044805e-04 9.99595058e-01 -1.25100412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174012739 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.05, Z:-1.25 [[ 9.91235485e-01 1.28850784e-01 2.91494267e-02 3.83650997e+01] [-1.28766993e-01 9.91663542e-01 -4.74149960e-03 -4.05032974e+00] [-2.95173696e-02 9.46458636e-04 9.99563819e-01 -1.25229901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:38.40, Y:-4.06, Z:-1.25 [[ 9.91278721e-01 1.28575671e-01 2.88928076e-02 3.83962352e+01] [-1.28493135e-01 9.91699246e-01 -4.70307631e-03 -4.06168199e+00] [-2.92576767e-02 9.49532037e-04 9.99571452e-01 -1.25371653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23401273899999 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:38.43, Y:-4.07, Z:-1.26 [[ 9.91312578e-01 1.28271954e-01 2.90805410e-02 3.84272052e+01] [-1.28188051e-01 9.91738557e-01 -4.73908795e-03 -4.07417533e+00] [-2.94481858e-02 9.70139621e-04 9.99565837e-01 -1.25633129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:38.46, Y:-4.09, Z:-1.26 [[ 9.91230144e-01 1.29205051e-01 2.77282658e-02 3.84563391e+01] [-1.29128997e-01 9.91617486e-01 -4.52364946e-03 -4.09150425e+00] [-2.80803115e-02 9.03454550e-04 9.99605262e-01 -1.25713050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294012738999996 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:38.49, Y:-4.10, Z:-1.24 [[ 9.91021768e-01 1.31228273e-01 2.55928950e-02 3.84889142e+01] [-1.31164055e-01 9.91351867e-01 -4.17927048e-03 -4.10190051e+00] [-2.59200027e-02 7.84880124e-04 9.99663712e-01 -1.24360093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.11, Z:-1.26 [[ 9.90406983e-01 1.36099093e-01 2.38965433e-02 3.85184318e+01] [-1.36044412e-01 9.90695036e-01 -3.90685110e-03 -4.11392416e+00] [-2.42059058e-02 6.18381416e-04 9.99706803e-01 -1.25958933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354012739 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:38.55, Y:-4.12, Z:-1.26 [[ 9.89952407e-01 1.39417809e-01 2.35988673e-02 3.85489815e+01] [-1.39365357e-01 9.90233503e-01 -3.86095268e-03 -4.12346223e+00] [-2.39066745e-02 5.33294829e-04 9.99714052e-01 -1.26044738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:38.58, Y:-4.13, Z:-1.26 [[ 9.89381958e-01 1.43250931e-01 2.45461201e-02 3.85804148e+01] [-1.43195293e-01 9.89686293e-01 -4.01869142e-03 -4.13205986e+00] [-2.48686399e-02 4.61131917e-04 9.99690621e-01 -1.26106808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41401273899999 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:38.61, Y:-4.14, Z:-1.26 [[ 9.88236249e-01 1.50433613e-01 2.75471243e-02 3.86122585e+01] [-1.50366183e-01 9.88620061e-01 -4.51499093e-03 -4.14040150e+00] [-2.79128461e-02 3.19721772e-04 9.99610309e-01 -1.26111409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:38.64, Y:-4.15, Z:-1.26 [[ 9.87808478e-01 1.53166263e-01 2.78299470e-02 3.86426267e+01] [-1.53098371e-01 9.88200401e-01 -4.56679654e-03 -4.15328317e+00] [-2.82010440e-02 2.50400781e-04 9.99602240e-01 -1.26263220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474012738999996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:38.67, Y:-4.16, Z:-1.26 [[ 9.87886825e-01 1.52896012e-01 2.65034066e-02 3.86738108e+01] [-1.52834221e-01 9.88242251e-01 -4.35363312e-03 -4.16315774e+00] [-2.68574394e-02 2.50269304e-04 9.99639243e-01 -1.26376486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:38.71, Y:-4.18, Z:-1.27 [[ 9.88508036e-01 1.49258608e-01 2.39526575e-02 3.87053916e+01] [-1.49206983e-01 9.88798142e-01 -3.93827796e-03 -4.17649408e+00] [-2.42721652e-02 3.19115642e-04 9.99705337e-01 -1.26573533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534012739 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:38.74, Y:-4.19, Z:-1.27 [[ 9.88841025e-01 1.46952984e-01 2.44591096e-02 3.87372626e+01] [-1.46898331e-01 9.89143402e-01 -4.02624316e-03 -4.18617025e+00] [-2.47852353e-02 3.88312034e-04 9.99692723e-01 -1.26741390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:38.77, Y:-4.20, Z:-1.27 [[ 9.89229740e-01 1.43700609e-01 2.78326660e-02 3.87671217e+01] [-1.43628377e-01 9.89621060e-01 -4.58767883e-03 -4.20175036e+00] [-2.82030447e-02 5.40707694e-04 9.99602069e-01 -1.26609554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59401273899999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:38.80, Y:-4.21, Z:-1.27 [[ 9.89272808e-01 1.43147622e-01 2.91216197e-02 3.87991413e+01] [-1.43068144e-01 9.89701174e-01 -4.80554144e-03 -4.21112706e+00] [-2.95096030e-02 5.87615408e-04 9.99564324e-01 -1.26652036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:38.83, Y:-4.22, Z:-1.27 [[ 9.89139371e-01 1.44060118e-01 2.91545355e-02 3.88302957e+01] [-1.43980692e-01 9.89568775e-01 -4.81651769e-03 -4.21972022e+00] [-2.95442861e-02 5.66517080e-04 9.99563312e-01 -1.26727131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654012738999995 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:38.86, Y:-4.23, Z:-1.27 [[ 9.88714581e-01 1.47020231e-01 2.87841880e-02 3.88618053e+01] [-1.46943915e-01 9.89133370e-01 -4.76044717e-03 -4.23291324e+00] [-2.91712829e-02 4.77062262e-04 9.99574314e-01 -1.26889242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.24, Z:-1.27 [[ 9.88430523e-01 1.48959923e-01 2.85664453e-02 3.88921246e+01] [-1.48885502e-01 9.88843145e-01 -4.72665963e-03 -4.24280177e+00] [-2.89518165e-02 4.18845085e-04 9.99580721e-01 -1.26931189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714012739 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.26, Z:-1.27 [[ 9.87707249e-01 1.53805336e-01 2.78981778e-02 3.89238664e+01] [-1.53736154e-01 9.88101130e-01 -4.62084103e-03 -4.25508120e+00] [-2.82769310e-02 2.75079628e-04 9.99600090e-01 -1.27042441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:38.96, Y:-4.26, Z:-1.27 [[ 9.87694682e-01 1.53886178e-01 2.78972883e-02 3.89568811e+01] [-1.53816876e-01 9.88088542e-01 -4.62620457e-03 -4.26069344e+00] [-2.82768999e-02 2.78203915e-04 9.99600090e-01 -1.27143275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77401273899999 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.27, Z:-1.27 [[ 9.87237384e-01 1.56810654e-01 2.77986765e-02 3.89878239e+01] [-1.56742939e-01 9.87628665e-01 -4.61199880e-03 -4.26879746e+00] [-2.81779804e-02 1.95891375e-04 9.99602903e-01 -1.27274337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.28, Z:-1.27 [[ 9.86359033e-01 1.62110154e-01 2.85684412e-02 3.90181360e+01] [-1.62040705e-01 9.86772666e-01 -4.74495465e-03 -4.27949141e+00] [-2.89597622e-02 5.09785177e-05 9.99580577e-01 -1.27260989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834012738999995 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.29, Z:-1.27 [[ 9.86002557e-01 1.64167026e-01 2.91229406e-02 3.90506401e+01] [-1.64095590e-01 9.86432556e-01 -4.84250203e-03 -4.28741466e+00] [-2.95227959e-02 -4.22674337e-06 9.99564107e-01 -1.27285707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:39.08, Y:-4.30, Z:-1.27 [[ 9.85584298e-01 1.66709528e-01 2.88361739e-02 3.90810292e+01] [-1.66640412e-01 9.86006049e-01 -4.80055984e-03 -4.29741623e+00] [-2.92329410e-02 -7.39154905e-05 9.99572624e-01 -1.27495709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894012739 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:39.11, Y:-4.31, Z:-1.28 [[ 9.85394664e-01 1.67873971e-01 2.85602265e-02 3.91122118e+01] [-1.67806507e-01 9.85808460e-01 -4.75991944e-03 -4.30576090e+00] [-2.89539794e-02 -1.02192626e-04 9.99580740e-01 -1.27661123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:39.14, Y:-4.32, Z:-1.28 [[ 9.85067133e-01 1.69837565e-01 2.82479201e-02 3.91444729e+01] [-1.69772237e-01 9.85472059e-01 -4.71269429e-03 -4.31549604e+00] [-2.86379285e-02 -1.53392323e-04 9.99589839e-01 -1.27783241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95401273899999 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.32, Z:-1.28 [[ 9.84860609e-01 1.71092184e-01 2.78755228e-02 3.91760815e+01] [-1.71028917e-01 9.85255008e-01 -4.65597071e-03 -4.32174453e+00] [-2.82610986e-02 -1.82038320e-04 9.99600559e-01 -1.27903933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.33, Z:-1.28 [[ 9.84431446e-01 1.73598022e-01 2.75400605e-02 3.92081907e+01] [-1.73537111e-01 9.84816565e-01 -4.60489086e-03 -4.32818265e+00] [-2.79213077e-02 -2.46023162e-04 9.99610094e-01 -1.28037082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014012738999995 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.33, Z:-1.28 [[ 9.84160575e-01 1.75140175e-01 2.74569201e-02 3.92405627e+01] [-1.75080094e-01 9.84543467e-01 -4.59588439e-03 -4.33383036e+00] [-2.78374553e-02 -2.84071928e-04 9.99612423e-01 -1.28137998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.34, Z:-1.28 [[ 9.83831477e-01 1.77032062e-01 2.71159309e-02 3.92727392e+01] [-1.76974047e-01 9.84205030e-01 -4.54375141e-03 -4.33832895e+00] [-2.74920252e-02 -3.28530367e-04 9.99621969e-01 -1.28269939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074012739 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:39.31, Y:-4.34, Z:-1.28 [[ 9.83822189e-01 1.77126362e-01 2.68356403e-02 3.93051855e+01] [-1.77069502e-01 9.84188064e-01 -4.49947852e-03 -4.34319164e+00] [-2.72082932e-02 -3.25086661e-04 9.99629733e-01 -1.28404554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:39.34, Y:-4.35, Z:-1.28 [[ 9.84016398e-01 1.76045651e-01 2.68264151e-02 3.93367298e+01] [-1.75988286e-01 9.84381961e-01 -4.50318457e-03 -4.34895291e+00] [-2.72002052e-02 -2.89927348e-04 9.99629964e-01 -1.28467591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13401273899999 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:39.37, Y:-4.35, Z:-1.28 [[ 9.84159474e-01 1.75098518e-01 2.77603852e-02 3.93690018e+01] [-1.75036564e-01 9.84550881e-01 -4.66518421e-03 -4.35497806e+00] [-2.81483786e-02 -2.67797206e-04 9.99603720e-01 -1.28486297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:39.40, Y:-4.36, Z:-1.29 [[ 9.84525252e-01 1.72684520e-01 2.98342769e-02 3.94004484e+01] [-1.72611665e-01 9.84977164e-01 -5.01991648e-03 -4.35955243e+00] [-3.02529433e-02 -2.07509663e-04 9.99542253e-01 -1.28503753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194012738999994 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:39.43, Y:-4.36, Z:-1.29 [[ 9.84951270e-01 1.70224858e-01 2.99080885e-02 3.94329073e+01] [-1.70150343e-01 9.85405237e-01 -5.03777568e-03 -4.36372152e+00] [-3.03291417e-02 -1.26907973e-04 9.99539958e-01 -1.28655466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.37, Z:-1.29 [[ 9.85161622e-01 1.69270075e-01 2.83587909e-02 3.94647194e+01] [-1.69202533e-01 9.85569700e-01 -4.78211805e-03 -4.37029561e+00] [-2.87590345e-02 -8.72200892e-05 9.99586370e-01 -1.28762241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254012739 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:39.50, Y:-4.39, Z:-1.28 [[ 9.85529666e-01 1.67705106e-01 2.46226657e-02 3.94965385e+01] [-1.68013853e-01 9.85722787e-01 1.10423386e-02 -4.39073700e+00] [-2.24192661e-02 -1.50195012e-02 9.99635829e-01 -1.27994241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:39.53, Y:-4.37, Z:-1.29 [[ 9.85410392e-01 1.68495454e-01 2.39925272e-02 3.95303397e+01] [-1.68054407e-01 9.85587613e-01 -1.93590704e-02 -4.37437262e+00] [-2.69086529e-02 1.50445792e-02 9.99524680e-01 -1.29223717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31401273899999 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.40, Z:-1.29 [[ 9.85179485e-01 1.68576907e-01 3.16734783e-02 3.95555705e+01] [-1.68907558e-01 9.85599008e-01 8.05180566e-03 -4.40228177e+00] [-2.98600003e-02 -1.32823636e-02 9.99465837e-01 -1.29199767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.39, Z:-1.29 [[ 9.85477469e-01 1.67989922e-01 2.47698405e-02 3.95917997e+01] [-1.67592272e-01 9.85703633e-01 -1.73544999e-02 -4.39161271e+00] [-2.73311028e-02 1.29512348e-02 9.99542534e-01 -1.29351925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374012738999994 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.41, Z:-1.29 [[ 9.85555460e-01 1.67210006e-01 2.68560936e-02 3.96219066e+01] [-1.67148157e-01 9.85921302e-01 -4.54750998e-03 -4.40744495e+00] [-2.72383840e-02 -7.12325723e-06 9.99628966e-01 -1.29364393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters Centerline goodness : 0.988899 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.42, Z:-1.28 [[ 9.85387219e-01 1.68051148e-01 2.77640231e-02 3.96541762e+01] [-1.67985286e-01 9.85778277e-01 -4.70455042e-03 -4.41783406e+00] [-2.81597759e-02 -2.81435105e-05 9.99603434e-01 -1.28219022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434012738999996 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:39.69, Y:-4.42, Z:-1.30 [[ 9.85357547e-01 1.68001157e-01 2.90880797e-02 3.96863925e+01] [-1.67928667e-01 9.85786798e-01 -4.93477743e-03 -4.42365052e+00] [-2.95036932e-02 -2.22022514e-05 9.99564671e-01 -1.29522229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.43, Z:-1.30 [[ 9.85088667e-01 1.69636045e-01 2.87041869e-02 3.97173170e+01] [-1.69565989e-01 9.85506777e-01 -4.87514990e-03 -4.43155444e+00] [-2.91151718e-02 -6.47989233e-05 9.99576061e-01 -1.29526495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494012739 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.44, Z:-1.30 [[ 9.84774931e-01 1.71427515e-01 2.88260761e-02 3.97498326e+01] [-1.71357532e-01 9.85196729e-01 -4.89921824e-03 -4.43754549e+00] [-2.92392167e-02 -1.14937944e-04 9.99572436e-01 -1.29709904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.44, Z:-1.30 [[ 9.84478327e-01 1.73108215e-01 2.89131309e-02 3.97821494e+01] [-1.73038373e-01 9.84902797e-01 -4.91946469e-03 -4.44331780e+00] [-2.93282232e-02 -1.59974755e-04 9.99569822e-01 -1.29893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554012738999994 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.45, Z:-1.30 [[ 9.83976707e-01 1.75979806e-01 2.86521880e-02 3.98144001e+01] [-1.75912281e-01 9.84393748e-01 -4.88038563e-03 -4.44950817e+00] [-2.90638841e-02 -2.38085985e-04 9.99577528e-01 -1.30110704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:39.85, Y:-4.45, Z:-1.30 [[ 9.83553276e-01 1.78226497e-01 2.92962313e-02 3.98463301e+01] [-1.78156730e-01 9.83989442e-01 -4.99571942e-03 -4.45417860e+00] [-2.97175519e-02 -3.05764560e-04 9.99558289e-01 -1.29994794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614012738999996 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:39.88, Y:-4.46, Z:-1.30 [[ 9.83270681e-01 1.79795567e-01 2.91945558e-02 3.98792659e+01] [-1.79726825e-01 9.83703936e-01 -4.98345216e-03 -4.45993610e+00] [-2.96148020e-02 -3.46962414e-04 9.99561325e-01 -1.30024279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.47, Z:-1.30 [[ 9.83003976e-01 1.81280496e-01 2.89924854e-02 3.99120717e+01] [-1.81213190e-01 9.83431357e-01 -4.95433250e-03 -4.46645042e+00] [-2.94102431e-02 -3.83692215e-04 9.99567352e-01 -1.30113665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674012739 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.48, Z:-1.30 [[ 9.82496628e-01 1.83972495e-01 2.92317743e-02 3.99427000e+01] [-1.83905093e-01 9.82931283e-01 -5.00094671e-03 -4.47503431e+00] [-2.96528620e-02 -4.62458884e-04 9.99560150e-01 -1.30332243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:39.97, Y:-4.48, Z:-1.30 [[ 9.82140971e-01 1.85601221e-01 3.08431383e-02 3.99745059e+01] [-1.85526801e-01 9.82625006e-01 -5.28248558e-03 -4.48260913e+00] [-3.12876747e-02 -5.34083267e-04 9.99510278e-01 -1.30450897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73401273899999 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.49, Z:-1.31 [[ 9.81981224e-01 1.86463580e-01 3.07279859e-02 4.00057734e+01] [-1.86389957e-01 9.82461718e-01 -5.26851768e-03 -4.48901866e+00] [-3.11714565e-02 -5.53802539e-04 9.99513899e-01 -1.30560447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.50, Z:-1.31 [[ 9.81803014e-01 1.87609714e-01 2.94183215e-02 4.00378257e+01] [-1.87542601e-01 9.82243494e-01 -5.04890184e-03 -4.49502626e+00] [-2.98431779e-02 -5.60161479e-04 9.99554436e-01 -1.30727525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794012738999996 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:40.07, Y:-4.50, Z:-1.31 [[ 9.81160598e-01 1.91322919e-01 2.68220422e-02 4.00701560e+01] [-1.91268394e-01 9.81526958e-01 -4.60781599e-03 -4.50156160e+00] [-2.72081383e-02 -6.09201455e-04 9.99629604e-01 -1.30931180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:40.10, Y:-4.51, Z:-1.31 [[ 9.80659554e-01 1.93893554e-01 2.66857270e-02 4.01015031e+01] [-1.93840397e-01 9.81022343e-01 -4.58937823e-03 -4.50780647e+00] [-2.70691453e-02 -6.72154312e-04 9.99633338e-01 -1.31041850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854012739 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:40.13, Y:-4.51, Z:-1.31 [[ 9.79396375e-01 2.00034697e-01 2.77283400e-02 4.01344011e+01] [-1.99979622e-01 9.79788428e-01 -4.77364226e-03 -4.51323715e+00] [-2.81228007e-02 -8.69815014e-04 9.99604097e-01 -1.31138735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.52, Z:-1.31 [[ 9.78828682e-01 2.02702831e-01 2.83896592e-02 4.01660319e+01] [-2.02646058e-01 9.79239824e-01 -4.89301298e-03 -4.51764990e+00] [-2.87921124e-02 -9.63631070e-04 9.99584957e-01 -1.31187979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91401273899999 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.52, Z:-1.31 [[ 9.77653581e-01 2.08155727e-01 2.94052430e-02 4.01989419e+01] [-2.08097118e-01 9.78095011e-01 -5.07341249e-03 -4.52123316e+00] [-2.98171813e-02 -1.15910643e-03 9.99554697e-01 -1.31266004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.53, Z:-1.31 [[ 9.77109416e-01 2.10754556e-01 2.89776853e-02 4.02319282e+01] [-2.10698622e-01 9.77538255e-01 -5.00499887e-03 -4.52600267e+00] [-2.93816223e-02 -1.21512686e-03 9.99567528e-01 -1.31417649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974012738999996 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.53, Z:-1.32 [[ 9.76545180e-01 2.13471054e-01 2.81001719e-02 4.02635585e+01] [-2.13419431e-01 9.76948586e-01 -4.85861968e-03 -4.52907926e+00] [-2.84895979e-02 -1.25246107e-03 9.99593304e-01 -1.31614532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.53, Z:-1.32 [[ 9.76402326e-01 2.14120543e-01 2.81227891e-02 4.02964927e+01] [-2.14068964e-01 9.76806422e-01 -4.86747045e-03 -4.53336466e+00] [-2.85127465e-02 -1.26760687e-03 9.99592625e-01 -1.31602522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034012739 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.54, Z:-1.32 [[ 9.76277694e-01 2.14609999e-01 2.87125916e-02 4.03286007e+01] [-2.14556283e-01 9.76698955e-01 -4.97512420e-03 -4.53716379e+00] [-2.91112697e-02 -1.30336416e-03 9.99575327e-01 -1.31656185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.54, Z:-1.32 [[ 9.76090558e-01 2.15258275e-01 3.01844123e-02 4.03621336e+01] [-2.15199047e-01 9.76556172e-01 -5.23576230e-03 -4.53687898e+00] [-3.06038153e-02 -1.38507863e-03 9.99530634e-01 -1.31649138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09401273899999 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:40.40, Y:-4.54, Z:-1.32 [[ 9.76073399e-01 2.15000315e-01 3.24897534e-02 4.03955381e+01] [-2.14931337e-01 9.76612864e-01 -5.64215788e-03 -4.53674063e+00] [-3.29429769e-02 -1.47590593e-03 9.99456143e-01 -1.31656910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.54, Z:-1.32 [[ 9.76228599e-01 2.14227102e-01 3.29312955e-02 4.04279794e+01] [-2.14155590e-01 9.76782784e-01 -5.72505819e-03 -4.54056476e+00] [-3.33931851e-02 -1.46345549e-03 9.99441221e-01 -1.31752435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154012738999995 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.55, Z:-1.32 [[ 9.76547488e-01 2.12868024e-01 3.22832471e-02 4.04599704e+01] [-2.12798362e-01 9.77079982e-01 -5.61837279e-03 -4.54507801e+00] [-3.27392864e-02 -1.38321427e-03 9.99462969e-01 -1.31824983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.55, Z:-1.32 [[ 9.77399016e-01 2.09222492e-01 3.02838711e-02 4.04921024e+01] [-2.09159290e-01 9.77867354e-01 -5.27542840e-03 -4.54848174e+00] [-3.07173471e-02 -1.17795443e-03 9.99527417e-01 -1.32045816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214012739 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:40.53, Y:-4.55, Z:-1.32 [[ 9.78323341e-01 2.04738839e-01 3.10716692e-02 4.05254292e+01] [-2.04669873e-01 9.78816064e-01 -5.41815142e-03 -4.55205995e+00] [-3.15227550e-02 -1.05873059e-03 9.99502474e-01 -1.32073661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:40.56, Y:-4.56, Z:-1.32 [[ 9.78770975e-01 2.02448470e-01 3.19686515e-02 4.05579315e+01] [-2.02374048e-01 9.79292399e-01 -5.58059716e-03 -4.55728277e+00] [-3.24364408e-02 -1.00749888e-03 9.99473292e-01 -1.32109263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27401273899999 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:40.59, Y:-4.56, Z:-1.32 [[ 9.79818515e-01 1.97244887e-01 3.24057492e-02 4.05892124e+01] [-1.97165371e-01 9.80353889e-01 -5.66290278e-03 -4.56330274e+00] [-3.28860809e-02 -8.40674579e-04 9.99458753e-01 -1.32229481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:40.62, Y:-4.57, Z:-1.32 [[ 9.80270386e-01 1.94884675e-01 3.30141539e-02 4.06191155e+01] [-1.94869650e-01 9.80822158e-01 -3.70325440e-03 -4.57028895e+00] [-3.31027212e-02 -2.80326600e-03 9.99448023e-01 -1.32339377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334012738999995 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:40.65, Y:-4.57, Z:-1.32 [[ 9.80766168e-01 1.92621985e-01 3.15355971e-02 4.06530768e+01] [-1.92479644e-01 9.81272171e-01 -7.51754486e-03 -4.57295454e+00] [-3.23930482e-02 1.30299316e-03 9.99474358e-01 -1.32480991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:40.69, Y:-4.58, Z:-1.33 [[ 9.81162282e-01 1.90845739e-01 2.99746487e-02 4.06856410e+01] [-1.90774335e-01 9.81619877e-01 -5.25074367e-03 -4.58056845e+00] [-3.04257930e-02 -5.66562023e-04 9.99536868e-01 -1.32576758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394012739 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:40.72, Y:-4.59, Z:-1.33 [[ 9.81203145e-01 1.90848202e-01 2.85893589e-02 4.07169223e+01] [-1.90783095e-01 9.81619416e-01 -5.01331370e-03 -4.58630083e+00] [-2.90206517e-02 -5.35287203e-04 9.99578669e-01 -1.32747686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:40.75, Y:-4.59, Z:-1.33 [[ 9.81261343e-01 1.90901546e-01 2.61299951e-02 4.07484555e+01] [-1.90847061e-01 9.81609068e-01 -4.58651777e-03 -4.59198202e+00] [-2.65250135e-02 -4.86260183e-04 9.99648032e-01 -1.33040875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45401273899999 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:40.78, Y:-4.60, Z:-1.33 [[ 9.81482694e-01 1.89679798e-01 2.67076022e-02 4.07797509e+01] [-1.89622343e-01 9.81845895e-01 -4.69090194e-03 -4.59785044e+00] [-2.71125189e-02 -4.60319044e-04 9.99632282e-01 -1.33159104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:40.81, Y:-4.60, Z:-1.33 [[ 9.81715854e-01 1.88385578e-01 2.72920594e-02 4.08106949e+01] [-1.88324946e-01 9.82095051e-01 -4.79840638e-03 -4.60433812e+00] [-2.77073470e-02 -4.29104003e-04 9.99615986e-01 -1.33153907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514012738999995 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:40.84, Y:-4.61, Z:-1.33 [[ 9.82060927e-01 1.86477525e-01 2.79726217e-02 4.08434833e+01] [-1.86412922e-01 9.82459153e-01 -4.92285213e-03 -4.61048080e+00] [-2.83999595e-02 -3.79917406e-04 9.99596568e-01 -1.33207822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.62, Z:-1.33 [[ 9.82846117e-01 1.82279209e-01 2.80677933e-02 4.08763337e+01] [-1.82212310e-01 9.83246777e-01 -4.94458668e-03 -4.61673671e+00] [-2.84988627e-02 -2.54529643e-04 9.99593793e-01 -1.33205249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574012739 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.62, Z:-1.33 [[ 9.83136299e-01 1.80668170e-01 2.83201382e-02 4.09080419e+01] [-1.80599233e-01 9.83544087e-01 -4.99461538e-03 -4.62231771e+00] [-2.87564725e-02 -2.04207565e-04 9.99586426e-01 -1.33334110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.63, Z:-1.33 [[ 9.83832205e-01 1.76704607e-01 2.91491836e-02 4.09407464e+01] [-1.76629673e-01 9.84263925e-01 -5.14627479e-03 -4.62793810e+00] [-2.95998603e-02 -8.55399038e-05 9.99561824e-01 -1.33398132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63401273899999 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.63, Z:-1.34 [[ 9.83818887e-01 1.76778889e-01 2.91482821e-02 4.09736969e+01] [-1.76703836e-01 9.84250587e-01 -5.15137569e-03 -4.63390745e+00] [-2.95998683e-02 -8.25925649e-05 9.99561824e-01 -1.33500279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.64, Z:-1.34 [[ 9.84124683e-01 1.74938846e-01 2.99166980e-02 4.10063879e+01] [-1.74858860e-01 9.84579301e-01 -5.28955377e-03 -4.63904663e+00] [-3.03807100e-02 -2.56192774e-05 9.99538399e-01 -1.33520812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694012738999994 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.64, Z:-1.34 [[ 9.84828236e-01 1.70887531e-01 3.01794266e-02 4.10390588e+01] [-1.70804051e-01 9.85290536e-01 -5.34188125e-03 -4.64494782e+00] [-3.06483643e-02 1.06067161e-04 9.99530223e-01 -1.33679547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.65, Z:-1.34 [[ 9.85109540e-01 1.69317000e-01 2.98487400e-02 4.10705266e+01] [-1.69234445e-01 9.85561631e-01 -5.28906660e-03 -4.65180527e+00] [-3.03133018e-02 1.58875011e-04 9.99540434e-01 -1.33778245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754012739 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.66, Z:-1.34 [[ 9.85672263e-01 1.66142537e-01 2.91006468e-02 4.11030857e+01] [-1.66062534e-01 9.86101715e-01 -5.16163452e-03 -4.65857881e+00] [-2.95537648e-02 2.55152813e-04 9.99563160e-01 -1.33878678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.66, Z:-1.34 [[ 9.85915333e-01 1.64706168e-01 2.90315985e-02 4.11352739e+01] [-1.64625757e-01 9.86342631e-01 -5.15497748e-03 -4.66407992e+00] [-2.94841599e-02 3.03022445e-04 9.99565202e-01 -1.33958474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81401273899999 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.67, Z:-1.34 [[ 9.86336219e-01 1.62094925e-01 2.94295449e-02 4.11668203e+01] [-1.62010959e-01 9.86775092e-01 -5.23141274e-03 -4.67098322e+00] [-2.98883274e-02 3.92023066e-04 9.99553167e-01 -1.34105394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.68, Z:-1.34 [[ 9.86464112e-01 1.61276991e-01 2.96359297e-02 4.11989724e+01] [-1.61191311e-01 9.86909090e-01 -5.27348302e-03 -4.67931200e+00] [-3.00984598e-02 4.25047392e-04 9.99546848e-01 -1.34256657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874012738999994 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.69, Z:-1.34 [[ 9.86971239e-01 1.58045534e-01 3.01559701e-02 4.12297913e+01] [-1.57955126e-01 9.87431678e-01 -5.37210978e-03 -4.68809151e+00] [-3.06259981e-02 5.38827795e-04 9.99530769e-01 -1.34271132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.70, Z:-1.34 [[ 9.87233837e-01 1.56296913e-01 3.06696152e-02 4.12605936e+01] [-1.56202374e-01 9.87709929e-01 -5.46937580e-03 -4.69502221e+00] [-3.11475300e-02 6.08886159e-04 9.99514613e-01 -1.34409807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934012738999996 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.71, Z:-1.34 [[ 9.87393485e-01 1.55552111e-01 2.92855895e-02 4.12924114e+01] [-1.55465435e-01 9.87827500e-01 -5.22766651e-03 -4.70615212e+00] [-2.97422852e-02 6.08866957e-04 9.99557415e-01 -1.34474888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.71, Z:-1.35 [[ 9.87200357e-01 1.56973991e-01 2.81890211e-02 4.13237392e+01] [-1.56894108e-01 9.87602584e-01 -5.03740657e-03 -4.71455619e+00] [-2.86302919e-02 5.50238228e-04 9.99589918e-01 -1.34653646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99401273899999 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.72, Z:-1.35 [[ 9.86929330e-01 1.58860997e-01 2.70865649e-02 4.13548024e+01] [-1.58787864e-01 9.87300843e-01 -4.84359643e-03 -4.72114933e+00] [-2.75120469e-02 4.79269604e-04 9.99621357e-01 -1.34758218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:41.39, Y:-4.73, Z:-1.35 [[ 9.86319350e-01 1.62487435e-01 2.77843956e-02 4.13869529e+01] [-1.62411830e-01 9.86710535e-01 -4.97161138e-03 -4.72792034e+00] [-2.82229802e-02 3.91081965e-04 9.99601576e-01 -1.34922669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054012738999994 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.73, Z:-1.35 [[ 9.85990073e-01 1.64259180e-01 2.90258041e-02 4.14191285e+01] [-1.64177263e-01 9.86417149e-01 -5.19953548e-03 -4.73455728e+00] [-2.94856223e-02 3.61313317e-04 9.99565139e-01 -1.34964491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:41.45, Y:-4.74, Z:-1.35 [[ 9.85530982e-01 1.66665374e-01 3.08437462e-02 4.14510836e+01] [-1.66573852e-01 9.86013466e-01 -5.53145365e-03 -4.74218320e+00] [-3.13342508e-02 3.13657325e-04 9.99508913e-01 -1.34990456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114012738999996 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.75, Z:-1.35 [[ 9.85404726e-01 1.67382564e-01 3.09936091e-02 4.14826754e+01] [-1.67290308e-01 9.85891976e-01 -5.56459016e-03 -4.74921468e+00] [-3.14877659e-02 2.98443020e-04 9.99504093e-01 -1.35152124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:41.51, Y:-4.76, Z:-1.35 [[ 9.85344689e-01 1.67971342e-01 2.96896101e-02 4.15145184e+01] [-1.67886794e-01 9.85791841e-01 -5.33581195e-03 -4.75895007e+00] [-3.01640389e-02 2.73120519e-04 9.99544925e-01 -1.34571637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174012739 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.76, Z:-1.35 [[ 9.85251873e-01 1.68391580e-01 3.03812959e-02 4.15475361e+01] [-1.68303062e-01 9.85720144e-01 -5.46603427e-03 -4.76302703e+00] [-3.08678895e-02 2.72155376e-04 9.99523436e-01 -1.35364024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.77, Z:-1.35 [[ 9.84981519e-01 1.69817036e-01 3.12022655e-02 4.15797750e+01] [-1.69724187e-01 9.85475579e-01 -5.61992293e-03 -4.76501470e+00] [-3.17034293e-02 2.39741088e-04 9.99497291e-01 -1.35416952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23401273899999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.77, Z:-1.36 [[ 9.84771975e-01 1.71040252e-01 3.11350298e-02 4.16112860e+01] [-1.70948236e-01 9.85264020e-01 -5.61343437e-03 -4.77026909e+00] [-3.16363479e-02 2.05474405e-04 9.99499424e-01 -1.35596679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.79, Z:-1.35 [[ 9.84676205e-01 1.71919336e-01 2.92662486e-02 4.16424034e+01] [-1.72221748e-01 9.85024674e-01 8.12776126e-03 -4.78568979e+00] [-2.74306576e-02 -1.30434976e-02 9.99538607e-01 -1.34761551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294012738999996 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.77, Z:-1.36 [[ 9.84726112e-01 1.71728005e-01 2.87050003e-02 4.16769049e+01] [-1.71239894e-01 9.85051990e-01 -1.86942535e-02 -4.76932496e+00] [-3.14862446e-02 1.34932783e-02 9.99413102e-01 -1.35840478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:41.71, Y:-4.78, Z:-1.36 [[ 9.84890182e-01 1.70407657e-01 3.08635792e-02 4.17081762e+01] [-1.70316467e-01 9.85373621e-01 -5.57920039e-03 -4.78298504e+00] [-3.13628953e-02 2.38323908e-04 9.99508035e-01 -1.35830563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354012739 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:41.74, Y:-4.79, Z:-1.36 [[ 9.85371697e-01 1.67569178e-01 3.10353016e-02 4.17410614e+01] [-1.67475371e-01 9.85860263e-01 -5.61628918e-03 -4.78825696e+00] [-3.15375875e-02 3.36483746e-04 9.99502510e-01 -1.35846409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:41.77, Y:-4.79, Z:-1.36 [[ 9.85607385e-01 1.66166643e-01 3.10922610e-02 4.17732658e+01] [-1.66071602e-01 9.86097610e-01 -5.63266395e-03 -4.79487493e+00] [-3.15959651e-02 3.88053586e-04 9.99500648e-01 -1.35903802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41401273899999 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.80, Z:-1.36 [[ 9.86066762e-01 1.63542086e-01 3.04356127e-02 4.18051899e+01] [-1.63449589e-01 9.86536247e-01 -5.51947678e-03 -4.79972672e+00] [-3.09285019e-02 4.67884212e-04 9.99521490e-01 -1.36028698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.81, Z:-1.36 [[ 9.86248913e-01 1.62579715e-01 2.96802549e-02 4.18362587e+01] [-1.62491160e-01 9.86695290e-01 -5.38771935e-03 -4.80518734e+00] [-3.01613015e-02 4.90853321e-04 9.99544924e-01 -1.36118773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474012738999996 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.81, Z:-1.36 [[ 9.86398186e-01 1.61715750e-01 2.94386659e-02 4.18688160e+01] [-1.61628090e-01 9.86837245e-01 -5.34907867e-03 -4.81280020e+00] [-2.99162022e-02 5.18206144e-04 9.99552276e-01 -1.36245907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.82, Z:-1.36 [[ 9.86010060e-01 1.63980067e-01 2.99115168e-02 4.19006329e+01] [-1.63890430e-01 9.86463544e-01 -5.44089762e-03 -4.81944456e+00] [-3.03988196e-02 4.62568442e-04 9.99537742e-01 -1.36289532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534012739 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.82, Z:-1.36 [[ 9.85717807e-01 1.65771769e-01 2.96669078e-02 4.19317826e+01] [-1.65684242e-01 9.86164060e-01 -5.40174432e-03 -4.82479445e+00] [-3.01518949e-02 4.09256453e-04 9.99545244e-01 -1.36484537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:41.96, Y:-4.83, Z:-1.37 [[ 9.85443811e-01 1.67536403e-01 2.88452661e-02 4.19627379e+01] [-1.67454268e-01 9.85865828e-01 -5.25711847e-03 -4.83090877e+00] [-2.93183209e-02 3.50331935e-04 9.99570064e-01 -1.36647971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59401273899999 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.84, Z:-1.37 [[ 9.84926768e-01 1.70771763e-01 2.75003099e-02 4.19936491e+01] [-1.70698236e-01 9.85310583e-01 -5.01678103e-03 -4.83706340e+00] [-2.79530709e-02 2.46907536e-04 9.99609206e-01 -1.36750753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.84, Z:-1.37 [[ 9.84524981e-01 1.73051106e-01 2.76383215e-02 4.20263284e+01] [-1.72977651e-01 9.84912829e-01 -5.04501202e-03 -4.84246241e+00] [-2.80943823e-02 1.86128431e-04 9.99605258e-01 -1.36787065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654012738999995 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.85, Z:-1.37 [[ 9.83576287e-01 1.78045617e-01 2.96217236e-02 4.20585152e+01] [-1.77963322e-01 9.84022233e-01 -5.41301736e-03 -4.84779720e+00] [-3.01121986e-02 5.25351798e-05 9.99546524e-01 -1.36899797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.86, Z:-1.37 [[ 9.83097444e-01 1.80457947e-01 3.08924824e-02 4.20893706e+01] [-1.80369425e-01 9.83582701e-01 -5.65165910e-03 -4.85805394e+00] [-3.14051981e-02 -1.59276809e-05 9.99506735e-01 -1.37005867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:42.12, Y:-4.87, Z:-1.37 [[ 9.83018306e-01 1.80915001e-01 3.07371610e-02 4.21217229e+01] [-1.80827413e-01 9.83498735e-01 -5.62894555e-03 -4.86664405e+00] [-3.12483196e-02 -2.47647857e-05 9.99511652e-01 -1.37109864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:42.15, Y:-4.87, Z:-1.37 [[ 9.82716543e-01 1.82707555e-01 2.97681838e-02 4.21526263e+01] [-1.82626056e-01 9.83167302e-01 -5.45707958e-03 -4.87395932e+00] [-3.02641546e-02 -7.36836158e-05 9.99541933e-01 -1.37210558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77401273899999 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:42.18, Y:-4.88, Z:-1.37 [[ 9.82315141e-01 1.84942399e-01 2.92108390e-02 4.21838118e+01] [-1.84864811e-01 9.82749353e-01 -5.35828520e-03 -4.87911782e+00] [-2.96979072e-02 -1.36531559e-04 9.99558911e-01 -1.37327780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.88, Z:-1.37 [[ 9.81154050e-01 1.91056886e-01 2.88790010e-02 4.22155445e+01] [-1.90983548e-01 9.81578916e-01 -5.30244517e-03 -4.88409088e+00] [-2.93600872e-02 -3.12898519e-04 9.99568851e-01 -1.37467021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834012738999995 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:42.25, Y:-4.89, Z:-1.38 [[ 9.80319841e-01 1.95200705e-01 2.94905900e-02 4.22481650e+01] [-1.95125942e-01 9.80763218e-01 -5.42000558e-03 -4.88919101e+00] [-2.99812748e-02 -4.41040133e-04 9.99550363e-01 -1.37538284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:42.28, Y:-4.89, Z:-1.38 [[ 9.78409042e-01 2.04423362e-01 3.04439681e-02 4.22805320e+01] [-2.04347961e-01 9.78882291e-01 -5.60098694e-03 -4.88937412e+00] [-3.09460338e-02 -7.41106527e-04 9.99520782e-01 -1.37647321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:42.31, Y:-4.90, Z:-1.37 [[ 9.77459399e-01 2.09056746e-01 2.94686164e-02 4.23133504e+01] [-2.09338734e-01 9.77819552e-01 6.79839548e-03 -4.90197289e+00] [-2.73937388e-02 -1.28140784e-02 9.99542587e-01 -1.37083195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.88, Z:-1.38 [[ 9.76109707e-01 2.15491299e-01 2.78089769e-02 4.23471460e+01] [-2.15065131e-01 9.76442262e-01 -1.75356501e-02 -4.88266926e+00] [-3.09326403e-02 1.11359770e-02 9.99459435e-01 -1.38185748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95401273899999 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.89, Z:-1.38 [[ 9.75879476e-01 2.16334516e-01 2.93023025e-02 4.23781824e+01] [-2.16269785e-01 9.76318716e-01 -5.39863571e-03 -4.89441347e+00] [-2.97762976e-02 -1.06878488e-03 9.99556016e-01 -1.38180442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.90, Z:-1.38 [[ 9.75782615e-01 2.16823241e-01 2.89131413e-02 4.24107969e+01] [-2.16760272e-01 9.76210300e-01 -5.33238967e-03 -4.89648806e+00] [-2.93814923e-02 -1.06396723e-03 9.99567705e-01 -1.38299062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014012738999995 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.89, Z:-1.38 [[ 9.75988919e-01 2.15915471e-01 2.87426315e-02 4.24446427e+01] [-2.15852702e-01 9.76411521e-01 -5.30599255e-03 -4.89340573e+00] [-2.92102824e-02 -1.02558474e-03 9.99572763e-01 -1.38470629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.89, Z:-1.38 [[ 9.76360117e-01 2.14064286e-01 2.99567021e-02 4.24780829e+01] [-2.13995048e-01 9.76819057e-01 -5.53612455e-03 -4.89041280e+00] [-3.04473641e-02 -1.00533469e-03 9.99535866e-01 -1.38424171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.89, Z:-1.39 [[ 9.76627126e-01 2.12759686e-01 3.05413415e-02 4.25113847e+01] [-2.12687024e-01 9.77104064e-01 -5.64601926e-03 -4.89177446e+00] [-3.10433141e-02 -9.81691449e-04 9.99517558e-01 -1.38539468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.89, Z:-1.39 [[ 9.77167267e-01 2.10170503e-01 3.11848050e-02 4.25446207e+01] [-2.10093234e-01 9.77664322e-01 -5.77110605e-03 -4.89313103e+00] [-3.17011875e-02 -9.12380613e-04 9.99496975e-01 -1.38637986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13401273899999 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.89, Z:-1.39 [[ 9.78869536e-01 2.01982439e-01 3.18986952e-02 4.25775593e+01] [-2.01897035e-01 9.79388924e-01 -5.90951571e-03 -4.89073122e+00] [-3.24348472e-02 -6.55607099e-04 9.99473637e-01 -1.38804468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.89, Z:-1.39 [[ 9.80729156e-01 1.92905821e-01 3.09462038e-02 4.26104866e+01] [-1.92820736e-01 9.81217218e-01 -5.73883950e-03 -4.89169002e+00] [-3.14720036e-02 -3.38822597e-04 9.99504576e-01 -1.38968541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194012738999994 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.90, Z:-1.39 [[ 9.81674723e-01 1.88200879e-01 2.99193632e-02 4.26421354e+01] [-1.88118989e-01 9.82130540e-01 -5.55407410e-03 -4.89680777e+00] [-3.04300019e-02 -1.76106189e-04 9.99536885e-01 -1.39045288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.90, Z:-1.39 [[ 9.82602218e-01 1.83431401e-01 2.90826807e-02 4.26742337e+01] [-1.83351785e-01 9.83032512e-01 -5.40390956e-03 -4.90231533e+00] [-2.95804674e-02 -2.24679015e-05 9.99562402e-01 -1.39100515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254012739 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:42.71, Y:-4.91, Z:-1.39 [[ 9.84252256e-01 1.74363151e-01 2.90686691e-02 4.27062531e+01] [-1.74279483e-01 9.84681383e-01 -5.40700856e-03 -4.90804674e+00] [-2.95661604e-02 2.55787747e-04 9.99562793e-01 -1.39192904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:42.74, Y:-4.92, Z:-1.39 [[ 9.85268567e-01 1.68516853e-01 2.91191023e-02 4.27377368e+01] [-1.68430165e-01 9.85698675e-01 -5.42227038e-03 -4.91592813e+00] [-2.96164045e-02 4.37857368e-04 9.99561242e-01 -1.39212344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31401273899999 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:42.77, Y:-4.92, Z:-1.39 [[ 9.85525340e-01 1.66964115e-01 2.93732645e-02 4.27690727e+01] [-1.66875110e-01 9.85962850e-01 -5.47316807e-03 -4.92300188e+00] [-2.98747703e-02 4.92279078e-04 9.99553528e-01 -1.39397128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters Centerline goodness : 0.986110 Centerline is valid? [True, True] Translation: X:42.80, Y:-4.93, Z:-1.38 [[ 9.85688091e-01 1.66241458e-01 2.79779340e-02 4.28011756e+01] [-1.66160286e-01 9.86084952e-01 -5.21785657e-03 -4.93303268e+00] [-2.84560438e-02 4.94357568e-04 9.99594923e-01 -1.38026442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374012738999994 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:42.83, Y:-4.94, Z:-1.40 [[ 9.85481295e-01 1.67709802e-01 2.64582753e-02 4.28322077e+01] [-1.67637600e-01 9.85836313e-01 -4.93963622e-03 -4.93991686e+00] [-2.69119540e-02 4.32517333e-04 9.99637714e-01 -1.39714771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:42.86, Y:-4.95, Z:-1.40 [[ 9.85000552e-01 1.70491888e-01 2.65787376e-02 4.28636230e+01] [-1.70419956e-01 9.85359014e-01 -4.96518142e-03 -4.94880812e+00] [-2.70361218e-02 3.61159141e-04 9.99634392e-01 -1.39738111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434012738999996 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.96, Z:-1.40 [[ 9.83591605e-01 1.78330228e-01 2.73108897e-02 4.28958139e+01] [-1.78257155e-01 9.83970683e-01 -5.10697156e-03 -4.95750281e+00] [-2.77838422e-02 1.54812853e-04 9.99613943e-01 -1.39714498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:42.93, Y:-4.97, Z:-1.39 [[ 9.82883534e-01 1.82346974e-01 2.62590820e-02 4.29255081e+01] [-1.82595363e-01 9.83160494e-01 7.37399788e-03 -4.97290739e+00] [-2.44722659e-02 -1.20425677e-02 9.99627973e-01 -1.39126062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49401273899999 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:42.96, Y:-4.96, Z:-1.40 [[ 9.81803380e-01 1.88110215e-01 2.60128774e-02 4.29578304e+01] [-1.87704221e-01 9.82073626e-01 -1.72776763e-02 -4.96235920e+00] [-2.87966683e-02 1.20805541e-02 9.99512287e-01 -1.40078967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:42.99, Y:-4.98, Z:-1.40 [[ 9.81509986e-01 1.89322423e-01 2.81987265e-02 4.29878995e+01] [-1.89248709e-01 9.81914965e-01 -5.28470479e-03 -4.97852415e+00] [-2.86892647e-02 -1.49582084e-04 9.99588367e-01 -1.40133871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554012738999994 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.98, Z:-1.40 [[ 9.81494692e-01 1.89401845e-01 2.81977107e-02 4.30207882e+01] [-1.89328009e-01 9.81899648e-01 -5.29011927e-03 -4.98483489e+00] [-2.86892806e-02 -1.46392456e-04 9.99588367e-01 -1.40237659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:43.05, Y:-4.99, Z:-1.40 [[ 9.81225058e-01 1.90855011e-01 2.77803844e-02 4.30529075e+01] [-1.90783870e-01 9.81618221e-01 -5.21382463e-03 -4.99158688e+00] [-2.82648161e-02 -1.84113868e-04 9.99600453e-01 -1.40295444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614012738999996 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:43.09, Y:-5.00, Z:-1.40 [[ 9.80475276e-01 1.94639588e-01 2.79940035e-02 4.30855800e+01] [-1.94568736e-01 9.80874786e-01 -5.25932155e-03 -4.99717218e+00] [-2.84822844e-02 -2.90123133e-04 9.99594255e-01 -1.40373217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:43.12, Y:-5.00, Z:-1.40 [[ 9.80043097e-01 1.96767533e-01 2.82500719e-02 4.31185967e+01] [-1.96696107e-01 9.80450109e-01 -5.31283291e-03 -5.00270388e+00] [-2.87431790e-02 -3.49873931e-04 9.99586768e-01 -1.40428645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674012739 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:43.15, Y:-5.00, Z:-1.41 [[ 9.79436973e-01 1.99847949e-01 2.76407980e-02 4.31515476e+01] [-1.99780642e-01 9.79826830e-01 -5.20372909e-03 -5.00454695e+00] [-2.81231501e-02 -4.25371709e-04 9.99604375e-01 -1.40546212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:43.18, Y:-5.01, Z:-1.41 [[ 9.79278994e-01 2.00620890e-01 2.76389416e-02 4.31825147e+01] [-2.00553734e-01 9.79668854e-01 -5.20926642e-03 -5.00802052e+00] [-2.81220979e-02 -4.41767750e-04 9.99604398e-01 -1.40727385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73401273899999 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:43.21, Y:-5.02, Z:-1.40 [[ 9.79996851e-01 1.96856464e-01 2.92182178e-02 4.32127553e+01] [-1.97181585e-01 9.80328652e-01 8.66926559e-03 -5.02024657e+00] [-2.69368551e-02 -1.42571475e-02 9.99535462e-01 -1.40045360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.02, Z:-1.40 [[ 9.80617434e-01 1.93871016e-01 2.83456733e-02 4.32455502e+01] [-1.93854174e-01 9.81024577e-01 -3.36729466e-03 -5.01717201e+00] [-2.84606230e-02 -2.19289925e-03 9.99592509e-01 -1.40077054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794012738999996 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:43.28, Y:-5.01, Z:-1.41 [[ 9.82119526e-01 1.86027732e-01 2.88949841e-02 4.32788425e+01] [-1.85452355e-01 9.82418438e-01 -2.14810563e-02 -5.01386036e+00] [-3.23830374e-02 1.57383219e-02 9.99351612e-01 -1.41006719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.04, Z:-1.40 [[ 9.82980640e-01 1.81421287e-01 2.89029168e-02 4.33071387e+01] [-1.81731689e-01 9.83311596e-01 8.47932584e-03 -5.04353190e+00] [-2.68822431e-02 -1.35875890e-02 9.99546258e-01 -1.40354434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854012739 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:43.34, Y:-5.04, Z:-1.40 [[ 9.84124527e-01 1.75629804e-01 2.55555791e-02 4.33396297e+01] [-1.75602754e-01 9.84455522e-01 -3.31643848e-03 -5.04444475e+00] [-2.57407964e-02 -1.22384162e-03 9.99667902e-01 -1.40383040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.04, Z:-1.41 [[ 9.84361647e-01 1.73968081e-01 2.76993755e-02 4.33726853e+01] [-1.73419774e-01 9.84621562e-01 -2.11178045e-02 -5.04039820e+00] [-3.09472263e-02 1.59839373e-02 9.99393207e-01 -1.41442181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91401273899999 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:43.40, Y:-5.06, Z:-1.42 [[ 9.84575287e-01 1.72385951e-01 2.99096601e-02 4.34014696e+01] [-1.72293524e-01 9.85029395e-01 -5.65980560e-03 -5.06423330e+00] [-3.04375653e-02 4.19264001e-04 9.99536582e-01 -1.41541562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.08, Z:-1.42 [[ 9.84259440e-01 1.74532863e-01 2.77783063e-02 4.34316617e+01] [-1.74453854e-01 9.84651293e-01 -5.26152670e-03 -5.07575197e+00] [-2.82702545e-02 3.32674724e-04 9.99600261e-01 -1.41745081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974012738999996 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:43.46, Y:-5.08, Z:-1.42 [[ 9.83917859e-01 1.76462146e-01 2.76903930e-02 4.34625315e+01] [-1.76384260e-01 9.84307387e-01 -5.24986419e-03 -5.08444708e+00] [-2.81822607e-02 2.81285672e-04 9.99602762e-01 -1.41740526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:43.49, Y:-5.10, Z:-1.42 [[ 9.82975643e-01 1.81357260e-01 2.94691345e-02 4.34936852e+01] [-1.81271060e-01 9.83417266e-01 -5.59313787e-03 -5.09509387e+00] [-2.99948119e-02 1.56017046e-04 9.99550042e-01 -1.41741685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034012739 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:43.53, Y:-5.10, Z:-1.42 [[ 9.82603073e-01 1.83402531e-01 2.92354625e-02 4.35251295e+01] [-1.83318430e-01 9.83037894e-01 -5.55441937e-03 -5.10173936e+00] [-2.97582621e-02 9.83904678e-05 9.99557120e-01 -1.41876655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.11, Z:-1.42 [[ 9.81854845e-01 1.87494949e-01 2.84025927e-02 4.35568754e+01] [-1.87417140e-01 9.82265567e-01 -5.40113349e-03 -5.10880874e+00] [-2.89115741e-02 -2.00035896e-05 9.99581973e-01 -1.42100516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09401273899999 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.12, Z:-1.42 [[ 9.81603848e-01 1.88829488e-01 2.82366620e-02 4.35891167e+01] [-1.88752978e-01 9.82009889e-01 -5.37510084e-03 -5.11652951e+00] [-2.87436589e-02 -5.35343893e-05 9.99586814e-01 -1.42223679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.12, Z:-1.42 [[ 9.81399923e-01 1.90048013e-01 2.71282766e-02 4.36202597e+01] [-1.89977709e-01 9.81774794e-01 -5.16952398e-03 -5.12433947e+00] [-2.76163160e-02 -8.03974017e-05 9.99618594e-01 -1.42282612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154012738999995 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.13, Z:-1.42 [[ 9.80806121e-01 1.93198061e-01 2.63412821e-02 4.36528958e+01] [-1.93132837e-01 9.81159764e-01 -5.02237284e-03 -5.12989768e+00] [-2.68153189e-02 -1.61392521e-04 9.99640392e-01 -1.42371626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.13, Z:-1.43 [[ 9.79642407e-01 1.98818532e-01 2.77839214e-02 4.36844858e+01] [-1.98748060e-01 9.80036267e-01 -5.30322451e-03 -5.13289865e+00] [-2.82836299e-02 -3.26736845e-04 9.99599885e-01 -1.42514020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214012739 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:43.72, Y:-5.14, Z:-1.43 [[ 9.78841103e-01 2.02715000e-01 2.78697697e-02 4.37174166e+01] [-2.02645526e-01 9.79237683e-01 -5.32465399e-03 -5.13845866e+00] [-2.83705159e-02 -4.35693947e-04 9.99597381e-01 -1.42519040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:43.75, Y:-5.14, Z:-1.43 [[ 9.77133456e-01 2.10772537e-01 2.80204824e-02 4.37486169e+01] [-2.10705448e-01 9.77534906e-01 -5.35930696e-03 -5.14081019e+00] [-2.85205943e-02 -6.67310151e-04 9.99592982e-01 -1.42521947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27401273899999 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:43.78, Y:-5.14, Z:-1.43 [[ 9.76214484e-01 2.14948025e-01 2.83306840e-02 4.37796182e+01] [-2.14881176e-01 9.76625164e-01 -5.41935054e-03 -5.14288777e+00] [-2.88333376e-02 -7.97282216e-04 9.99583915e-01 -1.42530511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:43.81, Y:-5.14, Z:-1.43 [[ 9.74592913e-01 2.22129506e-01 2.87599821e-02 4.38114295e+01] [-2.22063723e-01 9.75016632e-01 -5.50183897e-03 -5.14047737e+00] [-2.92635817e-02 -1.02449543e-03 9.99571205e-01 -1.42706133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334012738999995 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.14, Z:-1.43 [[ 9.74079924e-01 2.24303709e-01 2.92599950e-02 4.38424124e+01] [-2.24236597e-01 9.74518659e-01 -5.59749239e-03 -5.14256624e+00] [-2.97699494e-02 -1.10875675e-03 9.99556162e-01 -1.42790721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.14, Z:-1.43 [[ 9.73836149e-01 2.25262542e-01 2.99990312e-02 4.38713434e+01] [-2.25192450e-01 9.74297401e-01 -5.73889383e-03 -5.14432392e+00] [-3.05207359e-02 -1.16681307e-03 9.99533453e-01 -1.42835804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394012739 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.14, Z:-1.43 [[ 9.74218459e-01 2.23456926e-01 3.10708152e-02 4.39017672e+01] [-2.23380846e-01 9.74713126e-01 -5.94303222e-03 -5.14231597e+00] [-3.16131431e-02 -1.15081330e-03 9.99499517e-01 -1.42883298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.14, Z:-1.43 [[ 9.75234972e-01 2.18985154e-01 3.10201820e-02 4.39330650e+01] [-2.18907085e-01 9.75727673e-01 -5.93261054e-03 -5.14186270e+00] [-3.15664036e-02 -1.00484833e-03 9.99501152e-01 -1.43024996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45401273899999 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.15, Z:-1.43 [[ 9.75862748e-01 2.16211752e-01 3.07306815e-02 4.39634981e+01] [-2.16133760e-01 9.76346074e-01 -5.87717463e-03 -5.14539599e+00] [-3.12744944e-02 -9.06621954e-04 9.99510422e-01 -1.43165762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.15, Z:-1.43 [[ 9.76487678e-01 2.13432703e-01 3.03033908e-02 4.39925271e+01] [-2.13355528e-01 9.76957436e-01 -5.79546235e-03 -5.14878356e+00] [-3.08420641e-02 -8.06198357e-04 9.99523945e-01 -1.43258072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514012738999995 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.15, Z:-1.43 [[ 9.77441581e-01 2.08907334e-01 3.10754240e-02 4.40217885e+01] [-2.08823900e-01 9.77935204e-01 -5.94271914e-03 -5.14902546e+00] [-3.16312287e-02 -6.80630460e-04 9.99499376e-01 -1.43243300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.15, Z:-1.43 [[ 9.78131118e-01 2.05363661e-01 3.29436313e-02 4.40517643e+01] [-2.05267910e-01 9.78685550e-01 -6.29917015e-03 -5.15222759e+00] [-3.35350766e-02 -6.00855999e-04 9.99437361e-01 -1.43330168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:44.08, Y:-5.16, Z:-1.43 [[ 9.78497444e-01 2.03523270e-01 3.34817856e-02 4.40814683e+01] [-2.03423312e-01 9.79069956e-01 -6.40134513e-03 -5.15752391e+00] [-3.40838331e-02 -5.47275863e-04 9.99418828e-01 -1.43413261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.16, Z:-1.44 [[ 9.79391248e-01 1.99347550e-01 3.24551706e-02 4.41127992e+01] [-1.99251322e-01 9.79928774e-01 -6.20546752e-03 -5.16283878e+00] [-3.30408003e-02 -3.89155068e-04 9.99453928e-01 -1.43620455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63401273899999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:44.14, Y:-5.17, Z:-1.44 [[ 9.79684346e-01 1.98077279e-01 3.13683474e-02 4.41426208e+01] [-1.97986715e-01 9.80186350e-01 -5.99839671e-03 -5.16893854e+00] [-3.19349721e-02 -3.33980691e-04 9.99489893e-01 -1.43748901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.18, Z:-1.43 [[ 9.79901861e-01 1.97182906e-01 3.01868180e-02 4.41730159e+01] [-1.97098602e-01 9.80366674e-01 -5.77281897e-03 -5.17645535e+00] [-3.07324516e-02 -2.92983564e-04 9.99527604e-01 -1.42722966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694012738999994 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:44.20, Y:-5.18, Z:-1.44 [[ 9.79613799e-01 1.98555418e-01 3.05376848e-02 4.42023715e+01] [-1.98469808e-01 9.80089603e-01 -5.83991749e-03 -5.18049138e+00] [-3.10892147e-02 -3.39944694e-04 9.99516556e-01 -1.44081960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.19, Z:-1.44 [[ 9.79578158e-01 1.98716226e-01 3.06348385e-02 4.42317041e+01] [-1.98630150e-01 9.80057009e-01 -5.85849885e-03 -5.18579013e+00] [-3.11880670e-02 -3.46145048e-04 9.99513474e-01 -1.44203748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754012739 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:44.26, Y:-5.19, Z:-1.44 [[ 9.79788774e-01 1.97797033e-01 2.98377614e-02 4.42615465e+01] [-1.97714963e-01 9.80242949e-01 -5.70570588e-03 -5.19264430e+00] [-3.03768269e-02 -3.08985323e-04 9.99538470e-01 -1.44420322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.20, Z:-1.45 [[ 9.80077297e-01 1.96504675e-01 2.88860474e-02 4.42907276e+01] [-1.96427196e-01 9.80502853e-01 -5.52373783e-03 -5.19824310e+00] [-2.94082922e-02 -2.60315250e-04 9.99567449e-01 -1.44509955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81401273899999 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:44.32, Y:-5.20, Z:-1.45 [[ 9.80948777e-01 1.92410702e-01 2.67883892e-02 4.43216280e+01] [-1.92342554e-01 9.81314478e-01 -5.12217393e-03 -5.20428460e+00] [-2.72733952e-02 -1.27956935e-04 9.99628004e-01 -1.44721349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.21, Z:-1.45 [[ 9.81353101e-01 1.90357492e-01 2.66480163e-02 4.43507556e+01] [-1.90289280e-01 9.81714837e-01 -5.09603747e-03 -5.21133725e+00] [-2.71308218e-02 -6.98196590e-05 9.99631889e-01 -1.44813038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874012738999994 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:44.38, Y:-5.23, Z:-1.45 [[ 9.81736966e-01 1.87244118e-01 3.36477335e-02 4.43771555e+01] [-1.87424431e-01 9.82276427e-01 2.25894581e-03 -5.22820478e+00] [-3.26284012e-02 -8.52409790e-03 9.99431202e-01 -1.44891155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:44.41, Y:-5.22, Z:-1.45 [[ 9.82170277e-01 1.85783814e-01 2.87388544e-02 4.44122214e+01] [-1.85441788e-01 9.82553164e-01 -1.41641556e-02 -5.22355184e+00] [-3.08689232e-02 8.58222811e-03 9.99486596e-01 -1.44856403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934012738999996 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:44.44, Y:-5.24, Z:-1.45 [[ 9.82622069e-01 1.83511478e-01 2.78820054e-02 4.44425080e+01] [-1.83668756e-01 9.82983093e-01 3.16666922e-03 -5.24390063e+00] [-2.68264198e-02 -8.23269232e-03 9.99606205e-01 -1.44514082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:44.47, Y:-5.23, Z:-1.45 [[ 9.82652585e-01 1.83900143e-01 2.39715368e-02 4.44738646e+01] [-1.83418357e-01 9.82811314e-01 -2.09672798e-02 -5.23197501e+00] [-2.74153833e-02 1.62067318e-02 9.99492741e-01 -1.45152189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99401273899999 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:44.50, Y:-5.26, Z:-1.45 [[ 9.82398958e-01 1.84751804e-01 2.75509989e-02 4.44998250e+01] [-1.84866264e-01 9.82762311e-01 1.64478148e-03 -5.25608078e+00] [-2.67722070e-02 -6.70908185e-03 9.99619046e-01 -1.45354262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:44.53, Y:-5.27, Z:-1.45 [[ 9.82164585e-01 1.86374790e-01 2.48428107e-02 4.45330725e+01] [-1.86569817e-01 9.82424831e-01 5.75801382e-03 -5.26541703e+00] [-2.33330455e-02 -1.02902359e-02 9.99674787e-01 -1.44968879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054012738999994 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:44.56, Y:-5.25, Z:-1.45 [[ 9.81138719e-01 1.91525926e-01 2.61655076e-02 4.45649543e+01] [-1.91199918e-01 9.81444553e-01 -1.44631109e-02 -5.25379675e+00] [-2.84500556e-02 9.18747517e-03 9.99552992e-01 -1.45480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.27, Z:-1.46 [[ 9.80578603e-01 1.93939017e-01 2.92106181e-02 4.45942374e+01] [-1.93858135e-01 9.81013572e-01 -5.60305342e-03 -5.26524948e+00] [-2.97426635e-02 -1.68481655e-04 9.99557575e-01 -1.45535690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114012738999996 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:44.62, Y:-5.27, Z:-1.46 [[ 9.79672059e-01 1.98467780e-01 2.92095247e-02 4.46236582e+01] [-1.98388915e-01 9.80107365e-01 -5.60281543e-03 -5.26712824e+00] [-2.97404486e-02 -3.05924185e-04 9.99557608e-01 -1.45633079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:44.65, Y:-5.27, Z:-1.46 [[ 9.79471584e-01 1.99522265e-01 2.87451133e-02 4.46523429e+01] [-1.99446329e-01 9.79893237e-01 -5.51421069e-03 -5.26995893e+00] [-2.92673499e-02 -3.32094629e-04 9.99571564e-01 -1.45818932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174012739 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:44.68, Y:-5.27, Z:-1.46 [[ 9.79551369e-01 1.99176866e-01 2.84199161e-02 4.46825579e+01] [-1.99102522e-01 9.79963507e-01 -5.45081647e-03 -5.27218536e+00] [-2.89361572e-02 -3.19122233e-04 9.99581211e-01 -1.46000724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.28, Z:-1.46 [[ 9.79783526e-01 1.97854559e-01 2.96279541e-02 4.47111764e+01] [-1.97773177e-01 9.80231344e-01 -5.68178464e-03 -5.27692972e+00] [-3.01664163e-02 -2.92695633e-04 9.99544847e-01 -1.46070331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23401273899999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:44.74, Y:-5.28, Z:-1.46 [[ 9.80634259e-01 1.93369626e-01 3.10586184e-02 4.47409533e+01] [-1.93277980e-01 9.81125966e-01 -5.95495159e-03 -5.28286098e+00] [-3.16239237e-02 -1.63317486e-04 9.99499825e-01 -1.46073834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:44.77, Y:-5.29, Z:-1.46 [[ 9.81107950e-01 1.91030524e-01 3.05700707e-02 4.47717089e+01] [-1.90940604e-01 9.81584093e-01 -5.86125848e-03 -5.28893399e+00] [-3.11267744e-02 -8.65404591e-05 9.99515441e-01 -1.46186679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294012738999996 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.30, Z:-1.46 [[ 9.81743776e-01 1.87951262e-01 2.92143955e-02 4.48026638e+01] [-1.87867759e-01 9.82178356e-01 -5.60199350e-03 -5.29534051e+00] [-2.97466487e-02 1.12792390e-05 9.99557470e-01 -1.46334320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.30, Z:-1.46 [[ 9.81732944e-01 1.87942813e-01 2.96298034e-02 4.48318056e+01] [-1.87856891e-01 9.82179973e-01 -5.68238742e-03 -5.30308641e+00] [-3.01697634e-02 1.24241614e-05 9.99544789e-01 -1.46303021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354012739 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.31, Z:-1.46 [[ 9.81544328e-01 1.88734554e-01 3.08220676e-02 4.48618805e+01] [-1.88641955e-01 9.82028140e-01 -5.91141052e-03 -5.30995938e+00] [-3.13838252e-02 -1.20236155e-05 9.99507406e-01 -1.46449235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.32, Z:-1.46 [[ 9.80969946e-01 1.91523827e-01 3.18839809e-02 4.48912872e+01] [-1.91426183e-01 9.81487959e-01 -6.11584770e-03 -5.31657270e+00] [-3.24650739e-02 -1.03965972e-04 9.99472865e-01 -1.46408419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41401273899999 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:44.92, Y:-5.32, Z:-1.46 [[ 9.80575056e-01 1.93492068e-01 3.21462149e-02 4.49220882e+01] [-1.93393855e-01 9.81101825e-01 -6.16653609e-03 -5.32374672e+00] [-3.27318860e-02 -1.70128954e-04 9.99464154e-01 -1.46492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.33, Z:-1.47 [[ 9.80568542e-01 1.93525098e-01 3.21460752e-02 4.49533282e+01] [-1.93426879e-01 9.81095310e-01 -6.16726436e-03 -5.32979240e+00] [-3.27318841e-02 -1.70489588e-04 9.99464154e-01 -1.46594655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474012738999996 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.34, Z:-1.47 [[ 9.80228995e-01 1.95210847e-01 3.23085690e-02 4.49840236e+01] [-1.95112510e-01 9.80761273e-01 -6.19956348e-03 -5.33673991e+00] [-3.28972153e-02 -2.26814114e-04 9.99458714e-01 -1.46753649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.34, Z:-1.47 [[ 9.79633013e-01 1.98431868e-01 3.07238316e-02 4.50137737e+01] [-1.98344505e-01 9.80114632e-01 -5.89616136e-03 -5.34296059e+00] [-3.12828632e-02 -3.17828841e-04 9.99510521e-01 -1.46998830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534012739 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.35, Z:-1.47 [[ 9.79003117e-01 2.01825979e-01 2.86211621e-02 4.50416590e+01] [-2.01751603e-01 9.79421317e-01 -5.49308117e-03 -5.34752463e+00] [-2.91408228e-02 -3.96621751e-04 9.99575237e-01 -1.47175326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.35, Z:-1.47 [[ 9.78668397e-01 2.03499732e-01 2.82139831e-02 4.50698276e+01] [-2.03428178e-01 9.79074903e-01 -5.41400685e-03 -5.35326207e+00] [-2.87253517e-02 -4.41001785e-04 9.99587245e-01 -1.47342243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59401273899999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.36, Z:-1.47 [[ 9.78390448e-01 2.04735165e-01 2.89075120e-02 4.50981815e+01] [-2.04660628e-01 9.78817282e-01 -5.54573512e-03 -5.35965398e+00] [-2.94305793e-02 -4.90335306e-04 9.99566706e-01 -1.47446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.37, Z:-1.47 [[ 9.78434493e-01 2.04457563e-01 2.93776744e-02 4.51250794e+01] [-2.04380497e-01 9.78875306e-01 -5.63459619e-03 -5.36508445e+00] [-2.99091158e-02 -4.91140417e-04 9.99552502e-01 -1.47480065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654012738999995 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:45.15, Y:-5.37, Z:-1.48 [[ 9.78790857e-01 2.02662361e-01 2.99403847e-02 4.51535987e+01] [-2.02581527e-01 9.79248573e-01 -5.74077935e-03 -5.37144790e+00] [-3.04825189e-02 -4.46346524e-04 9.99535200e-01 -1.47547393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:45.18, Y:-5.38, Z:-1.48 [[ 9.79035242e-01 2.01487171e-01 2.98816746e-02 4.51839366e+01] [-2.01406151e-01 9.79491068e-01 -5.72807151e-03 -5.37879899e+00] [-3.04229663e-02 -4.10369185e-04 9.99537030e-01 -1.47699080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714012739 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:45.21, Y:-5.39, Z:-1.48 [[ 9.79732829e-01 1.98130863e-01 2.94575124e-02 4.52137519e+01] [-1.98050596e-01 9.80175530e-01 -5.64719797e-03 -5.38751480e+00] [-2.99924170e-02 -3.01332639e-04 9.99550081e-01 -1.47827242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:45.24, Y:-5.39, Z:-1.48 [[ 9.80065627e-01 1.96545628e-01 2.90031389e-02 4.52432880e+01] [-1.96466979e-01 9.80494649e-01 -5.56504564e-03 -5.39322630e+00] [-2.95312079e-02 -2.44049124e-04 9.99563829e-01 -1.47987279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77401273899999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:45.27, Y:-5.40, Z:-1.48 [[ 9.80585487e-01 1.94025124e-01 2.83963771e-02 4.52711784e+01] [-1.93948692e-01 9.80996546e-01 -5.44804252e-03 -5.40005484e+00] [-2.89138050e-02 -1.65168775e-04 9.99581895e-01 -1.48121862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:45.30, Y:-5.41, Z:-1.48 [[ 9.80622096e-01 1.93805970e-01 2.86277832e-02 4.53013597e+01] [-1.93728226e-01 9.81039867e-01 -5.49131716e-03 -5.40772604e+00] [-2.91492467e-02 -1.61102708e-04 9.99575057e-01 -1.48132531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834012738999995 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:45.33, Y:-5.41, Z:-1.48 [[ 9.80238816e-01 1.95653434e-01 2.91821253e-02 4.53308351e+01] [-1.95573445e-01 9.80673078e-01 -5.59839096e-03 -5.41310256e+00] [-2.97134691e-02 -2.19488664e-04 9.99558433e-01 -1.48032947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:45.36, Y:-5.42, Z:-1.48 [[ 9.79969144e-01 1.97003930e-01 2.91535310e-02 4.53609462e+01] [-1.96924685e-01 9.80402664e-01 -5.59325125e-03 -5.41631936e+00] [-2.96840919e-02 -2.59836268e-04 9.99559296e-01 -1.48158246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894012739 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.42, Z:-1.48 [[ 9.79698605e-01 1.98361746e-01 2.90389465e-02 4.53896739e+01] [-1.98283705e-01 9.80128832e-01 -5.57171998e-03 -5.41901122e+00] [-2.95671248e-02 -2.99343609e-04 9.99562752e-01 -1.48269053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.42, Z:-1.48 [[ 9.79278035e-01 2.00200042e-01 3.05691457e-02 4.54188799e+01] [-2.00114487e-01 9.79754971e-01 -5.86425327e-03 -5.42159767e+00] [-3.11242962e-02 -3.74594486e-04 9.99515452e-01 -1.48456644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95401273899999 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:45.45, Y:-5.43, Z:-1.49 [[ 9.79313870e-01 1.99865192e-01 3.15950767e-02 4.54477427e+01] [-1.99773646e-01 9.79823333e-01 -6.06029605e-03 -5.42672770e+00] [-3.21688356e-02 -3.76931701e-04 9.99482378e-01 -1.48593391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:45.48, Y:-5.43, Z:-1.49 [[ 9.79912982e-01 1.96854578e-01 3.19189962e-02 4.54789410e+01] [-1.96759560e-01 9.80432658e-01 -6.12206575e-03 -5.43200889e+00] [-3.24995829e-02 -2.81275937e-04 9.99471709e-01 -1.48697472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014012738999995 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:45.51, Y:-5.44, Z:-1.49 [[ 9.80432026e-01 1.94322114e-01 3.14953570e-02 4.55096822e+01] [-1.94228272e-01 9.80937755e-01 -6.04153712e-03 -5.43735177e+00] [-3.20689890e-02 -1.93972285e-04 9.99485639e-01 -1.48703285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:45.54, Y:-5.44, Z:-1.49 [[ 9.81588504e-01 1.88387989e-01 3.15273649e-02 4.55403828e+01] [-1.88290867e-01 9.82094683e-01 -6.04843045e-03 -5.44043483e+00] [-3.21023090e-02 7.54922745e-07 9.99484588e-01 -1.48864808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:45.57, Y:-5.45, Z:-1.49 [[ 9.82646096e-01 1.82900580e-01 3.08873391e-02 4.55719504e+01] [-1.82804559e-01 9.83131398e-01 -5.92850791e-03 -5.44666478e+00] [-3.14506404e-02 1.79278742e-04 9.99505290e-01 -1.48737910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:45.60, Y:-5.45, Z:-1.49 [[ 9.83150499e-01 1.80388768e-01 2.95801963e-02 4.56029435e+01] [-1.80299471e-01 9.83595358e-01 -5.68085159e-03 -5.45344929e+00] [-3.01197056e-02 2.51838341e-04 9.99546267e-01 -1.49290339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13401273899999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:45.63, Y:-5.46, Z:-1.49 [[ 9.83639568e-01 1.77919207e-01 2.82481343e-02 4.56343774e+01] [-1.77836629e-01 9.84045047e-01 -5.42937042e-03 -5.46173749e+00] [-2.87634259e-02 3.16990604e-04 9.99586197e-01 -1.49448110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.47, Z:-1.49 [[ 9.84283082e-01 1.74394271e-01 2.78110006e-02 4.56666224e+01] [-1.74312700e-01 9.84675817e-01 -5.34966533e-03 -5.46998433e+00] [-2.83177708e-02 4.17774469e-04 9.99598884e-01 -1.49342333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194012738999994 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:45.70, Y:-5.48, Z:-1.49 [[ 9.84263568e-01 1.74276315e-01 2.92060631e-02 4.56976476e+01] [-1.74186132e-01 9.84696687e-01 -5.62369773e-03 -5.47662523e+00] [-2.97391909e-02 4.47909617e-04 9.99557592e-01 -1.49395667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.49, Z:-1.49 [[ 9.83732310e-01 1.76911876e-01 3.11918238e-02 4.57282443e+01] [-1.76810164e-01 9.84226615e-01 -6.01138938e-03 -5.48557045e+00] [-3.17633093e-02 3.98566479e-04 9.99495339e-01 -1.49499632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254012739 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:45.76, Y:-5.49, Z:-1.50 [[ 9.82922621e-01 1.81390320e-01 3.09947145e-02 4.57593282e+01] [-1.81291945e-01 9.83411148e-01 -5.97870923e-03 -5.49218975e+00] [-3.15650278e-02 2.57516455e-04 9.99501667e-01 -1.49629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:45.79, Y:-5.50, Z:-1.50 [[ 9.82489859e-01 1.83863277e-01 3.01325850e-02 4.57898701e+01] [-1.83771411e-01 9.82951812e-01 -5.81410862e-03 -5.49747999e+00] [-3.06878801e-02 1.74795104e-04 9.99529001e-01 -1.49756601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31401273899999 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:45.82, Y:-5.49, Z:-1.50 [[ 9.82188611e-01 1.86555074e-01 2.24218044e-02 4.58236286e+01] [-1.86119298e-01 9.82319867e-01 -2.01813160e-02 -5.49185673e+00] [-2.57903109e-02 1.56487282e-02 9.99544885e-01 -1.49646786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:45.85, Y:-5.52, Z:-1.50 [[ 9.81763154e-01 1.87358204e-01 3.22181970e-02 4.58467504e+01] [-1.87751311e-01 9.82169529e-01 9.61569533e-03 -5.52124942e+00] [-2.98421520e-02 -1.54893441e-02 9.99434603e-01 -1.49966250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374012738999994 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:45.88, Y:-5.52, Z:-1.50 [[ 9.81816573e-01 1.87440815e-01 3.00359243e-02 4.58790228e+01] [-1.87351208e-01 9.82275896e-01 -5.79552810e-03 -5.51601389e+00] [-3.05898830e-02 6.28788330e-05 9.99532018e-01 -1.50076886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:45.91, Y:-5.52, Z:-1.50 [[ 9.82176323e-01 1.85298784e-01 3.15282727e-02 4.59086750e+01] [-1.85198933e-01 9.82682218e-01 -6.08385230e-03 -5.52152473e+00] [-3.21096034e-02 1.36413220e-04 9.99484344e-01 -1.50100172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434012738999996 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:45.94, Y:-5.54, Z:-1.50 [[ 9.82651273e-01 1.81747392e-01 3.69372495e-02 4.59372718e+01] [-1.81914006e-01 9.83313744e-01 1.17282798e-03 -5.53509701e+00] [-3.61077467e-02 -7.87188393e-03 9.99316899e-01 -1.50331851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:45.97, Y:-5.53, Z:-1.49 [[ 9.82868551e-01 1.81551812e-01 3.17545466e-02 4.59713141e+01] [-1.81172357e-01 9.83344924e-01 -1.44684869e-02 -5.53373461e+00] [-3.38524522e-02 8.46757468e-03 9.99390970e-01 -1.48760432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49401273899999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:46.00, Y:-5.56, Z:-1.49 [[ 9.83535475e-01 1.77957610e-01 3.14493006e-02 4.60002429e+01] [-1.78497570e-01 9.83821924e-01 1.52656463e-02 -5.55838392e+00] [-2.82238735e-02 -2.06279284e-02 9.99388764e-01 -1.49268729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:46.04, Y:-5.53, Z:-1.51 [[ 9.83568520e-01 1.78494654e-01 2.70670466e-02 4.60362566e+01] [-1.77783468e-01 9.83705996e-01 -2.67498131e-02 -5.53271444e+00] [-3.14007147e-02 2.14982007e-02 9.99275649e-01 -1.50682547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554012738999994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.55, Z:-1.51 [[ 9.83586853e-01 1.77932471e-01 2.99489198e-02 4.60647301e+01] [-1.77838473e-01 9.84042629e-01 -5.79495447e-03 -5.55439246e+00] [-3.05021244e-02 3.73770878e-04 9.99534632e-01 -1.50858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:46.10, Y:-5.56, Z:-1.51 [[ 9.83436080e-01 1.78839933e-01 2.94916157e-02 4.60964677e+01] [-1.78749063e-01 9.83878122e-01 -5.71078270e-03 -5.56280469e+00] [-3.00374715e-02 3.44591078e-04 9.99548714e-01 -1.50774961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614012738999996 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:46.13, Y:-5.57, Z:-1.51 [[ 9.83507972e-01 1.78545397e-01 2.88723220e-02 4.61273636e+01] [-1.78458016e-01 9.83931612e-01 -5.59630687e-03 -5.57023949e+00] [-2.94075852e-02 3.51515101e-04 9.99567442e-01 -1.50868606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:46.16, Y:-5.58, Z:-1.51 [[ 9.83610856e-01 1.77920833e-01 2.92208930e-02 4.61594408e+01] [-1.77830897e-01 9.84044731e-01 -5.66912281e-03 -5.57818628e+00] [-2.97633208e-02 3.79833122e-04 9.99556902e-01 -1.51031835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674012739 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:46.19, Y:-5.59, Z:-1.51 [[ 9.84041038e-01 1.75566266e-01 2.89779389e-02 4.61898684e+01] [-1.75476634e-01 9.84467512e-01 -5.62758415e-03 -5.58685583e+00] [-2.95158533e-02 4.52822583e-04 9.99564210e-01 -1.51275159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:46.22, Y:-5.59, Z:-1.51 [[ 9.84271150e-01 1.74200899e-01 2.93998410e-02 4.62214639e+01] [-1.74107866e-01 9.84710003e-01 -5.71492195e-03 -5.59429224e+00] [-2.99458620e-02 5.06289215e-04 9.99551394e-01 -1.51417719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73401273899999 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:46.25, Y:-5.60, Z:-1.51 [[ 9.84627790e-01 1.72165357e-01 2.94483353e-02 4.62529925e+01] [-1.72070956e-01 9.85067896e-01 -5.72939461e-03 -5.60448338e+00] [-2.99950129e-02 5.74117944e-04 9.99549883e-01 -1.51397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:46.29, Y:-5.61, Z:-1.51 [[ 9.84775079e-01 1.71311299e-01 2.95039509e-02 4.62850394e+01] [-1.71215991e-01 9.85216763e-01 -5.74574518e-03 -5.61301525e+00] [-3.00520981e-02 6.06718464e-04 9.99548150e-01 -1.51481564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794012738999996 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:46.32, Y:-5.62, Z:-1.52 [[ 9.85004933e-01 1.70029655e-01 2.92437825e-02 4.63158939e+01] [-1.69935288e-01 9.85438734e-01 -5.70074086e-03 -5.62139418e+00] [-2.97872510e-02 6.45707261e-04 9.99556053e-01 -1.51530328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:46.35, Y:-5.64, Z:-1.51 [[ 9.85708904e-01 1.66081251e-01 2.81953025e-02 4.63475225e+01] [-1.65991777e-01 9.86111792e-01 -5.50120988e-03 -5.63539672e+00] [-2.87173681e-02 7.42403207e-04 9.99587296e-01 -1.50877623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854012739 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:46.38, Y:-5.65, Z:-1.52 [[ 9.86558536e-01 1.61018695e-01 2.78430514e-02 4.63779004e+01] [-1.60929274e-01 9.86950961e-01 -5.43784385e-03 -5.64556364e+00] [-2.83553208e-02 8.83989212e-04 9.99597516e-01 -1.51901245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:46.41, Y:-5.65, Z:-1.52 [[ 9.86833837e-01 1.59127792e-01 2.89365393e-02 4.64100511e+01] [-1.59030237e-01 9.87257507e-01 -5.65680614e-03 -5.65476156e+00] [-2.94679707e-02 9.80543011e-04 9.99565244e-01 -1.51989865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91401273899999 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:46.44, Y:-5.66, Z:-1.52 [[ 9.87004699e-01 1.58007677e-01 2.92454876e-02 4.64407586e+01] [-1.57907367e-01 9.87437346e-01 -5.72285300e-03 -5.66402282e+00] [-2.97823414e-02 1.03040486e-03 9.99555877e-01 -1.52010480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:46.47, Y:-5.68, Z:-1.52 [[ 9.87087421e-01 1.57556709e-01 2.88843762e-02 4.64715497e+01] [-1.57458512e-01 9.87509397e-01 -5.65750317e-03 -5.67820237e+00] [-2.94149705e-02 1.03635932e-03 9.99566749e-01 -1.52297855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974012738999996 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:46.50, Y:-5.69, Z:-1.53 [[ 9.87032533e-01 1.58026755e-01 2.81837334e-02 4.65018146e+01] [-1.57933399e-01 9.87434325e-01 -5.52230580e-03 -5.68883456e+00] [-2.87022578e-02 9.99542679e-04 9.99587506e-01 -1.52500591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:46.53, Y:-5.70, Z:-1.52 [[ 9.86381731e-01 1.61975313e-01 2.85495735e-02 4.65321423e+01] [-1.61881011e-01 9.86794399e-01 -5.59937098e-03 -5.70145695e+00] [-2.90795191e-02 9.01483435e-04 9.99576695e-01 -1.52311226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034012739 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:46.56, Y:-5.71, Z:-1.52 [[ 9.85797532e-01 1.65359305e-01 2.93176691e-02 4.65628556e+01] [-1.65261194e-01 9.86233042e-01 -5.75535961e-03 -5.71036767e+00] [-2.98657563e-02 8.28546311e-04 9.99553575e-01 -1.52379060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.72, Z:-1.52 [[ 9.84546163e-01 1.72819473e-01 2.83245856e-02 4.65930879e+01] [-1.72730841e-01 9.84953342e-01 -5.56516721e-03 -5.72220076e+00] [-2.88601645e-02 5.86634549e-04 9.99583287e-01 -1.52461985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09401273899999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:46.62, Y:-5.73, Z:-1.53 [[ 9.83832693e-01 1.76956054e-01 2.75642384e-02 4.66247682e+01] [-1.76873601e-01 9.84218647e-01 -5.42069740e-03 -5.73003130e+00] [-2.80884627e-02 4.57673214e-04 9.99605337e-01 -1.52616728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:46.66, Y:-5.74, Z:-1.53 [[ 9.82451999e-01 1.84379198e-01 2.81492655e-02 4.66561153e+01] [-1.84296085e-01 9.82855150e-01 -5.54143673e-03 -5.73659801e+00] [-2.86883762e-02 2.56396164e-04 9.99588371e-01 -1.52776986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154012738999995 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:46.69, Y:-5.76, Z:-1.52 [[ 9.81975590e-01 1.86921349e-01 2.80062614e-02 4.66873303e+01] [-1.87261230e-01 9.82258987e-01 1.00256626e-02 -5.75566988e+00] [-2.56353916e-02 -1.50894429e-02 9.99557470e-01 -1.51842933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:46.72, Y:-5.74, Z:-1.53 [[ 9.81008203e-01 1.92106497e-01 2.67955137e-02 4.67206517e+01] [-1.91581786e-01 9.81252748e-01 -2.09633767e-02 -5.74197176e+00] [-3.03203723e-02 1.54317121e-02 9.99421101e-01 -1.53013960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214012739 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:46.75, Y:-5.76, Z:-1.53 [[ 9.80647749e-01 1.93505497e-01 2.97592865e-02 4.67505340e+01] [-1.93416425e-01 9.81099191e-01 -5.87061110e-03 -5.75983808e+00] [-3.03328074e-02 1.06676200e-06 9.99539855e-01 -1.53061423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.78, Z:-1.52 [[ 9.80102247e-01 1.96396249e-01 2.87767232e-02 4.67821775e+01] [-1.96750883e-01 9.80402194e-01 1.00313595e-02 -5.77634190e+00] [-2.62426412e-02 -1.54936036e-02 9.99535528e-01 -1.52247076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27401273899999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:46.82, Y:-5.76, Z:-1.53 [[ 9.79683171e-01 1.98686311e-01 2.72879902e-02 4.68158946e+01] [-1.98145943e-01 9.79941483e-01 -2.12808579e-02 -5.75922692e+00] [-3.09688487e-02 1.54414938e-02 9.99401066e-01 -1.53438677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:46.85, Y:-5.78, Z:-1.53 [[ 9.79444983e-01 1.99328617e-01 3.09132312e-02 4.68454570e+01] [-1.99234992e-01 9.79932688e-01 -6.11110592e-03 -5.77745316e+00] [-3.15110041e-02 -1.73505340e-04 9.99503390e-01 -1.53352772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334012738999995 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.78, Z:-1.53 [[ 9.78972250e-01 2.01444000e-01 3.21504112e-02 4.68782620e+01] [-2.01343670e-01 9.79500002e-01 -6.36173549e-03 -5.78287956e+00] [-3.27728613e-02 -2.45319293e-04 9.99462795e-01 -1.53385135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.79, Z:-1.53 [[ 9.78956239e-01 2.01521871e-01 3.21499078e-02 4.69110804e+01] [-2.01421500e-01 9.79483984e-01 -6.36427844e-03 -5.78952101e+00] [-3.27728611e-02 -2.45332583e-04 9.99462795e-01 -1.53493411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394012739 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.79, Z:-1.54 [[ 9.78394906e-01 2.04099120e-01 3.29690387e-02 4.69439513e+01] [-2.03994931e-01 9.78950170e-01 -6.52935573e-03 -5.79282216e+00] [-3.36076818e-02 -3.37228390e-04 9.99435045e-01 -1.53600899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:46.98, Y:-5.80, Z:-1.54 [[ 9.78137306e-01 2.05236511e-01 3.35467732e-02 4.69767286e+01] [-2.05129086e-01 9.78712334e-01 -6.65020936e-03 -5.79865291e+00] [-3.41975065e-02 -3.76601067e-04 9.99415023e-01 -1.53765785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45401273899999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:47.01, Y:-5.80, Z:-1.54 [[ 9.78052917e-01 2.05719948e-01 3.30423149e-02 4.70089156e+01] [-2.05615799e-01 9.78610830e-01 -6.55633835e-03 -5.80416028e+00] [-3.36843368e-02 -3.81576149e-04 9.99432449e-01 -1.53877386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:47.04, Y:-5.81, Z:-1.54 [[ 9.78202431e-01 2.05387230e-01 3.05955718e-02 4.70407226e+01] [-2.05297705e-01 9.78680729e-01 -6.07312235e-03 -5.80903516e+00] [-3.11906383e-02 -3.40457611e-04 9.99513396e-01 -1.54177670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514012738999995 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:47.07, Y:-5.83, Z:-1.53 [[ 9.78362049e-01 2.05164505e-01 2.67437319e-02 4.70713682e+01] [-2.05479677e-01 9.78614352e-01 9.59437954e-03 -5.82608799e+00] [-2.42033738e-02 -1.48820702e-02 9.99596279e-01 -1.53435585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:47.11, Y:-5.82, Z:-1.54 [[ 9.78094546e-01 2.06700820e-01 2.46136190e-02 4.71053119e+01] [-2.06650225e-01 9.78404026e-01 -4.60947290e-03 -5.82118437e+00] [-2.50348458e-02 -5.77909615e-04 9.99686412e-01 -1.53622717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574012739 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.81, Z:-1.54 [[ 9.77001214e-01 2.11522357e-01 2.69614546e-02 4.71382646e+01] [-2.11005330e-01 9.77263695e-01 -2.07947324e-02 -5.81179036e+00] [-3.07470016e-02 1.46274682e-02 9.99420161e-01 -1.54328557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.83, Z:-1.54 [[ 9.76290154e-01 2.14314599e-01 3.04432021e-02 4.71690410e+01] [-2.14229669e-01 9.76764501e-01 -6.06294849e-03 -5.82590960e+00] [-3.10352174e-02 -6.02640188e-04 9.99518110e-01 -1.54364252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63401273899999 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:47.20, Y:-5.83, Z:-1.55 [[ 9.75441787e-01 2.18152776e-01 3.03757428e-02 4.72025796e+01] [-2.18069904e-01 9.75914367e-01 -6.05519775e-03 -5.82861935e+00] [-3.09650820e-02 -7.17542409e-04 9.99520209e-01 -1.54507427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.83, Z:-1.55 [[ 9.73653389e-01 2.26046595e-01 3.00335679e-02 4.72327142e+01] [-2.25969144e-01 9.74116025e-01 -5.99290106e-03 -5.82652864e+00] [-3.06108547e-02 -9.51651207e-04 9.99530925e-01 -1.54574411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694012738999994 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:47.26, Y:-5.83, Z:-1.55 [[ 9.72968431e-01 2.29043359e-01 2.95224039e-02 4.72621972e+01] [-2.28969908e-01 9.73415678e-01 -5.89059420e-03 -5.82769853e+00] [-3.00867723e-02 -1.02837990e-03 9.99546762e-01 -1.54728420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:47.29, Y:-5.82, Z:-1.55 [[ 9.72221001e-01 2.32392008e-01 2.79334797e-02 4.72930091e+01] [-2.32327647e-01 9.72621615e-01 -5.57295937e-03 -5.82371920e+00] [-2.84638173e-02 -1.07157147e-03 9.99594249e-01 -1.54894057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754012739 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:47.32, Y:-5.82, Z:-1.55 [[ 9.72439397e-01 2.31622497e-01 2.66952992e-02 4.73214035e+01] [-2.31563438e-01 9.72805229e-01 -5.32551920e-03 -5.82195747e+00] [-2.72028367e-02 -1.00291056e-03 9.99629431e-01 -1.55016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:47.35, Y:-5.82, Z:-1.55 [[ 9.72811643e-01 2.30012590e-01 2.70502379e-02 4.73506751e+01] [-2.29951374e-01 9.73187168e-01 -5.39465584e-03 -5.82486540e+00] [-2.75657831e-02 -9.72255355e-04 9.99619519e-01 -1.55110637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81401273899999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:47.38, Y:-5.82, Z:-1.55 [[ 9.73573992e-01 2.26442230e-01 2.96243067e-02 4.73800724e+01] [-2.26367200e-01 9.74024129e-01 -5.90654520e-03 -5.82309826e+00] [-3.01922808e-02 -9.55512560e-04 9.99543652e-01 -1.55113190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:47.41, Y:-5.82, Z:-1.55 [[ 9.73886870e-01 2.25031565e-01 3.00858465e-02 4.74089985e+01] [-2.24953586e-01 9.74351031e-01 -5.99596517e-03 -5.82490228e+00] [-3.06634570e-02 -9.28527312e-04 9.99529334e-01 -1.55106380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874012738999994 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:47.44, Y:-5.83, Z:-1.55 [[ 9.74340059e-01 2.23136296e-01 2.95236030e-02 4.74382635e+01] [-2.23060358e-01 9.74786882e-01 -5.88314356e-03 -5.82520443e+00] [-3.00919638e-02 -8.53362996e-04 9.99546770e-01 -1.55291582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:47.47, Y:-5.83, Z:-1.55 [[ 9.74553103e-01 2.22335606e-01 2.85153858e-02 4.74665227e+01] [-2.22264462e-01 9.74969864e-01 -5.68093334e-03 -5.82866897e+00] [-2.90647156e-02 -8.01585687e-04 9.99577211e-01 -1.55405843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934012738999996 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:47.50, Y:-5.83, Z:-1.55 [[ 9.74688985e-01 2.21816286e-01 2.79090976e-02 4.74953538e+01] [-2.21747961e-01 9.75088171e-01 -5.55884161e-03 -5.83169197e+00] [-2.84468725e-02 -7.70643789e-04 9.99595009e-01 -1.55494404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.83, Z:-1.56 [[ 9.75006008e-01 2.20220011e-01 2.94352032e-02 4.75245598e+01] [-2.20143325e-01 9.75449928e-01 -5.86131557e-03 -5.83124436e+00] [-3.00033458e-02 -7.65145616e-04 9.99549505e-01 -1.55629467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99401273899999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:47.55, Y:-5.83, Z:-1.56 [[ 9.75583717e-01 2.17470581e-01 3.07076218e-02 4.75521986e+01] [-2.17385807e-01 9.76066617e-01 -6.11315450e-03 -5.83294829e+00] [-3.13021158e-02 -7.11507161e-04 9.99509715e-01 -1.55570129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.84, Z:-1.56 [[ 9.75921626e-01 2.16046725e-01 3.00132084e-02 4.75806634e+01] [-2.15965125e-01 9.76382807e-01 -5.97312855e-03 -5.83750294e+00] [-3.05948555e-02 -6.52500969e-04 9.99531655e-01 -1.55664505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054012738999994 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.85, Z:-1.55 [[ 9.76504106e-01 2.13670909e-01 2.80084563e-02 4.76073731e+01] [-2.14045553e-01 9.76760549e-01 1.11054574e-02 -5.85451704e+00] [-2.49846420e-02 -1.68396103e-02 9.99545995e-01 -1.54861889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.83, Z:-1.56 [[ 9.76593291e-01 2.13469076e-01 2.63912220e-02 4.76389966e+01] [-2.12924801e-01 9.76821231e-01 -2.19843430e-02 -5.83492024e+00] [-3.04724833e-02 1.58504162e-02 9.99409922e-01 -1.55768492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114012738999996 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:47.66, Y:-5.85, Z:-1.56 [[ 9.76895782e-01 2.11633034e-01 2.97672676e-02 4.76641111e+01] [-2.11550883e-01 9.77349064e-01 -5.91864096e-03 -5.84969860e+00] [-3.03455910e-02 -5.15396358e-04 9.99539334e-01 -1.55796975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:47.69, Y:-5.86, Z:-1.55 [[ 9.76879079e-01 2.11951887e-01 2.79939801e-02 4.76908462e+01] [-2.12259152e-01 9.77176715e-01 8.46881053e-03 -5.86471788e+00] [-2.55600851e-02 -1.42149823e-02 9.99572217e-01 -1.55206733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174012739 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:47.72, Y:-5.85, Z:-1.56 [[ 9.76186430e-01 2.15432227e-01 2.54756748e-02 4.77214154e+01] [-2.14982598e-01 9.76427754e-01 -1.92697711e-02 -5.84702538e+00] [-2.90264856e-02 1.33340622e-02 9.99489703e-01 -1.55916937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:47.75, Y:-5.86, Z:-1.56 [[ 9.75882196e-01 2.16412127e-01 2.86309535e-02 4.77474215e+01] [-2.16338355e-01 9.76301888e-01 -5.68683255e-03 -5.86039116e+00] [-2.91831535e-02 -6.44294746e-04 9.99573873e-01 -1.55989611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23401273899999 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:47.78, Y:-5.86, Z:-1.56 [[ 9.75565787e-01 2.17461514e-01 3.13350493e-02 4.77758576e+01] [-2.17373763e-01 9.76068614e-01 -6.22153613e-03 -5.86071130e+00] [-3.19381028e-02 -7.41899798e-04 9.99489573e-01 -1.56057382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:47.80, Y:-5.87, Z:-1.56 [[ 9.75870156e-01 2.16072730e-01 3.14645016e-02 4.78039878e+01] [-2.15983604e-01 9.76377019e-01 -6.24497604e-03 -5.86517119e+00] [-3.20705852e-02 -7.01530692e-04 9.99485360e-01 -1.56226249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294012738999996 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.88, Z:-1.57 [[ 9.76937277e-01 2.10737513e-01 3.43985113e-02 4.78244833e+01] [-2.11140406e-01 9.77418853e-01 8.49206468e-03 -5.88270155e+00] [-3.18321569e-02 -1.55591302e-02 9.99372117e-01 -1.56623417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.87, Z:-1.56 [[ 9.78307434e-01 2.05749628e-01 2.41175199e-02 4.78657636e+01] [-2.05287099e-01 9.78490712e-01 -2.03256655e-02 -5.86579179e+00] [-2.77807674e-02 1.49337339e-02 9.99502483e-01 -1.56440147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354012739 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:47.89, Y:-5.88, Z:-1.56 [[ 9.79327095e-01 2.00279086e-01 2.84029800e-02 4.78922685e+01] [-2.00200403e-01 9.79738870e-01 -5.61653079e-03 -5.88084535e+00] [-2.89523772e-02 -1.85867260e-04 9.99580775e-01 -1.56391403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.89, Z:-1.56 [[ 9.79493655e-01 1.99259335e-01 2.97975943e-02 4.79196937e+01] [-1.99172308e-01 9.79946779e-01 -5.89080684e-03 -5.88710544e+00] [-3.03738549e-02 -1.64847704e-04 9.99538594e-01 -1.56430956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41401273899999 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.89, Z:-1.56 [[ 9.79481726e-01 1.99132725e-01 3.10113824e-02 4.79474831e+01] [-1.99038460e-01 9.79972515e-01 -6.12881582e-03 -5.89360013e+00] [-3.16107502e-02 -1.69394685e-04 9.99500241e-01 -1.56453372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.90, Z:-1.56 [[ 9.79153721e-01 2.00741387e-01 3.09981827e-02 4.79768586e+01] [-2.00648054e-01 9.79644245e-01 -6.12471924e-03 -5.89719615e+00] [-3.15966759e-02 -2.22683406e-04 9.99500676e-01 -1.56453876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474012738999996 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.90, Z:-1.57 [[ 9.78771149e-01 2.02885624e-01 2.90596162e-02 4.80057008e+01] [-2.02804567e-01 9.79202404e-01 -5.74099203e-03 -5.89829986e+00] [-2.96200108e-02 -2.74305521e-04 9.99561194e-01 -1.56645166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:48.03, Y:-5.90, Z:-1.57 [[ 9.78487897e-01 2.04212932e-01 2.93004167e-02 4.80346176e+01] [-2.04131143e-01 9.78926441e-01 -5.78784493e-03 -5.90291161e+00] [-2.98649054e-02 -3.17791350e-04 9.99553894e-01 -1.56779992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534012739 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.91, Z:-1.57 [[ 9.78269375e-01 2.05229501e-01 2.94937592e-02 4.80616771e+01] [-2.05147133e-01 9.78713813e-01 -5.82461391e-03 -5.90705691e+00] [-3.00613321e-02 -3.52518736e-04 9.99547994e-01 -1.56800945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.91, Z:-1.57 [[ 9.78030469e-01 2.06299271e-01 2.99501757e-02 4.80906859e+01] [-2.06214891e-01 9.78488864e-01 -5.91292142e-03 -5.90656757e+00] [-3.05257447e-02 -3.93154893e-04 9.99533904e-01 -1.56818254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59401273899999 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:48.12, Y:-5.91, Z:-1.57 [[ 9.77925364e-01 2.06802267e-01 2.99133021e-02 4.81187161e+01] [-2.06718395e-01 9.78382672e-01 -5.90348997e-03 -5.90857048e+00] [-3.04875116e-02 -4.10457231e-04 9.99535063e-01 -1.56882669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:48.15, Y:-5.91, Z:-1.57 [[ 9.77761407e-01 2.07429333e-01 3.09144451e-02 4.81482937e+01] [-2.07340139e-01 9.78249903e-01 -6.09873804e-03 -5.90971770e+00] [-3.15071101e-02 -4.46694649e-04 9.99503428e-01 -1.56974133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654012738999995 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:48.18, Y:-5.91, Z:-1.57 [[ 9.78133305e-01 2.05792796e-01 3.00759583e-02 4.81763826e+01] [-2.05707647e-01 9.78595512e-01 -5.93186523e-03 -5.91041437e+00] [-3.06529330e-02 -3.84699669e-04 9.99530014e-01 -1.57081489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:48.20, Y:-5.91, Z:-1.57 [[ 9.78431636e-01 2.04506701e-01 2.91297450e-02 4.82042474e+01] [-2.04426308e-01 9.78865106e-01 -5.74350044e-03 -5.91388011e+00] [-2.96886753e-02 -3.35263698e-04 9.99559138e-01 -1.57259057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714012739 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:48.24, Y:-5.92, Z:-1.57 [[ 9.79084494e-01 2.01386608e-01 2.89307551e-02 4.82359627e+01] [-2.01355568e-01 9.79509998e-01 -4.01240475e-03 -5.91937563e+00] [-2.91460085e-02 -1.89688535e-03 9.99573365e-01 -1.57491291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:48.26, Y:-5.92, Z:-1.58 [[ 9.79552765e-01 1.99540802e-01 2.56875261e-02 4.82598731e+01] [-1.99423962e-01 9.79887881e-01 -7.05866914e-03 -5.92219933e+00] [-2.65793880e-02 1.79163066e-03 9.99645100e-01 -1.57605949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77401273899999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:48.29, Y:-5.93, Z:-1.58 [[ 9.79961794e-01 1.97504482e-01 2.58236774e-02 4.82871505e+01] [-1.97438887e-01 9.80301978e-01 -5.09099013e-03 -5.92791515e+00] [-2.63204954e-02 -1.09622323e-04 9.99653550e-01 -1.57690552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.93, Z:-1.58 [[ 9.80552452e-01 1.94524278e-01 2.60229704e-02 4.83134430e+01] [-1.94456667e-01 9.80897703e-01 -5.12839855e-03 -5.93267719e+00] [-2.65234700e-02 -3.16763120e-05 9.99648190e-01 -1.57778634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834012738999995 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:48.34, Y:-5.94, Z:-1.58 [[ 9.80687256e-01 1.93814211e-01 2.62403896e-02 4.83403033e+01] [-1.93745273e-01 9.81038252e-01 -5.16890647e-03 -5.93885196e+00] [-2.67446334e-02 -1.48707348e-05 9.99642298e-01 -1.57868618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:48.37, Y:-5.94, Z:-1.58 [[ 9.80492660e-01 1.94634085e-01 2.74174406e-02 4.83668474e+01] [-1.94559201e-01 9.80875920e-01 -5.39870997e-03 -5.94353519e+00] [-2.79438803e-02 -4.09198331e-05 9.99609493e-01 -1.57788003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894012739 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.95, Z:-1.58 [[ 9.80248036e-01 1.95906209e-01 2.71024805e-02 4.83944878e+01] [-1.95833585e-01 9.80622634e-01 -5.33438382e-03 -5.94815239e+00] [-2.76223448e-02 -7.85566615e-05 9.99618427e-01 -1.57842359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:48.42, Y:-5.96, Z:-1.58 [[ 9.79694703e-01 1.98389872e-01 2.89783917e-02 4.84203095e+01] [-1.98544487e-01 9.80088610e-01 2.53042417e-03 -5.95846171e+00] [-2.78993811e-02 -8.23254306e-03 9.99576835e-01 -1.58282738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95401273899999 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:48.45, Y:-5.95, Z:-1.58 [[ 9.79521228e-01 2.00071123e-01 2.25767619e-02 4.84508647e+01] [-1.99826333e-01 9.79749728e-01 -1.26454405e-02 -5.95114606e+00] [-2.46495638e-02 7.87504582e-03 9.99665135e-01 -1.58187532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.96, Z:-1.58 [[ 9.79126394e-01 2.01798956e-01 2.42628651e-02 4.84776601e+01] [-2.01742678e-01 9.79426940e-01 -4.77079519e-03 -5.95971498e+00] [-2.47264452e-02 -2.23643888e-04 9.99694230e-01 -1.58306887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014012738999995 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:48.50, Y:-5.96, Z:-1.58 [[ 9.79079611e-01 2.01876090e-01 2.54786257e-02 4.85039075e+01] [-2.01814107e-01 9.79411041e-01 -5.00786997e-03 -5.96484471e+00] [-2.59650165e-02 -2.38842710e-04 9.99662824e-01 -1.58326546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:48.53, Y:-5.97, Z:-1.58 [[ 9.79271987e-01 2.00683738e-01 2.74301481e-02 4.85315677e+01] [-2.00611503e-01 9.79656055e-01 -5.38875205e-03 -5.97106090e+00] [-2.79535456e-02 -2.25749301e-04 9.99609198e-01 -1.58334098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074012739 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:48.56, Y:-5.98, Z:-1.58 [[ 9.79415311e-01 1.99934987e-01 2.77785881e-02 4.85593319e+01] [-1.99860662e-01 9.79809143e-01 -5.45515913e-03 -5.97512940e+00] [-2.83083917e-02 -2.08980612e-04 9.99599215e-01 -1.58367988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:48.59, Y:-5.98, Z:-1.58 [[ 9.79293769e-01 2.00380069e-01 2.88364774e-02 4.85874106e+01] [-2.00300230e-01 9.79718211e-01 -5.66073151e-03 -5.97605758e+00] [-2.93859198e-02 -2.32433971e-04 9.99568114e-01 -1.58283986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13401273899999 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.98, Z:-1.58 [[ 9.79145505e-01 2.01044836e-01 2.92413217e-02 4.86144158e+01] [-2.00963100e-01 9.79582006e-01 -5.73804944e-03 -5.98014698e+00] [-2.97978778e-02 -2.58041339e-04 9.99555911e-01 -1.58345782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:48.64, Y:-5.98, Z:-1.58 [[ 9.78895085e-01 2.02271000e-01 2.91694242e-02 4.86421907e+01] [-2.02190284e-01 9.79329543e-01 -5.72144000e-03 -5.98326284e+00] [-2.97237603e-02 -2.97084669e-04 9.99558107e-01 -1.58425648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194012738999994 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:48.67, Y:-5.98, Z:-1.59 [[ 9.78492258e-01 2.04339154e-01 2.82561668e-02 4.86709990e+01] [-2.04264333e-01 9.78900090e-01 -5.54032206e-03 -5.98308244e+00] [-2.87920690e-02 -3.50564822e-04 9.99585361e-01 -1.58531120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:48.70, Y:-5.99, Z:-1.59 [[ 9.78280657e-01 2.05298754e-01 2.86247765e-02 4.86981937e+01] [-2.05222437e-01 9.78699276e-01 -5.61056612e-03 -5.98655999e+00] [-2.91668902e-02 -3.85738073e-04 9.99574481e-01 -1.58637785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254012739 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:48.73, Y:-5.99, Z:-1.59 [[ 9.78292853e-01 2.05240530e-01 2.86254772e-02 4.87261630e+01] [-2.05164293e-01 9.78711487e-01 -5.60698877e-03 -5.99191300e+00] [-2.91668647e-02 -3.87648738e-04 9.99574481e-01 -1.58728779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:48.75, Y:-5.99, Z:-1.59 [[ 9.78008299e-01 2.06244871e-01 3.10293351e-02 4.87533146e+01] [-2.06155860e-01 9.78500305e-01 -6.07577247e-03 -5.99348166e+00] [-3.16153107e-02 -4.54723345e-04 9.99500008e-01 -1.58801610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31401273899999 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:48.78, Y:-6.00, Z:-1.59 [[ 9.78093602e-01 2.05739356e-01 3.16894725e-02 4.87810760e+01] [-2.05646341e-01 9.78606721e-01 -6.20225524e-03 -5.99749532e+00] [-3.22875788e-02 -4.50437907e-04 9.99478519e-01 -1.58882808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:48.81, Y:-6.00, Z:-1.59 [[ 9.78356704e-01 2.04557362e-01 3.12161140e-02 4.88076557e+01] [-2.04466577e-01 9.78854494e-01 -6.10732520e-03 -6.00207118e+00] [-3.18053318e-02 -4.07509423e-04 9.99493999e-01 -1.59005236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374012738999994 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:48.83, Y:-6.01, Z:-1.59 [[ 9.78921818e-01 2.02426788e-01 2.71195471e-02 4.88347896e+01] [-2.02357510e-01 9.79297354e-01 -5.30380834e-03 -6.00818691e+00] [-2.76317336e-02 -2.95830300e-04 9.99618127e-01 -1.59162576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:48.86, Y:-6.01, Z:-1.59 [[ 9.78884042e-01 2.02586873e-01 2.72872072e-02 4.88623617e+01] [-2.02516848e-01 9.79264247e-01 -5.33479133e-03 -6.01021203e+00] [-2.78021451e-02 -3.03977087e-04 9.99613399e-01 -1.59179157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434012738999996 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:48.89, Y:-6.01, Z:-1.59 [[ 9.78656024e-01 2.03532597e-01 2.84054364e-02 4.88900302e+01] [-2.03457220e-01 9.79068108e-01 -5.54967660e-03 -6.01297588e+00] [-2.89403970e-02 -3.48066676e-04 9.99581078e-01 -1.59225339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:48.92, Y:-6.02, Z:-1.59 [[ 9.78320463e-01 2.05026666e-01 2.92085110e-02 4.89163057e+01] [-2.04947695e-01 9.78756304e-01 -5.70441234e-03 -6.01691787e+00] [-2.97575709e-02 -4.05473690e-04 9.99557063e-01 -1.59335611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49401273899999 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:48.94, Y:-6.02, Z:-1.59 [[ 9.78036375e-01 2.06524909e-01 2.81480071e-02 4.89439944e+01] [-2.06452257e-01 9.78441245e-01 -5.49497460e-03 -6.01961894e+00] [-2.86760203e-02 -4.36934554e-04 9.99588663e-01 -1.59479703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:48.97, Y:-6.02, Z:-1.60 [[ 9.78173730e-01 2.06007682e-01 2.71475408e-02 4.89705997e+01] [-2.05939955e-01 9.78550289e-01 -5.29782598e-03 -6.02233151e+00] [-2.76566267e-02 -4.08569127e-04 9.99617399e-01 -1.59520828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554012738999994 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.03, Z:-1.60 [[ 9.78640282e-01 2.03766866e-01 2.72445095e-02 4.89970779e+01] [-2.03697850e-01 9.79019378e-01 -5.31444457e-03 -6.02579580e+00] [-2.77558105e-02 -3.48718484e-04 9.99614672e-01 -1.59621531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:49.02, Y:-6.03, Z:-1.60 [[ 9.78970472e-01 2.02122274e-01 2.76297032e-02 4.90239451e+01] [-2.02050704e-01 9.79360246e-01 -5.38722261e-03 -6.03248285e+00] [-2.81483106e-02 -3.08669127e-04 9.99603710e-01 -1.59796737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614012738999996 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.04, Z:-1.60 [[ 9.79941488e-01 1.97421241e-01 2.71943864e-02 4.90497740e+01] [-1.97350149e-01 9.80318736e-01 -5.30043300e-03 -6.03944929e+00] [-2.77055846e-02 -1.72702018e-04 9.99616112e-01 -1.59914624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:49.08, Y:-6.04, Z:-1.60 [[ 9.80797268e-01 1.93105541e-01 2.73307285e-02 4.90760758e+01] [-1.93032124e-01 9.81177990e-01 -5.32465885e-03 -6.04418688e+00] [-2.78445303e-02 -5.32976981e-05 9.99612264e-01 -1.59890989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67401273899999 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:49.10, Y:-6.05, Z:-1.60 [[ 9.81232965e-01 1.90825364e-01 2.77046602e-02 4.91036552e+01] [-1.90749081e-01 9.81624001e-01 -5.39518039e-03 -6.05125558e+00] [-2.82250967e-02 9.29039053e-06 9.99601593e-01 -1.59888622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:49.13, Y:-6.06, Z:-1.60 [[ 9.81693367e-01 1.88405922e-01 2.79524936e-02 4.91311289e+01] [-1.88327341e-01 9.82091239e-01 -5.44149217e-03 -6.05892688e+00] [-2.84771084e-02 7.76579792e-05 9.99594442e-01 -1.59945534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73401273899999 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:49.16, Y:-6.07, Z:-1.60 [[ 9.82536243e-01 1.84074777e-01 2.71846974e-02 4.91573845e+01] [-1.83998847e-01 9.82912223e-01 -5.29018145e-03 -6.06712433e+00] [-2.76939604e-02 1.95842024e-04 9.99616430e-01 -1.60057681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:49.18, Y:-6.07, Z:-1.60 [[ 9.82865908e-01 1.82390969e-01 2.66109406e-02 4.91844083e+01] [-1.82317655e-01 9.83226057e-01 -5.17630415e-03 -6.07371380e+00] [-2.71086813e-02 2.35968605e-04 9.99632464e-01 -1.60227121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794012738999996 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.08, Z:-1.60 [[ 9.83362729e-01 1.79841683e-01 2.55873623e-02 4.92099942e+01] [-1.79773078e-01 9.83695524e-01 -4.97564905e-03 -6.08399735e+00] [-2.60650028e-02 2.92948958e-04 9.99660207e-01 -1.60265665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.09, Z:-1.60 [[ 9.83540904e-01 1.78786410e-01 2.61287278e-02 4.92371101e+01] [-1.78714577e-01 9.83887856e-01 -5.07799940e-03 -6.09248902e+00] [-2.66156153e-02 3.24835591e-04 9.99645689e-01 -1.60348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:49.26, Y:-6.10, Z:-1.60 [[ 9.83814893e-01 1.77069377e-01 2.74716458e-02 4.92640835e+01] [-1.76989358e-01 9.84198295e-01 -5.33687576e-03 -6.10292014e+00] [-2.79825442e-02 3.88308904e-04 9.99608337e-01 -1.60344082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:49.29, Y:-6.11, Z:-1.60 [[ 9.83775244e-01 1.77155529e-01 2.83229101e-02 4.92911776e+01] [-1.77070549e-01 9.84182789e-01 -5.50083321e-03 -6.11043630e+00] [-2.88494236e-02 3.96430299e-04 9.99583690e-01 -1.60337469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91401273899999 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:49.32, Y:-6.12, Z:-1.60 [[ 9.83300624e-01 1.79653248e-01 2.90618864e-02 4.93183856e+01] [-1.79564920e-01 9.83729944e-01 -5.64250080e-03 -6.11884505e+00] [-2.96027415e-02 3.29779267e-04 9.99561688e-01 -1.60257897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:49.35, Y:-6.13, Z:-1.60 [[ 9.82901360e-01 1.81802341e-01 2.92031668e-02 4.93469351e+01] [-1.81714149e-01 9.83335059e-01 -5.66826427e-03 -6.12541554e+00] [-2.97470015e-02 2.64716043e-04 9.99557425e-01 -1.60323263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974012738999996 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:49.37, Y:-6.13, Z:-1.60 [[ 9.82095097e-01 1.86110015e-01 2.91938834e-02 4.93748109e+01] [-1.86023819e-01 9.82528903e-01 -5.66515522e-03 -6.13402139e+00] [-2.97381763e-02 1.32963484e-04 9.99557714e-01 -1.60383201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:49.40, Y:-6.14, Z:-1.60 [[ 9.81766528e-01 1.87784668e-01 2.95195522e-02 4.94020682e+01] [-1.87697335e-01 9.82210218e-01 -5.72701188e-03 -6.14044007e+00] [-3.00698508e-02 8.18473018e-05 9.99547796e-01 -1.60451805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034012739 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.15, Z:-1.60 [[ 9.81283128e-01 1.90023757e-01 3.12153033e-02 4.94303806e+01] [-1.89927291e-01 9.81779492e-01 -6.05412534e-03 -6.14542141e+00] [-3.17969722e-02 1.21730574e-05 9.99494348e-01 -1.60412505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:49.46, Y:-6.15, Z:-1.60 [[ 9.81271441e-01 1.89906295e-01 3.22793726e-02 4.94573417e+01] [-1.89803129e-01 9.81802220e-01 -6.25884175e-03 -6.15022748e+00] [-3.28805532e-02 1.48967268e-05 9.99459288e-01 -1.60480773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09401273899999 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:49.49, Y:-6.16, Z:-1.61 [[ 9.81372202e-01 1.89386279e-01 3.22713435e-02 4.94851115e+01] [-1.89282949e-01 9.81902661e-01 -6.25529923e-03 -6.15542024e+00] [-3.28719859e-02 3.03617202e-05 9.99459570e-01 -1.60581472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:49.51, Y:-6.16, Z:-1.61 [[ 9.81605817e-01 1.88429512e-01 3.07301114e-02 4.95134672e+01] [-1.88335406e-01 9.82086715e-01 -5.95475785e-03 -6.16149715e+00] [-3.13016862e-02 5.76569303e-05 9.99509980e-01 -1.60681935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154012738999995 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:49.54, Y:-6.17, Z:-1.61 [[ 9.81944585e-01 1.86944036e-01 2.89268007e-02 4.95415840e+01] [-1.86860048e-01 9.82370560e-01 -5.60400167e-03 -6.16554769e+00] [-2.94644721e-02 9.75557361e-05 9.99565823e-01 -1.60804130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:49.57, Y:-6.17, Z:-1.61 [[ 9.82059225e-01 1.86356186e-01 2.88279625e-02 4.95697692e+01] [-1.86272558e-01 9.82482244e-01 -5.58346296e-03 -6.17052303e+00] [-2.93634741e-02 1.13432979e-04 9.99568794e-01 -1.60903819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214012739 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:49.60, Y:-6.18, Z:-1.61 [[ 9.82371260e-01 1.84541685e-01 2.98508749e-02 4.95983542e+01] [-1.84451224e-01 9.82824672e-01 -5.78006659e-03 -6.17707114e+00] [-3.04048396e-02 1.72140889e-04 9.99537651e-01 -1.60991407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:49.63, Y:-6.18, Z:-1.61 [[ 9.82645660e-01 1.82931243e-01 3.07191753e-02 4.96254241e+01] [-1.82834703e-01 9.83125683e-01 -5.94666576e-03 -6.18317550e+00] [-3.12886411e-02 2.26934019e-04 9.99510365e-01 -1.61036603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27401273899999 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:49.65, Y:-6.19, Z:-1.61 [[ 9.82991898e-01 1.81028388e-01 3.09136181e-02 4.96541763e+01] [-1.80929740e-01 9.83477829e-01 -5.98241030e-03 -6.19020854e+00] [-3.14858441e-02 2.87467977e-04 9.99504157e-01 -1.61175452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:49.68, Y:-6.20, Z:-1.61 [[ 9.83535145e-01 1.78360692e-01 2.90874747e-02 4.96809150e+01] [-1.78272210e-01 9.83965112e-01 -5.62835504e-03 -6.20028637e+00] [-2.96249376e-02 3.50196587e-04 9.99561024e-01 -1.61359300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334012738999995 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:49.71, Y:-6.21, Z:-1.61 [[ 9.83430347e-01 1.79294138e-01 2.68023262e-02 4.97099902e+01] [-1.79219378e-01 9.83795469e-01 -5.18559413e-03 -6.20849668e+00] [-2.72977537e-02 2.96174414e-04 9.99627303e-01 -1.61452430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:49.74, Y:-6.21, Z:-1.62 [[ 9.83159853e-01 1.80792014e-01 2.66636742e-02 4.97374764e+01] [-1.80718589e-01 9.83521318e-01 -5.15829288e-03 -6.21395663e+00] [-2.71568702e-02 2.52804895e-04 9.99631152e-01 -1.61611424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:49.77, Y:-6.22, Z:-1.62 [[ 9.82792583e-01 1.82720787e-01 2.70527666e-02 4.97656383e+01] [-1.82645981e-01 9.83164825e-01 -5.23183674e-03 -6.22082023e+00] [-2.75532938e-02 2.00731269e-04 9.99620316e-01 -1.61665464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:49.79, Y:-6.23, Z:-1.62 [[ 9.82114613e-01 1.86124647e-01 2.84341820e-02 4.97933495e+01] [-1.86043472e-01 9.82526134e-01 -5.49753854e-03 -6.22986912e+00] [-2.89605543e-02 1.09218998e-04 9.99580549e-01 -1.61716503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45401273899999 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:49.82, Y:-6.24, Z:-1.62 [[ 9.81759469e-01 1.88214386e-01 2.69014834e-02 4.98204481e+01] [-1.88142543e-01 9.82127967e-01 -5.20003515e-03 -6.23594913e+00] [-2.73994206e-02 4.38702416e-05 9.99624564e-01 -1.61712289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:49.85, Y:-6.24, Z:-1.62 [[ 9.81517396e-01 1.89558740e-01 2.62885029e-02 4.98476500e+01] [-1.89490662e-01 9.81869382e-01 -5.07984686e-03 -6.24158551e+00] [-2.67748054e-02 4.53226366e-06 9.99641491e-01 -1.61775996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514012738999995 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:49.88, Y:-6.25, Z:-1.62 [[ 9.80993522e-01 1.92149340e-01 2.70248273e-02 4.98755662e+01] [-1.92078429e-01 9.81365694e-01 -5.22024717e-03 -6.24829821e+00] [-2.75243055e-02 -6.98577056e-05 9.99621132e-01 -1.61820678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:49.90, Y:-6.25, Z:-1.62 [[ 9.80798395e-01 1.92995138e-01 2.80603741e-02 4.99043531e+01] [-1.92919073e-01 9.81199708e-01 -5.41885531e-03 -6.25319633e+00] [-2.85786436e-02 -9.85767775e-05 9.99591542e-01 -1.61825927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574012739 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:49.93, Y:-6.26, Z:-1.62 [[ 9.80482911e-01 1.94479945e-01 2.88238209e-02 4.99324547e+01] [-1.94400368e-01 9.80906483e-01 -5.56486018e-03 -6.25591575e+00] [-2.93557265e-02 -1.47111076e-04 9.99569017e-01 -1.62005890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:49.96, Y:-6.26, Z:-1.62 [[ 9.80313915e-01 1.95401888e-01 2.83324924e-02 4.99604972e+01] [-1.95325441e-01 9.80723239e-01 -5.46810189e-03 -6.26034962e+00] [-2.88548112e-02 -1.73600200e-04 9.99583598e-01 -1.62074455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63401273899999 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:49.99, Y:-6.26, Z:-1.62 [[ 9.80159610e-01 1.96125611e-01 2.86685154e-02 4.99888765e+01] [-1.96047691e-01 9.80578760e-01 -5.53152823e-03 -6.26498424e+00] [-2.91966116e-02 -1.98615683e-04 9.99573668e-01 -1.62164238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:50.02, Y:-6.27, Z:-1.62 [[ 9.80101317e-01 1.96319303e-01 2.93281377e-02 5.00166639e+01] [-1.96237884e-01 9.80539998e-01 -5.65737149e-03 -6.26826688e+00] [-2.98680633e-02 -2.10494438e-04 9.99553828e-01 -1.62088429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694012738999994 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:50.04, Y:-6.27, Z:-1.62 [[ 9.80175788e-01 1.95855469e-01 2.99342512e-02 5.00449519e+01] [-1.95770495e-01 9.80632752e-01 -5.77225719e-03 -6.27243675e+00] [-3.04850353e-02 -2.02416452e-04 9.99535203e-01 -1.62178402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:50.07, Y:-6.28, Z:-1.62 [[ 9.80688244e-01 1.93255157e-01 3.00501639e-02 5.00732525e+01] [-1.93168348e-01 9.81148525e-01 -5.79313882e-03 -6.27647695e+00] [-3.06032279e-02 -1.23477371e-04 9.99531604e-01 -1.62213710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754012739 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:50.10, Y:-6.28, Z:-1.62 [[ 9.81133194e-01 1.90970701e-01 3.01304943e-02 5.01004160e+01] [-1.90882394e-01 9.81595736e-01 -5.80715486e-03 -6.28143324e+00] [-3.06849612e-02 -5.37884901e-05 9.99529104e-01 -1.62348755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:50.13, Y:-6.29, Z:-1.62 [[ 9.81893571e-01 1.86884616e-01 3.09702254e-02 5.01283035e+01] [-1.86789345e-01 9.82381868e-01 -5.96704573e-03 -6.28715095e+00] [-3.15397369e-02 7.40957253e-05 9.99502496e-01 -1.62385740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81401273899999 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:50.16, Y:-6.29, Z:-1.62 [[ 9.82210126e-01 1.85110070e-01 3.15837025e-02 5.01573746e+01] [-1.85010118e-01 9.82717785e-01 -6.08373164e-03 -6.29356540e+00] [-3.21640261e-02 1.32198289e-04 9.99482595e-01 -1.62406776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:50.19, Y:-6.30, Z:-1.62 [[ 9.82570410e-01 1.83100107e-01 3.20895803e-02 5.01864214e+01] [-1.82995880e-01 9.83094253e-01 -6.18038033e-03 -6.29973506e+00] [-3.26787103e-02 2.00397842e-04 9.99465888e-01 -1.62433021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874012738999994 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:50.21, Y:-6.31, Z:-1.63 [[ 9.82571119e-01 1.83171317e-01 3.16585608e-02 5.02147051e+01] [-1.83069934e-01 9.83080989e-01 -6.09659432e-03 -6.30567758e+00] [-3.22396505e-02 1.94606871e-04 9.99480148e-01 -1.62508137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:50.24, Y:-6.31, Z:-1.63 [[ 9.82203919e-01 1.85216629e-01 3.11490115e-02 5.02433320e+01] [-1.85119548e-01 9.82697708e-01 -5.99734151e-03 -6.31162652e+00] [-3.17208696e-02 1.24321410e-04 9.99496759e-01 -1.62573038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934012738999996 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:50.27, Y:-6.32, Z:-1.63 [[ 9.81882356e-01 1.86938556e-01 3.10002479e-02 5.02720985e+01] [-1.86843281e-01 9.82371606e-01 -5.96794210e-03 -6.31727512e+00] [-3.15694018e-02 6.76290160e-05 9.99501560e-01 -1.62612379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:50.30, Y:-6.32, Z:-1.63 [[ 9.81390249e-01 1.89476856e-01 3.11721094e-02 5.03008084e+01] [-1.89381826e-01 9.81885187e-01 -6.00025601e-03 -6.32213963e+00] [-3.17443422e-02 -1.48382695e-05 9.99496021e-01 -1.62740938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99401273899999 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:50.33, Y:-6.33, Z:-1.63 [[ 9.81250140e-01 1.90312952e-01 3.04818409e-02 5.03294395e+01] [-1.90222511e-01 9.81723474e-01 -5.86667533e-03 -6.32602780e+00] [-3.10412430e-02 -4.16563125e-05 9.99518104e-01 -1.62851999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:50.36, Y:-6.33, Z:-1.63 [[ 9.80872327e-01 1.92421833e-01 2.93822517e-02 5.03569727e+01] [-1.92338787e-01 9.81312298e-01 -5.65366865e-03 -6.32831933e+00] [-2.99210542e-02 -1.05819524e-04 9.99552259e-01 -1.62998443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054012738999994 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:50.38, Y:-6.33, Z:-1.63 [[ 9.80713152e-01 1.93211170e-01 2.95153908e-02 5.03845126e+01] [-1.93127782e-01 9.81157187e-01 -5.67745219e-03 -6.33247575e+00] [-3.00561850e-02 -1.32289928e-04 9.99548202e-01 -1.63097027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:50.41, Y:-6.33, Z:-1.63 [[ 9.80280925e-01 1.95423020e-01 2.93112697e-02 5.04136968e+01] [-1.95341823e-01 9.80719023e-01 -5.63642445e-03 -6.33430477e+00] [-2.98476069e-02 -2.00437481e-04 9.99554441e-01 -1.63091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114012738999996 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:50.44, Y:-6.34, Z:-1.63 [[ 9.80056092e-01 1.96613275e-01 2.88665337e-02 5.04413063e+01] [-1.96535076e-01 9.80481089e-01 -5.54962753e-03 -6.33568229e+00] [-2.93942208e-02 -2.34340133e-04 9.99567869e-01 -1.63194088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:50.47, Y:-6.34, Z:-1.63 [[ 9.79840820e-01 1.97684861e-01 2.88559084e-02 5.04702320e+01] [-1.97607259e-01 9.80265588e-01 -5.54508456e-03 -6.33780582e+00] [-2.93826333e-02 -2.68836746e-04 9.99568201e-01 -1.63340453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17401273899999 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:50.50, Y:-6.34, Z:-1.63 [[ 9.79848038e-01 1.97649042e-01 2.88561842e-02 5.04990340e+01] [-1.97571466e-01 9.80272811e-01 -5.54364859e-03 -6.34325804e+00] [-2.93826297e-02 -2.69225429e-04 9.99568201e-01 -1.63434103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:50.53, Y:-6.34, Z:-1.64 [[ 9.79543459e-01 1.99153320e-01 2.88542425e-02 5.05262714e+01] [-1.99076435e-01 9.79968293e-01 -5.54230793e-03 -6.34329584e+00] [-2.93800118e-02 -3.15268262e-04 9.99568265e-01 -1.63524215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23401273899999 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:50.55, Y:-6.34, Z:-1.64 [[ 9.79384400e-01 1.99736495e-01 3.01915355e-02 5.05538270e+01] [-1.99652680e-01 9.79849585e-01 -5.79638489e-03 -6.34227829e+00] [-3.07409132e-02 -3.50932038e-04 9.99527325e-01 -1.63614378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:50.58, Y:-6.34, Z:-1.64 [[ 9.79525294e-01 1.98861736e-01 3.13721035e-02 5.05815912e+01] [-1.98770873e-01 9.80027497e-01 -6.02037711e-03 -6.34346405e+00] [-3.19427467e-02 -3.38748735e-04 9.99489643e-01 -1.63695824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294012738999996 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:50.61, Y:-6.34, Z:-1.64 [[ 9.79806283e-01 1.97293280e-01 3.24809168e-02 5.06083240e+01] [-1.97195101e-01 9.80344466e-01 -6.23061521e-03 -6.34494720e+00] [-3.30717455e-02 -3.00281745e-04 9.99452935e-01 -1.63743439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:50.64, Y:-6.34, Z:-1.64 [[ 9.80493781e-01 1.93884475e-01 3.22607472e-02 5.06367126e+01] [-1.93785890e-01 9.81024350e-01 -6.18493266e-03 -6.34430609e+00] [-3.28477409e-02 -1.87389605e-04 9.99460350e-01 -1.63863830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354012739 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:50.67, Y:-6.35, Z:-1.64 [[ 9.80864277e-01 1.92066904e-01 3.18680814e-02 5.06653306e+01] [-1.91969817e-01 9.81381826e-01 -6.10745758e-03 -6.34743043e+00] [-3.24477964e-02 -1.27122800e-04 9.99473424e-01 -1.63990310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:50.69, Y:-6.35, Z:-1.64 [[ 9.81599897e-01 1.88505082e-01 3.04545008e-02 5.06934617e+01] [-1.88414750e-01 9.82072214e-01 -5.83507458e-03 -6.35016907e+00] [-3.10084602e-02 -1.03685404e-05 9.99519122e-01 -1.64198481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41401273899999 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:50.72, Y:-6.36, Z:-1.64 [[ 9.82074410e-01 1.85929427e-01 3.09855010e-02 5.07194913e+01] [-1.85834697e-01 9.82563099e-01 -5.93482827e-03 -6.35526875e+00] [-3.15486691e-02 7.02617758e-05 9.99502214e-01 -1.64302605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.36, Z:-1.64 [[ 9.82960191e-01 1.80759965e-01 3.33930914e-02 5.07473171e+01] [-1.80647079e-01 9.83527210e-01 -6.39222790e-03 -6.36248914e+00] [-3.39984729e-02 2.50941131e-04 9.99421853e-01 -1.64154351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474012738999996 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:50.77, Y:-6.37, Z:-1.64 [[ 9.83367176e-01 1.78371176e-01 3.42450042e-02 5.07738289e+01] [-1.78251070e-01 9.83963215e-01 -6.55347981e-03 -6.36969333e+00] [-3.48647763e-02 3.40268285e-04 9.99391981e-01 -1.64223269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:50.80, Y:-6.38, Z:-1.64 [[ 9.84184637e-01 1.73703524e-01 3.47517681e-02 5.08008554e+01] [-1.73577006e-01 9.84797860e-01 -6.64818129e-03 -6.38252492e+00] [-3.53782794e-02 5.10930031e-04 9.99373862e-01 -1.64373203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.39, Z:-1.65 [[ 9.84444663e-01 1.72207482e-01 3.48322918e-02 5.08288467e+01] [-1.72079483e-01 9.85060538e-01 -6.66237317e-03 -6.39148726e+00] [-3.54592266e-02 5.64814935e-04 9.99370964e-01 -1.64509822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:50.86, Y:-6.40, Z:-1.65 [[ 9.84498447e-01 1.72086724e-01 3.38964178e-02 5.08561505e+01] [-1.71965470e-01 9.85081648e-01 -6.48256341e-03 -6.40430028e+00] [-3.45063022e-02 5.53060201e-04 9.99404327e-01 -1.64640886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59401273899999 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:50.88, Y:-6.41, Z:-1.65 [[ 9.84364518e-01 1.73096712e-01 3.26193884e-02 5.08841146e+01] [-1.72985005e-01 9.84904706e-01 -6.23757206e-03 -6.41392599e+00] [-3.32066924e-02 4.97379554e-04 9.99448382e-01 -1.64787882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:50.91, Y:-6.43, Z:-1.65 [[ 9.83965192e-01 1.75745156e-01 3.04325727e-02 5.09118650e+01] [-1.75649215e-01 9.84435623e-01 -5.81869875e-03 -6.42838593e+00] [-3.09815168e-02 3.79939506e-04 9.99519885e-01 -1.64898372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654012738999995 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:50.94, Y:-6.44, Z:-1.65 [[ 9.83724474e-01 1.77129146e-01 3.01897991e-02 5.09396397e+01] [-1.77035393e-01 9.84187561e-01 -5.77194330e-03 -6.43727395e+00] [-3.07348041e-02 3.33338960e-04 9.99527519e-01 -1.64983882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:50.97, Y:-6.45, Z:-1.65 [[ 9.83382127e-01 1.78987295e-01 3.03832207e-02 5.09686166e+01] [-1.78893257e-01 9.83851347e-01 -5.80778959e-03 -6.44545763e+00] [-3.09320932e-02 2.75923179e-04 9.99521450e-01 -1.64994101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714012739 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:51.00, Y:-6.45, Z:-1.65 [[ 9.82302158e-01 1.84776573e-01 3.06608712e-02 5.09965888e+01] [-1.84683647e-01 9.82780550e-01 -5.86011872e-03 -6.45441702e+00] [-3.12157205e-02 9.38457318e-05 9.99512666e-01 -1.65052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:51.02, Y:-6.46, Z:-1.65 [[ 9.81278290e-01 1.90127595e-01 3.07313536e-02 5.10239888e+01] [-1.90036898e-01 9.81759386e-01 -5.87247513e-03 -6.46362837e+00] [-3.12873144e-02 -7.75587570e-05 9.99510429e-01 -1.65207203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77401273899999 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:51.05, Y:-6.47, Z:-1.65 [[ 9.80868217e-01 1.92414643e-01 2.95659780e-02 5.10513074e+01] [-1.92331773e-01 9.81313703e-01 -5.64845948e-03 -6.46987260e+00] [-3.01003457e-02 -1.46082596e-04 9.99546871e-01 -1.65310146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:51.08, Y:-6.48, Z:-1.66 [[ 9.80144927e-01 1.96137659e-01 2.90850748e-02 5.10797865e+01] [-1.96059152e-01 9.80576337e-01 -5.55487740e-03 -6.47592390e+00] [-2.96096567e-02 -2.57810193e-04 9.99561505e-01 -1.65505604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834012738999995 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:51.11, Y:-6.48, Z:-1.66 [[ 9.79895783e-01 1.97288067e-01 2.96929837e-02 5.11083164e+01] [-1.97206815e-01 9.80345515e-01 -5.66952786e-03 -6.48197754e+00] [-3.02279136e-02 -3.00112310e-04 9.99542987e-01 -1.65636109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:51.14, Y:-6.49, Z:-1.66 [[ 9.79814287e-01 1.97617329e-01 3.01886285e-02 5.11352935e+01] [-1.97533542e-01 9.80279190e-01 -5.76271180e-03 -6.48793760e+00] [-3.07320961e-02 -3.16879383e-04 9.99527607e-01 -1.65690197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894012739 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:51.16, Y:-6.49, Z:-1.66 [[ 9.79772885e-01 1.97738172e-01 3.07361255e-02 5.11634847e+01] [-1.97651441e-01 9.80254818e-01 -5.86520085e-03 -6.49379153e+00] [-3.12890092e-02 -3.28474731e-04 9.99510325e-01 -1.65820699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:51.19, Y:-6.50, Z:-1.66 [[ 9.79691415e-01 1.97938112e-01 3.20192987e-02 5.11921969e+01] [-1.97844145e-01 9.80214457e-01 -6.10846762e-03 -6.49895956e+00] [-3.25948780e-02 -3.50417477e-04 9.99468584e-01 -1.65792178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95401273899999 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:51.22, Y:-6.50, Z:-1.66 [[ 9.79300534e-01 1.99365873e-01 3.49816120e-02 5.12207207e+01] [-1.99254686e-01 9.79925027e-01 -6.67174685e-03 -6.50422632e+00] [-3.56094758e-02 -4.36604862e-04 9.99365686e-01 -1.65669798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:51.25, Y:-6.51, Z:-1.66 [[ 9.79021908e-01 2.00518630e-01 3.61715746e-02 5.12480906e+01] [-2.00400602e-01 9.79689763e-01 -6.89682787e-03 -6.50807959e+00] [-3.68198638e-02 -4.96659758e-04 9.99321795e-01 -1.65741800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014012738999995 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:51.28, Y:-6.51, Z:-1.66 [[ 9.78903728e-01 2.01240221e-01 3.53534251e-02 5.12765863e+01] [-2.01128018e-01 9.79541785e-01 -6.73877769e-03 -6.51280823e+00] [-3.59862703e-02 -5.13949721e-04 9.99352152e-01 -1.65909568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:51.30, Y:-6.52, Z:-1.66 [[ 9.78484248e-01 2.03760592e-01 3.24067514e-02 5.13041543e+01] [-2.03667746e-01 9.79020587e-01 -6.17565992e-03 -6.51658681e+00] [-3.29852329e-02 -5.57424057e-04 9.99455684e-01 -1.66165754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074012739 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:51.33, Y:-6.52, Z:-1.66 [[ 9.78253914e-01 2.05055126e-01 3.11717104e-02 5.13317147e+01] [-2.04969937e-01 9.78750254e-01 -5.93850693e-03 -6.52057230e+00] [-3.17270408e-02 -5.79895869e-04 9.99496402e-01 -1.66300599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:51.36, Y:-6.52, Z:-1.66 [[ 9.78080398e-01 2.06001568e-01 3.03659184e-02 5.13605991e+01] [-2.05921237e-01 9.78551480e-01 -5.78324074e-03 -6.52450527e+00] [-3.09059711e-02 -5.96513089e-04 9.99522118e-01 -1.66433488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13401273899999 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:51.39, Y:-6.53, Z:-1.67 [[ 9.77975629e-01 2.06535024e-01 3.01156454e-02 5.13874425e+01] [-2.06456307e-01 9.78439018e-01 -5.73419997e-03 -6.52625115e+00] [-3.06506356e-02 -6.09657095e-04 9.99529973e-01 -1.66506516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:51.42, Y:-6.53, Z:-1.67 [[ 9.78073269e-01 2.05929627e-01 3.10752148e-02 5.14153008e+01] [-2.05845592e-01 9.78566612e-01 -5.91424802e-03 -6.52818228e+00] [-3.16270866e-02 -6.12128090e-04 9.99499551e-01 -1.66612384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194012738999994 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:51.44, Y:-6.53, Z:-1.67 [[ 9.78078953e-01 2.05800817e-01 3.17424826e-02 5.14431914e+01] [-2.05713140e-01 9.78593703e-01 -6.03895887e-03 -6.53082283e+00] [-3.23058162e-02 -6.23267181e-04 9.99477837e-01 -1.66717163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:51.47, Y:-6.53, Z:-1.67 [[ 9.78001865e-01 2.05879784e-01 3.35539432e-02 5.14718178e+01] [-2.05781930e-01 9.78577066e-01 -6.38149162e-03 -6.53132936e+00] [-3.41489394e-02 -6.63684473e-04 9.99416535e-01 -1.66816305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:51.50, Y:-6.53, Z:-1.67 [[ 9.77962511e-01 2.06077200e-01 3.34890254e-02 5.14997698e+01] [-2.05979919e-01 9.78535506e-01 -6.36683458e-03 -6.53387944e+00] [-3.40822598e-02 -6.71541192e-04 9.99418805e-01 -1.66863917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:51.53, Y:-6.54, Z:-1.67 [[ 9.77863880e-01 2.06603771e-01 3.31227248e-02 5.15276176e+01] [-2.06508973e-01 9.78424455e-01 -6.29527550e-03 -6.53560784e+00] [-3.37087116e-02 -6.84217352e-04 9.99431466e-01 -1.66905920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31401273899999 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:51.56, Y:-6.53, Z:-1.67 [[ 9.77467479e-01 2.08671489e-01 3.18360983e-02 5.15565178e+01] [-2.08585077e-01 9.77985521e-01 -6.04862701e-03 -6.53373994e+00] [-3.23974192e-02 -7.28198843e-04 9.99474801e-01 -1.67087808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:51.58, Y:-6.53, Z:-1.67 [[ 9.76929661e-01 2.11065715e-01 3.25530636e-02 5.15846384e+01] [-2.10976770e-01 9.77471523e-01 -6.18256066e-03 -6.53431363e+00] [-3.31246192e-02 -8.28013316e-04 9.99450886e-01 -1.67266198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374012738999994 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:51.61, Y:-6.54, Z:-1.67 [[ 9.76686554e-01 2.12097987e-01 3.31333501e-02 5.16111087e+01] [-2.12006516e-01 9.77248008e-01 -6.29036752e-03 -6.53738426e+00] [-3.37136747e-02 -8.80768749e-04 9.99431144e-01 -1.67389058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:51.64, Y:-6.54, Z:-1.67 [[ 9.76494566e-01 2.12870557e-01 3.38303021e-02 5.16393253e+01] [-2.12775800e-01 9.77079966e-01 -6.41862896e-03 -6.54014844e+00] [-3.44212476e-02 -9.30513315e-04 9.99406980e-01 -1.67456529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434012738999996 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:51.67, Y:-6.54, Z:-1.68 [[ 9.76581414e-01 2.12661690e-01 3.26151351e-02 5.16687727e+01] [-2.12573574e-01 9.77125483e-01 -6.18594310e-03 -6.53636477e+00] [-3.31845927e-02 -8.92038771e-04 9.99448842e-01 -1.67521548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:51.70, Y:-6.54, Z:-1.68 [[ 9.76748165e-01 2.12232872e-01 3.03353108e-02 5.16973560e+01] [-2.12156498e-01 9.77218777e-01 -5.75163426e-03 -6.53587070e+00] [-3.08649211e-02 -8.17935092e-04 9.99523230e-01 -1.67633733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49401273899999 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:51.72, Y:-6.54, Z:-1.68 [[ 9.76849522e-01 2.11794527e-01 3.01345420e-02 5.17236881e+01] [-2.11719018e-01 9.77313889e-01 -5.71144508e-03 -6.53970660e+00] [-3.06605592e-02 -8.00833239e-04 9.99529534e-01 -1.67736333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:51.75, Y:-6.54, Z:-1.68 [[ 9.76932227e-01 2.11328621e-01 3.07186869e-02 5.17518695e+01] [-2.11250055e-01 9.77414735e-01 -5.81799572e-03 -6.54330749e+00] [-3.12544063e-02 -8.05536790e-04 9.99511137e-01 -1.67795326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554012738999994 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:51.78, Y:-6.54, Z:-1.68 [[ 9.77465250e-01 2.08740123e-01 3.14522978e-02 5.17790749e+01] [-2.08656495e-01 9.77970864e-01 -5.95455814e-03 -6.54391596e+00] [-3.20023860e-02 -7.42352577e-04 9.99487517e-01 -1.67786423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:51.81, Y:-6.55, Z:-1.68 [[ 9.77836540e-01 2.07035802e-01 3.11749598e-02 5.18066179e+01] [-2.06952862e-01 9.78333128e-01 -5.89940680e-03 -6.54759281e+00] [-3.17208844e-02 -6.83091614e-04 9.99496533e-01 -1.67911911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614012738999996 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.55, Z:-1.68 [[ 9.78708349e-01 2.02723334e-01 3.21437125e-02 5.18335596e+01] [-2.02632911e-01 9.79235893e-01 -6.08029551e-03 -6.55223620e+00] [-3.27088948e-02 -5.62538064e-04 9.99464763e-01 -1.68004100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:51.86, Y:-6.56, Z:-1.68 [[ 9.79150040e-01 2.00330484e-01 3.36585393e-02 5.18607255e+01] [-2.00230023e-01 9.79728248e-01 -6.36388121e-03 -6.55765828e+00] [-3.42511012e-02 -5.08255554e-04 9.99413130e-01 -1.68059770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67401273899999 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:51.89, Y:-6.56, Z:-1.68 [[ 9.80236046e-01 1.94832601e-01 3.43154840e-02 5.18867498e+01] [-1.94724898e-01 9.80836455e-01 -6.48551785e-03 -6.56336867e+00] [-3.49214680e-02 -3.24740771e-04 9.99390007e-01 -1.68056917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:51.91, Y:-6.57, Z:-1.68 [[ 9.80849183e-01 1.91918069e-01 3.32014201e-02 5.19143773e+01] [-1.91815668e-01 9.81410927e-01 -6.27227462e-03 -6.57004703e+00] [-3.37879994e-02 -2.16397142e-04 9.99428999e-01 -1.68189655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73401273899999 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:51.94, Y:-6.58, Z:-1.68 [[ 9.81935117e-01 1.86572531e-01 3.15296049e-02 5.19411807e+01] [-1.86477498e-01 9.82441189e-01 -5.95423863e-03 -6.57971405e+00] [-3.20868799e-02 -3.28858498e-05 9.99485083e-01 -1.68265217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:51.97, Y:-6.59, Z:-1.68 [[ 9.82336061e-01 1.84362558e-01 3.20360691e-02 5.19682601e+01] [-1.84263341e-01 9.82858304e-01 -6.04774431e-03 -6.58696239e+00] [-3.26018941e-02 3.78441942e-05 9.99468416e-01 -1.68336348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794012738999996 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:52.00, Y:-6.60, Z:-1.68 [[ 9.83020509e-01 1.80385136e-01 3.36434357e-02 5.19951778e+01] [-1.80273450e-01 9.83596041e-01 -6.34913599e-03 -6.59713576e+00] [-3.42368399e-02 1.76312688e-04 9.99413732e-01 -1.68416858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:52.02, Y:-6.61, Z:-1.69 [[ 9.83190514e-01 1.79259038e-01 3.46786710e-02 5.20223487e+01] [-1.79139732e-01 9.83801885e-01 -6.54274174e-03 -6.60543496e+00] [-3.52897875e-02 2.20433786e-04 9.99377097e-01 -1.68528855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854012739 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:52.05, Y:-6.62, Z:-1.69 [[ 9.83303637e-01 1.78567703e-01 3.50361693e-02 5.20497833e+01] [-1.78445559e-01 9.83927596e-01 -6.60812142e-03 -6.61580228e+00] [-3.56530509e-02 2.45740999e-04 9.99364198e-01 -1.68539250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:52.08, Y:-6.62, Z:-1.69 [[ 9.83258623e-01 1.78927000e-01 3.44617110e-02 5.20781161e+01] [-1.78809108e-01 9.83862326e-01 -6.49815144e-03 -6.62249346e+00] [-3.50682739e-02 2.27295618e-04 9.99384893e-01 -1.68624805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91401273899999 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:52.11, Y:-6.63, Z:-1.69 [[ 9.83201037e-01 1.79445541e-01 3.33919081e-02 5.21053176e+01] [-1.79335210e-01 9.83767888e-01 -6.29485236e-03 -6.62872997e+00] [-3.39794701e-02 2.00760526e-04 9.99422511e-01 -1.68797797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:52.13, Y:-6.64, Z:-1.69 [[ 9.83304438e-01 1.79118969e-01 3.20745700e-02 5.21325734e+01] [-1.79017059e-01 9.83827401e-01 -6.04468838e-03 -6.63801664e+00] [-3.26385592e-02 2.01873713e-04 9.99467200e-01 -1.69046718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974012738999996 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:52.16, Y:-6.65, Z:-1.69 [[ 9.83702172e-01 1.76964435e-01 3.18374769e-02 5.21600821e+01] [-1.76862948e-01 9.84217210e-01 -5.99849511e-03 -6.64975726e+00] [-3.23965129e-02 2.69862661e-04 9.99475059e-01 -1.69109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:52.19, Y:-6.66, Z:-1.69 [[ 9.83880748e-01 1.75996106e-01 3.16866708e-02 5.21883064e+01] [-1.75895124e-01 9.84390817e-01 -5.96857934e-03 -6.65828641e+00] [-3.22425144e-02 2.98839429e-04 9.99480030e-01 -1.69109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:52.22, Y:-6.67, Z:-1.69 [[ 9.83885672e-01 1.76001882e-01 3.15011305e-02 5.22169930e+01] [-1.75902107e-01 9.84389785e-01 -5.93286631e-03 -6.66652329e+00] [-3.20535868e-02 2.96146908e-04 9.99486108e-01 -1.69184870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:52.25, Y:-6.67, Z:-1.69 [[ 9.83892604e-01 1.75963104e-01 3.15012712e-02 5.22466270e+01] [-1.75863333e-01 9.84396718e-01 -5.93211914e-03 -6.67205470e+00] [-3.20535821e-02 2.96649599e-04 9.99486108e-01 -1.69281173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09401273899999 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:52.27, Y:-6.68, Z:-1.69 [[ 9.83620741e-01 1.77544184e-01 3.11175145e-02 5.22742510e+01] [-1.77447660e-01 9.84112801e-01 -5.85859409e-03 -6.68233647e+00] [-3.16633036e-02 2.40904526e-04 9.99498563e-01 -1.69462845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:52.30, Y:-6.69, Z:-1.70 [[ 9.83293203e-01 1.79264523e-01 3.16023415e-02 5.23024806e+01] [-1.79165881e-01 9.83800892e-01 -5.94908111e-03 -6.69006129e+00] [-3.21568710e-02 1.87629655e-04 9.99482816e-01 -1.69638557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154012738999995 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:52.33, Y:-6.70, Z:-1.70 [[ 9.82611689e-01 1.82859679e-01 3.21963651e-02 5.23306817e+01] [-1.82759270e-01 9.83139020e-01 -6.05940661e-03 -6.69864933e+00] [-3.27615239e-02 6.98596001e-05 9.99463195e-01 -1.69663588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:52.36, Y:-6.70, Z:-1.70 [[ 9.82225291e-01 1.84846478e-01 3.26382659e-02 5.23586820e+01] [-1.84744416e-01 9.82767409e-01 -6.14177215e-03 -6.70493186e+00] [-3.32111090e-02 2.86657502e-06 9.99448359e-01 -1.69715023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214012739 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:52.39, Y:-6.71, Z:-1.70 [[ 9.81344457e-01 1.89237762e-01 3.39429757e-02 5.23868481e+01] [-1.89130042e-01 9.81931284e-01 -6.38600865e-03 -6.71305548e+00] [-3.45381437e-02 -1.52762230e-04 9.99403369e-01 -1.69746231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:52.41, Y:-6.72, Z:-1.70 [[ 9.80782517e-01 1.92272757e-01 3.31185836e-02 5.24146027e+01] [-1.92171987e-01 9.81341491e-01 -6.22939360e-03 -6.72201739e+00] [-3.36983829e-02 -2.54783688e-04 9.99432016e-01 -1.69857654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27401273899999 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:52.44, Y:-6.73, Z:-1.70 [[ 9.80582083e-01 1.93399575e-01 3.24866662e-02 5.24431147e+01] [-1.93303270e-01 9.81120034e-01 -6.10938850e-03 -6.72883547e+00] [-3.30548721e-02 -2.89021918e-04 9.99453497e-01 -1.70031799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:52.47, Y:-6.73, Z:-1.70 [[ 9.80349365e-01 1.94610546e-01 3.22778299e-02 5.24713593e+01] [-1.94516182e-01 9.80880537e-01 -6.06859818e-03 -6.73494140e+00] [-3.28417083e-02 -3.29213854e-04 9.99460511e-01 -1.70113727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334012738999995 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:52.50, Y:-6.74, Z:-1.70 [[ 9.79892249e-01 1.96810964e-01 3.28119628e-02 5.24995530e+01] [-1.96714736e-01 9.80441368e-01 -6.16743046e-03 -6.74112356e+00] [-3.33840236e-02 -4.11179304e-04 9.99442514e-01 -1.70118997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:52.53, Y:-6.75, Z:-1.70 [[ 9.79732352e-01 1.97514455e-01 3.33550274e-02 5.25277930e+01] [-1.97415477e-01 9.80299874e-01 -6.26788904e-03 -6.74743245e+00] [-3.39359278e-02 -4.43944964e-04 9.99423912e-01 -1.70223507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394012739 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:52.55, Y:-6.75, Z:-1.70 [[ 9.79463018e-01 1.98826260e-01 3.34711129e-02 5.25545813e+01] [-1.98727413e-01 9.80034630e-01 -6.28806831e-03 -6.75338199e+00] [-3.40530828e-02 -4.92697307e-04 9.99419904e-01 -1.70213358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:52.58, Y:-6.76, Z:-1.70 [[ 9.79208717e-01 1.99920860e-01 3.43793440e-02 5.25819498e+01] [-1.99817322e-01 9.79811895e-01 -6.45658690e-03 -6.75580141e+00] [-3.49760966e-02 -5.47242264e-04 9.99387999e-01 -1.70322853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45401273899999 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:52.61, Y:-6.76, Z:-1.70 [[ 9.79057430e-01 2.00545566e-01 3.50431862e-02 5.26104452e+01] [-2.00438464e-01 9.79684203e-01 -6.57918414e-03 -6.76071617e+00] [-3.56506821e-02 -5.82603283e-04 9.99364143e-01 -1.70425639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:52.64, Y:-6.77, Z:-1.70 [[ 9.79036690e-01 2.00813637e-01 3.40740688e-02 5.26392589e+01] [-2.00712595e-01 9.79629292e-01 -6.39565739e-03 -6.76586346e+00] [-3.46642911e-02 -5.77511539e-04 9.99398846e-01 -1.70481326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514012738999995 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:52.67, Y:-6.77, Z:-1.71 [[ 9.79099339e-01 2.00831921e-01 3.21095640e-02 5.26681473e+01] [-2.00742255e-01 9.79625562e-01 -6.02543911e-03 -6.76995882e+00] [-3.26654502e-02 -5.46242847e-04 9.99466193e-01 -1.70643155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:52.70, Y:-6.77, Z:-1.71 [[ 9.79143994e-01 2.00953040e-01 2.99151129e-02 5.26960303e+01] [-2.00875311e-01 9.79600741e-01 -5.61228177e-03 -6.77338503e+00] [-3.04326718e-02 -5.13975621e-04 9.99536687e-01 -1.70748341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574012739 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:52.72, Y:-6.78, Z:-1.71 [[ 9.78995308e-01 2.01829996e-01 2.88589578e-02 5.27242193e+01] [-2.01758092e-01 9.79420430e-01 -5.41241687e-03 -6.77517936e+00] [-2.93574409e-02 -5.23797537e-04 9.99568840e-01 -1.70935846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:52.75, Y:-6.78, Z:-1.71 [[ 9.78912552e-01 2.02194284e-01 2.91150636e-02 5.27506410e+01] [-2.02121310e-01 9.79345281e-01 -5.45871419e-03 -6.77866140e+00] [-2.96174210e-02 -5.41170960e-04 9.99561161e-01 -1.70925736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63401273899999 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:52.78, Y:-6.78, Z:-1.71 [[ 9.78800671e-01 2.02563392e-01 3.02872596e-02 5.27795264e+01] [-2.02484680e-01 9.79268982e-01 -5.67583521e-03 -6.77892122e+00] [-3.08090904e-02 -5.77194778e-04 9.99525121e-01 -1.71067530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:52.81, Y:-6.78, Z:-1.71 [[ 9.78800383e-01 2.02545739e-01 3.04143522e-02 5.28085969e+01] [-2.02466423e-01 9.79272631e-01 -5.69752159e-03 -6.78060679e+00] [-3.09379514e-02 -5.81148799e-04 9.99521138e-01 -1.71202714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694012738999994 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:52.84, Y:-6.78, Z:-1.71 [[ 9.78824574e-01 2.02460390e-01 3.02033792e-02 5.28355226e+01] [-2.02382174e-01 9.79290283e-01 -5.65657922e-03 -6.78250555e+00] [-3.07231090e-02 -5.75826789e-04 9.99527768e-01 -1.71334569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:52.86, Y:-6.78, Z:-1.71 [[ 9.78783345e-01 2.02742827e-01 2.96396786e-02 5.28629754e+01] [-2.02667729e-01 9.79231849e-01 -5.54782216e-03 -6.78249215e+00] [-3.01488984e-02 -5.76890423e-04 9.99545252e-01 -1.71370182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754012739 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:52.89, Y:-6.78, Z:-1.71 [[ 9.78996746e-01 2.01558915e-01 3.06492255e-02 5.28899378e+01] [-2.01478116e-01 9.79476232e-01 -5.73414445e-03 -6.78379377e+00] [-3.11759558e-02 -5.61439430e-04 9.99513754e-01 -1.71432994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:52.92, Y:-6.79, Z:-1.71 [[ 9.79156939e-01 2.00734168e-01 3.09432196e-02 5.29173572e+01] [-2.00651480e-01 9.79645599e-01 -5.78659320e-03 -6.78720437e+00] [-3.14749559e-02 -5.42819917e-04 9.99504393e-01 -1.71474081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81401273899999 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:52.94, Y:-6.79, Z:-1.71 [[ 9.79245021e-01 2.00266299e-01 3.11864934e-02 5.29440679e+01] [-2.00182138e-01 9.79741356e-01 -5.82986865e-03 -6.78975167e+00] [-3.17222235e-02 -5.34109084e-04 9.99496581e-01 -1.71487810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:52.97, Y:-6.79, Z:-1.72 [[ 9.79533290e-01 1.98960687e-01 3.04824348e-02 5.29720928e+01] [-1.98879727e-01 9.80007353e-01 -5.69581039e-03 -6.79025484e+00] [-3.10062526e-02 -4.83102422e-04 9.99519074e-01 -1.71587854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874012738999994 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.79, Z:-1.72 [[ 9.79814226e-01 1.97598170e-01 3.03157705e-02 5.30001686e+01] [-1.97517507e-01 9.80283005e-01 -5.66252356e-03 -6.79411909e+00] [-3.08369389e-02 -4.39674290e-04 9.99524332e-01 -1.71653552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:53.03, Y:-6.80, Z:-1.72 [[ 9.80536030e-01 1.93826282e-01 3.13123892e-02 5.30276838e+01] [-1.93738378e-01 9.81035810e-01 -5.84638271e-03 -6.79713443e+00] [-3.18517578e-02 -3.33822594e-04 9.99492548e-01 -1.71684778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934012738999996 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:53.05, Y:-6.80, Z:-1.72 [[ 9.81129467e-01 1.90767227e-01 3.15092689e-02 5.30543148e+01] [-1.90676709e-01 9.81635272e-01 -5.88084190e-03 -6.80115674e+00] [-3.20524817e-02 -2.38216426e-04 9.99486159e-01 -1.71855015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:53.08, Y:-6.81, Z:-1.72 [[ 9.82602514e-01 1.83083469e-01 3.11888285e-02 5.30821191e+01] [-1.82990990e-01 9.83097372e-01 -5.81844814e-03 -6.80720770e+00] [-3.17269170e-02 9.94717792e-06 9.99496575e-01 -1.72002393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99401273899999 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:53.11, Y:-6.81, Z:-1.72 [[ 9.83454944e-01 1.78545451e-01 3.06250735e-02 5.31102534e+01] [-1.78454127e-01 9.83931654e-01 -5.71188143e-03 -6.81428338e+00] [-3.11528097e-02 1.52207266e-04 9.99514622e-01 -1.72093466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:53.14, Y:-6.82, Z:-1.72 [[ 9.84309365e-01 1.73862477e-01 3.01150042e-02 5.31380611e+01] [-1.73772021e-01 9.84769898e-01 -5.61534241e-03 -6.82192174e+00] [-3.06326470e-02 2.94088967e-04 9.99530667e-01 -1.72189663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054012738999994 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:53.17, Y:-6.83, Z:-1.72 [[ 9.85791085e-01 1.65253760e-01 3.01186110e-02 5.31661173e+01] [-1.65159307e-01 9.86250922e-01 -5.61450111e-03 -6.83180296e+00] [-3.06323252e-02 5.60356232e-04 9.99530563e-01 -1.72356302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:53.19, Y:-6.84, Z:-1.73 [[ 9.86603925e-01 1.60681926e-01 2.81782610e-02 5.31940538e+01] [-1.60597409e-01 9.87006022e-01 -5.25210474e-03 -6.84343688e+00] [-2.86560316e-02 6.56391445e-04 9.99589116e-01 -1.72566579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114012738999996 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:53.22, Y:-6.85, Z:-1.73 [[ 9.86662649e-01 1.60593236e-01 2.65824922e-02 5.32235600e+01] [-1.60518000e-01 9.87020479e-01 -4.95430754e-03 -6.85248992e+00] [-2.70330925e-02 6.21261720e-04 9.99634346e-01 -1.72679107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:53.25, Y:-6.86, Z:-1.73 [[ 9.86548064e-01 1.61359846e-01 2.61900148e-02 5.32525291e+01] [-1.61287082e-01 9.86895461e-01 -4.88128523e-03 -6.86114314e+00] [-2.66344501e-02 5.91511422e-04 9.99645065e-01 -1.72797176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17401273899999 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:53.28, Y:-6.87, Z:-1.73 [[ 9.86167998e-01 1.63402255e-01 2.77917684e-02 5.32820663e+01] [-1.63321150e-01 9.86559365e-01 -5.17901453e-03 -6.87178642e+00] [-2.82644920e-02 5.68394827e-04 9.99600318e-01 -1.72771774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:53.31, Y:-6.88, Z:-1.73 [[ 9.85857675e-01 1.65178661e-01 2.82958466e-02 5.33097739e+01] [-1.65095316e-01 9.86263521e-01 -5.27298812e-03 -6.88289173e+00] [-2.87781464e-02 5.26904062e-04 9.99585685e-01 -1.72942030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23401273899999 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:53.34, Y:-6.89, Z:-1.73 [[ 9.85771821e-01 1.65777832e-01 2.77781702e-02 5.33387837e+01] [-1.65697758e-01 9.86162999e-01 -5.17613667e-03 -6.89189810e+00] [-2.82518924e-02 4.99709153e-04 9.99600711e-01 -1.73089810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:53.37, Y:-6.90, Z:-1.73 [[ 9.85680863e-01 1.66445269e-01 2.70038652e-02 5.33683609e+01] [-1.66369848e-01 9.86050584e-01 -5.03185399e-03 -6.90096908e+00] [-2.74647053e-02 4.67173244e-04 9.99622665e-01 -1.73236324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294012738999996 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:53.40, Y:-6.91, Z:-1.73 [[ 9.85205336e-01 1.69176427e-01 2.73821587e-02 5.33966899e+01] [-1.69099930e-01 9.85585704e-01 -5.10239192e-03 -6.91131859e+00] [-2.78506686e-02 3.96582635e-04 9.99612016e-01 -1.73297443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.92, Z:-1.73 [[ 9.84938196e-01 1.70663313e-01 2.77629732e-02 5.34260357e+01] [-1.70585274e-01 9.85329338e-01 -5.17297661e-03 -6.91782624e+00] [-2.82385093e-02 3.59107864e-04 9.99601149e-01 -1.73332728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354012739 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:53.46, Y:-6.93, Z:-1.73 [[ 9.84357195e-01 1.73871439e-01 2.84540996e-02 5.34557024e+01] [-1.73790804e-01 9.84768322e-01 -5.30175175e-03 -6.92550294e+00] [-2.89425191e-02 2.73756638e-04 9.99581040e-01 -1.73410797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:53.48, Y:-6.93, Z:-1.74 [[ 9.84159623e-01 1.75041825e-01 2.81104438e-02 5.34841259e+01] [-1.74963605e-01 9.84560970e-01 -5.23768013e-03 -6.93296924e+00] [-2.85932589e-02 2.36408724e-04 9.99591101e-01 -1.73516277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41401273899999 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.94, Z:-1.74 [[ 9.83871337e-01 1.76844085e-01 2.68953900e-02 5.35143014e+01] [-1.76773149e-01 9.84238862e-01 -5.01153530e-03 -6.94271227e+00] [-2.73577484e-02 1.76323173e-04 9.99625691e-01 -1.73680424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.95, Z:-1.74 [[ 9.83617230e-01 1.78284395e-01 2.66799399e-02 5.35427609e+01] [-1.78215098e-01 9.83978992e-01 -4.97221905e-03 -6.94905981e+00] [-2.71389694e-02 1.35992242e-04 9.99631661e-01 -1.73783325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474012738999996 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.96, Z:-1.74 [[ 9.83237822e-01 1.80273377e-01 2.72927784e-02 5.35723774e+01] [-1.80201636e-01 9.83616543e-01 -5.08603545e-03 -6.95757151e+00] [-2.77625051e-02 8.25791126e-05 9.99614544e-01 -1.73951302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.97, Z:-1.74 [[ 9.83305842e-01 1.79832283e-01 2.77483424e-02 5.36013785e+01] [-1.79757950e-01 9.83697281e-01 -5.17097455e-03 -6.96518680e+00] [-2.82258771e-02 9.66643476e-05 9.99601566e-01 -1.73995926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534012739 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.97, Z:-1.74 [[ 9.83659134e-01 1.77963747e-01 2.72692740e-02 5.36303347e+01] [-1.77891251e-01 9.84037033e-01 -5.08132342e-03 -6.97386933e+00] [-2.77382669e-02 1.47324918e-04 9.99615209e-01 -1.74033125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:53.66, Y:-6.98, Z:-1.74 [[ 9.83766425e-01 1.77445489e-01 2.67716081e-02 5.36584904e+01] [-1.77375421e-01 9.84130618e-01 -4.98864371e-03 -6.98137409e+00] [-2.72319715e-02 1.59034919e-04 9.99629128e-01 -1.74120315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59401273899999 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:53.69, Y:-6.99, Z:-1.74 [[ 9.83764061e-01 1.77459827e-01 2.67634411e-02 5.36892133e+01] [-1.77389821e-01 9.84128033e-01 -4.98663742e-03 -6.98976650e+00] [-2.72235804e-02 1.58112650e-04 9.99629357e-01 -1.74143975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:53.72, Y:-7.00, Z:-1.74 [[ 9.83458735e-01 1.78975036e-01 2.78720897e-02 5.37183048e+01] [-1.78899700e-01 9.83853608e-01 -5.19379940e-03 -6.99950090e+00] [-2.83516164e-02 1.21578901e-04 9.99598005e-01 -1.74060463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654012738999995 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:53.75, Y:-7.01, Z:-1.74 [[ 9.82843228e-01 1.82239243e-01 2.84261916e-02 5.37479918e+01] [-1.82162194e-01 9.83254218e-01 -5.29882000e-03 -7.00533242e+00] [-2.89158257e-02 2.97319092e-05 9.99581850e-01 -1.74119577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:53.78, Y:-7.01, Z:-1.74 [[ 9.82416766e-01 1.84575151e-01 2.80946935e-02 5.37765539e+01] [-1.84500833e-01 9.82818402e-01 -5.23743721e-03 -7.01095200e+00] [-2.85786825e-02 -3.81482099e-05 9.99591545e-01 -1.74242581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714012739 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:53.81, Y:-7.01, Z:-1.74 [[ 9.81458232e-01 1.89756223e-01 2.70613152e-02 5.38064394e+01] [-1.89689246e-01 9.81831219e-01 -5.04453514e-03 -7.01472134e+00] [-2.75268760e-02 -1.82239945e-04 9.99621047e-01 -1.74390433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:53.84, Y:-7.02, Z:-1.74 [[ 9.80964506e-01 1.92336470e-01 2.67454729e-02 5.38360840e+01] [-1.92272022e-01 9.81329006e-01 -4.98504708e-03 -7.01750281e+00] [-2.72049147e-02 -2.52251923e-04 9.99629846e-01 -1.74463391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77401273899999 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:53.86, Y:-7.02, Z:-1.75 [[ 9.80350863e-01 1.95465501e-01 2.65598277e-02 5.38643149e+01] [-1.95403104e-01 9.80710520e-01 -4.95001488e-03 -7.01773437e+00] [-2.70150596e-02 -3.37121414e-04 9.99634970e-01 -1.74627737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:53.89, Y:-7.02, Z:-1.75 [[ 9.80333704e-01 1.95545321e-01 2.66055878e-02 5.38930003e+01] [-1.95482786e-01 9.80694606e-01 -4.95677222e-03 -7.02166183e+00] [-2.70612300e-02 -3.41643553e-04 9.99633719e-01 -1.74744983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834012738999995 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:53.92, Y:-7.02, Z:-1.75 [[ 9.80711543e-01 1.93688728e-01 2.62592036e-02 5.39220525e+01] [-1.93627178e-01 9.81062992e-01 -4.89102872e-03 -7.02369570e+00] [-2.67092700e-02 -2.87807172e-04 9.99643202e-01 -1.74817225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:53.95, Y:-7.03, Z:-1.75 [[ 9.80913780e-01 1.92665766e-01 2.62308883e-02 5.39506168e+01] [-1.92604015e-01 9.81264406e-01 -4.88453469e-03 -7.02610137e+00] [-2.66805196e-02 -2.60867020e-04 9.99643978e-01 -1.74961680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894012739 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:53.98, Y:-7.03, Z:-1.75 [[ 9.81059382e-01 1.91823991e-01 2.69452260e-02 5.39794252e+01] [-1.91758548e-01 9.81429313e-01 -5.01629575e-03 -7.02534295e+00] [-2.74070805e-02 -2.45693407e-04 9.99624325e-01 -1.75022547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:54.01, Y:-7.03, Z:-1.75 [[ 9.81140357e-01 1.91308602e-01 2.76517479e-02 5.40080271e+01] [-1.91239525e-01 9.81529909e-01 -5.14611614e-03 -7.02885408e+00] [-2.81255138e-02 -2.39044904e-04 9.99604371e-01 -1.75099156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95401273899999 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:54.04, Y:-7.03, Z:-1.75 [[ 9.81626303e-01 1.88726243e-01 2.81461503e-02 5.40363912e+01] [-1.88653649e-01 9.82029723e-01 -5.23680190e-03 -7.03296286e+00] [-2.86286781e-02 -1.69291458e-04 9.99590101e-01 -1.75182637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:54.07, Y:-7.04, Z:-1.75 [[ 9.81632592e-01 1.88693492e-01 2.81463912e-02 5.40652269e+01] [-1.88620922e-01 9.82036016e-01 -5.23550675e-03 -7.03824086e+00] [-2.86286759e-02 -1.69654204e-04 9.99590101e-01 -1.75276284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014012738999995 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:54.09, Y:-7.04, Z:-1.75 [[ 9.81950065e-01 1.86972913e-01 2.85517044e-02 5.40939570e+01] [-1.86897538e-01 9.82365062e-01 -5.30993126e-03 -7.04246452e+00] [-2.90410102e-02 -1.22155920e-04 9.99578213e-01 -1.75349135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:54.12, Y:-7.04, Z:-1.75 [[ 9.82440886e-01 1.84386102e-01 2.84898365e-02 5.41228758e+01] [-1.84310004e-01 9.82853887e-01 -5.29711819e-03 -7.04428981e+00] [-2.89780615e-02 -4.68563795e-05 9.99580047e-01 -1.75309208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:54.15, Y:-7.05, Z:-1.75 [[ 9.82585454e-01 1.83562086e-01 2.88233639e-02 5.41500170e+01] [-1.83483878e-01 9.83008118e-01 -5.35783289e-03 -7.04891069e+00] [-2.93170957e-02 -2.40939250e-05 9.99570161e-01 -1.75417682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:54.18, Y:-7.06, Z:-1.75 [[ 9.82772239e-01 1.82479421e-01 2.93255410e-02 5.41779868e+01] [-1.82398038e-01 9.83209673e-01 -5.44931396e-03 -7.05501185e+00] [-2.98275432e-02 6.51334642e-06 9.99555060e-01 -1.75491340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13401273899999 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:54.21, Y:-7.06, Z:-1.75 [[ 9.83144580e-01 1.80270276e-01 3.04854494e-02 5.42052863e+01] [-1.80181308e-01 9.83617111e-01 -5.66342275e-03 -7.06253630e+00] [-3.10069564e-02 7.50552320e-05 9.99519166e-01 -1.75402192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:54.23, Y:-7.07, Z:-1.76 [[ 9.83498757e-01 1.78426945e-01 2.99001733e-02 5.42345443e+01] [-1.78340561e-01 9.83953154e-01 -5.55298977e-03 -7.06942692e+00] [-3.04111729e-02 1.28944844e-04 9.99537465e-01 -1.75517288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194012738999994 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:54.26, Y:-7.08, Z:-1.76 [[ 9.83661413e-01 1.77601951e-01 2.94579757e-02 5.42622884e+01] [-1.77517753e-01 9.84102395e-01 -5.47023760e-03 -7.07611866e+00] [-2.99611893e-02 1.51547999e-04 9.99551051e-01 -1.75636685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:54.29, Y:-7.08, Z:-1.76 [[ 9.83752896e-01 1.77215346e-01 2.87221317e-02 5.42915251e+01] [-1.77135166e-01 9.84172087e-01 -5.33263134e-03 -7.08319374e+00] [-2.92125444e-02 1.58291963e-04 9.99573210e-01 -1.75745525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254012739 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:54.32, Y:-7.09, Z:-1.76 [[ 9.83598326e-01 1.78314966e-01 2.71680952e-02 5.43195975e+01] [-1.78243663e-01 9.83973454e-01 -5.04358366e-03 -7.09049130e+00] [-2.76320309e-02 1.18319643e-04 9.99618156e-01 -1.75802673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:54.35, Y:-7.10, Z:-1.76 [[ 9.83322062e-01 1.79873100e-01 2.68959057e-02 5.43490312e+01] [-1.79803826e-01 9.83689820e-01 -4.99213242e-03 -7.09616671e+00] [-2.73551789e-02 7.28871995e-05 9.99625774e-01 -1.75901674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31401273899999 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:54.38, Y:-7.10, Z:-1.76 [[ 9.82651281e-01 1.83357638e-01 2.78646206e-02 5.43773976e+01] [-1.83284701e-01 9.83046274e-01 -5.17129381e-03 -7.10069765e+00] [-2.83404077e-02 -2.55801866e-05 9.99598330e-01 -1.75918573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:54.41, Y:-7.10, Z:-1.76 [[ 9.82322146e-01 1.85063372e-01 2.81912908e-02 5.44058945e+01] [-1.84989445e-01 9.82726586e-01 -5.23093997e-03 -7.10490513e+00] [-2.86723864e-02 -7.66230758e-05 9.99588860e-01 -1.76024192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374012738999994 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:54.43, Y:-7.11, Z:-1.76 [[ 9.81647997e-01 1.88721643e-01 2.74107791e-02 5.44335898e+01] [-1.88653209e-01 9.82030605e-01 -5.08500179e-03 -7.10808478e+00] [-2.78778739e-02 -1.79449627e-04 9.99611320e-01 -1.76266768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:54.46, Y:-7.11, Z:-1.76 [[ 9.81414976e-01 1.90096788e-01 2.62270162e-02 5.44609367e+01] [-1.90034665e-01 9.81765332e-01 -4.86404882e-03 -7.11176990e+00] [-2.66734153e-02 -2.10391895e-04 9.99644179e-01 -1.76395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434012738999996 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:54.49, Y:-7.12, Z:-1.77 [[ 9.81120765e-01 1.91677100e-01 2.57280599e-02 5.44890444e+01] [-1.91617896e-01 9.81458011e-01 -4.77022046e-03 -7.11520280e+00] [-2.61653525e-02 -2.49794348e-04 9.99657597e-01 -1.76516104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:54.52, Y:-7.12, Z:-1.77 [[ 9.80410858e-01 1.95264814e-01 2.58108876e-02 5.45178629e+01] [-1.95206514e-01 9.80750494e-01 -4.78389934e-03 -7.11580913e+00] [-2.62481680e-02 -3.48266540e-04 9.99655397e-01 -1.76506280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49401273899999 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:54.55, Y:-7.12, Z:-1.77 [[ 9.80218453e-01 1.96099218e-01 2.67746477e-02 5.45455626e+01] [-1.96036843e-01 9.80583983e-01 -4.96072385e-03 -7.11762200e+00] [-2.72275848e-02 -3.86224354e-04 9.99629186e-01 -1.76599254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:54.57, Y:-7.12, Z:-1.77 [[ 9.80436909e-01 1.94907076e-01 2.74717870e-02 5.45731257e+01] [-1.94840993e-01 9.80821645e-01 -5.08805857e-03 -7.12061117e+00] [-2.79366220e-02 -3.64109849e-04 9.99609630e-01 -1.76719813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554012738999994 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:54.60, Y:-7.12, Z:-1.77 [[ 9.80726927e-01 1.93309753e-01 2.83907541e-02 5.46021479e+01] [-1.93238561e-01 9.81137722e-01 -5.25630327e-03 -7.12414221e+00] [-2.88713345e-02 -3.31190335e-04 9.99583081e-01 -1.76821904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:54.63, Y:-7.13, Z:-1.77 [[ 9.81426334e-01 1.89443906e-01 3.02217953e-02 5.46307104e+01] [-1.89361445e-01 9.81891518e-01 -5.59381389e-03 -7.12712776e+00] [-3.07342384e-02 -2.32926562e-04 9.99527565e-01 -1.76815740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614012738999996 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:54.66, Y:-7.13, Z:-1.77 [[ 9.81757024e-01 1.87616477e-01 3.08739877e-02 5.46588626e+01] [-1.87529560e-01 9.82242345e-01 -5.71305703e-03 -7.13077896e+00] [-3.13976017e-02 -1.80951466e-04 9.99506957e-01 -1.76857536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:54.69, Y:-7.13, Z:-1.77 [[ 9.82411583e-01 1.84312123e-01 2.99419878e-02 5.46881622e+01] [-1.84228882e-01 9.82867761e-01 -5.53923403e-03 -7.13154241e+00] [-3.04499625e-02 -7.43712789e-05 9.99536290e-01 -1.76900211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67401273899999 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:54.72, Y:-7.13, Z:-1.77 [[ 9.83048992e-01 1.81129152e-01 2.84061491e-02 5.47153476e+01] [-1.81052939e-01 9.83459318e-01 -5.25389227e-03 -7.13469679e+00] [-2.88879251e-02 2.18167138e-05 9.99582657e-01 -1.77103248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:54.74, Y:-7.14, Z:-1.77 [[ 9.83272478e-01 1.79977351e-01 2.79890348e-02 5.47434313e+01] [-1.79902941e-01 9.83670753e-01 -5.17511240e-03 -7.14003389e+00] [-2.84633979e-02 5.32359332e-05 9.99594834e-01 -1.77124224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73401273899999 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:54.77, Y:-7.14, Z:-1.77 [[ 9.83386914e-01 1.79367283e-01 2.78846795e-02 5.47717650e+01] [-1.79293217e-01 9.83782178e-01 -5.15454656e-03 -7.14459822e+00] [-2.83570078e-02 6.93797363e-05 9.99597857e-01 -1.77111622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:54.80, Y:-7.15, Z:-1.77 [[ 9.83391393e-01 1.79069966e-01 2.95857263e-02 5.48004933e+01] [-1.78986494e-01 9.83836338e-01 -5.46755450e-03 -7.14868319e+00] [-3.00865874e-02 8.13006045e-05 9.99547293e-01 -1.77138294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794012738999996 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:54.83, Y:-7.15, Z:-1.77 [[ 9.83255353e-01 1.79659361e-01 3.05192619e-02 5.48283818e+01] [-1.79570867e-01 9.83728880e-01 -5.63859081e-03 -7.15410291e+00] [-3.10357050e-02 6.38042689e-05 9.99518274e-01 -1.77168979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.16, Z:-1.77 [[ 9.82999989e-01 1.80859176e-01 3.16382825e-02 5.48561469e+01] [-1.80764743e-01 9.83509002e-01 -5.84376360e-03 -7.16056667e+00] [-3.21734340e-02 2.53335245e-05 9.99482301e-01 -1.77219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854012739 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:54.88, Y:-7.17, Z:-1.77 [[ 9.82892933e-01 1.81518422e-01 3.11856390e-02 5.48842986e+01] [-1.81427039e-01 9.83387544e-01 -5.75906210e-03 -7.16595246e+00] [-3.17129448e-02 2.62328663e-06 9.99497018e-01 -1.77348443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:54.91, Y:-7.17, Z:-1.78 [[ 9.82870473e-01 1.81949963e-01 2.93231075e-02 5.49127725e+01] [-1.81869402e-01 9.83307790e-01 -5.41385654e-03 -7.17163478e+00] [-2.98186910e-02 -1.18562765e-05 9.99555324e-01 -1.77507343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91401273899999 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:54.94, Y:-7.18, Z:-1.78 [[ 9.82952460e-01 1.81546549e-01 2.90742454e-02 5.49395026e+01] [-1.81467212e-01 9.83382352e-01 -5.36658836e-03 -7.17745809e+00] [-2.95653854e-02 -9.21039887e-07 9.99562848e-01 -1.77626105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:54.97, Y:-7.18, Z:-1.78 [[ 9.83107683e-01 1.80604882e-01 2.96843444e-02 5.49670113e+01] [-1.80521810e-01 9.83555731e-01 -5.47727002e-03 -7.18367812e+00] [-3.01854287e-02 2.60746691e-05 9.99544316e-01 -1.77690711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974012738999996 meters Centerline goodness : 0.996894 Centerline is valid? [True, True] Translation: X:55.00, Y:-7.19, Z:-1.78 [[ 9.83115359e-01 1.80597432e-01 2.94747113e-02 5.49956191e+01] [-1.80515575e-01 9.83557099e-01 -5.43691182e-03 -7.18953981e+00] [-2.99719539e-02 2.44670495e-05 9.99550740e-01 -1.77740460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:55.02, Y:-7.20, Z:-1.78 [[ 9.82939862e-01 1.81663138e-01 2.87703294e-02 5.50246211e+01] [-1.81585645e-01 9.83360821e-01 -5.30557985e-03 -7.19621127e+00] [-2.92554430e-02 -9.21289296e-06 9.99571968e-01 -1.77893937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034012739 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:55.05, Y:-7.20, Z:-1.78 [[ 9.82813985e-01 1.82446880e-01 2.81035197e-02 5.50527917e+01] [-1.82373276e-01 9.83215711e-01 -5.18201427e-03 -7.20087182e+00] [-2.85772644e-02 -3.23748473e-05 9.99591586e-01 -1.78003051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:55.08, Y:-7.20, Z:-1.78 [[ 9.82400394e-01 1.84701189e-01 2.78376915e-02 5.50809404e+01] [-1.84629913e-01 9.82794720e-01 -5.13167426e-03 -7.20222094e+00] [-2.83065625e-02 -9.83117283e-05 9.99599284e-01 -1.78033732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09401273899999 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:55.11, Y:-7.21, Z:-1.78 [[ 9.82212256e-01 1.85619742e-01 2.83618676e-02 5.51095478e+01] [-1.85546193e-01 9.82621644e-01 -5.22643672e-03 -7.20585165e+00] [-2.88391148e-02 -1.28966363e-04 9.99584058e-01 -1.78128563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:55.14, Y:-7.21, Z:-1.78 [[ 9.81845034e-01 1.87403351e-01 2.93311017e-02 5.51370041e+01] [-1.87325515e-01 9.82283029e-01 -5.40398789e-03 -7.21001359e+00] [-2.98241689e-02 -1.88585066e-04 9.99555143e-01 -1.78229549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154012738999995 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:55.17, Y:-7.21, Z:-1.78 [[ 9.81695866e-01 1.88026777e-01 3.03176079e-02 5.51655637e+01] [-1.87943972e-01 9.82163879e-01 -5.58382551e-03 -7.21466166e+00] [-3.08267681e-02 -2.16393217e-04 9.99524719e-01 -1.78296955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:55.19, Y:-7.22, Z:-1.78 [[ 9.81413300e-01 1.89493834e-01 3.03318510e-02 5.51937615e+01] [-1.89411696e-01 9.81881875e-01 -5.58498409e-03 -7.21809486e+00] [-3.08406148e-02 -2.64029677e-04 9.99524280e-01 -1.78315012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:55.22, Y:-7.22, Z:-1.78 [[ 9.81329577e-01 1.90061173e-01 2.94790071e-02 5.52211335e+01] [-1.89983888e-01 9.81772211e-01 -5.42657538e-03 -7.22205401e+00] [-2.99730513e-02 -2.75277448e-04 9.99550669e-01 -1.78386487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:55.25, Y:-7.23, Z:-1.79 [[ 9.81513194e-01 1.89314141e-01 2.81425994e-02 5.52490881e+01] [-1.89243449e-01 9.81916543e-01 -5.17878460e-03 -7.22562117e+00] [-2.86141011e-02 -2.42757173e-04 9.99590503e-01 -1.78505358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27401273899999 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:55.28, Y:-7.23, Z:-1.79 [[ 9.81779935e-01 1.87852455e-01 2.86289072e-02 5.52770159e+01] [-1.87778729e-01 9.82197237e-01 -5.26650797e-03 -7.23006578e+00] [-2.91085600e-02 -2.05347935e-04 9.99576235e-01 -1.78602251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:55.30, Y:-7.23, Z:-1.79 [[ 9.82021681e-01 1.86494748e-01 2.92083267e-02 5.53049095e+01] [-1.86417459e-01 9.82455943e-01 -5.37132382e-03 -7.23425507e+00] [-2.96976178e-02 -1.70185587e-04 9.99558914e-01 -1.78658212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334012738999995 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:55.33, Y:-7.24, Z:-1.79 [[ 9.82409340e-01 1.84273670e-01 3.02506875e-02 5.53332470e+01] [-1.84189769e-01 9.82874968e-01 -5.56115586e-03 -7.23921640e+00] [-3.07574181e-02 -1.08535668e-04 9.99526873e-01 -1.78711573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:55.36, Y:-7.24, Z:-1.79 [[ 9.82578607e-01 1.83296376e-01 3.06874627e-02 5.53615943e+01] [-1.83209604e-01 9.83057695e-01 -5.63993476e-03 -7.24483118e+00] [-3.12013260e-02 -8.05586517e-05 9.99513117e-01 -1.78752140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394012739 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:55.39, Y:-7.25, Z:-1.79 [[ 9.82803851e-01 1.81978782e-01 3.13099705e-02 5.53891058e+01] [-1.81887834e-01 9.83302457e-01 -5.75279278e-03 -7.24954582e+00] [-3.18340571e-02 -4.10358217e-05 9.99493167e-01 -1.78746513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:55.42, Y:-7.25, Z:-1.79 [[ 9.82926528e-01 1.81219820e-01 3.18562018e-02 5.54179780e+01] [-1.81125335e-01 9.83442615e-01 -5.85120476e-03 -7.25417399e+00] [-3.23891006e-02 -1.86608377e-05 9.99475335e-01 -1.78834193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45401273899999 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:55.45, Y:-7.26, Z:-1.79 [[ 9.83472763e-01 1.78466733e-01 3.05114491e-02 5.54472631e+01] [-1.78378777e-01 9.83945944e-01 -5.60279011e-03 -7.25970178e+00] [-3.10215282e-02 6.75964835e-05 9.99518714e-01 -1.78983310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:55.48, Y:-7.27, Z:-1.79 [[ 9.83832114e-01 1.76617777e-01 2.96737639e-02 5.54751079e+01] [-1.76533766e-01 9.84279506e-01 -5.44826220e-03 -7.26549878e+00] [-3.01695376e-02 1.21754026e-04 9.99544788e-01 -1.79226220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514012738999995 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:55.50, Y:-7.27, Z:-1.79 [[ 9.84176129e-01 1.74791451e-01 2.90739863e-02 5.55044367e+01] [-1.74710026e-01 9.84605463e-01 -5.33744310e-03 -7.27117622e+00] [-2.95593452e-02 1.73467176e-04 9.99563012e-01 -1.79330666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:55.53, Y:-7.28, Z:-1.79 [[ 9.84440651e-01 1.73394580e-01 2.84767414e-02 5.55323215e+01] [-1.73315900e-01 9.84852413e-01 -5.22716288e-03 -7.27649917e+00] [-2.89517492e-02 2.10359559e-04 9.99580788e-01 -1.79355718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574012739 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:55.56, Y:-7.28, Z:-1.79 [[ 9.84498138e-01 1.72859729e-01 2.97141449e-02 5.55591757e+01] [-1.72773851e-01 9.84946424e-01 -5.45321784e-03 -7.28248346e+00] [-3.02094825e-02 2.34855588e-04 9.99543562e-01 -1.79444601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:55.59, Y:-7.29, Z:-1.79 [[ 9.84576151e-01 1.72317749e-01 3.02720299e-02 5.55887900e+01] [-1.72228415e-01 9.85041384e-01 -5.55376657e-03 -7.28789151e+00] [-3.07762148e-02 2.54402374e-04 9.99526268e-01 -1.79461858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63401273899999 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:55.62, Y:-7.29, Z:-1.80 [[ 9.84697636e-01 1.71650449e-01 3.01112757e-02 5.56169137e+01] [-1.71561772e-01 9.85157880e-01 -5.52355975e-03 -7.29261635e+00] [-3.06124820e-02 2.73092424e-04 9.99531291e-01 -1.79584772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:55.65, Y:-7.30, Z:-1.80 [[ 9.85044706e-01 1.69964865e-01 2.82643171e-02 5.56460114e+01] [-1.69886070e-01 9.85450076e-01 -5.18375764e-03 -7.29874954e+00] [-2.87341301e-02 3.04519261e-04 9.99587043e-01 -1.79704042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694012738999994 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:55.67, Y:-7.31, Z:-1.80 [[ 9.85535696e-01 1.66980036e-01 2.89319921e-02 5.56743586e+01] [-1.66896207e-01 9.85960196e-01 -5.30552224e-03 -7.30651966e+00] [-2.94117089e-02 4.00141809e-04 9.99567302e-01 -1.79832269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:55.70, Y:-7.31, Z:-1.80 [[ 9.85824422e-01 1.65159883e-01 2.95368037e-02 5.57044316e+01] [-1.65071718e-01 9.86266697e-01 -5.41567693e-03 -7.31369141e+00] [-3.00256184e-02 4.63215663e-04 9.99549022e-01 -1.79920774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754012739 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:55.73, Y:-7.32, Z:-1.80 [[ 9.86077367e-01 1.63643298e-01 2.95346959e-02 5.57338826e+01] [-1.63554468e-01 9.86519443e-01 -5.41518359e-03 -7.32137972e+00] [-3.00227102e-02 5.09258489e-04 9.99549087e-01 -1.80028900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:55.76, Y:-7.33, Z:-1.80 [[ 9.86319589e-01 1.62303574e-01 2.88308678e-02 5.57626487e+01] [-1.62218309e-01 9.86740726e-01 -5.28774322e-03 -7.33318312e+00] [-2.93068110e-02 5.38510101e-04 9.99570318e-01 -1.80175767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81401273899999 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:55.79, Y:-7.34, Z:-1.80 [[ 9.86218931e-01 1.63004204e-01 2.83169464e-02 5.57921009e+01] [-1.62922192e-01 9.86625243e-01 -5.19519627e-03 -7.34136411e+00] [-2.87850529e-02 5.10141950e-04 9.99585494e-01 -1.80253620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:55.82, Y:-7.35, Z:-1.80 [[ 9.85343633e-01 1.68242507e-01 2.81493135e-02 5.58208789e+01] [-1.68163586e-01 9.85745572e-01 -5.16485226e-03 -7.34848909e+00] [-2.86170088e-02 3.55464781e-04 9.99590386e-01 -1.80359951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874012738999994 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:55.85, Y:-7.35, Z:-1.80 [[ 9.85345423e-01 1.68232011e-01 2.81493724e-02 5.58505410e+01] [-1.68153095e-01 9.85747363e-01 -5.16453116e-03 -7.35389101e+00] [-2.86170091e-02 3.55443046e-04 9.99590386e-01 -1.80456264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:55.88, Y:-7.36, Z:-1.81 [[ 9.84709560e-01 1.71960912e-01 2.78662388e-02 5.58795870e+01] [-1.71885075e-01 9.85103743e-01 -5.11232573e-03 -7.36036046e+00] [-2.83302563e-02 2.44365482e-04 9.99598588e-01 -1.80534358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934012738999996 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:55.91, Y:-7.37, Z:-1.81 [[ 9.83355164e-01 1.79582851e-01 2.76155874e-02 5.59080236e+01] [-1.79511392e-01 9.83742852e-01 -5.06570269e-03 -7.36863817e+00] [-2.80763500e-02 2.40723820e-05 9.99605781e-01 -1.80635237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:55.94, Y:-7.37, Z:-1.81 [[ 9.82833388e-01 1.82414212e-01 2.76330806e-02 5.59371562e+01] [-1.82343799e-01 9.83221771e-01 -5.06825104e-03 -7.37373481e+00] [-2.80939675e-02 -5.74745541e-05 9.99605285e-01 -1.80713782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99401273899999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:55.96, Y:-7.38, Z:-1.81 [[ 9.82468722e-01 1.84227387e-01 2.85566181e-02 5.59648451e+01] [-1.84152971e-01 9.82883644e-01 -5.23702948e-03 -7.37721653e+00] [-2.90326371e-02 -1.13568392e-04 9.99578458e-01 -1.80778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:55.99, Y:-7.38, Z:-1.81 [[ 9.82070873e-01 1.86005580e-01 3.06386044e-02 5.59933899e+01] [-1.85920841e-01 9.82548671e-01 -5.61685870e-03 -7.38248609e+00] [-3.11486871e-02 -1.80201768e-04 9.99514746e-01 -1.80919876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054012738999994 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:56.02, Y:-7.39, Z:-1.81 [[ 9.82088296e-01 1.85866307e-01 3.09240019e-02 5.60223961e+01] [-1.85779949e-01 9.82575027e-01 -5.66804955e-03 -7.38965337e+00] [-3.14386515e-02 -1.78534365e-04 9.99505667e-01 -1.81024965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:56.05, Y:-7.40, Z:-1.81 [[ 9.82109094e-01 1.85825348e-01 3.05068556e-02 5.60511542e+01] [-1.85741309e-01 9.82582775e-01 -5.59081261e-03 -7.39566817e+00] [-3.10144255e-02 -1.75595370e-04 9.99518922e-01 -1.80966451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114012738999996 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:56.08, Y:-7.40, Z:-1.81 [[ 9.82030781e-01 1.86099653e-01 3.13442943e-02 5.60809808e+01] [-1.86011088e-01 9.82530856e-01 -5.74387895e-03 -7.39967288e+00] [-3.18656702e-02 -1.89720348e-04 9.99492143e-01 -1.81041705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:56.11, Y:-7.40, Z:-1.81 [[ 9.81756942e-01 1.87318723e-01 3.26343892e-02 5.61092226e+01] [-1.87223416e-01 9.82299160e-01 -5.97944222e-03 -7.40362633e+00] [-3.31767946e-02 -2.39562930e-04 9.99449470e-01 -1.81120273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17401273899999 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:56.14, Y:-7.41, Z:-1.81 [[ 9.81683117e-01 1.87790807e-01 3.21382939e-02 5.61378404e+01] [-1.87698667e-01 9.82209015e-01 -5.88738945e-03 -7.40916386e+00] [-3.26721196e-02 -2.52764108e-04 9.99466092e-01 -1.81317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:56.17, Y:-7.41, Z:-1.82 [[ 9.81677959e-01 1.88449962e-01 2.81956774e-02 5.61663156e+01] [-1.88379334e-01 9.82082763e-01 -5.16459285e-03 -7.41467371e+00] [-2.86637561e-02 -2.41515973e-04 9.99589081e-01 -1.81551246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23401273899999 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:56.19, Y:-7.42, Z:-1.82 [[ 9.81793397e-01 1.88097488e-01 2.64775622e-02 5.61946653e+01] [-1.88035101e-01 9.82150338e-01 -4.84905245e-03 -7.41922282e+00] [-2.69170413e-02 -2.17943426e-04 9.99637647e-01 -1.81700572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:56.22, Y:-7.42, Z:-1.82 [[ 9.81860080e-01 1.87737505e-01 2.65595867e-02 5.62234015e+01] [-1.87674633e-01 9.82219214e-01 -4.86280475e-03 -7.42370552e+00] [-2.70002672e-02 -2.09966837e-04 9.99635404e-01 -1.81786455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294012738999996 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:56.25, Y:-7.43, Z:-1.82 [[ 9.81570488e-01 1.88833174e-01 2.93497667e-02 5.62509619e+01] [-1.88756932e-01 9.82009145e-01 -5.37208761e-03 -7.42589327e+00] [-2.98361676e-02 -2.66889260e-04 9.99554767e-01 -1.81731767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:56.28, Y:-7.43, Z:-1.82 [[ 9.81309906e-01 1.90099524e-01 2.98837694e-02 5.62792170e+01] [-1.90021125e-01 9.81764775e-01 -5.46796315e-03 -7.42981620e+00] [-3.03782893e-02 -3.12781084e-04 9.99538424e-01 -1.81816265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35401273899999 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:56.31, Y:-7.43, Z:-1.82 [[ 9.80738178e-01 1.93158089e-01 2.90272227e-02 5.63065366e+01] [-1.93085499e-01 9.81167567e-01 -5.30989531e-03 -7.43261766e+00] [-2.95062187e-02 -3.97118734e-04 9.99564518e-01 -1.81924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:56.34, Y:-7.44, Z:-1.82 [[ 9.80604476e-01 1.93957537e-01 2.82017089e-02 5.63354010e+01] [-1.93889397e-01 9.81009839e-01 -5.15718843e-03 -7.43630707e+00] [-2.86664294e-02 -4.10850271e-04 9.99588949e-01 -1.82020375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41401273899999 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:56.36, Y:-7.44, Z:-1.82 [[ 9.80918083e-01 1.92243448e-01 2.90201739e-02 5.63642405e+01] [-1.92170587e-01 9.81347195e-01 -5.30543617e-03 -7.44051714e+00] [-2.94988016e-02 -3.72625582e-04 9.99564746e-01 -1.82119789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:56.39, Y:-7.45, Z:-1.82 [[ 9.81347522e-01 1.90022844e-01 2.91266294e-02 5.63919660e+01] [-1.89948511e-01 9.81779621e-01 -5.32351499e-03 -7.44708959e+00] [-2.96075206e-02 -3.08341633e-04 9.99561554e-01 -1.82166527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474012738999996 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:56.42, Y:-7.46, Z:-1.82 [[ 9.82394505e-01 1.84538862e-01 2.90937395e-02 5.64200966e+01] [-1.84462330e-01 9.82825207e-01 -5.31610237e-03 -7.45534381e+00] [-2.95750880e-02 -1.44189231e-04 9.99562551e-01 -1.82231674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:56.45, Y:-7.46, Z:-1.82 [[ 9.82755481e-01 1.82601250e-01 2.91281287e-02 5.64488281e+01] [-1.82523728e-01 9.83187050e-01 -5.32097800e-03 -7.46113921e+00] [-2.96100162e-02 -8.73543448e-05 9.99561524e-01 -1.82255011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534012739 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:56.48, Y:-7.47, Z:-1.82 [[ 9.82838711e-01 1.82052557e-01 2.97478511e-02 5.64773658e+01] [-1.81971495e-01 9.83288798e-01 -5.43268021e-03 -7.46784774e+00] [-3.02397621e-02 -7.38125114e-05 9.99542671e-01 -1.82376266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:56.51, Y:-7.47, Z:-1.82 [[ 9.82688036e-01 1.82775011e-01 3.02905738e-02 5.65060839e+01] [-1.82691330e-01 9.83154762e-01 -5.53105056e-03 -7.47395683e+00] [-3.07912597e-02 -9.85279963e-05 9.99525832e-01 -1.82379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59401273899999 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.48, Z:-1.82 [[ 9.82432020e-01 1.84158593e-01 3.02148801e-02 5.65349200e+01] [-1.84076006e-01 9.82896532e-01 -5.51651051e-03 -7.47979255e+00] [-3.07140137e-02 -1.42237872e-04 9.99528203e-01 -1.82478146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:56.56, Y:-7.48, Z:-1.83 [[ 9.81814501e-01 1.87542317e-01 2.94646250e-02 5.65632371e+01] [-1.87465324e-01 9.82256494e-01 -5.37883655e-03 -7.48430827e+00] [-2.99505788e-02 -2.42575745e-04 9.99551351e-01 -1.82624061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654012738999995 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:56.59, Y:-7.49, Z:-1.83 [[ 9.81612846e-01 1.88642422e-01 2.91591745e-02 5.65917803e+01] [-1.88567534e-01 9.82045804e-01 -5.32201614e-03 -7.48927809e+00] [-2.96396030e-02 -2.74314209e-04 9.99560613e-01 -1.82796668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.49, Z:-1.83 [[ 9.81661454e-01 1.88564249e-01 2.80056091e-02 5.66195862e+01] [-1.88495174e-01 9.82060820e-01 -5.11023739e-03 -7.49375039e+00] [-2.84668195e-02 -2.62399082e-04 9.99594704e-01 -1.82954757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714012739 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:56.65, Y:-7.50, Z:-1.83 [[ 9.81862285e-01 1.87583810e-01 2.75457520e-02 5.66470869e+01] [-1.87516643e-01 9.82248574e-01 -5.02473462e-03 -7.49836759e+00] [-2.79993345e-02 -2.31689544e-04 9.99607915e-01 -1.83029648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:56.68, Y:-7.50, Z:-1.83 [[ 9.82507496e-01 1.84047533e-01 2.83817994e-02 5.66760602e+01] [-1.83974805e-01 9.82917335e-01 -5.17533742e-03 -7.50277337e+00] [-2.88494707e-02 -1.36728207e-04 9.99583758e-01 -1.83093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77401273899999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:56.70, Y:-7.51, Z:-1.83 [[ 9.82861541e-01 1.82043366e-01 2.90414119e-02 5.67041969e+01] [-1.81966384e-01 9.83290499e-01 -5.29421408e-03 -7.50808076e+00] [-2.95199210e-02 -8.10813096e-05 9.99564189e-01 -1.83152965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:56.73, Y:-7.51, Z:-1.83 [[ 9.83229408e-01 1.79921646e-01 2.98015673e-02 5.67332742e+01] [-1.79839650e-01 9.83680945e-01 -5.43132165e-03 -7.51368072e+00] [-3.02924462e-02 -1.92682503e-05 9.99541078e-01 -1.83293441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834012738999995 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:56.76, Y:-7.52, Z:-1.83 [[ 9.83990464e-01 1.75674971e-01 3.00178537e-02 5.67625799e+01] [-1.75589827e-01 9.84448217e-01 -5.46997267e-03 -7.52099526e+00] [-3.05119598e-02 1.11571219e-04 9.99534396e-01 -1.83384927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:56.79, Y:-7.53, Z:-1.84 [[ 9.84333474e-01 1.73832494e-01 2.94936494e-02 5.67912093e+01] [-1.73749471e-01 9.84775221e-01 -5.37447348e-03 -7.52837530e+00] [-2.99788733e-02 1.65768178e-04 9.99550519e-01 -1.83512284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894012739 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:56.82, Y:-7.54, Z:-1.84 [[ 9.84934650e-01 1.70695006e-01 2.76938824e-02 5.68189146e+01] [-1.70620576e-01 9.85323883e-01 -5.04619461e-03 -7.53849967e+00] [-2.81488040e-02 2.45025751e-04 9.99603714e-01 -1.83735451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:56.85, Y:-7.55, Z:-1.84 [[ 9.85094958e-01 1.69834177e-01 2.72814221e-02 5.68489112e+01] [-1.69761628e-01 9.85472619e-01 -4.97068008e-03 -7.54560507e+00] [-2.77292858e-02 2.65253254e-04 9.99615434e-01 -1.83844017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95401273899999 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:56.88, Y:-7.55, Z:-1.84 [[ 9.85164037e-01 1.69504489e-01 2.68337272e-02 5.68778499e+01] [-1.69434178e-01 9.85529378e-01 -4.88916554e-03 -7.55197146e+00] [-2.72741619e-02 2.70079557e-04 9.99627954e-01 -1.83868992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:56.91, Y:-7.56, Z:-1.84 [[ 9.85001977e-01 1.70573215e-01 2.59977786e-02 5.69082988e+01] [-1.70507603e-01 9.85344977e-01 -4.73634889e-03 -7.56157978e+00] [-2.64246748e-02 2.32494106e-04 9.99650780e-01 -1.84086378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014012738999995 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:56.94, Y:-7.57, Z:-1.84 [[ 9.85044359e-01 1.70183931e-01 2.69265790e-02 5.69373000e+01] [-1.70113380e-01 9.85412282e-01 -4.90631914e-03 -7.56964410e+00] [-2.73687584e-02 2.52370612e-04 9.99625374e-01 -1.84091839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:56.97, Y:-7.58, Z:-1.84 [[ 9.85088327e-01 1.69877398e-01 2.72517387e-02 5.69676487e+01] [-1.69805007e-01 9.85465169e-01 -4.96586353e-03 -7.57621913e+00] [-2.76992272e-02 2.64332531e-04 9.99616268e-01 -1.84137398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074012739 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:57.00, Y:-7.58, Z:-1.84 [[ 9.85233588e-01 1.69052343e-01 2.71308267e-02 5.69983923e+01] [-1.68980278e-01 9.85607033e-01 -4.94391736e-03 -7.58321533e+00] [-2.75761144e-02 2.86338811e-04 9.99619666e-01 -1.84223370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:57.03, Y:-7.59, Z:-1.84 [[ 9.85684052e-01 1.66594691e-01 2.59452948e-02 5.70289101e+01] [-1.66527838e-01 9.86025401e-01 -4.73160997e-03 -7.59443786e+00] [-2.63709808e-02 3.43258645e-04 9.99652166e-01 -1.84393194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13401273899999 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:57.06, Y:-7.60, Z:-1.85 [[ 9.85960560e-01 1.65004897e-01 2.55960759e-02 5.70602514e+01] [-1.64939185e-01 9.86292673e-01 -4.67217716e-03 -7.60341587e+00] [-2.60161542e-02 3.84786496e-04 9.99661449e-01 -1.84602588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:57.09, Y:-7.62, Z:-1.85 [[ 9.86354656e-01 1.62684767e-01 2.52618104e-02 5.70910206e+01] [-1.62619894e-01 9.86677997e-01 -4.61529277e-03 -7.61516385e+00] [-2.56761103e-02 4.44242591e-04 9.99670216e-01 -1.84700723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194012738999994 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:57.12, Y:-7.62, Z:-1.85 [[ 9.86475708e-01 1.61978279e-01 2.50741666e-02 5.71226442e+01] [-1.61914025e-01 9.86794215e-01 -4.58541313e-03 -7.62378286e+00] [-2.54857798e-02 4.63539426e-04 9.99675077e-01 -1.84805279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:57.15, Y:-7.63, Z:-1.85 [[ 9.86590468e-01 1.61283412e-01 2.50381627e-02 5.71542688e+01] [-1.61218998e-01 9.86908013e-01 -4.58362105e-03 -7.63235582e+00] [-2.54496254e-02 4.85529349e-04 9.99675988e-01 -1.84858348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254012739 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:57.19, Y:-7.64, Z:-1.85 [[ 9.86662423e-01 1.60756116e-01 2.55877658e-02 5.71850796e+01] [-1.60688528e-01 9.86994025e-01 -4.68948088e-03 -7.64329815e+00] [-2.60088347e-02 5.15274126e-04 9.99661580e-01 -1.84878259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:57.22, Y:-7.65, Z:-1.85 [[ 9.86497486e-01 1.61424275e-01 2.76570598e-02 5.72157405e+01] [-1.61345419e-01 9.86884952e-01 -5.07422096e-03 -7.65371248e+00] [-2.81134386e-02 5.43366327e-04 9.99604591e-01 -1.84855588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31401273899999 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:57.25, Y:-7.66, Z:-1.85 [[ 9.86272880e-01 1.62641766e-01 2.85212576e-02 5.72476226e+01] [-1.62558257e-01 9.86685044e-01 -5.23809562e-03 -7.66051428e+00] [-2.89934314e-02 5.29825719e-04 9.99579462e-01 -1.84874571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:57.28, Y:-7.67, Z:-1.85 [[ 9.85961611e-01 1.64408629e-01 2.91462725e-02 5.72794506e+01] [-1.64322014e-01 9.86392193e-01 -5.35883270e-03 -7.66662962e+00] [-2.96306940e-02 4.94229100e-04 9.99560792e-01 -1.84886749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374012738999994 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:57.31, Y:-7.67, Z:-1.85 [[ 9.85351412e-01 1.68036129e-01 2.90938756e-02 5.73120250e+01] [-1.67951247e-01 9.85780760e-01 -5.35455303e-03 -7.67335990e+00] [-2.95799411e-02 3.89763725e-04 9.99562342e-01 -1.85071671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:57.34, Y:-7.68, Z:-1.85 [[ 9.85134821e-01 1.69321842e-01 2.89740974e-02 5.73428640e+01] [-1.69238049e-01 9.85560748e-01 -5.33808631e-03 -7.68035966e+00] [-2.94595877e-02 3.55214997e-04 9.99565909e-01 -1.85273399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434012738999996 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:57.38, Y:-7.69, Z:-1.85 [[ 9.85137112e-01 1.69262877e-01 2.92395077e-02 5.73755042e+01] [-1.69177358e-01 9.85570873e-01 -5.39226640e-03 -7.68720005e+00] [-2.97303177e-02 3.65459084e-04 9.99557890e-01 -1.85338273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:57.41, Y:-7.69, Z:-1.85 [[ 9.85305273e-01 1.68228681e-01 2.95403045e-02 5.74076841e+01] [-1.68140754e-01 9.85747912e-01 -5.45353508e-03 -7.69306667e+00] [-3.00367345e-02 4.06467784e-04 9.99548713e-01 -1.85415447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49401273899999 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:57.44, Y:-7.70, Z:-1.86 [[ 9.85818698e-01 1.65241019e-01 2.92728670e-02 5.74389761e+01] [-1.65153193e-01 9.86253090e-01 -5.40978674e-03 -7.70168074e+00] [-2.97643742e-02 4.98561470e-04 9.99556819e-01 -1.85580155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:57.47, Y:-7.71, Z:-1.86 [[ 9.86020353e-01 1.64111339e-01 2.88328412e-02 5.74713396e+01] [-1.64025502e-01 9.86441680e-01 -5.33354048e-03 -7.71013446e+00] [-2.93172108e-02 5.29658210e-04 9.99570018e-01 -1.85689890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554012738999994 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:57.50, Y:-7.72, Z:-1.86 [[ 9.86065992e-01 1.63838496e-01 2.88237279e-02 5.75023425e+01] [-1.63752435e-01 9.86487026e-01 -5.33739665e-03 -7.71759768e+00] [-2.93087047e-02 5.43069697e-04 9.99570260e-01 -1.85729853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:57.53, Y:-7.72, Z:-1.86 [[ 9.85624068e-01 1.66372283e-01 2.94186997e-02 5.75341853e+01] [-1.66283598e-01 9.86062894e-01 -5.45292062e-03 -7.72429349e+00] [-2.99159030e-02 4.82682553e-04 9.99552303e-01 -1.85775000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614012738999996 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:57.57, Y:-7.73, Z:-1.86 [[ 9.85235710e-01 1.68762022e-01 2.88093118e-02 5.75653645e+01] [-1.68677835e-01 9.85656743e-01 -5.34542261e-03 -7.73031183e+00] [-2.92981967e-02 4.07008888e-04 9.99570633e-01 -1.85911169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:57.60, Y:-7.74, Z:-1.86 [[ 9.84549147e-01 1.73083025e-01 2.65564280e-02 5.75974093e+01] [-1.73012934e-01 9.84907203e-01 -4.93219997e-03 -7.73838303e+00] [-2.70092973e-02 2.61387757e-04 9.99635148e-01 -1.86101127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67401273899999 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:57.63, Y:-7.74, Z:-1.86 [[ 9.84171291e-01 1.75122181e-01 2.71862447e-02 5.76288716e+01] [-1.75049448e-01 9.84546686e-01 -5.05113869e-03 -7.74489912e+00] [-2.76506936e-02 2.12248561e-04 9.99617624e-01 -1.86191462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:57.66, Y:-7.75, Z:-1.86 [[ 9.83314948e-01 1.79473065e-01 2.96838627e-02 5.76611901e+01] [-1.79388153e-01 9.83762882e-01 -5.52109213e-03 -7.75143701e+00] [-3.01927697e-02 1.04039129e-04 9.99544089e-01 -1.86254624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73401273899999 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:57.69, Y:-7.76, Z:-1.86 [[ 9.82842019e-01 1.82022688e-01 2.98212431e-02 5.76940419e+01] [-1.81937987e-01 9.83294330e-01 -5.55237572e-03 -7.75791574e+00] [-3.03337176e-02 3.14912340e-05 9.99539826e-01 -1.86341023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:57.73, Y:-7.76, Z:-1.87 [[ 9.82069736e-01 1.86520719e-01 2.73688574e-02 5.77250694e+01] [-1.86450989e-01 9.82451023e-01 -5.10060548e-03 -7.76387946e+00] [-2.78399305e-02 -9.38002381e-05 9.99612390e-01 -1.86564464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794012738999996 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:57.76, Y:-7.77, Z:-1.87 [[ 9.82054628e-01 1.86600389e-01 2.73678965e-02 5.77579638e+01] [-1.86530546e-01 9.82435894e-01 -5.10575561e-03 -7.77015599e+00] [-2.78399399e-02 -9.08177544e-05 9.99612390e-01 -1.86671456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:57.79, Y:-7.78, Z:-1.87 [[ 9.81828270e-01 1.87932311e-01 2.63570679e-02 5.77907585e+01] [-1.87867970e-01 9.82181975e-01 -4.91874935e-03 -7.77590003e+00] [-2.68118289e-02 -1.22281692e-04 9.99640491e-01 -1.86844723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85401273899999 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:57.82, Y:-7.78, Z:-1.87 [[ 9.81638939e-01 1.88944473e-01 2.61721069e-02 5.78211397e+01] [-1.88881255e-01 9.81987762e-01 -4.88937431e-03 -7.78156496e+00] [-2.66245089e-02 -1.43820191e-04 9.99645495e-01 -1.86898839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:57.85, Y:-7.79, Z:-1.87 [[ 9.81208348e-01 1.90879405e-01 2.81998419e-02 5.78519031e+01] [-1.90806660e-01 9.81613473e-01 -5.27333590e-03 -7.78840792e+00] [-2.86879160e-02 -2.06476458e-04 9.99588396e-01 -1.86941547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91401273899999 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:57.88, Y:-7.80, Z:-1.87 [[ 9.81011469e-01 1.91825583e-01 2.86259094e-02 5.78823884e+01] [-1.91751017e-01 9.81429004e-01 -5.35334168e-03 -7.79506244e+00] [-2.91212056e-02 -2.37357651e-04 9.99575860e-01 -1.87025401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:57.91, Y:-7.80, Z:-1.87 [[ 9.80848384e-01 1.92891397e-01 2.70066128e-02 5.79136101e+01] [-1.92825328e-01 9.81220080e-01 -5.05434424e-03 -7.80233565e+00] [-2.74743703e-02 -2.50013606e-04 9.99622477e-01 -1.87108631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974012738999996 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:57.94, Y:-7.81, Z:-1.87 [[ 9.80909358e-01 1.92735282e-01 2.58832571e-02 5.79434611e+01] [-1.92674415e-01 9.81250762e-01 -4.84891241e-03 -7.80863834e+00] [-2.63325223e-02 -2.30697886e-04 9.99653212e-01 -1.87274419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:57.97, Y:-7.82, Z:-1.87 [[ 9.80928118e-01 1.92668474e-01 2.56687897e-02 5.79742031e+01] [-1.92608595e-01 9.81263883e-01 -4.80850157e-03 -7.81715983e+00] [-2.61143029e-02 -2.27235125e-04 9.99658938e-01 -1.87348009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034012739 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:58.00, Y:-7.82, Z:-1.87 [[ 9.80822739e-01 1.93152297e-01 2.60565751e-02 5.80048899e+01] [-1.93090637e-01 9.81168759e-01 -4.88596821e-03 -7.82373258e+00] [-2.65096334e-02 -2.39011970e-04 9.99648529e-01 -1.87427040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:58.04, Y:-7.83, Z:-1.87 [[ 9.80716111e-01 1.93624662e-01 2.65593523e-02 5.80360486e+01] [-1.93560713e-01 9.81075647e-01 -4.98245814e-03 -7.82959980e+00] [-2.70214606e-02 -2.54470197e-04 9.99634821e-01 -1.87424638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09401273899999 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:58.07, Y:-7.83, Z:-1.88 [[ 9.80485722e-01 1.94758377e-01 2.67754310e-02 5.80671719e+01] [-1.94693670e-01 9.80851209e-01 -5.02798184e-03 -7.83490298e+00] [-2.72419555e-02 -2.83142515e-04 9.99628829e-01 -1.87531521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:58.10, Y:-7.84, Z:-1.88 [[ 9.80384496e-01 1.95328338e-01 2.63264331e-02 5.80979906e+01] [-1.95265913e-01 9.80737863e-01 -4.94648907e-03 -7.84054945e+00] [-2.67855192e-02 -2.91193799e-04 9.99641161e-01 -1.87636725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154012738999995 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:58.13, Y:-7.84, Z:-1.88 [[ 9.79971263e-01 1.97328523e-01 2.67913586e-02 5.81283484e+01] [-1.97264601e-01 9.80337356e-01 -5.03454408e-03 -7.84459459e+00] [-2.72580288e-02 -3.51278135e-04 9.99628369e-01 -1.87768523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:58.16, Y:-7.85, Z:-1.88 [[ 9.79698956e-01 1.98578567e-01 2.75046866e-02 5.81585289e+01] [-1.98511678e-01 9.80084892e-01 -5.16892384e-03 -7.84812645e+00] [-2.79833653e-02 -3.96012195e-04 9.99608311e-01 -1.87785422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214012739 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:58.19, Y:-7.85, Z:-1.88 [[ 9.79376243e-01 2.00030019e-01 2.84633987e-02 5.81890874e+01] [-1.99958987e-01 9.79789665e-01 -5.34947083e-03 -7.85169784e+00] [-2.89581987e-02 -4.52367730e-04 9.99580521e-01 -1.87805213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:58.22, Y:-7.85, Z:-1.88 [[ 9.78834696e-01 2.02707804e-01 2.81457469e-02 5.82182724e+01] [-2.02639453e-01 9.79239128e-01 -5.28980791e-03 -7.85464311e+00] [-2.86337020e-02 -5.25591243e-04 9.99589833e-01 -1.87898505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27401273899999 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:58.25, Y:-7.86, Z:-1.88 [[ 9.78787901e-01 2.02997711e-01 2.76798496e-02 5.82475631e+01] [-2.02931729e-01 9.79179071e-01 -5.20193239e-03 -7.85890530e+00] [-2.81595098e-02 -5.25531258e-04 9.99603304e-01 -1.87991137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:58.28, Y:-7.86, Z:-1.88 [[ 9.79084398e-01 2.01534369e-01 2.78861980e-02 5.82773210e+01] [-2.01466814e-01 9.79481322e-01 -5.24042877e-03 -7.86061637e+00] [-2.83701366e-02 -4.87321418e-04 9.99597368e-01 -1.88108831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334012738999995 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:58.31, Y:-7.86, Z:-1.88 [[ 9.79379103e-01 1.99940060e-01 2.89921446e-02 5.83066083e+01] [-1.99866361e-01 9.79808023e-01 -5.44758684e-03 -7.86451866e+00] [-2.94959267e-02 -4.59301725e-04 9.99564795e-01 -1.88212423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:58.34, Y:-7.87, Z:-1.88 [[ 9.79672135e-01 1.98242008e-01 3.07020253e-02 5.83371738e+01] [-1.98158548e-01 9.80153008e-01 -5.76809070e-03 -7.86962678e+00] [-3.12361603e-02 -4.33031025e-04 9.99511938e-01 -1.88174811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394012739 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:58.37, Y:-7.88, Z:-1.88 [[ 9.79792826e-01 1.97473896e-01 3.17817200e-02 5.83666008e+01] [-1.97509950e-01 9.80298776e-01 -2.03218733e-03 -7.87640159e+00] [-3.15568852e-02 -4.28608336e-03 9.99492768e-01 -1.88321461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:58.40, Y:-7.87, Z:-1.88 [[ 9.79924578e-01 1.97429293e-01 2.77397703e-02 5.83990024e+01] [-1.97248634e-01 9.80310964e-01 -9.13186375e-03 -7.87467055e+00] [-2.89964983e-02 3.47690594e-03 9.99573466e-01 -1.88445059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45401273899999 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:58.43, Y:-7.88, Z:-1.89 [[ 9.80013044e-01 1.97211098e-01 2.61192814e-02 5.84288260e+01] [-1.97150199e-01 9.80360990e-01 -4.91209354e-03 -7.88106776e+00] [-2.65750439e-02 -3.35505777e-04 9.99646765e-01 -1.88725688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:58.46, Y:-7.89, Z:-1.89 [[ 9.80142381e-01 1.96548063e-01 2.62635218e-02 5.84577479e+01] [-1.96486244e-01 9.80494139e-01 -4.93953833e-03 -7.88680731e+00] [-2.67220859e-02 -3.18969879e-04 9.99642850e-01 -1.88768729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514012738999995 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:58.49, Y:-7.89, Z:-1.89 [[ 9.80483432e-01 1.94559985e-01 2.82604115e-02 5.84873934e+01] [-1.94487565e-01 9.80890581e-01 -5.31562098e-03 -7.89116418e+00] [-2.87545785e-02 -2.84420309e-04 9.99586461e-01 -1.88568671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:58.52, Y:-7.90, Z:-1.89 [[ 9.80669275e-01 1.93500353e-01 2.90755423e-02 5.85181576e+01] [-1.93423253e-01 9.81100171e-01 -5.46812914e-03 -7.89722178e+00] [-2.95841045e-02 -2.61459725e-04 9.99562260e-01 -1.88654328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574012739 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:58.55, Y:-7.90, Z:-1.89 [[ 9.80926968e-01 1.92242729e-01 2.87231081e-02 5.85488491e+01] [-1.92166928e-01 9.81347382e-01 -5.40252751e-03 -7.90452301e+00] [-2.92259436e-02 -2.20146512e-04 9.99572807e-01 -1.88787026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:58.58, Y:-7.91, Z:-1.89 [[ 9.81366883e-01 1.90193850e-01 2.73009275e-02 5.85783805e+01] [-1.90124575e-01 9.81746544e-01 -5.13510778e-03 -7.91333815e+00] [-2.77792572e-02 -1.51152524e-04 9.99614071e-01 -1.89010094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63401273899999 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:58.61, Y:-7.92, Z:-1.89 [[ 9.81439823e-01 1.89787958e-01 2.75028310e-02 5.86087735e+01] [-1.89717357e-01 9.81825093e-01 -5.17801987e-03 -7.91908601e+00] [-2.79856954e-02 -1.35849499e-04 9.99608314e-01 -1.89085130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:58.64, Y:-7.92, Z:-1.89 [[ 9.81213312e-01 1.90897691e-01 2.79017561e-02 5.86388824e+01] [-1.90825459e-01 9.81609924e-01 -5.25369814e-03 -7.92366955e+00] [-2.83915595e-02 -1.69366846e-04 9.99596864e-01 -1.89043037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694012738999994 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:58.67, Y:-7.93, Z:-1.89 [[ 9.81076901e-01 1.91489045e-01 2.86366869e-02 5.86681202e+01] [-1.91413157e-01 9.81494732e-01 -5.39385428e-03 -7.93033734e+00] [-2.91396214e-02 -1.89652800e-04 9.99575333e-01 -1.89063927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:58.70, Y:-7.94, Z:-1.89 [[ 9.81066718e-01 1.91482698e-01 2.90253686e-02 5.86992143e+01] [-1.91404734e-01 9.81495970e-01 -5.46702865e-03 -7.93909552e+00] [-2.95351237e-02 -1.92073089e-04 9.99563725e-01 -1.88995109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754012739 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:58.73, Y:-7.95, Z:-1.89 [[ 9.81101386e-01 1.91416403e-01 2.82812716e-02 5.87304057e+01] [-1.91342224e-01 9.81508904e-01 -5.33153222e-03 -7.94565010e+00] [-2.87788626e-02 -1.80627749e-04 9.99585786e-01 -1.89160919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:58.76, Y:-7.95, Z:-1.89 [[ 9.81160192e-01 1.91203314e-01 2.76761735e-02 5.87614004e+01] [-1.91132051e-01 9.81550440e-01 -5.22241341e-03 -7.95290000e+00] [-2.81641030e-02 -1.65779676e-04 9.99603299e-01 -1.89454676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81401273899999 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:58.79, Y:-7.96, Z:-1.90 [[ 9.81033253e-01 1.91840743e-01 2.77648172e-02 5.87920367e+01] [-1.91769141e-01 9.81426053e-01 -5.24403187e-03 -7.96009168e+00] [-2.82551339e-02 -1.79865478e-04 9.99600728e-01 -1.89505088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:58.82, Y:-7.97, Z:-1.90 [[ 9.80972411e-01 1.92149350e-01 2.77805045e-02 5.88229133e+01] [-1.92077649e-01 9.81365678e-01 -5.25198095e-03 -7.96662735e+00] [-2.82719984e-02 -1.83965582e-04 9.99600250e-01 -1.89549836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874012738999994 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:58.85, Y:-7.97, Z:-1.90 [[ 9.81015046e-01 1.92052563e-01 2.69312571e-02 5.88521978e+01] [-1.91985125e-01 9.81384625e-01 -5.09207715e-03 -7.97233086e+00] [-2.74078682e-02 -1.74996482e-04 9.99624319e-01 -1.89690467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:58.88, Y:-7.98, Z:-1.90 [[ 9.81122096e-01 1.91557983e-01 2.65513016e-02 5.88827204e+01] [-1.91492247e-01 9.81481286e-01 -5.02047300e-03 -7.97970691e+00] [-2.70213173e-02 -1.58671419e-04 9.99634845e-01 -1.89834275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934012738999996 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:58.91, Y:-7.99, Z:-1.90 [[ 9.81546728e-01 1.89394372e-01 2.63778841e-02 5.89131935e+01] [-1.89328715e-01 9.81901096e-01 -4.98752852e-03 -7.98960325e+00] [-2.68450831e-02 -9.85986013e-05 9.99639601e-01 -1.89918393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:58.94, Y:-8.00, Z:-1.90 [[ 9.81796123e-01 1.88017391e-01 2.69412936e-02 5.89443752e+01] [-1.87948242e-01 9.82165698e-01 -5.09911852e-03 -7.99694174e+00] [-2.74195374e-02 -5.72739713e-05 9.99624012e-01 -1.89986809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99401273899999 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:58.98, Y:-8.01, Z:-1.90 [[ 9.82212260e-01 1.85628013e-01 2.83075366e-02 5.89760035e+01] [-1.85550536e-01 9.82620090e-01 -5.36263055e-03 -8.00782474e+00] [-2.88110086e-02 1.47628774e-05 9.99584877e-01 -1.90015004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:59.01, Y:-8.02, Z:-1.90 [[ 9.82333380e-01 1.85030501e-01 2.80150709e-02 5.90076753e+01] [-1.84954224e-01 9.82732778e-01 -5.31250462e-03 -8.01678839e+00] [-2.85143039e-02 3.71449007e-05 9.99593384e-01 -1.90123551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054012738999994 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:59.04, Y:-8.02, Z:-1.90 [[ 9.82292180e-01 1.85311346e-01 2.76003160e-02 5.90391514e+01] [-1.85237276e-01 9.82679858e-01 -5.23908241e-03 -8.02434863e+00] [-2.80931360e-02 3.37023444e-05 9.99605309e-01 -1.90199437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:59.07, Y:-8.03, Z:-1.90 [[ 9.81940210e-01 1.87289576e-01 2.67589116e-02 5.90702378e+01] [-1.87220562e-01 9.82304746e-01 -5.08395830e-03 -8.03118161e+00] [-2.72375783e-02 -1.76753890e-05 9.99628988e-01 -1.90353364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114012738999996 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:59.10, Y:-8.04, Z:-1.90 [[ 9.81462772e-01 1.89726753e-01 2.71032653e-02 5.91009128e+01] [-1.89656739e-01 9.81836928e-01 -5.15449575e-03 -8.03864461e+00] [-2.75889324e-02 -8.13712075e-05 9.99619350e-01 -1.90451309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:59.13, Y:-8.05, Z:-1.90 [[ 9.80280212e-01 1.95580533e-01 2.82659157e-02 5.91311454e+01] [-1.95506704e-01 9.80687611e-01 -5.37937803e-03 -8.04605188e+00] [-2.87721350e-02 -2.52878181e-04 9.99585964e-01 -1.90398244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17401273899999 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:59.16, Y:-8.05, Z:-1.90 [[ 9.79715507e-01 1.98441699e-01 2.79001451e-02 5.91618989e+01] [-1.98370909e-01 9.80112637e-01 -5.31040721e-03 -8.05115119e+00] [-2.83990910e-02 -3.31888858e-04 9.99596609e-01 -1.90443040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:59.19, Y:-8.05, Z:-1.91 [[ 9.78573481e-01 2.04297956e-01 2.56181253e-02 5.91917067e+01] [-2.04240268e-01 9.78908644e-01 -4.87641363e-03 -8.05433389e+00] [-2.60740456e-02 -4.60323714e-04 9.99659908e-01 -1.90589271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23401273899999 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:59.22, Y:-8.06, Z:-1.91 [[ 9.78205701e-01 2.06109709e-01 2.51474382e-02 5.92211854e+01] [-2.06054675e-01 9.78528763e-01 -4.78861324e-03 -8.05964697e+00] [-2.55944713e-02 -4.97498432e-04 9.99672284e-01 -1.90750430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:59.25, Y:-8.07, Z:-1.91 [[ 9.78018040e-01 2.06995094e-01 2.51743001e-02 5.92501929e+01] [-2.06940250e-01 9.78341841e-01 -4.79315299e-03 -8.06526100e+00] [-2.56212302e-02 -5.21785841e-04 9.99671586e-01 -1.90823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294012738999996 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:59.28, Y:-8.07, Z:-1.91 [[ 9.77951437e-01 2.07289829e-01 2.53360183e-02 5.92787734e+01] [-2.07234391e-01 9.78279429e-01 -4.82338005e-03 -8.06817870e+00] [-2.57855432e-02 -5.33462885e-04 9.99667355e-01 -1.90924494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:59.31, Y:-8.07, Z:-1.91 [[ 9.77984663e-01 2.07111147e-01 2.55141545e-02 5.93080477e+01] [-2.07054883e-01 9.78317274e-01 -4.85662015e-03 -8.07221413e+00] [-2.59667983e-02 -5.33130251e-04 9.99662664e-01 -1.90943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35401273899999 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:59.34, Y:-8.08, Z:-1.91 [[ 9.78018637e-01 2.06710219e-01 2.73939962e-02 5.93373197e+01] [-2.06645220e-01 9.78402049e-01 -5.21378014e-03 -8.07670151e+00] [-2.78800837e-02 -5.61664220e-04 9.99611117e-01 -1.90984496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:59.37, Y:-8.08, Z:-1.91 [[ 9.78110575e-01 2.06172469e-01 2.81534260e-02 5.93666957e+01] [-2.06103610e-01 9.78515507e-01 -5.35767115e-03 -8.08086476e+00] [-2.86531682e-02 -5.62127926e-04 9.99589256e-01 -1.91000051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41401273899999 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:59.40, Y:-8.08, Z:-1.91 [[ 9.78424024e-01 2.04523854e-01 2.92647024e-02 5.93954483e+01] [-2.04448734e-01 9.78861434e-01 -5.56849511e-03 -8.08288376e+00] [-2.97849786e-02 -5.34781969e-04 9.99556186e-01 -1.91044855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:59.43, Y:-8.09, Z:-1.91 [[ 9.78545963e-01 2.03867882e-01 2.97604691e-02 5.94267075e+01] [-2.03789925e-01 9.78998269e-01 -5.66172991e-03 -8.08775126e+00] [-3.02896926e-02 -5.24620815e-04 9.99541024e-01 -1.91106779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474012738999996 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:59.46, Y:-8.09, Z:-1.91 [[ 9.78673569e-01 2.03199011e-01 3.01364791e-02 5.94570677e+01] [-2.03118731e-01 9.79137325e-01 -5.73400668e-03 -8.09244687e+00] [-3.06728960e-02 -5.09562620e-04 9.99529346e-01 -1.91207624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:59.49, Y:-8.10, Z:-1.91 [[ 9.78928794e-01 2.01987802e-01 2.99890483e-02 5.94861295e+01] [-2.01907725e-01 9.79387925e-01 -5.70637239e-03 -8.09503638e+00] [-3.05235294e-02 -4.68888274e-04 9.99533939e-01 -1.91349070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534012739 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:59.52, Y:-8.10, Z:-1.92 [[ 9.79007772e-01 2.01654657e-01 2.96509883e-02 5.95180164e+01] [-2.01576262e-01 9.79456580e-01 -5.64072303e-03 -8.10029032e+00] [-3.01793336e-02 -4.54623698e-04 9.99544397e-01 -1.91525986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:59.55, Y:-8.11, Z:-1.92 [[ 9.79168834e-01 2.00507803e-01 3.20158550e-02 5.95472455e+01] [-2.00582871e-01 9.79676341e-01 -8.82525981e-04 -8.10891832e+00] [-3.15421291e-02 -5.55769019e-03 9.99486971e-01 -1.91610483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59401273899999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:59.58, Y:-8.11, Z:-1.92 [[ 9.79391576e-01 1.99945722e-01 2.85280430e-02 5.95777402e+01] [-1.99707762e-01 9.79793882e-01 -1.09890231e-02 -8.10568013e+00] [-3.01488101e-02 5.06528505e-03 9.99532587e-01 -1.91553677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:59.61, Y:-8.11, Z:-1.92 [[ 9.79440364e-01 1.99703983e-01 2.85463350e-02 5.96083404e+01] [-1.99630345e-01 9.79856203e-01 -5.43570022e-03 -8.11303451e+00] [-2.90568344e-02 -3.74770503e-04 9.99577691e-01 -1.91733799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654012738999995 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:59.64, Y:-8.12, Z:-1.92 [[ 9.79330131e-01 2.00349780e-01 2.77931502e-02 5.96381897e+01] [-2.00280218e-01 9.79724359e-01 -5.29296584e-03 -8.11804798e+00] [-2.82900708e-02 -3.82857235e-04 9.99599683e-01 -1.91872236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:59.67, Y:-8.12, Z:-1.92 [[ 9.79344112e-01 2.00281446e-01 2.77930393e-02 5.96670072e+01] [-2.00211839e-01 9.79738331e-01 -5.29354849e-03 -8.12341690e+00] [-2.82901054e-02 -3.80289959e-04 9.99599683e-01 -1.91964866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714012739 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:59.70, Y:-8.13, Z:-1.92 [[ 9.79196765e-01 2.01002240e-01 2.77811805e-02 5.96964159e+01] [-2.00933044e-01 9.79590699e-01 -5.28911945e-03 -8.12781584e+00] [-2.82773109e-02 -4.03068510e-04 9.99600036e-01 -1.92085342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:59.73, Y:-8.13, Z:-1.92 [[ 9.79044826e-01 2.01574733e-01 2.89630121e-02 5.97270102e+01] [-2.01499796e-01 9.79473039e-01 -5.51338722e-03 -8.13124247e+00] [-2.94798490e-02 -4.38187779e-04 9.99565279e-01 -1.92208954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77401273899999 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:59.76, Y:-8.14, Z:-1.92 [[ 9.79158589e-01 2.00984717e-01 2.92164676e-02 5.97572304e+01] [-2.00908199e-01 9.79594285e-01 -5.56163492e-03 -8.13759087e+00] [-2.97380883e-02 -4.24105286e-04 9.99557635e-01 -1.92338125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:59.79, Y:-8.15, Z:-1.92 [[ 9.79657040e-01 1.98636559e-01 2.85587524e-02 5.97862398e+01] [-1.98562451e-01 9.80073160e-01 -5.43640234e-03 -8.14672649e+00] [-2.90695350e-02 -3.44886059e-04 9.99577332e-01 -1.92460042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834012738999995 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:59.82, Y:-8.15, Z:-1.93 [[ 9.79967021e-01 1.97211725e-01 2.77880212e-02 5.98172608e+01] [-1.97140983e-01 9.80360877e-01 -5.28997760e-03 -8.15361558e+00] [-2.82855344e-02 -2.94154218e-04 9.99599841e-01 -1.92590600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:59.85, Y:-8.16, Z:-1.93 [[ 9.80267798e-01 1.95786222e-01 2.72543543e-02 5.98469700e+01] [-1.95717601e-01 9.80646569e-01 -5.18907697e-03 -8.15930650e+00] [-2.77428389e-02 -2.47471800e-04 9.99615063e-01 -1.92782237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894012739 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:59.88, Y:-8.17, Z:-1.93 [[ 9.80685898e-01 1.93726799e-01 2.69276283e-02 5.98775480e+01] [-1.93659030e-01 9.81055499e-01 -5.12713854e-03 -8.16602440e+00] [-2.74107619e-02 -1.86665920e-04 9.99624237e-01 -1.93001037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:59.91, Y:-8.17, Z:-1.93 [[ 9.80866810e-01 1.92748994e-01 2.73519048e-02 5.99083523e+01] [-1.92678686e-01 9.81248082e-01 -5.20811323e-03 -8.17353764e+00] [-2.78428627e-02 -1.61663682e-04 9.99612299e-01 -1.93029955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95401273899999 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:59.94, Y:-8.18, Z:-1.93 [[ 9.81011462e-01 1.91964698e-01 2.76778838e-02 5.99381003e+01] [-1.91892252e-01 9.81401822e-01 -5.27518581e-03 -8.17965756e+00] [-2.81757750e-02 -1.36153698e-04 9.99602975e-01 -1.93182094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:59.97, Y:-8.19, Z:-1.93 [[ 9.81242772e-01 1.90760729e-01 2.78022663e-02 5.99705896e+01] [-1.90687154e-01 9.81636559e-01 -5.29862769e-03 -8.18685728e+00] [-2.83024911e-02 -1.02294925e-04 9.99599399e-01 -1.93306411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014012738999995 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:60.00, Y:-8.20, Z:-1.93 [[ 9.81884621e-01 1.87473387e-01 2.75012710e-02 6.00003447e+01] [-1.87399956e-01 9.82269683e-01 -5.24664325e-03 -8.19963532e+00] [-2.79972708e-02 -2.13865825e-06 9.99608000e-01 -1.93451202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:60.03, Y:-8.21, Z:-1.94 [[ 9.82176983e-01 1.85922134e-01 2.75922748e-02 6.00325606e+01] [-1.85847463e-01 9.82564480e-01 -5.26903631e-03 -8.20936332e+00] [-2.80908196e-02 4.71719122e-05 9.99605374e-01 -1.93590285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074012739 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:60.06, Y:-8.22, Z:-1.94 [[ 9.82513374e-01 1.84049321e-01 2.81658938e-02 6.00638509e+01] [-1.83970581e-01 9.82917003e-01 -5.38420923e-03 -8.21955344e+00] [-2.86756960e-02 1.08361733e-04 9.99588762e-01 -1.93664895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:60.10, Y:-8.23, Z:-1.94 [[ 9.82480414e-01 1.84187867e-01 2.84088964e-02 6.00958654e+01] [-1.84107656e-01 9.82891051e-01 -5.43634446e-03 -8.22843005e+00] [-2.89241587e-02 1.10806644e-04 9.99581603e-01 -1.93774574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13401273899999 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:60.13, Y:-8.24, Z:-1.94 [[ 9.82269012e-01 1.85162263e-01 2.93687754e-02 6.01261066e+01] [-1.85076792e-01 9.82707957e-01 -5.62606396e-03 -8.24218007e+00] [-2.99026640e-02 9.08295321e-05 9.99552811e-01 -1.93712030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:60.16, Y:-8.25, Z:-1.94 [[ 9.81909274e-01 1.86983434e-01 2.98558701e-02 6.01579073e+01] [-1.86895775e-01 9.82363066e-01 -5.72497582e-03 -8.25134020e+00] [-3.03997798e-02 4.14708480e-05 9.99537819e-01 -1.93771989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194012738999994 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:60.19, Y:-8.26, Z:-1.94 [[ 9.81337487e-01 1.89885974e-01 3.03323865e-02 6.01896515e+01] [-1.89796696e-01 9.81806149e-01 -5.82230979e-03 -8.25987945e+00] [-3.08860985e-02 -4.33358664e-05 9.99522910e-01 -1.93916022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:60.22, Y:-8.27, Z:-1.94 [[ 9.80281246e-01 1.95218916e-01 3.06309290e-02 6.02200115e+01] [-1.95130284e-01 9.80759671e-01 -5.88563393e-03 -8.27007252e+00] [-3.11905669e-02 -2.07445305e-04 9.99513434e-01 -1.93983700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254012739 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:60.25, Y:-8.28, Z:-1.94 [[ 9.79905629e-01 1.97052692e-01 3.09062217e-02 6.02513448e+01] [-1.96963252e-01 9.80392863e-01 -5.94228261e-03 -8.27852170e+00] [-3.14711820e-02 -2.64513756e-04 9.99504625e-01 -1.94115981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:60.28, Y:-8.29, Z:-1.94 [[ 9.79299709e-01 2.00035897e-01 3.09470399e-02 6.02833044e+01] [-1.99947592e-01 9.79788504e-01 -5.95382138e-03 -8.28652548e+00] [-3.15125319e-02 -3.57210565e-04 9.99503293e-01 -1.94166042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31401273899999 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:60.32, Y:-8.29, Z:-1.94 [[ 9.79003338e-01 2.01518760e-01 3.07026736e-02 6.03156735e+01] [-2.01432391e-01 9.79484575e-01 -5.91264700e-03 -8.29239874e+00] [-3.12643044e-02 -3.96011806e-04 9.99511074e-01 -1.94318843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:60.35, Y:-8.30, Z:-1.94 [[ 9.78300447e-01 2.05022966e-01 2.98967968e-02 6.03485200e+01] [-2.04942535e-01 9.78757040e-01 -5.76308383e-03 -8.29861744e+00] [-3.04432649e-02 -4.89097843e-04 9.99536377e-01 -1.94488398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374012738999994 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:60.38, Y:-8.31, Z:-1.95 [[ 9.77866439e-01 2.07174052e-01 2.92598580e-02 6.03797014e+01] [-2.07097807e-01 9.78303952e-01 -5.64592627e-03 -8.30511449e+00] [-2.97947241e-02 -5.38690613e-04 9.99555893e-01 -1.94574021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:60.41, Y:-8.31, Z:-1.95 [[ 9.77251815e-01 2.10081944e-01 2.90597141e-02 6.04126083e+01] [-2.10007867e-01 9.77683586e-01 -5.61254036e-03 -8.30939289e+00] [-2.95902989e-02 -6.17903345e-04 9.99561920e-01 -1.94696844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434012738999996 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:60.44, Y:-8.31, Z:-1.95 [[ 9.76906867e-01 2.11620122e-01 2.94940332e-02 6.04438945e+01] [-2.11544344e-01 9.77351767e-01 -5.70209633e-03 -8.31374901e+00] [-3.00327238e-02 -6.68878842e-04 9.99548692e-01 -1.94789433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:60.48, Y:-8.32, Z:-1.95 [[ 9.76068164e-01 2.15221360e-01 3.11561316e-02 6.04770965e+01] [-2.15138448e-01 9.76564948e-01 -6.02920835e-03 -8.31733767e+00] [-3.17236004e-02 -8.17963451e-04 9.99496345e-01 -1.94856473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49401273899999 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:60.51, Y:-8.32, Z:-1.95 [[ 9.75572689e-01 2.17402230e-01 3.15309228e-02 6.05083598e+01] [-2.17318255e-01 9.76081693e-01 -6.10774042e-03 -8.32232396e+00] [-3.21045929e-02 -8.93700368e-04 9.99484115e-01 -1.94881625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:60.54, Y:-8.33, Z:-1.95 [[ 9.75036216e-01 2.19743903e-01 3.18903609e-02 6.05399996e+01] [-2.19659128e-01 9.75557102e-01 -6.18120163e-03 -8.32612586e+00] [-3.24691494e-02 -9.78113420e-04 9.99472260e-01 -1.94986849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554012738999994 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:60.57, Y:-8.33, Z:-1.95 [[ 9.73871982e-01 2.24906712e-01 3.14695626e-02 6.05712326e+01] [-2.24826687e-01 9.74379646e-01 -6.10468568e-03 -8.32505031e+00] [-3.20362860e-02 -1.13001515e-03 9.99486068e-01 -1.95041368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:60.60, Y:-8.32, Z:-1.95 [[ 9.72721386e-01 2.30002702e-01 3.01970515e-02 6.06014206e+01] [-2.29931455e-01 9.73189194e-01 -5.85820248e-03 -8.32303508e+00] [-3.07348467e-02 -1.24485318e-03 9.99526798e-01 -1.95146391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614012738999996 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:60.63, Y:-8.32, Z:-1.95 [[ 9.72261613e-01 2.31946295e-01 3.01375529e-02 6.06306640e+01] [-2.31876281e-01 9.72727719e-01 -5.84595571e-03 -8.32411780e+00] [-3.06715809e-02 -1.30438537e-03 9.99528665e-01 -1.95258689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:60.66, Y:-8.32, Z:-1.95 [[ 9.71945019e-01 2.33216917e-01 3.05409614e-02 6.06597338e+01] [-2.33145676e-01 9.72423781e-01 -5.92311756e-03 -8.32491039e+00] [-3.10801284e-02 -1.36354847e-03 9.99515966e-01 -1.95344964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67401273899999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:60.69, Y:-8.32, Z:-1.95 [[ 9.71961211e-01 2.33072549e-01 3.11221985e-02 6.06884678e+01] [-2.32998544e-01 9.72458362e-01 -6.03433220e-03 -8.32157569e+00] [-3.16714794e-02 -1.38629012e-03 9.99497371e-01 -1.95447375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:60.72, Y:-8.32, Z:-1.95 [[ 9.72123986e-01 2.32343891e-01 3.14844822e-02 6.07174677e+01] [-2.32267833e-01 9.72632722e-01 -6.10269627e-03 -8.32363968e+00] [-3.20407618e-02 -1.38025503e-03 9.99485610e-01 -1.95477650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73401273899999 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:60.75, Y:-8.32, Z:-1.96 [[ 9.72985793e-01 2.28514760e-01 3.28580517e-02 6.07463494e+01] [-2.28429795e-01 9.73539566e-01 -6.36724289e-03 -8.32156364e+00] [-3.34436224e-02 -1.31052115e-03 9.99439746e-01 -1.95619772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:60.77, Y:-8.32, Z:-1.96 [[ 9.73590906e-01 2.25986981e-01 3.24134578e-02 6.07740446e+01] [-2.25902965e-01 9.74129572e-01 -6.27914488e-03 -8.32294402e+00] [-3.29939128e-02 -1.20897786e-03 9.99454821e-01 -1.95762945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794012738999996 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:60.80, Y:-8.32, Z:-1.96 [[ 9.74966563e-01 2.20321571e-01 2.99767629e-02 6.08030633e+01] [-2.20247087e-01 9.75426839e-01 -5.80542800e-03 -8.32178304e+00] [-3.05192001e-02 -9.42196516e-04 9.99533737e-01 -1.96010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:60.83, Y:-8.32, Z:-1.96 [[ 9.75682431e-01 2.17217359e-01 2.93327815e-02 6.08312891e+01] [-2.17144680e-01 9.76122909e-01 -5.67933782e-03 -8.32495253e+00] [-2.98660508e-02 -8.28227334e-04 9.99553567e-01 -1.96143168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85401273899999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:60.86, Y:-8.33, Z:-1.96 [[ 9.76781677e-01 2.12088871e-01 3.02632761e-02 6.08588376e+01] [-2.12009092e-01 9.77250136e-01 -5.85798257e-03 -8.32921688e+00] [-3.08172036e-02 -6.94119660e-04 9.99524796e-01 -1.96176671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:60.89, Y:-8.34, Z:-1.96 [[ 9.77236935e-01 2.09764752e-01 3.17288914e-02 6.08865846e+01] [-2.09675897e-01 9.77751667e-01 -6.13966800e-03 -8.33513765e+00] [-3.23108624e-02 -6.52873428e-04 9.99477655e-01 -1.96229272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91401273899999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:60.91, Y:-8.34, Z:-1.96 [[ 9.77584426e-01 2.08044361e-01 3.23455280e-02 6.09147910e+01] [-2.07951129e-01 9.78119202e-01 -6.25741108e-03 -8.34060591e+00] [-3.29396011e-02 -6.09141419e-04 9.99457158e-01 -1.96239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:60.94, Y:-8.35, Z:-1.96 [[ 9.77974046e-01 2.06120425e-01 3.28806217e-02 6.09424704e+01] [-2.06023047e-01 9.78526475e-01 -6.35937003e-03 -8.34558251e+00] [-3.34853549e-02 -5.54867036e-04 9.99439054e-01 -1.96459995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974012738999996 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:60.97, Y:-8.35, Z:-1.97 [[ 9.78210343e-01 2.05063783e-01 3.24556489e-02 6.09701909e+01] [-2.04968356e-01 9.78748477e-01 -6.27625923e-03 -8.35111974e+00] [-3.30529504e-02 -5.12879296e-04 9.99453470e-01 -1.96541555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:61.00, Y:-8.36, Z:-1.97 [[ 9.78671047e-01 2.03068179e-01 3.10853096e-02 6.09986239e+01] [-2.02979687e-01 9.79164507e-01 -6.00961972e-03 -8.35781195e+00] [-3.16579944e-02 -4.28245587e-04 9.99498668e-01 -1.96685686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034012739 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:61.03, Y:-8.36, Z:-1.97 [[ 9.78892028e-01 2.02104000e-01 3.04034546e-02 6.10279394e+01] [-2.02018924e-01 9.79363988e-01 -5.87648685e-03 -8.36389233e+00] [-3.09637101e-02 -3.89627051e-04 9.99520433e-01 -1.96833297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:61.06, Y:-8.37, Z:-1.97 [[ 9.79131506e-01 2.00958126e-01 3.02873945e-02 6.10563640e+01] [-2.00873173e-01 9.79599769e-01 -5.85331842e-03 -8.37136888e+00] [-3.08457965e-02 -3.52756538e-04 9.99524093e-01 -1.97039087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09401273899999 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:61.09, Y:-8.38, Z:-1.97 [[ 9.79122402e-01 2.00878594e-01 3.10984446e-02 6.10855103e+01] [-2.00789013e-01 9.79616078e-01 -6.00928129e-03 -8.37839684e+00] [-3.16716723e-02 -3.60404087e-04 9.99498262e-01 -1.97094305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:61.11, Y:-8.39, Z:-1.97 [[ 9.79033939e-01 2.01218327e-01 3.16817042e-02 6.11146029e+01] [-2.01125557e-01 9.79546345e-01 -6.12120300e-03 -8.38572026e+00] [-3.22653958e-02 -3.79134929e-04 9.99479265e-01 -1.97104793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154012738999995 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:61.14, Y:-8.39, Z:-1.97 [[ 9.78693942e-01 2.03141026e-01 2.98645494e-02 6.11426577e+01] [-2.03059499e-01 9.79149401e-01 -5.76978541e-03 -8.39120245e+00] [-3.04139358e-02 -4.17426424e-04 9.99537302e-01 -1.97122722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:61.17, Y:-8.40, Z:-1.97 [[ 9.78281459e-01 2.05258779e-01 2.88828894e-02 6.11718562e+01] [-2.05183470e-01 9.78707625e-01 -5.57934070e-03 -8.39616232e+00] [-2.94131127e-02 -4.68125919e-04 9.99567231e-01 -1.97321977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214012739 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:61.20, Y:-8.40, Z:-1.98 [[ 9.77408323e-01 2.09343023e-01 2.91284922e-02 6.11991029e+01] [-2.09268259e-01 9.77842085e-01 -5.62613368e-03 -8.40163853e+00] [-2.96608573e-02 -5.96638940e-04 9.99559842e-01 -1.97604652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:61.23, Y:-8.41, Z:-1.98 [[ 9.77155198e-01 2.10303226e-01 3.06638449e-02 6.12276851e+01] [-2.10220903e-01 9.77635984e-01 -5.92072355e-03 -8.40749305e+00] [-3.12232254e-02 -6.60715387e-04 9.99512218e-01 -1.97641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27401273899999 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:61.25, Y:-8.41, Z:-1.98 [[ 9.77073746e-01 2.10558778e-01 3.14943856e-02 6.12545376e+01] [-2.10472118e-01 9.77580957e-01 -6.07952020e-03 -8.41307706e+00] [-3.20684079e-02 -6.88550460e-04 9.99485439e-01 -1.97624789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:61.28, Y:-8.42, Z:-1.98 [[ 9.77360228e-01 2.09282592e-01 3.11091802e-02 6.12831262e+01] [-2.09197452e-01 9.77854992e-01 -6.00331596e-03 -8.41927217e+00] [-3.16766567e-02 -6.40558975e-04 9.99497964e-01 -1.97832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334012738999995 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:61.31, Y:-8.43, Z:-1.98 [[ 9.77500079e-01 2.08894136e-01 2.92717583e-02 6.13120836e+01] [-2.08818605e-01 9.77938081e-01 -5.64803489e-03 -8.42844248e+00] [-2.98058085e-02 -5.91533196e-04 9.99555533e-01 -1.98051927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:61.34, Y:-8.44, Z:-1.98 [[ 9.77415063e-01 2.09280994e-01 2.93472259e-02 6.13398822e+01] [-2.09205245e-01 9.77855357e-01 -5.66265869e-03 -8.43519842e+00] [-2.98824290e-02 -6.04825704e-04 9.99553238e-01 -1.98113036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394012739 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:61.37, Y:-8.44, Z:-1.98 [[ 9.77253275e-01 2.09964142e-01 2.98512201e-02 6.13692073e+01] [-2.09886122e-01 9.77708879e-01 -5.75875602e-03 -8.44040775e+00] [-3.03949352e-02 -6.37593647e-04 9.99537764e-01 -1.98092747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:61.40, Y:-8.44, Z:-1.98 [[ 9.76600814e-01 2.12903242e-01 3.03818889e-02 6.13986054e+01] [-2.12823866e-01 9.77073005e-01 -5.86039278e-03 -8.44087017e+00] [-3.09330202e-02 -7.42726694e-04 9.99521184e-01 -1.98160422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45401273899999 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:61.43, Y:-8.44, Z:-1.98 [[ 9.76064083e-01 2.15378411e-01 3.01835231e-02 6.14260032e+01] [-2.15301295e-01 9.76530323e-01 -5.82068271e-03 -8.44333686e+00] [-3.07287749e-02 -8.17192262e-04 9.99527426e-01 -1.98306451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:61.45, Y:-8.44, Z:-1.98 [[ 9.74697897e-01 2.21464703e-01 3.02885180e-02 6.14537460e+01] [-2.21390037e-01 9.75167861e-01 -5.83909731e-03 -8.44491618e+00] [-3.08295433e-02 -1.01422025e-03 9.99524142e-01 -1.98402342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514012738999995 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:61.48, Y:-8.45, Z:-1.99 [[ 9.73968774e-01 2.24662123e-01 3.01953259e-02 6.14819729e+01] [-2.24589504e-01 9.74436088e-01 -5.81932653e-03 -8.44740562e+00] [-3.07307975e-02 -1.11371093e-03 9.99527077e-01 -1.98511903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:61.51, Y:-8.44, Z:-1.99 [[ 9.72535752e-01 2.30770809e-01 3.03157618e-02 6.15109119e+01] [-2.30700620e-01 9.73007250e-01 -5.84081986e-03 -8.44455533e+00] [-3.08453467e-02 -1.31345892e-03 9.99523306e-01 -1.98605574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:61.54, Y:-8.45, Z:-1.99 [[ 9.72275619e-01 2.31799941e-01 3.08043597e-02 6.15382148e+01] [-2.31728058e-01 9.72762515e-01 -5.93269124e-03 -8.44516593e+00] [-3.13405239e-02 -1.37002341e-03 9.99507826e-01 -1.98714613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:61.57, Y:-8.45, Z:-1.99 [[ 9.72288903e-01 2.31744148e-01 3.08048403e-02 6.15662047e+01] [-2.31672316e-01 9.72775807e-01 -5.93019471e-03 -8.45042763e+00] [-3.13404913e-02 -1.37076619e-03 9.99507826e-01 -1.98804614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63401273899999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:61.59, Y:-8.45, Z:-1.99 [[ 9.72284080e-01 2.31758852e-01 3.08464326e-02 6.15940045e+01] [-2.31686890e-01 9.72772298e-01 -5.93636710e-03 -8.45195971e+00] [-3.13823608e-02 -1.37487882e-03 9.99506507e-01 -1.98832026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:61.62, Y:-8.45, Z:-1.99 [[ 9.72627323e-01 2.30475650e-01 2.96152743e-02 6.16215439e+01] [-2.30408786e-01 9.73077248e-01 -5.69743025e-03 -8.45129640e+00] [-3.01310686e-02 -1.28214305e-03 9.99545134e-01 -1.98971463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694012738999994 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:61.65, Y:-8.45, Z:-1.99 [[ 9.73184601e-01 2.28303356e-01 2.80946511e-02 6.16502502e+01] [-2.28242342e-01 9.73589361e-01 -5.40266994e-03 -8.45089450e+00] [-2.85861011e-02 -1.15459378e-03 9.99590667e-01 -1.99139594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:61.68, Y:-8.45, Z:-1.99 [[ 9.73542468e-01 2.26767697e-01 2.81331686e-02 6.16782300e+01] [-2.26705932e-01 9.73948239e-01 -5.40809697e-03 -8.45291123e+00] [-2.86266317e-02 -1.11294412e-03 9.99589554e-01 -1.99238942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754012739 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:61.71, Y:-8.46, Z:-1.99 [[ 9.73989035e-01 2.24747839e-01 2.88750390e-02 6.17067735e+01] [-2.24681948e-01 9.74416356e-01 -5.54862509e-03 -8.45515418e+00] [-2.93833518e-02 -1.08340001e-03 9.99567629e-01 -1.99392495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:61.73, Y:-8.46, Z:-1.99 [[ 9.74971202e-01 2.20300290e-01 2.99822879e-02 6.17338192e+01] [-2.20227214e-01 9.75431600e-01 -5.75915478e-03 -8.45558378e+00] [-3.05144145e-02 -9.87905674e-04 9.99533839e-01 -1.99410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81401273899999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:61.76, Y:-8.46, Z:-1.99 [[ 9.75538875e-01 2.17758101e-01 3.00884209e-02 6.17615755e+01] [-2.17683376e-01 9.76002343e-01 -5.77699610e-03 -8.45810420e+00] [-3.06243570e-02 -9.14064776e-04 9.99530546e-01 -1.99441596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:61.79, Y:-8.46, Z:-1.99 [[ 9.76398860e-01 2.13935281e-01 2.96135291e-02 6.17890316e+01] [-2.13861201e-01 9.76847522e-01 -5.68376613e-03 -8.45923657e+00] [-3.01438606e-02 -7.83562120e-04 9.99545263e-01 -1.99490647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874012738999994 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:61.82, Y:-8.46, Z:-2.00 [[ 9.76722911e-01 2.12368781e-01 3.01969567e-02 6.18162491e+01] [-2.12291083e-01 9.77189304e-01 -5.79319151e-03 -8.46371161e+00] [-3.07384361e-02 -7.52201751e-04 9.99527180e-01 -1.99620979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:61.84, Y:-8.47, Z:-2.00 [[ 9.76972369e-01 2.11100592e-01 3.10085503e-02 6.18430280e+01] [-2.11018094e-01 9.77464067e-01 -5.94660732e-03 -8.46794120e+00] [-3.15650760e-02 -7.33694149e-04 9.99501430e-01 -1.99665432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934012738999996 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:61.87, Y:-8.47, Z:-2.00 [[ 9.77408929e-01 2.08905022e-01 3.21010441e-02 6.18714212e+01] [-2.08815514e-01 9.77935692e-01 -6.15335700e-03 -8.46969919e+00] [-3.26782239e-02 -6.88849952e-04 9.99465687e-01 -1.99726239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:61.90, Y:-8.47, Z:-2.00 [[ 9.77629505e-01 2.07846021e-01 3.22580735e-02 6.18993998e+01] [-2.07755134e-01 9.78161335e-01 -6.18116958e-03 -8.47347906e+00] [-3.28383318e-02 -6.58886641e-04 9.99460459e-01 -1.99876812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99401273899999 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:61.93, Y:-8.48, Z:-2.00 [[ 9.78116111e-01 2.05704515e-01 3.12173901e-02 6.19274408e+01] [-2.05618376e-01 9.78613983e-01 -5.97961850e-03 -8.47639597e+00] [-3.17798090e-02 -5.70107851e-04 9.99494732e-01 -2.00004696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:61.95, Y:-8.48, Z:-2.00 [[ 9.78467470e-01 2.04212773e-01 2.99758687e-02 6.19540462e+01] [-2.04132713e-01 9.78926397e-01 -5.73976569e-03 -8.48026928e+00] [-3.05163026e-02 -5.02881391e-04 9.99534143e-01 -2.00116968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:61.98, Y:-8.48, Z:-2.00 [[ 9.79071272e-01 2.01496970e-01 2.86079531e-02 6.19820300e+01] [-2.01422980e-01 9.79489055e-01 -5.47481966e-03 -8.48489318e+00] [-2.91243365e-02 -4.02060520e-04 9.99575716e-01 -2.00232839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:62.01, Y:-8.49, Z:-2.00 [[ 9.79368223e-01 1.99941565e-01 2.93471410e-02 6.20100278e+01] [-1.99863066e-01 9.79807754e-01 -5.61418491e-03 -8.48935249e+00] [-2.98770652e-02 -3.67055278e-04 9.99553513e-01 -2.00301917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:62.04, Y:-8.49, Z:-2.00 [[ 9.79590214e-01 1.98604139e-01 3.09743116e-02 6.20366022e+01] [-1.98516097e-01 9.80079729e-01 -5.92314048e-03 -8.49354725e+00] [-3.15336552e-02 -3.46648996e-04 9.99502631e-01 -2.00267623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:62.06, Y:-8.50, Z:-2.00 [[ 9.79955515e-01 1.96403388e-01 3.33601181e-02 6.20635596e+01] [-1.96300080e-01 9.80523135e-01 -6.37648161e-03 -8.49806388e+00] [-3.39627301e-02 -2.99925509e-04 9.99423055e-01 -2.00374581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174012739 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:62.09, Y:-8.50, Z:-2.00 [[ 9.80277259e-01 1.94871322e-01 3.28886518e-02 6.20912504e+01] [-1.94770115e-01 9.80828786e-01 -6.28445280e-03 -8.50389574e+00] [-3.34827960e-02 -2.45220344e-04 9.99439264e-01 -2.00463699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:62.12, Y:-8.51, Z:-2.01 [[ 9.81127104e-01 1.90822732e-01 3.12456491e-02 6.21183270e+01] [-1.90729397e-01 9.81624508e-01 -5.96847425e-03 -8.51038777e+00] [-3.18104155e-02 -1.03631972e-04 9.99493915e-01 -2.00656545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23401273900001 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:62.15, Y:-8.52, Z:-2.01 [[ 9.81649325e-01 1.88239155e-01 3.05061136e-02 6.21464902e+01] [-1.88148993e-01 9.82123220e-01 -5.82551343e-03 -8.51673896e+00] [-3.10573523e-02 -2.10832203e-05 9.99517604e-01 -2.00764752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:62.17, Y:-8.52, Z:-2.01 [[ 9.82156665e-01 1.85640145e-01 3.01001873e-02 6.21743172e+01] [-1.85551187e-01 9.82617796e-01 -5.74663289e-03 -8.52460233e+00] [-3.06437854e-02 5.89683237e-05 9.99530367e-01 -2.00887603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294012739 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:62.20, Y:-8.54, Z:-2.01 [[ 9.83198355e-01 1.80278973e-01 2.86441293e-02 6.22016139e+01] [-1.80196174e-01 9.83615497e-01 -5.46740206e-03 -8.53557630e+00] [-2.91604671e-02 2.13978191e-04 9.99574720e-01 -2.00989235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:62.23, Y:-8.54, Z:-2.01 [[ 9.83646014e-01 1.77859827e-01 2.83972067e-02 6.22287612e+01] [-1.77777478e-01 9.84055792e-01 -5.41900972e-03 -8.54325993e+00] [-2.89082599e-02 2.82003508e-04 9.99582029e-01 -2.01046989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354012739 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:62.26, Y:-8.55, Z:-2.01 [[ 9.84075475e-01 1.75029065e-01 3.09884972e-02 6.22571432e+01] [-1.74929655e-01 9.84563187e-01 -5.91157163e-03 -8.55489781e+00] [-3.15448304e-02 3.96625550e-04 9.99502259e-01 -2.00953735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:62.29, Y:-8.56, Z:-2.01 [[ 9.84062792e-01 1.74779052e-01 3.27521782e-02 6.22858693e+01] [-1.74667890e-01 9.84607587e-01 -6.24719519e-03 -8.56319814e+00] [-3.33399220e-02 4.26878485e-04 9.99443979e-01 -2.00982251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414012739 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:62.31, Y:-8.58, Z:-2.01 [[ 9.83809442e-01 1.75637832e-01 3.56417503e-02 6.23135377e+01] [-1.75709629e-01 9.84441387e-01 -1.13233754e-03 -8.57533931e+00] [-3.52860954e-02 -5.14859436e-03 9.99363989e-01 -2.01134172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:62.34, Y:-8.58, Z:-2.01 [[ 9.83529814e-01 1.78202094e-01 3.02178543e-02 6.23429988e+01] [-1.77932374e-01 9.83976529e-01 -1.14132157e-02 -8.57553336e+00] [-3.17675183e-02 5.84850339e-03 9.99478174e-01 -2.01172182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474012739 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:62.37, Y:-8.59, Z:-2.01 [[ 9.83316546e-01 1.79241754e-01 3.09994051e-02 6.23679835e+01] [-1.79169813e-01 9.83804914e-01 -5.10581806e-03 -8.58782350e+00] [-3.14125429e-02 -5.33522227e-04 9.99506362e-01 -2.01383284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:62.40, Y:-8.60, Z:-2.01 [[ 9.83337513e-01 1.79158825e-01 3.08131733e-02 6.23954982e+01] [-1.79038748e-01 9.83819648e-01 -6.63528621e-03 -8.59830869e+00] [-3.15033754e-02 1.00797386e-03 9.99503137e-01 -2.01379310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534012739 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:62.42, Y:-8.60, Z:-2.01 [[ 9.83416844e-01 1.79130267e-01 2.83488532e-02 6.24245301e+01] [-1.78765115e-01 9.83778188e-01 -1.49502887e-02 -8.60031800e+00] [-3.05670326e-02 9.63457970e-03 9.99486284e-01 -2.01174876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:62.45, Y:-8.63, Z:-2.01 [[ 9.83730027e-01 1.76241224e-01 3.48463097e-02 6.24523961e+01] [-1.76422967e-01 9.84312020e-01 2.18717323e-03 -8.62559376e+00] [-3.39141714e-02 -8.29927733e-03 9.99390290e-01 -2.01365405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59401273900001 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:62.49, Y:-8.63, Z:-2.02 [[ 9.83884054e-01 1.75902191e-01 3.21027595e-02 6.24851763e+01] [-1.75795992e-01 9.84407575e-01 -6.12333333e-03 -8.63038045e+00] [-3.26793074e-02 3.81113562e-04 9.99465816e-01 -2.01544866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:62.51, Y:-8.64, Z:-2.02 [[ 9.84126680e-01 1.74900328e-01 3.00757882e-02 6.25147179e+01] [-1.74806481e-01 9.84586065e-01 -5.74230077e-03 -8.64415341e+00] [-3.06165323e-02 3.93708678e-04 9.99531127e-01 -2.01705252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654012739 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:62.55, Y:-8.65, Z:-2.02 [[ 9.84085798e-01 1.75148076e-01 2.99715375e-02 6.25469695e+01] [-1.75054825e-01 9.84542025e-01 -5.72790322e-03 -8.65329372e+00] [-3.05114695e-02 3.90085960e-04 9.99534341e-01 -2.01820005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:62.58, Y:-8.66, Z:-2.02 [[ 9.83898281e-01 1.76164715e-01 3.01689494e-02 6.25782161e+01] [-1.76070523e-01 9.84360634e-01 -5.77167931e-03 -8.66232874e+00] [-3.07138924e-02 3.66882656e-04 9.99528150e-01 -2.01899297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714012739 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:62.61, Y:-8.67, Z:-2.02 [[ 9.83253402e-01 1.79903041e-01 2.91143235e-02 6.26096470e+01] [-1.79816802e-01 9.83684317e-01 -5.57519331e-03 -8.67350350e+00] [-2.96422976e-02 2.46583259e-04 9.99560540e-01 -2.02024466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:62.64, Y:-8.68, Z:-2.02 [[ 9.82761669e-01 1.82658904e-01 2.85521560e-02 6.26396599e+01] [-1.82577014e-01 9.83176331e-01 -5.47139888e-03 -8.68073881e+00] [-2.90712037e-02 1.64113714e-04 9.99577330e-01 -2.02092275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774012739 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:62.67, Y:-8.69, Z:-2.02 [[ 9.81517278e-01 1.89202729e-01 2.87430160e-02 6.26691585e+01] [-1.89122456e-01 9.81938046e-01 -5.51087506e-03 -8.68808345e+00] [-2.92665336e-02 -2.69307095e-05 9.99571643e-01 -2.02214827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:62.70, Y:-8.69, Z:-2.02 [[ 9.80885208e-01 1.92414600e-01 2.89970669e-02 6.26995894e+01] [-1.92334304e-01 9.81313715e-01 -5.55958402e-03 -8.69387059e+00] [-2.95249645e-02 -1.23816947e-04 9.99564036e-01 -2.02264452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:62.73, Y:-8.70, Z:-2.02 [[ 9.80337065e-01 1.95140546e-01 2.93156394e-02 6.27295227e+01] [-1.95059694e-01 9.80775267e-01 -5.62066367e-03 -8.69852348e+00] [-2.98488734e-02 -2.08154713e-04 9.99554401e-01 -2.02425071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:62.76, Y:-8.70, Z:-2.03 [[ 9.79639300e-01 1.98590072e-01 2.94758400e-02 6.27585501e+01] [-1.98509892e-01 9.80082591e-01 -5.65140608e-03 -8.69959177e+00] [-3.00110708e-02 -3.14906336e-04 9.99549517e-01 -2.02556390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894012739 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:62.79, Y:-8.70, Z:-2.03 [[ 9.79667669e-01 1.98385454e-01 2.99076995e-02 6.27884264e+01] [-1.98302846e-01 9.80124029e-01 -5.73310250e-03 -8.70130037e+00] [-3.04506191e-02 -3.14246751e-04 9.99536223e-01 -2.02591117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:62.82, Y:-8.71, Z:-2.03 [[ 9.79993042e-01 1.96786068e-01 2.98141101e-02 6.28181176e+01] [-1.96703259e-01 9.80446415e-01 -5.71441442e-03 -8.70573921e+00] [-3.03556546e-02 -2.64446249e-04 9.99539126e-01 -2.02654246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954012739 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:62.85, Y:-8.71, Z:-2.03 [[ 9.80404268e-01 1.94754644e-01 2.96327690e-02 6.28480081e+01] [-1.94671911e-01 9.80851971e-01 -5.67965711e-03 -8.70971747e+00] [-3.01714995e-02 -2.00307695e-04 9.99544717e-01 -2.02718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters Centerline goodness : 0.998173 Centerline is valid? [True, True] Translation: X:62.88, Y:-8.71, Z:-2.03 [[ 9.81073474e-01 1.91372491e-01 2.95196381e-02 6.28788536e+01] [-1.91288857e-01 9.81517478e-01 -5.65797353e-03 -8.71213544e+00] [-3.00568213e-02 -9.58901048e-05 9.99548187e-01 -2.02795828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014012739 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:62.91, Y:-8.72, Z:-2.03 [[ 9.81957706e-01 1.86578372e-01 3.07827112e-02 6.29083275e+01] [-1.86485068e-01 9.82440079e-01 -5.90009564e-03 -8.71796602e+00] [-3.13429995e-02 5.31283792e-05 9.99508686e-01 -2.02820127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:62.94, Y:-8.72, Z:-2.03 [[ 9.82510475e-01 1.83552842e-01 3.13292226e-02 6.29396706e+01] [-1.83454594e-01 9.83009832e-01 -6.00677022e-03 -8.72471752e+00] [-3.18994936e-02 1.54224839e-04 9.99491070e-01 -2.02980423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074012739 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:62.97, Y:-8.73, Z:-2.03 [[ 9.83075222e-01 1.80542574e-01 3.11044354e-02 6.29721293e+01] [-1.80444055e-01 9.83567137e-01 -5.96901928e-03 -8.73175433e+00] [-3.16709626e-02 2.55384484e-04 9.99498317e-01 -2.03115888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:63.00, Y:-8.74, Z:-2.03 [[ 9.83817824e-01 1.76684538e-01 2.97500120e-02 6.30027698e+01] [-1.76592474e-01 9.84267463e-01 -5.71487521e-03 -8.74071989e+00] [-3.02916989e-02 3.68767864e-04 9.99541033e-01 -2.03319090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:63.03, Y:-8.75, Z:-2.03 [[ 9.84057471e-01 1.75373927e-01 2.95783606e-02 6.30337039e+01] [-1.75282164e-01 9.84501811e-01 -5.68745365e-03 -8.74993617e+00] [-3.01173807e-02 4.12222200e-04 9.99546284e-01 -2.03407476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:63.06, Y:-8.76, Z:-2.03 [[ 9.84674453e-01 1.71736297e-01 3.03786990e-02 6.30641233e+01] [-1.71637592e-01 9.85142806e-01 -5.84704721e-03 -8.76255946e+00] [-3.09315070e-02 5.43311270e-04 9.99521359e-01 -2.03421032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194012739 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:63.10, Y:-8.77, Z:-2.03 [[ 9.84963353e-01 1.70103183e-01 3.02009941e-02 6.30957393e+01] [-1.70004699e-01 9.85426076e-01 -5.81815072e-03 -8.77189602e+00] [-3.07505331e-02 5.96354317e-04 9.99526913e-01 -2.03438891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:63.13, Y:-8.78, Z:-2.04 [[ 9.85174006e-01 1.68981498e-01 2.96214646e-02 6.31260066e+01] [-1.68886078e-01 9.85619025e-01 -5.71222792e-03 -8.78127804e+00] [-3.01607399e-02 6.24885470e-04 9.99544866e-01 -2.03555199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254012739 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:63.16, Y:-8.79, Z:-2.04 [[ 9.85312805e-01 1.68411886e-01 2.82154614e-02 6.31561024e+01] [-1.68324937e-01 9.85716519e-01 -5.44602430e-03 -8.79483199e+00] [-2.87296216e-02 6.16671716e-04 9.99587029e-01 -2.03685065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:63.19, Y:-8.80, Z:-2.04 [[ 9.85209743e-01 1.69023904e-01 2.81546191e-02 6.31881587e+01] [-1.68937437e-01 9.85611768e-01 -5.43923149e-03 -8.80415282e+00] [-2.86688841e-02 6.02414659e-04 9.99588782e-01 -2.03742787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314012739 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:63.22, Y:-8.81, Z:-2.04 [[ 9.84704786e-01 1.71916622e-01 2.83047670e-02 6.32183773e+01] [-1.71830264e-01 9.85111363e-01 -5.47379996e-03 -8.81482801e+00] [-2.88243848e-02 5.26461427e-04 9.99584352e-01 -2.03780293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:63.25, Y:-8.82, Z:-2.04 [[ 9.84356970e-01 1.73927631e-01 2.81164342e-02 6.32491546e+01] [-1.73843093e-01 9.84758325e-01 -5.44245596e-03 -8.82274662e+00] [-2.86344862e-02 4.69471563e-04 9.99589839e-01 -2.03857841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37401273900001 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:63.28, Y:-8.83, Z:-2.04 [[ 9.83860326e-01 1.76772096e-01 2.77576287e-02 6.32809450e+01] [-1.76690699e-01 9.84251734e-01 -5.37774955e-03 -8.83296178e+00] [-2.82711302e-02 3.86439621e-04 9.99600217e-01 -2.03968568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:63.31, Y:-8.84, Z:-2.04 [[ 9.83701657e-01 1.77676072e-01 2.76091094e-02 6.33135104e+01] [-1.77595749e-01 9.84088960e-01 -5.35433921e-03 -8.84008104e+00] [-2.81211577e-02 3.63811897e-04 9.99604456e-01 -2.04018039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434012739 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:63.35, Y:-8.85, Z:-2.04 [[ 9.83585285e-01 1.78293085e-01 2.77770189e-02 6.33458848e+01] [-1.78211872e-01 9.83977363e-01 -5.39238357e-03 -8.84632192e+00] [-2.82933825e-02 3.53674606e-04 9.99599600e-01 -2.04072605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:63.38, Y:-8.85, Z:-2.04 [[ 9.83255064e-01 1.79661972e-01 3.05132006e-02 6.33769038e+01] [-1.79564423e-01 9.83728343e-01 -5.93008670e-03 -8.85309400e+00] [-3.10821113e-02 3.51702502e-04 9.99516773e-01 -2.03989270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494012739 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:63.41, Y:-8.86, Z:-2.04 [[ 9.83241117e-01 1.79738458e-01 3.05121699e-02 6.34097495e+01] [-1.79640781e-01 9.83714370e-01 -5.93538527e-03 -8.85962618e+00] [-3.10820770e-02 3.54684810e-04 9.99516773e-01 -2.04092412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:63.44, Y:-8.87, Z:-2.04 [[ 9.82930819e-01 1.81259616e-01 3.14953586e-02 6.34422461e+01] [-1.81156233e-01 9.83435229e-01 -6.12939952e-03 -8.86685079e+00] [-3.20846578e-02 3.19195173e-04 9.99485104e-01 -2.04134384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554012739 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:63.47, Y:-8.88, Z:-2.04 [[ 9.82211554e-01 1.84901961e-01 3.27372483e-02 6.34730765e+01] [-1.84981204e-01 9.82741865e-01 -6.17690786e-04 -8.87617299e+00] [-3.22864767e-02 -5.44907258e-03 9.99463802e-01 -2.04348242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:63.51, Y:-8.87, Z:-2.05 [[ 9.82074489e-01 1.86529415e-01 2.71380611e-02 6.35064184e+01] [-1.86292744e-01 9.82432423e-01 -1.10248775e-02 -8.87312905e+00] [-2.87177750e-02 5.77162705e-03 9.99570897e-01 -2.04578617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614012739 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:63.54, Y:-8.88, Z:-2.05 [[ 9.81840513e-01 1.87860787e-01 2.64108218e-02 6.35378309e+01] [-1.87790212e-01 9.82195660e-01 -5.14982506e-03 -8.88333180e+00] [-2.69080447e-02 9.66130441e-05 9.99637908e-01 -2.04792341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:63.57, Y:-8.89, Z:-2.05 [[ 9.81059322e-01 1.92099343e-01 2.49088000e-02 6.35684384e+01] [-1.92037894e-01 9.81375485e-01 -4.85851271e-03 -8.89015063e+00] [-2.53782028e-02 -1.69442995e-05 9.99677921e-01 -2.04877249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:63.60, Y:-8.89, Z:-2.05 [[ 9.79909415e-01 1.97607483e-01 2.69966809e-02 6.35985330e+01] [-1.97537245e-01 9.80281212e-01 -5.27088278e-03 -8.89102455e+00] [-2.75059050e-02 -1.67862316e-04 9.99621627e-01 -2.04817752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:63.63, Y:-8.91, Z:-2.04 [[ 9.79503152e-01 1.99558166e-01 2.73881911e-02 6.36288113e+01] [-1.99989091e-01 9.79698241e-01 1.39899904e-02 -8.90761676e+00] [-2.40403459e-02 -1.91805791e-02 9.99526972e-01 -2.03868374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73401273900001 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:63.66, Y:-8.88, Z:-2.05 [[ 9.78893784e-01 2.02750416e-01 2.56754421e-02 6.36639368e+01] [-2.02141110e-01 9.79050679e-01 -2.44691670e-02 -8.88485238e+00] [-3.00986929e-02 1.87626531e-02 9.99370818e-01 -2.04945619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:63.69, Y:-8.90, Z:-2.05 [[ 9.78499729e-01 2.04370095e-01 2.77694880e-02 6.36894257e+01] [-2.04298298e-01 9.78893627e-01 -5.42878361e-03 -8.90169158e+00] [-2.82928559e-02 -3.61195849e-04 9.99599612e-01 -2.04978869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794012739 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:63.72, Y:-8.91, Z:-2.05 [[ 9.78335021e-01 2.05304610e-01 2.66571522e-02 6.37185991e+01] [-2.05238817e-01 9.78698052e-01 -5.21060337e-03 -8.90542285e+00] [-2.71590639e-02 -3.73366621e-04 9.99631055e-01 -2.05151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:63.75, Y:-8.90, Z:-2.05 [[ 9.77956663e-01 2.07019763e-01 2.72687178e-02 6.37475243e+01] [-2.06951597e-01 9.78336666e-01 -5.32959722e-03 -8.90452640e+00] [-2.77813184e-02 -4.31189584e-04 9.99613932e-01 -2.05250217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:63.78, Y:-8.91, Z:-2.05 [[ 9.77854212e-01 2.07440468e-01 2.77415161e-02 6.37754743e+01] [-2.07370133e-01 9.78247539e-01 -5.42036458e-03 -8.90702058e+00] [-2.82624728e-02 -4.52435538e-04 9.99600434e-01 -2.05343133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:63.80, Y:-8.91, Z:-2.05 [[ 9.77854470e-01 2.07488548e-01 2.73703888e-02 6.38046367e+01] [-2.07420147e-01 9.78237344e-01 -5.34621366e-03 -8.91123108e+00] [-2.78840145e-02 -4.49351144e-04 9.99611064e-01 -2.05434860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914012739 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:63.83, Y:-8.91, Z:-2.05 [[ 9.78026408e-01 2.06886095e-01 2.57388720e-02 6.38338800e+01] [-2.06825413e-01 9.78364951e-01 -5.02698272e-03 -8.91363221e+00] [-2.62220231e-02 -4.06930986e-04 9.99656061e-01 -2.05480608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:63.86, Y:-8.92, Z:-2.06 [[ 9.78479294e-01 2.04793067e-01 2.52600585e-02 6.38639013e+01] [-2.04733950e-01 9.78805231e-01 -4.93247440e-03 -8.91508508e+00] [-2.57348140e-02 -3.45267493e-04 9.99668745e-01 -2.05693329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974012739 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:63.89, Y:-8.92, Z:-2.06 [[ 9.78823065e-01 2.03125476e-01 2.54056950e-02 6.38926410e+01] [-2.03065129e-01 9.79152669e-01 -4.96031735e-03 -8.91948001e+00] [-2.58836209e-02 -3.03737697e-04 9.99664917e-01 -2.05840159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:63.92, Y:-8.92, Z:-2.06 [[ 9.79184821e-01 2.01288040e-01 2.60808658e-02 6.39199716e+01] [-2.01223816e-01 9.79532060e-01 -5.09120332e-03 -8.92382030e+00] [-2.65718425e-02 -2.62862313e-04 9.99646872e-01 -2.05900339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034012739 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:63.95, Y:-8.93, Z:-2.06 [[ 9.79700571e-01 1.98428940e-01 2.85087338e-02 6.39476838e+01] [-1.98351044e-01 9.80115255e-01 -5.56320240e-03 -8.92649303e+00] [-2.90457453e-02 -2.04464559e-04 9.99578062e-01 -2.05836064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:63.98, Y:-8.93, Z:-2.06 [[ 9.79755274e-01 1.98045808e-01 2.92824249e-02 6.39768535e+01] [-1.97963510e-01 9.80192745e-01 -5.71233524e-03 -8.93076066e+00] [-2.98337245e-02 -2.00161020e-04 9.99554855e-01 -2.05880838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09401273900001 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:64.00, Y:-8.94, Z:-2.06 [[ 9.79804754e-01 1.97825898e-01 2.91128352e-02 6.40049219e+01] [-1.97744475e-01 9.80237153e-01 -5.67854018e-03 -8.93537907e+00] [-2.96608450e-02 -1.93041654e-04 9.99560002e-01 -2.05998065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:64.03, Y:-8.94, Z:-2.06 [[ 9.79954427e-01 1.97344669e-01 2.72837455e-02 6.40338830e+01] [-1.97272988e-01 9.80334154e-01 -5.32114882e-03 -8.94079907e+00] [-2.77972880e-02 -1.67862673e-04 9.99613567e-01 -2.06136557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154012739 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:64.06, Y:-8.95, Z:-2.06 [[ 9.80309772e-01 1.95663211e-01 2.66206487e-02 6.40628434e+01] [-1.95594368e-01 9.80671145e-01 -5.19128164e-03 -8.94514532e+00] [-2.71218448e-02 -1.17784828e-04 9.99632128e-01 -2.06223346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:64.09, Y:-8.95, Z:-2.06 [[ 9.80547950e-01 1.94333784e-01 2.75698573e-02 6.40907504e+01] [-1.94259458e-01 9.80935458e-01 -5.37495765e-03 -8.95109306e+00] [-2.80887865e-02 -8.53018305e-05 9.99605429e-01 -2.06272410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214012739 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:64.12, Y:-8.96, Z:-2.06 [[ 9.80842878e-01 1.92621312e-01 2.90564843e-02 6.41199773e+01] [-1.92538033e-01 9.81273167e-01 -5.66365840e-03 -8.95860691e+00] [-2.96032897e-02 -3.93193304e-05 9.99561726e-01 -2.06272852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:64.15, Y:-8.97, Z:-2.06 [[ 9.81794596e-01 1.87578796e-01 2.98925854e-02 6.41503006e+01] [-1.87488339e-01 9.82249552e-01 -5.82584733e-03 -8.96853727e+00] [-3.04547841e-02 1.15274228e-04 9.99536139e-01 -2.06261640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274012739 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:64.18, Y:-8.98, Z:-2.06 [[ 9.82385760e-01 1.84456410e-01 2.99006769e-02 6.41807280e+01] [-1.84364436e-01 9.82840672e-01 -5.82815026e-03 -8.97652861e+00] [-3.04626410e-02 2.12870391e-04 9.99535883e-01 -2.06409677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:64.21, Y:-8.99, Z:-2.07 [[ 9.83434505e-01 1.78657621e-01 3.06272575e-02 6.42121518e+01] [-1.78558210e-01 9.83911221e-01 -5.97286994e-03 -8.98868286e+00] [-3.12016010e-02 4.05178114e-04 9.99513029e-01 -2.06620562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334012739 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:64.24, Y:-9.00, Z:-2.07 [[ 9.83931380e-01 1.75928378e-01 3.04671059e-02 6.42438240e+01] [-1.75828512e-01 9.84402845e-01 -5.94755571e-03 -8.99874683e+00] [-3.10382496e-02 4.95000780e-04 9.99518075e-01 -2.06707419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:64.27, Y:-9.01, Z:-2.07 [[ 9.84862730e-01 1.71104254e-01 2.77261101e-02 6.42743348e+01] [-1.71019496e-01 9.85252750e-01 -5.41760455e-03 -9.01040891e+00] [-2.82442014e-02 5.93891413e-04 9.99600877e-01 -2.06756893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394012739 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:64.31, Y:-9.02, Z:-2.07 [[ 9.85241202e-01 1.69160864e-01 2.61605916e-02 6.43059839e+01] [-1.69084653e-01 9.85588263e-01 -5.11439100e-03 -9.02038610e+00] [-2.66487268e-02 6.15554189e-04 9.99644670e-01 -2.06951795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:64.34, Y:-9.04, Z:-2.07 [[ 9.85791436e-01 1.65894613e-01 2.63480970e-02 6.43353715e+01] [-1.65815996e-01 9.86143229e-01 -5.15634499e-03 -9.03681451e+00] [-2.68384073e-02 7.14144769e-04 9.99639530e-01 -2.06992958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454012739 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:64.37, Y:-9.05, Z:-2.07 [[ 9.85948780e-01 1.64906585e-01 2.66612234e-02 6.43671080e+01] [-1.64825593e-01 9.86308901e-01 -5.22256083e-03 -9.04861754e+00] [-2.71574366e-02 7.54725507e-04 9.99630884e-01 -2.07045988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:64.40, Y:-9.07, Z:-2.07 [[ 9.86010417e-01 1.64798695e-01 2.49969414e-02 6.43966062e+01] [-1.64727351e-01 9.86326964e-01 -4.90109863e-03 -9.06544717e+00] [-2.54628520e-02 7.14854369e-04 9.99675513e-01 -2.07287249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514012739 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:64.43, Y:-9.08, Z:-2.07 [[ 9.85886675e-01 1.65652109e-01 2.42248572e-02 6.44264506e+01] [-1.65585248e-01 9.86184020e-01 -4.75436508e-03 -9.07812780e+00] [-2.46777377e-02 6.75986198e-04 9.99695230e-01 -2.07402215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:64.46, Y:-9.09, Z:-2.07 [[ 9.85599530e-01 1.67197415e-01 2.52703701e-02 6.44573791e+01] [-1.67125042e-01 9.85923210e-01 -4.96430842e-03 -9.09073572e+00] [-2.57446640e-02 6.69508383e-04 9.99668327e-01 -2.07462200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574012739 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:64.49, Y:-9.11, Z:-2.07 [[ 9.84804542e-01 1.71454032e-01 2.76320149e-02 6.44882949e+01] [-1.71369004e-01 9.85191928e-01 -5.43407530e-03 -9.10631416e+00] [-2.81545321e-02 6.16231158e-04 9.99603393e-01 -2.07331527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:64.52, Y:-9.12, Z:-2.07 [[ 9.84332813e-01 1.74090502e-01 2.79537082e-02 6.45196220e+01] [-1.74004380e-01 9.84729502e-01 -5.50312817e-03 -9.11665777e+00] [-2.84848835e-02 5.52841976e-04 9.99594070e-01 -2.07426687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634012739 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:64.55, Y:-9.13, Z:-2.08 [[ 9.83287794e-01 1.79932337e-01 2.77392879e-02 6.45494411e+01] [-1.79849792e-01 9.83678915e-01 -5.46303971e-03 -9.13327812e+00] [-2.82695301e-02 3.82835104e-04 9.99600264e-01 -2.07560269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:64.58, Y:-9.14, Z:-2.08 [[ 9.82787952e-01 1.82697216e-01 2.73782574e-02 6.45811755e+01] [-1.82617731e-01 9.83169179e-01 -5.39720004e-03 -9.14477655e+00] [-2.79035123e-02 3.04547925e-04 9.99610575e-01 -2.07642277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694012739 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:64.61, Y:-9.16, Z:-2.08 [[ 9.81833570e-01 1.87863089e-01 2.66514471e-02 6.46108204e+01] [-1.87754040e-01 9.82194175e-01 -6.55920380e-03 -9.15670477e+00] [-2.74091284e-02 1.43612962e-03 9.99623268e-01 -2.07761641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:64.64, Y:-9.17, Z:-2.08 [[ 9.81349990e-01 1.90168674e-01 2.80726306e-02 6.46423853e+01] [-1.90125153e-01 9.81750723e-01 -4.23602673e-03 -9.16791564e+00] [-2.83658850e-02 -1.18028840e-03 9.99596911e-01 -2.07826941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:64.67, Y:-9.18, Z:-2.08 [[ 9.80336765e-01 1.95220749e-01 2.87869166e-02 6.46732517e+01] [-1.95137978e-01 9.80759327e-01 -5.68440090e-03 -9.17948143e+00] [-2.93427499e-02 -4.47935195e-05 9.99569408e-01 -2.07805726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:64.70, Y:-9.19, Z:-2.08 [[ 9.79845612e-01 1.97714106e-01 2.84905111e-02 6.47045883e+01] [-1.97633920e-01 9.80259721e-01 -5.63149644e-03 -9.18786725e+00] [-2.90415267e-02 -1.12694322e-04 9.99578200e-01 -2.07968735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:64.74, Y:-9.20, Z:-2.08 [[ 9.79395567e-01 2.00092220e-01 2.73391035e-02 6.47368240e+01] [-2.00019178e-01 9.79777053e-01 -5.40870808e-03 -9.19574720e+00] [-2.78684667e-02 -1.71080285e-04 9.99611584e-01 -2.08091539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:64.77, Y:-9.20, Z:-2.08 [[ 9.78669121e-01 2.03770548e-01 2.61594313e-02 6.47686250e+01] [-2.03704857e-01 9.79018640e-01 -5.18021248e-03 -9.20409381e+00] [-2.66661456e-02 -2.59089225e-04 9.99644362e-01 -2.08306502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87401273900001 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:64.80, Y:-9.21, Z:-2.08 [[ 9.78210759e-01 2.05906995e-01 2.65710551e-02 6.48008625e+01] [-2.05839862e-01 9.78571514e-01 -5.26708487e-03 -9.21120261e+00] [-2.70862073e-02 -3.17063231e-04 9.99633051e-01 -2.08350586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:64.83, Y:-9.22, Z:-2.08 [[ 9.77199219e-01 2.10496218e-01 2.78033755e-02 6.48322769e+01] [-2.10424399e-01 9.77594564e-01 -5.51732029e-03 -9.21562178e+00] [-2.83418038e-02 -4.58987486e-04 9.99598185e-01 -2.08305923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934012739 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:64.86, Y:-9.22, Z:-2.08 [[ 9.76532573e-01 2.13571855e-01 2.77704405e-02 6.48646150e+01] [-2.13501357e-01 9.76927206e-01 -5.51401637e-03 -9.22011660e+00] [-2.83073375e-02 -5.44410127e-04 9.99599119e-01 -2.08435242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:64.90, Y:-9.22, Z:-2.09 [[ 9.75422081e-01 2.18809346e-01 2.59660129e-02 6.48970366e+01] [-2.18749443e-01 9.75767417e-01 -5.16032614e-03 -9.22405293e+00] [-2.64659169e-02 -6.46554806e-04 9.99649507e-01 -2.08649392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:64.93, Y:-9.23, Z:-2.09 [[ 9.75080485e-01 2.20418052e-01 2.51779887e-02 6.49299937e+01] [-2.20362145e-01 9.75405270e-01 -5.00844333e-03 -9.22874459e+00] [-2.56626941e-02 -6.64640226e-04 9.99670438e-01 -2.08765726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:64.96, Y:-9.23, Z:-2.09 [[ 9.74679769e-01 2.22166231e-01 2.53281362e-02 6.49626416e+01] [-2.22110118e-01 9.75008544e-01 -5.04322086e-03 -9.23197756e+00] [-2.58155826e-02 -7.10109965e-04 9.99666470e-01 -2.08879474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054012739 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:65.00, Y:-9.23, Z:-2.09 [[ 9.74233871e-01 2.23688583e-01 2.88406262e-02 6.49955192e+01] [-2.23616303e-01 9.74660299e-01 -5.74898420e-03 -9.23181475e+00] [-2.93957955e-02 -8.48379073e-04 9.99567490e-01 -2.08881736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:65.03, Y:-9.24, Z:-2.09 [[ 9.74172029e-01 2.23765482e-01 3.02963277e-02 6.50281793e+01] [-2.23685581e-01 9.74642612e-01 -6.04486604e-03 -9.23699652e+00] [-3.08807243e-02 -8.88112242e-04 9.99522682e-01 -2.08918892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114012739 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:65.06, Y:-9.24, Z:-2.09 [[ 9.74335877e-01 2.23290961e-01 2.84736037e-02 6.50598525e+01] [-2.23220031e-01 9.74751498e-01 -5.68643652e-03 -9.24005043e+00] [-2.90244177e-02 -8.15379594e-04 9.99578370e-01 -2.09026373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:65.09, Y:-9.24, Z:-2.09 [[ 9.74368321e-01 2.23368751e-01 2.66978517e-02 6.50921015e+01] [-2.23306300e-01 9.74733717e-01 -5.33633959e-03 -9.24236454e+00] [-2.72152678e-02 -7.62238241e-04 9.99629305e-01 -2.09187108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174012739 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:65.12, Y:-9.24, Z:-2.09 [[ 9.74274687e-01 2.23902210e-01 2.56248775e-02 6.51249742e+01] [-2.23844748e-01 9.74611333e-01 -5.12624603e-03 -9.24434157e+00] [-2.61220738e-02 -7.41622489e-04 9.99658485e-01 -2.09372212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:65.16, Y:-9.24, Z:-2.09 [[ 9.74227288e-01 2.24042033e-01 2.61984620e-02 6.51565053e+01] [-2.23981881e-01 9.74579188e-01 -5.24620261e-03 -9.24408187e+00] [-2.67078457e-02 -7.56987045e-04 9.99642995e-01 -2.09448303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23401273900001 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:65.19, Y:-9.25, Z:-2.09 [[ 9.74530015e-01 2.22599478e-01 2.72162219e-02 6.51901689e+01] [-2.22533882e-01 9.74909700e-01 -5.45421626e-03 -9.24539541e+00] [-2.77474645e-02 -7.41234060e-04 9.99614690e-01 -2.09373940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:65.22, Y:-9.25, Z:-2.09 [[ 9.74803806e-01 2.21389566e-01 2.72800333e-02 6.52221433e+01] [-2.21323041e-01 9.75185195e-01 -5.47232725e-03 -9.24788983e+00] [-2.78146008e-02 -7.03254489e-04 9.99612852e-01 -2.09470003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294012739 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:65.26, Y:-9.25, Z:-2.10 [[ 9.75213222e-01 2.19577162e-01 2.72954677e-02 6.52551330e+01] [-2.19509715e-01 9.75594922e-01 -5.48029894e-03 -9.25047520e+00] [-2.78326681e-02 -6.47160355e-04 9.99612387e-01 -2.09658029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:65.29, Y:-9.25, Z:-2.10 [[ 9.75744456e-01 2.17254679e-01 2.68916650e-02 6.52871707e+01] [-2.17188183e-01 9.76114790e-01 -5.40464849e-03 -9.25209057e+00] [-2.74235371e-02 -5.66996052e-04 9.99623743e-01 -2.09824052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:65.32, Y:-9.26, Z:-2.10 [[ 9.75798256e-01 2.16927292e-01 2.75737831e-02 6.53174405e+01] [-2.16857084e-01 9.76187600e-01 -5.54759735e-03 -9.25575481e+00] [-2.81206104e-02 -5.66234370e-04 9.99604377e-01 -2.09822430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:65.35, Y:-9.25, Z:-2.10 [[ 9.75568653e-01 2.17889070e-01 2.81097182e-02 6.53478056e+01] [-2.17816494e-01 9.75973354e-01 -5.65581461e-03 -9.25365964e+00] [-2.86666761e-02 -6.05124812e-04 9.99588843e-01 -2.09798388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414012739 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:65.38, Y:-9.26, Z:-2.10 [[ 9.75566140e-01 2.17900312e-01 2.81097929e-02 6.53781815e+01] [-2.17827751e-01 9.75970843e-01 -5.65544332e-03 -9.25977702e+00] [-2.86666611e-02 -6.05833953e-04 9.99588843e-01 -2.09893945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:65.41, Y:-9.26, Z:-2.10 [[ 9.75596497e-01 2.17565404e-01 2.96103009e-02 6.54084383e+01] [-2.17637332e-01 9.76029372e-01 -8.10730454e-04 -9.26442016e+00] [-2.90769103e-02 -5.65336111e-03 9.99561190e-01 -2.10162094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:65.44, Y:-9.26, Z:-2.10 [[ 9.75469292e-01 2.18700342e-01 2.50962364e-02 6.54394592e+01] [-2.18506018e-01 9.75781514e-01 -1.02740546e-02 -9.26066145e+00] [-2.67353828e-02 4.53834604e-03 9.99632244e-01 -2.10332455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:65.47, Y:-9.26, Z:-2.10 [[ 9.75797204e-01 2.17242914e-01 2.50066538e-02 6.54680890e+01] [-2.17185238e-01 9.76117434e-01 -5.03259251e-03 -9.26477649e+00] [-2.55027258e-02 -5.20286336e-04 9.99674617e-01 -2.10446155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534012739 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:65.50, Y:-9.27, Z:-2.10 [[ 9.75989532e-01 2.16344887e-01 2.52848336e-02 6.54975478e+01] [-2.16285641e-01 9.76316873e-01 -5.08771850e-03 -9.26662797e+00] [-2.57867116e-02 -5.03186443e-04 9.99667341e-01 -2.10474735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:65.53, Y:-9.27, Z:-2.11 [[ 9.76395148e-01 2.14344933e-01 2.66226534e-02 6.55263809e+01] [-2.14278543e-01 9.76757915e-01 -5.35559846e-03 -9.26555947e+00] [-2.71518328e-02 -4.75483024e-04 9.99631208e-01 -2.10572451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59401273900001 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:65.56, Y:-9.27, Z:-2.11 [[ 9.76665707e-01 2.13133466e-01 2.64238988e-02 6.55552112e+01] [-2.13067664e-01 9.77022995e-01 -5.31399819e-03 -9.26926638e+00] [-2.69493475e-02 -4.40078578e-04 9.99636704e-01 -2.10724631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:65.58, Y:-9.27, Z:-2.11 [[ 9.77075844e-01 2.11302426e-01 2.59630378e-02 6.55845409e+01] [-2.11238286e-01 9.77420655e-01 -5.22010594e-03 -9.27016307e+00] [-2.64798305e-02 -3.83948176e-04 9.99649274e-01 -2.10856357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654012739 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:65.61, Y:-9.27, Z:-2.11 [[ 9.77303992e-01 2.10247546e-01 2.59398497e-02 6.56131206e+01] [-2.10183182e-01 9.77648118e-01 -5.21419326e-03 -9.27336494e+00] [-2.64563166e-02 -3.56268249e-04 9.99649907e-01 -2.10989443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:65.64, Y:-9.28, Z:-2.11 [[ 9.77659678e-01 2.08633024e-01 2.55698114e-02 6.56405081e+01] [-2.08569962e-01 9.77993950e-01 -5.13862205e-03 -9.27657052e+00] [-2.60792071e-02 -3.09271021e-04 9.99659832e-01 -2.11073787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714012739 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:65.67, Y:-9.28, Z:-2.11 [[ 9.78703285e-01 2.03695743e-01 2.54543350e-02 6.56691315e+01] [-2.03631621e-01 9.79034224e-01 -5.11378743e-03 -9.28056433e+00] [-2.59623218e-02 -1.78426926e-04 9.99662906e-01 -2.11121491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:65.70, Y:-9.29, Z:-2.11 [[ 9.79767347e-01 1.98483752e-01 2.56932910e-02 6.56975034e+01] [-1.98416660e-01 9.80104177e-01 -5.16047006e-03 -9.28703159e+00] [-2.62063713e-02 -4.19169235e-05 9.99656553e-01 -2.11218562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774012739 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:65.73, Y:-9.29, Z:-2.11 [[ 9.80212137e-01 1.96211533e-01 2.61763381e-02 6.57261271e+01] [-1.96141111e-01 9.80561591e-01 -5.25646593e-03 -9.29338185e+00] [-2.66988910e-02 1.81956561e-05 9.99643521e-01 -2.11343585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:65.75, Y:-9.30, Z:-2.11 [[ 9.80607629e-01 1.94141668e-01 2.67897336e-02 6.57545108e+01] [-1.94067155e-01 9.80973500e-01 -5.37890531e-03 -9.29941799e+00] [-2.73242884e-02 7.55882151e-05 9.99626619e-01 -2.11368021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834012739 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:65.78, Y:-9.30, Z:-2.11 [[ 9.80754952e-01 1.93210809e-01 2.80946262e-02 6.57837601e+01] [-1.93128487e-01 9.81157262e-01 -5.64053243e-03 -9.30482282e+00] [-2.86550584e-02 1.06107458e-04 9.99589354e-01 -2.11260971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:65.81, Y:-9.31, Z:-2.11 [[ 9.79862440e-01 1.97752518e-01 2.76322337e-02 6.58142178e+01] [-1.97674698e-01 9.80251978e-01 -5.54733270e-03 -9.30934582e+00] [-2.81835508e-02 -2.65704911e-05 9.99602764e-01 -2.11330921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:65.84, Y:-9.31, Z:-2.11 [[ 9.79379502e-01 2.00186208e-01 2.72263472e-02 6.58436573e+01] [-2.00111596e-01 9.79757864e-01 -5.46592513e-03 -9.31440810e+00] [-2.77694306e-02 -9.50927446e-05 9.99614350e-01 -2.11498967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:65.87, Y:-9.32, Z:-2.12 [[ 9.79069238e-01 2.01750433e-01 2.68363373e-02 6.58719129e+01] [-2.01678547e-01 9.79436952e-01 -5.38701222e-03 -9.31963938e+00] [-2.73713325e-02 -1.38055572e-04 9.99625325e-01 -2.11619893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954012739 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:65.90, Y:-9.33, Z:-2.12 [[ 9.78794256e-01 2.03127398e-01 2.64776292e-02 6.59006076e+01] [-2.03057952e-01 9.79152302e-01 -5.31399057e-03 -9.32609207e+00] [-2.70050487e-02 -1.75189717e-04 9.99635282e-01 -2.11694831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:65.93, Y:-9.33, Z:-2.12 [[ 9.78739773e-01 2.03271866e-01 2.73679659e-02 6.59283464e+01] [-2.03197746e-01 9.79122318e-01 -5.49199833e-03 -9.33245519e+00] [-2.79129550e-02 -1.85871800e-04 9.99610340e-01 -2.11744298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014012739 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:65.96, Y:-9.34, Z:-2.12 [[ 9.78702954e-01 2.03303605e-01 2.84283542e-02 6.59558602e+01] [-2.03223673e-01 9.79115727e-01 -5.70372303e-03 -9.33814085e+00] [-2.89942361e-02 -1.95063977e-04 9.99579560e-01 -2.11765542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:65.98, Y:-9.34, Z:-2.12 [[ 9.78790760e-01 2.02730484e-01 2.94787863e-02 6.59846718e+01] [-2.02644337e-01 9.79234556e-01 -5.91243828e-03 -9.34409375e+00] [-3.00652776e-02 -1.86669137e-04 9.99547920e-01 -2.11845465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074012739 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:66.01, Y:-9.35, Z:-2.12 [[ 9.79128683e-01 2.01352528e-01 2.76438425e-02 6.60117737e+01] [-2.01276241e-01 9.79518831e-01 -5.54379640e-03 -9.35240268e+00] [-2.81939217e-02 -1.35958641e-04 9.99602463e-01 -2.11997616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:66.04, Y:-9.36, Z:-2.12 [[ 9.79354817e-01 2.00481109e-01 2.59126666e-02 6.60407793e+01] [-2.00413794e-01 9.79697562e-01 -5.19591136e-03 -9.35945853e+00] [-2.64282584e-02 -1.04614996e-04 9.99650707e-01 -2.12158587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134012739 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:66.07, Y:-9.37, Z:-2.12 [[ 9.79457390e-01 2.00095891e-01 2.49971234e-02 6.60688144e+01] [-2.00033135e-01 9.79776314e-01 -5.01188508e-03 -9.36554824e+00] [-2.54944471e-02 -9.13250910e-05 9.99674960e-01 -2.12257043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:66.10, Y:-9.37, Z:-2.12 [[ 9.79345698e-01 2.00649512e-01 2.49354645e-02 6.60973466e+01] [-2.00587275e-01 9.79663086e-01 -4.99833359e-03 -9.37191699e+00] [-2.54312673e-02 -1.06640384e-04 9.99676567e-01 -2.12382628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194012739 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:66.12, Y:-9.38, Z:-2.12 [[ 9.79193914e-01 2.01393780e-01 2.48962837e-02 6.61243109e+01] [-2.01332007e-01 9.79510352e-01 -4.98935743e-03 -9.37932750e+00] [-2.53909931e-02 -1.26870325e-04 9.99677589e-01 -2.12465789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:66.15, Y:-9.39, Z:-2.13 [[ 9.79132678e-01 2.01680339e-01 2.49847796e-02 6.61526995e+01] [-2.01618262e-01 9.79451388e-01 -5.00543039e-03 -9.38884194e+00] [-2.54808740e-02 -1.36407364e-04 9.99675301e-01 -2.12628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:66.18, Y:-9.40, Z:-2.13 [[ 9.79076250e-01 2.01971366e-01 2.48448144e-02 6.61809630e+01] [-2.01910092e-01 9.79391416e-01 -4.97677788e-03 -9.39505920e+00] [-2.53379646e-02 -1.43773736e-04 9.99678932e-01 -2.12726604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:66.21, Y:-9.40, Z:-2.13 [[ 9.78955617e-01 2.02558268e-01 2.48203061e-02 6.62086562e+01] [-2.02497315e-01 9.79270199e-01 -4.97137380e-03 -9.40131352e+00] [-2.53127790e-02 -1.59291056e-04 9.99679568e-01 -2.12839440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314012739 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:66.24, Y:-9.41, Z:-2.13 [[ 9.79021047e-01 2.02202866e-01 2.51354370e-02 6.62359987e+01] [-2.02140271e-01 9.79343646e-01 -5.03323650e-03 -9.40944920e+00] [-2.56339653e-02 -1.53239569e-04 9.99671384e-01 -2.12973798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:66.26, Y:-9.42, Z:-2.13 [[ 9.79327834e-01 2.00593061e-01 2.60656435e-02 6.62632509e+01] [-2.00525201e-01 9.79674645e-01 -5.21855087e-03 -9.41694149e+00] [-2.65826552e-02 -1.16146294e-04 9.99646612e-01 -2.12939001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37401273900001 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:66.29, Y:-9.42, Z:-2.13 [[ 9.79558567e-01 1.99440915e-01 2.62361599e-02 6.62920818e+01] [-1.99371777e-01 9.79909850e-01 -5.25172298e-03 -9.42406523e+00] [-2.67564800e-02 -8.63795780e-05 9.99641978e-01 -2.13080941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:66.32, Y:-9.43, Z:-2.13 [[ 9.79835318e-01 1.98139521e-01 2.57580806e-02 6.63204607e+01] [-1.98072446e-01 9.80173825e-01 -5.15544588e-03 -9.43256491e+00] [-2.62688940e-02 -5.04780784e-05 9.99654912e-01 -2.13194993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434012739 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:66.35, Y:-9.45, Z:-2.13 [[ 9.80121732e-01 1.96647865e-01 2.62870418e-02 6.63485002e+01] [-1.96577488e-01 9.80474180e-01 -5.26061136e-03 -9.44611604e+00] [-2.68082538e-02 -1.14011388e-05 9.99640594e-01 -2.13210685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:66.38, Y:-9.45, Z:-2.13 [[ 9.80008394e-01 1.97146261e-01 2.67749900e-02 6.63779963e+01] [-1.97073433e-01 9.80374087e-01 -5.35826045e-03 -9.45460724e+00] [-2.73058674e-02 -2.54989788e-05 9.99627125e-01 -2.13211481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494012739 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:66.41, Y:-9.46, Z:-2.13 [[ 9.79169542e-01 2.01223160e-01 2.71339022e-02 6.64064448e+01] [-2.01149928e-01 9.79545415e-01 -5.43012238e-03 -9.46068341e+00] [-2.76715559e-02 -1.40972032e-04 9.99617059e-01 -2.13271963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:66.44, Y:-9.47, Z:-2.13 [[ 9.78515036e-01 2.04425442e-01 2.68060201e-02 6.64353778e+01] [-2.04355178e-01 9.78882110e-01 -5.36424601e-03 -9.46568905e+00] [-2.73365219e-02 -2.28953632e-04 9.99626261e-01 -2.13348274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554012739 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:66.46, Y:-9.47, Z:-2.13 [[ 9.77810348e-01 2.07798593e-01 2.65832490e-02 6.64633073e+01] [-2.07730751e-01 9.78171581e-01 -5.31915976e-03 -9.47134526e+00] [-2.71082926e-02 -3.21028822e-04 9.99632451e-01 -2.13441807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:66.49, Y:-9.48, Z:-2.13 [[ 9.76508543e-01 2.13815853e-01 2.67179006e-02 6.64900434e+01] [-2.13749602e-01 9.76873860e-01 -5.34494668e-03 -9.47744504e+00] [-2.72428531e-02 -4.91554530e-04 9.99628724e-01 -2.13497185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:66.52, Y:-9.48, Z:-2.14 [[ 9.75955983e-01 2.16270933e-01 2.71441038e-02 6.65198171e+01] [-2.16203548e-01 9.76333221e-01 -5.42844264e-03 -9.48300688e+00] [-2.76757046e-02 -5.70730469e-04 9.99616791e-01 -2.13607191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:66.55, Y:-9.49, Z:-2.14 [[ 9.75240923e-01 2.19453324e-01 2.73016456e-02 6.65489256e+01] [-2.19386399e-01 9.75622774e-01 -5.45998544e-03 -9.48658041e+00] [-2.78343191e-02 -6.64808465e-04 9.99612329e-01 -2.13762522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674012739 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:66.58, Y:-9.49, Z:-2.14 [[ 9.75081505e-01 2.20221819e-01 2.68031406e-02 6.65770191e+01] [-2.20157613e-01 9.75449586e-01 -5.36002642e-03 -9.49080764e+00] [-2.73255072e-02 -6.74452827e-04 9.99626361e-01 -2.13875187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:66.61, Y:-9.49, Z:-2.14 [[ 9.74760633e-01 2.21646552e-01 2.67304156e-02 6.66067311e+01] [-2.21583250e-01 9.75126811e-01 -5.34471659e-03 -9.49442375e+00] [-2.72501829e-02 -7.13193019e-04 9.99628390e-01 -2.13901166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73401273900001 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:66.64, Y:-9.50, Z:-2.14 [[ 9.74403180e-01 2.23178542e-01 2.70144807e-02 6.66359927e+01] [-2.23114493e-01 9.74777284e-01 -5.40085761e-03 -9.49803317e+00] [-2.75384576e-02 -7.64709323e-04 9.99620452e-01 -2.13919651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:66.66, Y:-9.50, Z:-2.14 [[ 9.73932814e-01 2.25160881e-01 2.75218307e-02 6.66636575e+01] [-2.25095211e-01 9.74321239e-01 -5.50170461e-03 -9.50004170e+00] [-2.80538729e-02 -8.36741631e-04 9.99606062e-01 -2.14001999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794012739 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:66.69, Y:-9.50, Z:-2.14 [[ 9.72653798e-01 2.30528914e-01 2.83021137e-02 6.66937522e+01] [-2.30461785e-01 9.73064940e-01 -5.65588005e-03 -9.49754258e+00] [-2.88436384e-02 -1.02134243e-03 9.99583414e-01 -2.14143155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:66.72, Y:-9.50, Z:-2.14 [[ 9.71596751e-01 2.35082639e-01 2.71275740e-02 6.67219181e+01] [-2.35022771e-01 9.71974754e-01 -5.41991811e-03 -9.49683055e+00] [-2.76414457e-02 -1.10962279e-03 9.99617286e-01 -2.14229714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:66.75, Y:-9.50, Z:-2.14 [[ 9.71347286e-01 2.36142680e-01 2.68530340e-02 6.67500247e+01] [-2.36084466e-01 9.71717736e-01 -5.36347026e-03 -9.49846158e+00] [-2.73601136e-02 -1.12979190e-03 9.99625004e-01 -2.14287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:66.78, Y:-9.50, Z:-2.14 [[ 9.71108846e-01 2.37104249e-01 2.70034299e-02 6.67777203e+01] [-2.37045806e-01 9.71483514e-01 -5.39151210e-03 -9.49947522e+00] [-2.75117374e-02 -1.16530473e-03 9.99620801e-01 -2.14334732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914012739 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:66.81, Y:-9.50, Z:-2.14 [[ 9.70684938e-01 2.38730303e-01 2.79033068e-02 6.68068883e+01] [-2.38668618e-01 9.71085100e-01 -5.56948045e-03 -9.49538198e+00] [-2.84260892e-02 -1.25343291e-03 9.99595111e-01 -2.14440611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:66.84, Y:-9.50, Z:-2.15 [[ 9.70336587e-01 2.40134095e-01 2.79736444e-02 6.68352607e+01] [-2.40072738e-01 9.70738856e-01 -5.58151090e-03 -9.49671637e+00] [-2.84954146e-02 -1.29976516e-03 9.99593078e-01 -2.14515513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:66.86, Y:-9.49, Z:-2.14 [[ 9.69300292e-01 2.44408634e-01 2.68582155e-02 6.68637773e+01] [-2.44353758e-01 9.69671358e-01 -5.35714603e-03 -9.49151618e+00] [-2.73529751e-02 -1.37022268e-03 9.99624898e-01 -2.14495782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:66.89, Y:-9.49, Z:-2.15 [[ 9.68753609e-01 2.46579309e-01 2.67411499e-02 6.68923452e+01] [-2.46525795e-01 9.69121565e-01 -5.33152575e-03 -9.49026566e+00] [-2.72300689e-02 -1.42744842e-03 9.99628174e-01 -2.14603246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034012739 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:66.92, Y:-9.48, Z:-2.15 [[ 9.67918871e-01 2.49804939e-01 2.70287194e-02 6.69221361e+01] [-2.49751574e-01 9.68294961e-01 -5.38692629e-03 -9.48313981e+00] [-2.75174536e-02 -1.53635762e-03 9.99620143e-01 -2.14668173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:66.95, Y:-9.48, Z:-2.15 [[ 9.67706171e-01 2.50634415e-01 2.69658480e-02 6.69502890e+01] [-2.50581672e-01 9.68080556e-01 -5.37247800e-03 -9.48271074e+00] [-2.74516410e-02 -1.55816716e-03 9.99621918e-01 -2.14741851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09401273900001 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:66.98, Y:-9.48, Z:-2.15 [[ 9.67574308e-01 2.51180400e-01 2.66151413e-02 6.69778291e+01] [-2.51129271e-01 9.67939042e-01 -5.30092568e-03 -9.48246667e+00] [-2.70933230e-02 -1.55480155e-03 9.99631699e-01 -2.14779042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:67.01, Y:-9.47, Z:-2.15 [[ 9.67905510e-01 2.49872018e-01 2.68867723e-02 6.70070740e+01] [-2.49819436e-01 9.68277652e-01 -5.35144015e-03 -9.47457244e+00] [-2.73710359e-02 -1.53714987e-03 9.99624161e-01 -2.14878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154012739 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:67.04, Y:-9.47, Z:-2.15 [[ 9.68839128e-01 2.46161909e-01 2.74783213e-02 6.70355467e+01] [-2.46105603e-01 9.69227611e-01 -5.46544050e-03 -9.46899732e+00] [-2.79781310e-02 -1.46743624e-03 9.99607458e-01 -2.15032305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:67.06, Y:-9.47, Z:-2.15 [[ 9.69683510e-01 2.42821568e-01 2.74148940e-02 6.70637617e+01] [-2.42764252e-01 9.70070002e-01 -5.45057055e-03 -9.46971356e+00] [-2.79178824e-02 -1.37002786e-03 9.99609281e-01 -2.15111201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214012739 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:67.09, Y:-9.47, Z:-2.15 [[ 9.70694083e-01 2.38778145e-01 2.71660660e-02 6.70907088e+01] [-2.38720337e-01 9.71073349e-01 -5.39916080e-03 -9.47041783e+00] [-2.76694443e-02 -1.24415900e-03 9.99616353e-01 -2.15314679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:67.12, Y:-9.47, Z:-2.15 [[ 9.72776941e-01 2.30169940e-01 2.69596225e-02 6.71191699e+01] [-2.30109764e-01 9.73149943e-01 -5.35583866e-03 -9.46788136e+00] [-2.74685082e-02 -9.93636019e-04 9.99622175e-01 -2.15455595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274012739 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:67.15, Y:-9.47, Z:-2.15 [[ 9.73590638e-01 2.26778076e-01 2.63244076e-02 6.71471148e+01] [-2.26719523e-01 9.73946062e-01 -5.22745703e-03 -9.47083152e+00] [-2.68240258e-02 -8.78853915e-04 9.99639785e-01 -2.15498667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:67.18, Y:-9.48, Z:-2.16 [[ 9.73630397e-01 2.26607285e-01 2.63246886e-02 6.71750601e+01] [-2.26548707e-01 9.73985817e-01 -5.22604207e-03 -9.47619110e+00] [-2.68241325e-02 -8.75590737e-04 9.99639785e-01 -2.15586662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:67.20, Y:-9.48, Z:-2.16 [[ 9.75112485e-01 2.20297632e-01 2.49918912e-02 6.72031319e+01] [-2.20242886e-01 9.75432470e-01 -4.95665371e-03 -9.47590214e+00] [-2.54698413e-02 -6.70991322e-04 9.99675366e-01 -2.15637670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:67.23, Y:-9.48, Z:-2.16 [[ 9.75690649e-01 2.17755692e-01 2.47025662e-02 6.72311800e+01] [-2.17701445e-01 9.76003124e-01 -4.89714718e-03 -9.47879783e+00] [-2.51761634e-02 -5.99683628e-04 9.99682850e-01 -2.15791643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394012739 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:67.26, Y:-9.48, Z:-2.16 [[ 9.76428691e-01 2.14310118e-01 2.56551119e-02 6.72580920e+01] [-2.14250466e-01 9.76765524e-01 -5.08408475e-03 -9.48163411e+00] [-2.61485996e-02 -5.32373469e-04 9.99657925e-01 -2.15918624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:67.29, Y:-9.49, Z:-2.16 [[ 9.76880729e-01 2.12055190e-01 2.71410691e-02 6.72856603e+01] [-2.11987624e-01 9.77257563e-01 -5.37610348e-03 -9.48716578e+00] [-2.76638456e-02 -5.01758867e-04 9.99617157e-01 -2.15889085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454012739 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:67.31, Y:-9.49, Z:-2.16 [[ 9.77381322e-01 2.09530024e-01 2.86865813e-02 6.73124944e+01] [-2.09453523e-01 9.77802107e-01 -5.67992719e-03 -9.49287865e+00] [-2.92399149e-02 -4.57050778e-04 9.99572318e-01 -2.15846419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:67.34, Y:-9.50, Z:-2.16 [[ 9.78905084e-01 2.02217793e-01 2.92027652e-02 6.73388322e+01] [-2.02135334e-01 9.79340546e-01 -5.77949238e-03 -9.50018812e+00] [-2.97681682e-02 -2.45336223e-04 9.99556800e-01 -2.15923685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:67.36, Y:-9.51, Z:-2.16 [[ 9.80538748e-01 1.94603845e-01 2.59443132e-02 6.73635666e+01] [-1.94536148e-01 9.80881921e-01 -5.13263503e-03 -9.51312495e+00] [-2.64471382e-02 -1.43592134e-05 9.99650213e-01 -2.16283634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:67.39, Y:-9.52, Z:-2.16 [[ 9.81220993e-01 1.91321970e-01 2.45207235e-02 6.73906101e+01] [-1.91260525e-01 9.81527330e-01 -4.84896097e-03 -9.52253777e+00] [-2.49954731e-02 6.80558476e-05 9.99687562e-01 -2.16381559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574012739 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:67.42, Y:-9.53, Z:-2.16 [[ 9.81712865e-01 1.88854629e-01 2.39537001e-02 6.74164164e+01] [-1.88795293e-01 9.82005047e-01 -4.73543311e-03 -9.53088546e+00] [-2.44169629e-02 1.26489775e-04 9.99701854e-01 -2.16395488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:67.44, Y:-9.54, Z:-2.16 [[ 9.82210675e-01 1.85963263e-01 2.60740243e-02 6.74421433e+01] [-1.85892035e-01 9.82556675e-01 -5.15085954e-03 -9.54314030e+00] [-2.65770773e-02 2.12275770e-04 9.99646745e-01 -2.16189170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634012739 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:67.47, Y:-9.55, Z:-2.16 [[ 9.82213982e-01 1.85659153e-01 2.80423401e-02 6.74686688e+01] [-1.85576699e-01 9.82614178e-01 -5.53759577e-03 -9.55402489e+00] [-2.85829063e-02 2.35099074e-04 9.99591398e-01 -2.16110826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:67.49, Y:-9.57, Z:-2.16 [[ 9.81941396e-01 1.86635397e-01 3.09568147e-02 6.74934002e+01] [-1.86535470e-01 9.82429223e-01 -6.11070851e-03 -9.56835600e+00] [-3.15533539e-02 2.25813656e-04 9.99502043e-01 -2.16039631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694012739 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:67.52, Y:-9.58, Z:-2.16 [[ 9.81826257e-01 1.87196570e-01 3.12192956e-02 6.75212427e+01] [-1.87095325e-01 9.82322453e-01 -6.15935967e-03 -9.57669144e+00] [-3.18204261e-02 2.06436777e-04 9.99493581e-01 -2.16081134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:67.55, Y:-9.58, Z:-2.16 [[ 9.81730207e-01 1.87728258e-01 3.10467785e-02 6.75486574e+01] [-1.87628443e-01 9.82220986e-01 -6.12382225e-03 -9.58471669e+00] [-3.16444119e-02 1.86682570e-04 9.99499173e-01 -2.16228566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754012739 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:67.57, Y:-9.60, Z:-2.16 [[ 9.81473957e-01 1.89248301e-01 2.98990385e-02 6.75749925e+01] [-1.89156479e-01 9.81929256e-01 -5.89602909e-03 -9.59725560e+00] [-3.04745541e-02 1.31202160e-04 9.99535534e-01 -2.16484924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:67.60, Y:-9.61, Z:-2.17 [[ 9.81595021e-01 1.89035540e-01 2.71436642e-02 6.76007584e+01] [-1.88959816e-01 9.81970238e-01 -5.35151080e-03 -9.60970621e+00] [-2.76658961e-02 1.23954559e-04 9.99617218e-01 -2.16641626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814012739 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:67.63, Y:-9.62, Z:-2.17 [[ 9.81753023e-01 1.88333207e-01 2.62983906e-02 6.76286825e+01] [-1.88261918e-01 9.82105180e-01 -5.18324817e-03 -9.61730675e+00] [-2.68039634e-02 1.37684118e-04 9.99640700e-01 -2.16668879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:67.66, Y:-9.62, Z:-2.17 [[ 9.81878470e-01 1.87657696e-01 2.64434944e-02 6.76564049e+01] [-1.87585409e-01 9.82234475e-01 -5.21053578e-03 -9.62457904e+00] [-2.69515090e-02 1.55699197e-04 9.99636730e-01 -2.16703137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874012739 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:67.68, Y:-9.64, Z:-2.17 [[ 9.82168239e-01 1.86007127e-01 2.73294670e-02 6.76836315e+01] [-1.85929314e-01 9.82548373e-01 -5.38371107e-03 -9.63608727e+00] [-2.78539319e-02 2.06360988e-04 9.99611983e-01 -2.16846237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:67.71, Y:-9.65, Z:-2.17 [[ 9.82374957e-01 1.84811798e-01 2.80007873e-02 6.77107210e+01] [-1.84729670e-01 9.82773900e-01 -5.51450291e-03 -9.64665666e+00] [-2.85375881e-02 2.44733376e-04 9.99592690e-01 -2.17011247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934012739 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:67.74, Y:-9.66, Z:-2.17 [[ 9.82703044e-01 1.83011554e-01 2.83107657e-02 6.77378590e+01] [-1.82926880e-01 9.83110717e-01 -5.57448737e-03 -9.65680103e+00] [-2.88528127e-02 2.99265674e-04 9.99583626e-01 -2.17058272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:67.77, Y:-9.67, Z:-2.17 [[ 9.83348607e-01 1.79550048e-01 2.80588024e-02 6.77667697e+01] [-1.79465497e-01 9.83748760e-01 -5.52379484e-03 -9.66981521e+00] [-2.85946097e-02 3.96229051e-04 9.99591012e-01 -2.17096979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:67.80, Y:-9.68, Z:-2.17 [[ 9.83563697e-01 1.78367147e-01 2.80644855e-02 6.77958868e+01] [-1.78282080e-01 9.83963910e-01 -5.52491364e-03 -9.67918303e+00] [-2.85999040e-02 4.30709629e-04 9.99590846e-01 -2.17144806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:67.82, Y:-9.69, Z:-2.17 [[ 9.83713232e-01 1.77510865e-01 2.82519060e-02 6.78247355e+01] [-1.77424306e-01 9.84118734e-01 -5.56176042e-03 -9.69474875e+00] [-2.87905029e-02 4.58602517e-04 9.99585362e-01 -2.17186202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:67.85, Y:-9.71, Z:-2.17 [[ 9.83670800e-01 1.77802401e-01 2.78937753e-02 6.78540521e+01] [-1.77718122e-01 9.84066110e-01 -5.49191910e-03 -9.70561067e+00] [-2.84257953e-02 4.45011104e-04 9.99595806e-01 -2.17317884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:67.88, Y:-9.72, Z:-2.17 [[ 9.83516132e-01 1.78714362e-01 2.75171656e-02 6.78842551e+01] [-1.78632694e-01 9.83900913e-01 -5.41801313e-03 -9.71624408e+00] [-2.80424412e-02 4.13237891e-04 9.99606648e-01 -2.17418017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114012739 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:67.91, Y:-9.73, Z:-2.17 [[ 9.83363831e-01 1.79711583e-01 2.64446933e-02 6.79129539e+01] [-1.79636396e-01 9.83719272e-01 -5.21138633e-03 -9.73163886e+00] [-2.69507010e-02 3.74259433e-04 9.99636694e-01 -2.17476151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:67.94, Y:-9.75, Z:-2.18 [[ 9.83453129e-01 1.79321618e-01 2.57624002e-02 6.79429651e+01] [-1.79250078e-01 9.83790433e-01 -5.07882060e-03 -9.75062851e+00] [-2.62555451e-02 3.76869773e-04 9.99655193e-01 -2.17615611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174012739 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:67.97, Y:-9.76, Z:-2.18 [[ 9.83587182e-01 1.78620060e-01 2.55172500e-02 6.79741990e+01] [-1.78549501e-01 9.83918044e-01 -5.03580138e-03 -9.76429624e+00] [-2.60063778e-02 3.97057450e-04 9.99661698e-01 -2.17764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:68.00, Y:-9.78, Z:-2.18 [[ 9.83665752e-01 1.78233086e-01 2.51923808e-02 6.80040643e+01] [-1.78164144e-01 9.83988213e-01 -4.97330068e-03 -9.77786462e+00] [-2.56754125e-02 4.03686593e-04 9.99670251e-01 -2.17903587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23401273900001 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:68.03, Y:-9.80, Z:-2.18 [[ 9.83396438e-01 1.79892763e-01 2.38754898e-02 6.80325975e+01] [-1.79831231e-01 9.83686167e-01 -4.71740865e-03 -9.79718149e+00] [-2.43346167e-02 3.45524141e-04 9.99703810e-01 -2.17958314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:68.06, Y:-9.81, Z:-2.18 [[ 9.82407916e-01 1.85203102e-01 2.39686667e-02 6.80613692e+01] [-1.85142562e-01 9.82700241e-01 -4.74011458e-03 -9.81458475e+00] [-2.44318985e-02 2.19105715e-04 9.99701473e-01 -2.17892806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:68.09, Y:-9.83, Z:-2.18 [[ 9.81714113e-01 1.88705385e-01 2.50535126e-02 6.80924619e+01] [-1.88640263e-01 9.82033735e-01 -4.95922885e-03 -9.82525971e+00] [-2.55392278e-02 1.42443737e-04 9.99673811e-01 -2.17908935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:68.12, Y:-9.84, Z:-2.18 [[ 9.80931496e-01 1.92522993e-01 2.66138678e-02 6.81238472e+01] [-1.92450763e-01 9.81292461e-01 -5.27344477e-03 -9.83568202e+00] [-2.71312472e-02 5.10289016e-05 9.99631879e-01 -2.17944662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354012739 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:68.16, Y:-9.85, Z:-2.18 [[ 9.79641587e-01 1.98634089e-01 2.91008604e-02 6.81550575e+01] [-1.98550231e-01 9.80073713e-01 -5.77254454e-03 -9.84955354e+00] [-2.96676124e-02 -1.22957848e-04 9.99559812e-01 -2.17779387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:68.19, Y:-9.86, Z:-2.18 [[ 9.79145079e-01 2.01049835e-01 2.92211827e-02 6.81858270e+01] [-2.00966178e-01 9.79580996e-01 -5.80242844e-03 -9.85807060e+00] [-2.97910926e-02 -1.91050146e-04 9.99556129e-01 -2.17886165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414012739 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:68.22, Y:-9.87, Z:-2.18 [[ 9.78699734e-01 2.03200492e-01 2.92641695e-02 6.82178462e+01] [-2.03117442e-01 9.79137118e-01 -5.81456608e-03 -9.86791767e+00] [-2.98351573e-02 -2.53348964e-04 9.99554801e-01 -2.18004535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:68.25, Y:-9.88, Z:-2.18 [[ 9.78768867e-01 2.02849365e-01 2.93877405e-02 6.82492171e+01] [-2.02765274e-01 9.79209926e-01 -5.84508569e-03 -9.87580644e+00] [-2.99624391e-02 -2.37825372e-04 9.99550997e-01 -2.18149964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474012739 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:68.28, Y:-9.89, Z:-2.18 [[ 9.79103833e-01 2.01069046e-01 3.04454092e-02 6.82809790e+01] [-2.00977747e-01 9.79577054e-01 -6.06138088e-03 -9.88510091e+00] [-3.10423803e-02 -1.84128493e-04 9.99518052e-01 -2.18139747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:68.31, Y:-9.89, Z:-2.18 [[ 9.79223122e-01 2.00316525e-01 3.15494541e-02 6.83122169e+01] [-2.00217999e-01 9.79731220e-01 -6.28410001e-03 -9.89192716e+00] [-3.21687943e-02 -1.63232531e-04 9.99482437e-01 -2.18090875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:68.34, Y:-9.90, Z:-2.18 [[ 9.79281355e-01 1.99886541e-01 3.24560896e-02 6.83444149e+01] [-1.99781830e-01 9.79819039e-01 -6.47082125e-03 -9.89812734e+00] [-3.30945246e-02 -1.47382356e-04 9.99452215e-01 -2.18095361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:68.38, Y:-9.90, Z:-2.18 [[ 9.79244910e-01 2.00223751e-01 3.14619679e-02 6.83772071e+01] [-2.00125336e-01 9.79750186e-01 -6.27872707e-03 -9.90287956e+00] [-3.20820192e-02 -1.47925374e-04 9.99485229e-01 -2.18402655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59401273900001 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:68.41, Y:-9.91, Z:-2.19 [[ 9.79105398e-01 2.01145492e-01 2.98849546e-02 6.84090886e+01] [-2.01056950e-01 9.79561363e-01 -5.96980227e-03 -9.90825735e+00] [-3.04749457e-02 -1.63512180e-04 9.99535518e-01 -2.18643684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:68.44, Y:-9.91, Z:-2.19 [[ 9.78867570e-01 2.02756719e-01 2.66081246e-02 6.84410347e+01] [-2.02687007e-01 9.79229124e-01 -5.31967317e-03 -9.91220067e+00] [-2.71340501e-02 -1.85865594e-04 9.99631787e-01 -2.18933520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:68.47, Y:-9.92, Z:-2.19 [[ 9.78722607e-01 2.03595889e-01 2.55102375e-02 6.84734006e+01] [-2.03531981e-01 9.79054991e-01 -5.10460407e-03 -9.91773628e+00] [-2.60152017e-02 -1.96157765e-04 9.99661528e-01 -2.18993967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:68.51, Y:-9.92, Z:-2.19 [[ 9.78273799e-01 2.05797632e-01 2.50541212e-02 6.85059337e+01] [-2.05736588e-01 9.78594540e-01 -5.01813211e-03 -9.92315670e+00] [-2.55505460e-02 -2.45442261e-04 9.99673501e-01 -2.19013056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714012739 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:68.54, Y:-9.93, Z:-2.19 [[ 9.78127185e-01 2.06455748e-01 2.53620604e-02 6.85379239e+01] [-2.06393285e-01 9.78455904e-01 -5.08487096e-03 -9.92898331e+00] [-2.58654585e-02 -2.60908443e-04 9.99665399e-01 -2.19038418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:68.57, Y:-9.93, Z:-2.19 [[ 9.78187255e-01 2.06173284e-01 2.53430811e-02 6.85708120e+01] [-2.06110690e-01 9.78515465e-01 -5.08607321e-03 -9.93216665e+00] [-2.58472092e-02 -2.48347947e-04 9.99665874e-01 -2.19344601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774012739 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:68.60, Y:-9.94, Z:-2.20 [[ 9.78264177e-01 2.05845107e-01 2.50398042e-02 6.86022986e+01] [-2.05783759e-01 9.78584559e-01 -5.03052101e-03 -9.93840019e+00] [-2.55390739e-02 -2.31606540e-04 9.99673798e-01 -2.19563445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:68.63, Y:-9.95, Z:-2.20 [[ 9.78423719e-01 2.05173826e-01 2.43048967e-02 6.86345379e+01] [-2.05115758e-01 9.78725528e-01 -4.88536146e-03 -9.94626832e+00] [-2.47901711e-02 -2.05363786e-04 9.99692655e-01 -2.19639357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834012739 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:68.67, Y:-9.95, Z:-2.20 [[ 9.78752994e-01 2.03705791e-01 2.33779113e-02 6.86670856e+01] [-2.03651548e-01 9.79032137e-01 -4.70332353e-03 -9.95422210e+00] [-2.38458207e-02 -1.57555837e-04 9.99715636e-01 -2.19708676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:68.70, Y:-9.96, Z:-2.20 [[ 9.78750438e-01 2.03641382e-01 2.40368074e-02 6.86984472e+01] [-2.03583894e-01 9.79045537e-01 -4.84093753e-03 -9.96061577e+00] [-2.45189442e-02 -1.55437123e-04 9.99699353e-01 -2.19764550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894012739 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:68.73, Y:-9.97, Z:-2.20 [[ 9.78476754e-01 2.04597492e-01 2.68906805e-02 6.87304246e+01] [-2.04525746e-01 9.78846172e-01 -5.42136303e-03 -9.96692110e+00] [-2.74310370e-02 -1.95158807e-04 9.99623679e-01 -2.19720404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:68.76, Y:-9.97, Z:-2.20 [[ 9.78186682e-01 2.05866602e-01 2.77444922e-02 6.87617194e+01] [-2.05790576e-01 9.78580037e-01 -5.59916890e-03 -9.97306031e+00] [-2.83028880e-02 -2.32522569e-04 9.99599366e-01 -2.19779232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954012739 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:68.79, Y:-9.98, Z:-2.20 [[ 9.77803739e-01 2.07700027e-01 2.75779956e-02 6.87946147e+01] [-2.07625500e-01 9.78192528e-01 -5.57053656e-03 -9.97831676e+00] [-2.81335898e-02 -2.79003655e-04 9.99604133e-01 -2.19943422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:68.83, Y:-9.98, Z:-2.20 [[ 9.77817178e-01 2.07701825e-01 2.70835575e-02 6.88255555e+01] [-2.07629803e-01 9.78192149e-01 -5.47590105e-03 -9.98427277e+00] [-2.76302780e-02 -2.68923597e-04 9.99618175e-01 -2.20078450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014012739 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:68.86, Y:-9.99, Z:-2.20 [[ 9.77815877e-01 2.07731566e-01 2.69018050e-02 6.88584218e+01] [-2.07660386e-01 9.78185835e-01 -5.44398396e-03 -9.99054221e+00] [-2.74458519e-02 -2.63225269e-04 9.99623257e-01 -2.20189816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:68.89, Y:-10.00, Z:-2.20 [[ 9.77389250e-01 2.09532215e-01 2.83990431e-02 6.88911541e+01] [-2.09453484e-01 9.77801690e-01 -5.75266955e-03 -9.99559314e+00] [-2.89740020e-02 -3.25681142e-04 9.99580112e-01 -2.20101698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074012739 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:68.92, Y:-10.00, Z:-2.20 [[ 9.76341371e-01 2.14080276e-01 3.04493441e-02 6.89230124e+01] [-2.13991775e-01 9.76815949e-01 -6.17437129e-03 -9.99764960e+00] [-3.10652161e-02 -4.87615050e-04 9.99517241e-01 -2.19994381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:68.96, Y:-10.00, Z:-2.20 [[ 9.75725944e-01 2.16867599e-01 3.04520263e-02 6.89563464e+01] [-2.16780265e-01 9.76200860e-01 -6.18047288e-03 -1.00006403e+01] [-3.10676386e-02 -5.70950597e-04 9.99517121e-01 -2.20102954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134012739 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:68.99, Y:-10.00, Z:-2.20 [[ 9.75078326e-01 2.19814657e-01 3.00628389e-02 6.89887078e+01] [-2.19730763e-01 9.75541436e-01 -6.10728356e-03 -1.00029605e+01] [-3.06700154e-02 -6.50650675e-04 9.99529353e-01 -2.20316619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:69.02, Y:-10.01, Z:-2.21 [[ 9.74628019e-01 2.21951063e-01 2.89473534e-02 6.90195189e+01] [-2.21874068e-01 9.75057565e-01 -5.88584753e-03 -1.00052128e+01] [-2.95317060e-02 -6.86155142e-04 9.99563609e-01 -2.20510065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194012739 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:69.05, Y:-10.00, Z:-2.21 [[ 9.74150280e-01 2.24373648e-01 2.62240036e-02 6.90519054e+01] [-2.24311270e-01 9.74502948e-01 -5.33459518e-03 -1.00045060e+01] [-2.67523114e-02 -6.85642173e-04 9.99641858e-01 -2.20719675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:69.08, Y:-10.01, Z:-2.21 [[ 9.74147713e-01 2.24384806e-01 2.62238719e-02 6.90822679e+01] [-2.24322415e-01 9.74500379e-01 -5.33524239e-03 -1.00106882e+01] [-2.67523205e-02 -6.85288105e-04 9.99641858e-01 -2.20815480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254012739 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:69.11, Y:-10.01, Z:-2.21 [[ 9.74040548e-01 2.24860047e-01 2.61337127e-02 6.91129093e+01] [-2.24798246e-01 9.74390823e-01 -5.31725902e-03 -1.00139587e+01] [-2.66600889e-02 -6.95586885e-04 9.99644315e-01 -2.21016042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:69.14, Y:-10.01, Z:-2.21 [[ 9.74406746e-01 2.23131219e-01 2.72755078e-02 6.91436019e+01] [-2.23063222e-01 9.74788183e-01 -5.54957276e-03 -1.00137985e+01] [-2.78261257e-02 -6.76621520e-04 9.99612549e-01 -2.21017030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:69.17, Y:-10.02, Z:-2.21 [[ 9.74632122e-01 2.22152316e-01 2.72134995e-02 6.91734255e+01] [-2.22084245e-01 9.75011759e-01 -5.53699351e-03 -1.00165441e+01] [-2.77635380e-02 -6.47157759e-04 9.99614309e-01 -2.21089379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:69.20, Y:-10.01, Z:-2.21 [[ 9.74921376e-01 2.21016543e-01 2.60767818e-02 6.92029376e+01] [-2.20953641e-01 9.75269881e-01 -5.30547520e-03 -1.00145382e+01] [-2.66044977e-02 -5.89338708e-04 9.99645864e-01 -2.21165179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:69.23, Y:-10.02, Z:-2.21 [[ 9.74970817e-01 2.20879980e-01 2.53759663e-02 6.92320928e+01] [-2.20820383e-01 9.75300830e-01 -5.16231706e-03 -1.00164205e+01] [-2.58894535e-02 -5.70422118e-04 9.99664649e-01 -2.21325625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:69.26, Y:-10.02, Z:-2.22 [[ 9.74942369e-01 2.21100046e-01 2.45386776e-02 6.92611049e+01] [-2.21044415e-01 9.75250972e-01 -4.99084963e-03 -1.00187329e+01] [-2.50348463e-02 -5.58346869e-04 9.99686423e-01 -2.21505478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434012739 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:69.29, Y:-10.02, Z:-2.22 [[ 9.75032499e-01 2.20626797e-01 2.52079936e-02 6.92904953e+01] [-2.20567964e-01 9.75358140e-01 -5.12573189e-03 -1.00192307e+01] [-2.57176955e-02 -5.62320639e-04 9.99669087e-01 -2.21584804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:69.32, Y:-10.02, Z:-2.22 [[ 9.75151756e-01 2.19999929e-01 2.60592391e-02 6.93193397e+01] [-2.19936866e-01 9.75499724e-01 -5.29750420e-03 -1.00227878e+01] [-2.65862311e-02 -5.65516847e-04 9.99646364e-01 -2.21660053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:69.35, Y:-10.02, Z:-2.22 [[ 9.75670437e-01 2.17568151e-01 2.70425348e-02 6.93472978e+01] [-2.17499342e-01 9.76044994e-01 -5.49606352e-03 -1.00238847e+01] [-2.75904991e-02 -5.19386826e-04 9.99619175e-01 -2.21651512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:69.37, Y:-10.03, Z:-2.22 [[ 9.75944721e-01 2.16319532e-01 2.71617694e-02 6.93749842e+01] [-2.16249676e-01 9.76322499e-01 -5.51864737e-03 -1.00271147e+01] [-2.77124378e-02 -4.87829063e-04 9.99615818e-01 -2.21627780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554012739 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:69.40, Y:-10.03, Z:-2.22 [[ 9.76140700e-01 2.15380708e-01 2.75768711e-02 6.94037048e+01] [-2.15308374e-01 9.76530046e-01 -5.60127659e-03 -1.00302142e+01] [-2.81360501e-02 -4.69897222e-04 9.99603993e-01 -2.21637748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:69.43, Y:-10.03, Z:-2.22 [[ 9.76241696e-01 2.14823901e-01 2.83344678e-02 6.94329340e+01] [-2.14747344e-01 9.76652688e-01 -5.75375424e-03 -1.00276737e+01] [-2.89089781e-02 -4.67696904e-04 9.99581939e-01 -2.21737218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614012739 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:69.46, Y:-10.03, Z:-2.22 [[ 9.76227228e-01 2.14816830e-01 2.88812852e-02 6.94619735e+01] [-2.14737343e-01 9.76654238e-01 -5.86282472e-03 -1.00287265e+01] [-2.94664630e-02 -4.78441306e-04 9.99565655e-01 -2.21852502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:69.49, Y:-10.03, Z:-2.22 [[ 9.76273856e-01 2.14557557e-01 2.92303333e-02 6.94903235e+01] [-2.14476063e-01 9.76711230e-01 -5.93228572e-03 -1.00285430e+01] [-2.98224115e-02 -4.77671354e-04 9.99555099e-01 -2.22015425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674012739 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:69.52, Y:-10.03, Z:-2.22 [[ 9.76481707e-01 2.13668740e-01 2.87948994e-02 6.95178400e+01] [-2.13589318e-01 9.76906071e-01 -5.84226336e-03 -1.00311121e+01] [-2.93782211e-02 -4.45419647e-04 9.99568268e-01 -2.22130028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:69.55, Y:-10.03, Z:-2.22 [[ 9.76887392e-01 2.12016340e-01 2.72046972e-02 6.95472550e+01] [-2.11944858e-01 9.77266049e-01 -5.51782642e-03 -1.00292201e+01] [-2.77560963e-02 -3.75600626e-04 9.99614655e-01 -2.22216948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73401273900001 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:69.57, Y:-10.03, Z:-2.22 [[ 9.77064597e-01 2.11343811e-01 2.60493318e-02 6.95749906e+01] [-2.11278082e-01 9.77411723e-01 -5.28167686e-03 -1.00316548e+01] [-2.65771720e-02 -3.43113386e-04 9.99646706e-01 -2.22325728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:69.60, Y:-10.03, Z:-2.22 [[ 9.77347033e-01 2.10046644e-01 2.59458090e-02 6.96027946e+01] [-2.09981019e-01 9.77691318e-01 -5.25921899e-03 -1.00329820e+01] [-2.64716735e-02 -3.08045326e-04 9.99649516e-01 -2.22382273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794012739 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:69.63, Y:-10.04, Z:-2.22 [[ 9.77504119e-01 2.09192460e-01 2.69111910e-02 6.96312748e+01] [-2.09121589e-01 9.77874443e-01 -5.45293377e-03 -1.00353767e+01] [-2.74564785e-02 -2.97445813e-04 9.99622956e-01 -2.22473567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:69.66, Y:-10.04, Z:-2.23 [[ 9.77611802e-01 2.08614150e-01 2.74827512e-02 6.96586830e+01] [-2.08540065e-01 9.77997982e-01 -5.56671841e-03 -1.00376963e+01] [-2.80393714e-02 -2.89165103e-04 9.99606778e-01 -2.22535606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:69.69, Y:-10.04, Z:-2.23 [[ 9.77678484e-01 2.08215287e-01 2.81278413e-02 6.96863204e+01] [-2.08137589e-01 9.78082978e-01 -5.69490682e-03 -1.00395849e+01] [-2.86971294e-02 -2.86673205e-04 9.99588111e-01 -2.22699147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:69.71, Y:-10.04, Z:-2.23 [[ 9.77642595e-01 2.08394427e-01 2.80485122e-02 6.97141006e+01] [-2.08317297e-01 9.78044824e-01 -5.67686905e-03 -1.00443523e+01] [-2.86157300e-02 -2.93041246e-04 9.99590443e-01 -2.22806641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914012739 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:69.74, Y:-10.05, Z:-2.23 [[ 9.77536451e-01 2.09127665e-01 2.62317779e-02 6.97415979e+01] [-2.09060514e-01 9.77888303e-01 -5.30748082e-03 -1.00460087e+01] [-2.67616898e-02 -2.95772993e-04 9.99641798e-01 -2.22915326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:69.77, Y:-10.05, Z:-2.23 [[ 9.77419250e-01 2.09770730e-01 2.54529070e-02 6.97699620e+01] [-2.09707781e-01 9.77750555e-01 -5.14778719e-03 -1.00488912e+01] [-2.59664490e-02 -3.06126332e-04 9.99662768e-01 -2.23030025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974012739 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:69.80, Y:-10.05, Z:-2.23 [[ 9.77138891e-01 2.11077844e-01 2.54112272e-02 6.97964962e+01] [-2.11015587e-01 9.77469195e-01 -5.13764402e-03 -1.00519684e+01] [-2.59231346e-02 -3.41973233e-04 9.99663881e-01 -2.23138609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:69.82, Y:-10.06, Z:-2.22 [[ 9.77122506e-01 2.11196464e-01 2.50531806e-02 6.98243841e+01] [-2.11136041e-01 9.77443572e-01 -5.06320688e-03 -1.00565829e+01] [-2.55574017e-02 -3.42255946e-04 9.99673298e-01 -2.22294459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034012739 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:69.85, Y:-10.06, Z:-2.23 [[ 9.76934991e-01 2.12055941e-01 2.51058002e-02 6.98521020e+01] [-2.11995594e-01 9.77257460e-01 -5.07201356e-03 -1.00600611e+01] [-2.56103812e-02 -3.67291504e-04 9.99671933e-01 -2.23269707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:69.88, Y:-10.06, Z:-2.23 [[ 9.76571120e-01 2.13705336e-01 2.52760006e-02 6.98798766e+01] [-2.13644760e-01 9.76898079e-01 -5.10483152e-03 -1.00603172e+01] [-2.57830062e-02 -4.14854048e-04 9.99667477e-01 -2.23409202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09401273900001 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:69.91, Y:-10.06, Z:-2.23 [[ 9.76444374e-01 2.14241149e-01 2.56342354e-02 6.99067802e+01] [-2.14179123e-01 9.76780701e-01 -5.17355041e-03 -1.00641164e+01] [-2.61474138e-02 -4.38633869e-04 9.99658002e-01 -2.23440454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:69.93, Y:-10.07, Z:-2.23 [[ 9.76322398e-01 2.14589028e-01 2.73152910e-02 6.99342373e+01] [-2.14518800e-01 9.76704315e-01 -5.51048709e-03 -1.00672873e+01] [-2.78614527e-02 -4.79631467e-04 9.99611679e-01 -2.23368491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:69.96, Y:-10.07, Z:-2.23 [[ 9.76480005e-01 2.13897996e-01 2.71006906e-02 6.99610662e+01] [-2.13828650e-01 9.76855894e-01 -5.46541158e-03 -1.00708578e+01] [-2.76425099e-02 -4.58038958e-04 9.99617768e-01 -2.23415257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:69.99, Y:-10.07, Z:-2.24 [[ 9.77221766e-01 2.10507359e-01 2.69122940e-02 6.99892568e+01] [-2.10437789e-01 9.77592205e-01 -5.42376804e-03 -1.00727242e+01] [-2.74509919e-02 -3.63139452e-04 9.99623085e-01 -2.23580803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:70.02, Y:-10.08, Z:-2.24 [[ 9.77633823e-01 2.08405773e-01 2.82690801e-02 7.00169443e+01] [-2.08328193e-01 9.78042397e-01 -5.69506446e-03 -1.00767304e+01] [-2.88352432e-02 -3.21558732e-04 9.99584126e-01 -2.23629266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:70.04, Y:-10.08, Z:-2.24 [[ 9.77998287e-01 2.06444944e-01 2.99972652e-02 7.00447571e+01] [-2.06356736e-01 9.78458178e-01 -6.04086344e-03 -1.00813961e+01] [-3.05981752e-02 -2.82183630e-04 9.99531726e-01 -2.23699006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274012739 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:70.07, Y:-10.09, Z:-2.24 [[ 9.78700737e-01 2.03020271e-01 3.04571190e-02 7.00723842e+01] [-2.02927750e-01 9.79174518e-01 -6.13115597e-03 -1.00878575e+01] [-3.10675838e-02 -1.80027764e-04 9.99517270e-01 -2.23810064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:70.10, Y:-10.09, Z:-2.24 [[ 9.79105629e-01 2.01144365e-01 2.98849660e-02 7.00982659e+01] [-2.01054483e-01 9.79561601e-01 -6.01373024e-03 -1.00938492e+01] [-3.04837931e-02 -1.20429250e-04 9.99535254e-01 -2.23847618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:70.13, Y:-10.10, Z:-2.24 [[ 9.79803978e-01 1.97754713e-01 2.96182036e-02 7.01255025e+01] [-1.97664959e-01 9.80251536e-01 -5.95742531e-03 -1.01013003e+01] [-3.02113985e-02 -1.73719918e-05 9.99543531e-01 -2.23907924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:70.15, Y:-10.11, Z:-2.24 [[ 9.80032365e-01 1.96632217e-01 2.95353238e-02 7.01519487e+01] [-1.96542521e-01 9.80477318e-01 -5.93854987e-03 -1.01072862e+01] [-3.01264253e-02 1.50240749e-05 9.99546096e-01 -2.24050780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394012739 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:70.18, Y:-10.12, Z:-2.24 [[ 9.80293087e-01 1.95287797e-01 2.98016878e-02 7.01773498e+01] [-1.95195934e-01 9.80745978e-01 -5.98948553e-03 -1.01160285e+01] [-3.03975588e-02 5.42829842e-05 9.99537886e-01 -2.24142209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:70.20, Y:-10.12, Z:-2.24 [[ 9.80419914e-01 1.94588314e-01 3.02023292e-02 7.02037644e+01] [-1.94493710e-01 9.80885000e-01 -6.06744982e-03 -1.01240364e+01] [-3.08056665e-02 7.44855494e-05 9.99525390e-01 -2.24285737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454012739 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:70.23, Y:-10.13, Z:-2.24 [[ 9.80551747e-01 1.93876089e-01 3.05013562e-02 7.02313701e+01] [-1.93779326e-01 9.81026021e-01 -6.12533754e-03 -1.01316992e+01] [-3.11101806e-02 9.56781757e-05 9.99515957e-01 -2.24379320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:70.26, Y:-10.14, Z:-2.25 [[ 9.80864837e-01 1.92389155e-01 2.98426783e-02 7.02578611e+01] [-1.92295882e-01 9.81318702e-01 -5.99163026e-03 -1.01389132e+01] [-3.04379030e-02 1.38355277e-04 9.99536650e-01 -2.24548437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514012739 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:70.29, Y:-10.15, Z:-2.25 [[ 9.80999482e-01 1.91752769e-01 2.95108864e-02 7.02862995e+01] [-1.91661325e-01 9.81443249e-01 -5.92322272e-03 -1.01459483e+01] [-3.00990545e-02 1.54582834e-04 9.99546909e-01 -2.24701978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:70.31, Y:-10.15, Z:-2.25 [[ 9.81164892e-01 1.91133187e-01 2.79921334e-02 7.03123951e+01] [-1.91050700e-01 9.81564098e-01 -5.61709231e-03 -1.01549146e+01] [-2.85496859e-02 1.63377100e-04 9.99592361e-01 -2.24792810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574012739 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:70.34, Y:-10.16, Z:-2.25 [[ 9.81212084e-01 1.91016922e-01 2.71179147e-02 7.03395399e+01] [-1.90939508e-01 9.81586731e-01 -5.44004111e-03 -1.01621539e+01] [-2.76577251e-02 1.59952773e-04 9.99617439e-01 -2.24918740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:70.37, Y:-10.17, Z:-2.25 [[ 9.81316573e-01 1.90638149e-01 2.59784317e-02 7.03679003e+01] [-1.90567017e-01 9.81660364e-01 -5.20978508e-03 -1.01690857e+01] [-2.64951805e-02 1.61816203e-04 9.99648928e-01 -2.25029359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634012739 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:70.40, Y:-10.18, Z:-2.25 [[ 9.81470169e-01 1.89881364e-01 2.57172032e-02 7.03961731e+01] [-1.89811428e-01 9.81807026e-01 -5.15620582e-03 -1.01762738e+01] [-2.62283982e-02 1.79243140e-04 9.99655960e-01 -2.25103573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:70.42, Y:-10.19, Z:-2.25 [[ 9.81723952e-01 1.88348738e-01 2.72549905e-02 7.04236326e+01] [-1.88269635e-01 9.82102184e-01 -5.46310854e-03 -1.01854978e+01] [-2.77961552e-02 2.31977415e-04 9.99613585e-01 -2.25051245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694012739 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:70.45, Y:-10.20, Z:-2.25 [[ 9.81743586e-01 1.88008605e-01 2.88495252e-02 7.04513575e+01] [-1.87919870e-01 9.82167348e-01 -5.78123268e-03 -1.01956550e+01] [-2.94219832e-02 2.54289079e-04 9.99567047e-01 -2.25102430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:70.48, Y:-10.20, Z:-2.25 [[ 9.81621253e-01 1.88581520e-01 2.92698676e-02 7.04781645e+01] [-1.88490477e-01 9.82057510e-01 -5.86403999e-03 -1.02033786e+01] [-2.98505429e-02 2.39174974e-04 9.99554345e-01 -2.25202281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754012739 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:70.50, Y:-10.21, Z:-2.25 [[ 9.81465929e-01 1.89423908e-01 2.90381379e-02 7.05049224e+01] [-1.89334722e-01 9.81895381e-01 -5.81588030e-03 -1.02109493e+01] [-2.96140802e-02 2.10160616e-04 9.99561385e-01 -2.25267844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:70.53, Y:-10.22, Z:-2.25 [[ 9.80786570e-01 1.93009866e-01 2.83706798e-02 7.05324913e+01] [-1.92926280e-01 9.81196811e-01 -5.68050905e-03 -1.02188924e+01] [-2.89336148e-02 9.79172699e-05 9.99581331e-01 -2.25455730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814012739 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:70.56, Y:-10.23, Z:-2.26 [[ 9.80361257e-01 1.95116289e-01 2.86607667e-02 7.05603601e+01] [-1.95031914e-01 9.80780114e-01 -5.73759603e-03 -1.02257382e+01] [-2.92294085e-02 3.51526677e-05 9.99572729e-01 -2.25547225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:70.59, Y:-10.24, Z:-2.26 [[ 9.79738325e-01 1.98097348e-01 2.95000908e-02 7.05860653e+01] [-1.98009352e-01 9.80182349e-01 -5.90415258e-03 -1.02366484e+01] [-3.00850652e-02 -5.67693019e-05 9.99547340e-01 -2.25542675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874012739 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:70.61, Y:-10.24, Z:-2.26 [[ 9.79618908e-01 1.98674421e-01 2.95849551e-02 7.06125348e+01] [-1.98586235e-01 9.80065543e-01 -5.91934282e-03 -1.02439430e+01] [-3.01712171e-02 -7.64647111e-05 9.99544742e-01 -2.25626852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:70.64, Y:-10.25, Z:-2.26 [[ 9.79484427e-01 1.99309365e-01 2.97663111e-02 7.06405359e+01] [-1.99220441e-01 9.79936614e-01 -5.95388029e-03 -1.02501745e+01] [-3.03557622e-02 -9.83245960e-05 9.99539153e-01 -2.25694443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:70.67, Y:-10.26, Z:-2.26 [[ 9.79082404e-01 2.01213882e-01 3.01764931e-02 7.06685178e+01] [-2.01123437e-01 9.79547318e-01 -6.03448292e-03 -1.02573006e+01] [-3.07735247e-02 -1.60943987e-04 9.99526370e-01 -2.25819569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:70.70, Y:-10.26, Z:-2.26 [[ 9.78791663e-01 2.02583895e-01 3.04408635e-02 7.06968961e+01] [-2.02492567e-01 9.79264889e-01 -6.08584580e-03 -1.02645346e+01] [-3.10425632e-02 -2.07273483e-04 9.99518042e-01 -2.25920063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994012739 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:70.72, Y:-10.27, Z:-2.26 [[ 9.77811126e-01 2.07156172e-01 3.11724669e-02 7.07244447e+01] [-2.07062772e-01 9.78307819e-01 -6.23053690e-03 -1.02707409e+01] [-3.17869622e-02 -3.62369092e-04 9.99494601e-01 -2.25873462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:70.75, Y:-10.28, Z:-2.26 [[ 9.77167559e-01 2.10162168e-01 3.12317840e-02 7.07533017e+01] [-2.10070010e-01 9.77666430e-01 -6.24036266e-03 -1.02752173e+01] [-3.18457549e-02 -4.62981228e-04 9.99492688e-01 -2.25990469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054012739 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:70.78, Y:-10.28, Z:-2.26 [[ 9.75798792e-01 2.16790473e-01 2.86113447e-02 7.07807648e+01] [-2.16716014e-01 9.76217958e-01 -5.71552214e-03 -1.02779070e+01] [-2.91699793e-02 -6.23336979e-04 9.99574271e-01 -2.26235829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:70.81, Y:-10.28, Z:-2.26 [[ 9.75112366e-01 2.19977529e-01 2.76723888e-02 7.08083317e+01] [-2.19909204e-01 9.75504691e-01 -5.52636685e-03 -1.02823443e+01] [-2.82102216e-02 -6.96584353e-04 9.99601770e-01 -2.26344993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114012739 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:70.84, Y:-10.29, Z:-2.26 [[ 9.74484286e-01 2.22742378e-01 2.76804774e-02 7.08359192e+01] [-2.22675182e-01 9.74877032e-01 -5.52598392e-03 -1.02862111e+01] [-2.82159324e-02 -7.78770851e-04 9.99601548e-01 -2.26452030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:70.86, Y:-10.29, Z:-2.27 [[ 9.74497141e-01 2.22686083e-01 2.76808670e-02 7.08638740e+01] [-2.22618920e-01 9.74889892e-01 -5.52403143e-03 -1.02916601e+01] [-2.82159224e-02 -7.79131888e-04 9.99601548e-01 -2.26540090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174012739 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:70.89, Y:-10.29, Z:-2.27 [[ 9.73506651e-01 2.26787718e-01 2.91912851e-02 7.08917155e+01] [-2.26714919e-01 9.73943751e-01 -5.82362713e-03 -1.02921502e+01] [-2.97513968e-02 -9.48760072e-04 9.99556879e-01 -2.26528166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:70.92, Y:-10.30, Z:-2.27 [[ 9.73203607e-01 2.28036742e-01 2.95632241e-02 7.09200297e+01] [-2.27962727e-01 9.73652012e-01 -5.89531455e-03 -1.02950306e+01] [-3.01286410e-02 -1.00197181e-03 9.99545527e-01 -2.26649884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23401273900001 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:70.95, Y:-10.30, Z:-2.27 [[ 9.73220819e-01 2.28310848e-01 2.67468347e-02 7.09486404e+01] [-2.28250415e-01 9.73587858e-01 -5.33198905e-03 -1.02967385e+01] [-2.72577444e-02 -9.15773365e-04 9.99628019e-01 -2.26852826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:70.98, Y:-10.30, Z:-2.27 [[ 9.73484024e-01 2.27363513e-01 2.51930186e-02 7.09755641e+01] [-2.27309622e-01 9.73809596e-01 -5.02063149e-03 -1.03000073e+01] [-2.56747117e-02 -8.39110999e-04 9.99669998e-01 -2.27024760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:71.00, Y:-10.30, Z:-2.27 [[ 9.73711910e-01 2.26413199e-01 2.49435323e-02 7.10032985e+01] [-2.26360112e-01 9.74031011e-01 -4.96881600e-03 -1.03034410e+01] [-2.54207795e-02 -8.08025451e-04 9.99676513e-01 -2.27146602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:71.03, Y:-10.31, Z:-2.27 [[ 9.74285979e-01 2.23603901e-01 2.77151074e-02 7.10311495e+01] [-2.23537286e-01 9.74679755e-01 -5.51873619e-03 -1.03052694e+01] [-2.82473651e-02 -8.18532594e-04 9.99600628e-01 -2.27184843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354012739 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:71.06, Y:-10.31, Z:-2.27 [[ 9.74749553e-01 2.21455598e-01 2.86483361e-02 7.10584967e+01] [-2.21383555e-01 9.75170141e-01 -5.70243786e-03 -1.03091366e+01] [-2.91998387e-02 -7.83821747e-04 9.99573286e-01 -2.27260318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:71.08, Y:-10.31, Z:-2.27 [[ 9.75788617e-01 2.17005712e-01 2.72964457e-02 7.10849687e+01] [-2.16938616e-01 9.76170136e-01 -5.43162143e-03 -1.03136147e+01] [-2.78246680e-02 -6.21538787e-04 9.99612626e-01 -2.27498485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414012739 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:71.11, Y:-10.32, Z:-2.28 [[ 9.76263514e-01 2.15008770e-01 2.60917649e-02 7.11115591e+01] [-2.14946832e-01 9.76611967e-01 -5.18891274e-03 -1.03187319e+01] [-2.65971916e-02 -5.42596036e-04 9.99646085e-01 -2.27646744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:71.14, Y:-10.32, Z:-2.28 [[ 9.76620451e-01 2.13408508e-01 2.58708955e-02 7.11392988e+01] [-2.13347110e-01 9.76962928e-01 -5.14280996e-03 -1.03238864e+01] [-2.63724252e-02 -4.96907405e-04 9.99652064e-01 -2.27739709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474012739 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:71.17, Y:-10.33, Z:-2.28 [[ 9.77116302e-01 2.10954477e-01 2.72385942e-02 7.11661076e+01] [-2.10885518e-01 9.77495781e-01 -5.41267219e-03 -1.03276268e+01] [-2.77674383e-02 -4.55414811e-04 9.99614307e-01 -2.27737804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:71.19, Y:-10.33, Z:-2.28 [[ 9.77628336e-01 2.08692470e-01 2.62733779e-02 7.11921333e+01] [-2.08627552e-01 9.77981242e-01 -5.21877427e-03 -1.03326782e+01] [-2.67839896e-02 -3.79328900e-04 9.99641173e-01 -2.27859092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534012739 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:71.22, Y:-10.34, Z:-2.28 [[ 9.77899167e-01 2.07404181e-01 2.63955559e-02 7.12200009e+01] [-2.07338248e-01 9.78255276e-01 -5.24081131e-03 -1.03379789e+01] [-2.69085580e-02 -3.47823305e-04 9.99637839e-01 -2.27990609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:71.25, Y:-10.34, Z:-2.28 [[ 9.78259322e-01 2.05648461e-01 2.67845101e-02 7.12472109e+01] [-2.05579964e-01 9.78625882e-01 -5.31613677e-03 -1.03428134e+01] [-2.73052701e-02 -3.05798263e-04 9.99627095e-01 -2.28000083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59401273900001 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:71.27, Y:-10.35, Z:-2.28 [[ 9.79046443e-01 2.01567255e-01 2.89603738e-02 7.12749068e+01] [-2.01485453e-01 9.79474654e-01 -5.74581938e-03 -1.03487800e+01] [-2.95241211e-02 -2.09670011e-04 9.99564046e-01 -2.27907659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:71.30, Y:-10.35, Z:-2.28 [[ 9.79371336e-01 1.99788167e-01 3.02733355e-02 7.13020362e+01] [-1.99698001e-01 9.79839099e-01 -6.00397538e-03 -1.03548659e+01] [-3.08625210e-02 -1.65403178e-04 9.99523625e-01 -2.27897961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654012739 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:71.33, Y:-10.36, Z:-2.28 [[ 9.79577749e-01 1.98503361e-01 3.19976546e-02 7.13293462e+01] [-1.98402009e-01 9.80100198e-01 -6.34388033e-03 -1.03615559e+01] [-3.26201892e-02 -1.34074968e-04 9.99467811e-01 -2.27933041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:71.36, Y:-10.37, Z:-2.28 [[ 9.79644209e-01 1.98245169e-01 3.15606921e-02 7.13576094e+01] [-1.98146498e-01 9.80152456e-01 -6.25525134e-03 -1.03678175e+01] [-3.21743633e-02 -1.25719861e-04 9.99482263e-01 -2.28130918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:71.38, Y:-10.37, Z:-2.28 [[ 9.79768505e-01 1.97810447e-01 3.04089510e-02 7.13847386e+01] [-1.97718681e-01 9.80240284e-01 -6.02561699e-03 -1.03739706e+01] [-3.10000087e-02 -1.08707919e-04 9.99519378e-01 -2.28290603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:71.41, Y:-10.38, Z:-2.28 [[ 9.80035735e-01 1.96823326e-01 2.81164814e-02 7.14126974e+01] [-1.96744514e-01 9.80438970e-01 -5.56984020e-03 -1.03814966e+01] [-2.86627686e-02 -7.31210384e-05 9.99589136e-01 -2.28391005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774012739 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:71.44, Y:-10.39, Z:-2.28 [[ 9.80070639e-01 1.96755972e-01 2.73610984e-02 7.14402064e+01] [-1.96681347e-01 9.80452489e-01 -5.41896010e-03 -1.03870315e+01] [-2.78924698e-02 -7.04540123e-05 9.99610927e-01 -2.28413387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:71.47, Y:-10.39, Z:-2.28 [[ 9.79629750e-01 1.98814498e-01 2.82550688e-02 7.14674537e+01] [-1.98735821e-01 9.80037131e-01 -5.59429908e-03 -1.03921259e+01] [-2.88032443e-02 -1.34952479e-04 9.99585091e-01 -2.28381068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834012739 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:71.50, Y:-10.40, Z:-2.28 [[ 9.79355545e-01 2.00147657e-01 2.83483987e-02 7.14959054e+01] [-2.00069077e-01 9.79765729e-01 -5.61072853e-03 -1.03983869e+01] [-2.88977637e-02 -1.76739868e-04 9.99582357e-01 -2.28489656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:71.52, Y:-10.40, Z:-2.29 [[ 9.79134834e-01 2.01354420e-01 2.74112250e-02 7.15234488e+01] [-2.01281458e-01 9.79518430e-01 -5.42399606e-03 -1.04041362e+01] [-2.79419456e-02 -2.06547856e-04 9.99609526e-01 -2.28682095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894012739 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:71.55, Y:-10.41, Z:-2.29 [[ 9.78656121e-01 2.03930598e-01 2.53871450e-02 7.15503852e+01] [-2.03868919e-01 9.78985313e-01 -5.02204239e-03 -1.04071277e+01] [-2.58777902e-02 -2.60797274e-04 9.99665080e-01 -2.28851239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:71.58, Y:-10.41, Z:-2.29 [[ 9.78331168e-01 2.05443170e-01 2.57144047e-02 7.15780942e+01] [-2.05380469e-01 9.78668999e-01 -5.08459548e-03 -1.04106631e+01] [-2.62104862e-02 -3.06818272e-04 9.99656399e-01 -2.28935045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954012739 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:71.61, Y:-10.41, Z:-2.29 [[ 9.77678577e-01 2.08269861e-01 2.77175831e-02 7.16053548e+01] [-2.08198207e-01 9.78071313e-01 -5.47848046e-03 -1.04132019e+01] [-2.82507753e-02 -4.14558114e-04 9.99600781e-01 -2.28830659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:71.63, Y:-10.42, Z:-2.29 [[ 9.77343317e-01 2.09732107e-01 2.85041099e-02 7.16327525e+01] [-2.09657023e-01 9.77758774e-01 -5.63137127e-03 -1.04167081e+01] [-2.90512229e-02 -4.72303732e-04 9.99577813e-01 -2.28817537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014012739 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:71.66, Y:-10.42, Z:-2.29 [[ 9.76902554e-01 2.11878033e-01 2.77326526e-02 7.16600860e+01] [-2.11807878e-01 9.77295976e-01 -5.47700398e-03 -1.04184895e+01] [-2.82634666e-02 -5.23495137e-04 9.99600371e-01 -2.29092126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:71.69, Y:-10.42, Z:-2.29 [[ 9.76864358e-01 2.12150813e-01 2.69825764e-02 7.16880119e+01] [-2.12084569e-01 9.77236800e-01 -5.32659224e-03 -1.04221592e+01] [-2.74984075e-02 -5.19229975e-04 9.99621712e-01 -2.29306426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074012739 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:71.72, Y:-10.43, Z:-2.29 [[ 9.76889050e-01 2.12048615e-01 2.68918034e-02 7.17153583e+01] [-2.11982830e-01 9.77258982e-01 -5.30675315e-03 -1.04252871e+01] [-2.74055461e-02 -5.16491549e-04 9.99624264e-01 -2.29353412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:71.74, Y:-10.43, Z:-2.29 [[ 9.76912564e-01 2.11493854e-01 3.02025341e-02 7.17432294e+01] [-2.11410694e-01 9.77379164e-01 -5.95719228e-03 -1.04269358e+01] [-3.07792371e-02 -5.65482726e-04 9.99526047e-01 -2.29153280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134012739 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:71.77, Y:-10.43, Z:-2.29 [[ 9.77036510e-01 2.10769985e-01 3.12357482e-02 7.17714480e+01] [-2.10680743e-01 9.77535522e-01 -6.15863687e-03 -1.04310105e+01] [-3.18321092e-02 -5.63557558e-04 9.99493071e-01 -2.29229310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:71.80, Y:-10.43, Z:-2.29 [[ 9.77669385e-01 2.08149863e-01 2.89172785e-02 7.17984624e+01] [-2.08072290e-01 9.78096844e-01 -5.69958169e-03 -1.04332209e+01] [-2.94702660e-02 -4.44577828e-04 9.99565559e-01 -2.29408360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194012739 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:71.82, Y:-10.44, Z:-2.30 [[ 9.77960878e-01 2.07008918e-01 2.71997914e-02 7.18247865e+01] [-2.06939906e-01 9.78338979e-01 -5.35890992e-03 -1.04377257e+01] [-2.77199583e-02 -3.87918043e-04 9.99615653e-01 -2.29675627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:71.85, Y:-10.44, Z:-2.30 [[ 9.78305545e-01 2.05487021e-01 2.63314499e-02 7.18517673e+01] [-2.05421852e-01 9.78659783e-01 -5.18567961e-03 -1.04431174e+01] [-2.68351209e-02 -3.35876084e-04 9.99639817e-01 -2.29852249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254012739 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:71.88, Y:-10.45, Z:-2.30 [[ 9.78864335e-01 2.02634102e-01 2.76411705e-02 7.18775957e+01] [-2.02561208e-01 9.79254485e-01 -5.44155946e-03 -1.04497966e+01] [-2.81703857e-02 -2.72480396e-04 9.99603099e-01 -2.29773328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:71.91, Y:-10.45, Z:-2.30 [[ 9.79099024e-01 2.01313018e-01 2.89511817e-02 7.19054408e+01] [-2.01232546e-01 9.79526930e-01 -5.69692126e-03 -1.04545431e+01] [-2.95053265e-02 -2.48069961e-04 9.99564592e-01 -2.29867861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:71.93, Y:-10.46, Z:-2.30 [[ 9.79164555e-01 2.00824194e-01 3.01067506e-02 7.19330102e+01] [-2.00737006e-01 9.79627267e-01 -5.92211496e-03 -1.04578610e+01] [-3.06826978e-02 -2.44813905e-04 9.99529145e-01 -2.29781054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:71.96, Y:-10.46, Z:-2.30 [[ 9.79109013e-01 2.01124394e-01 2.99084958e-02 7.19593641e+01] [-2.01038554e-01 9.79565676e-01 -5.88101871e-03 -1.04633648e+01] [-3.04801522e-02 -2.54602321e-04 9.99535340e-01 -2.29902451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374012739 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:71.99, Y:-10.47, Z:-2.30 [[ 9.79107745e-01 2.01181110e-01 2.95666214e-02 7.19855322e+01] [-2.01097341e-01 9.79554029e-01 -5.81071247e-03 -1.04698019e+01] [-3.01311087e-02 -2.56455364e-04 9.99545922e-01 -2.30027213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:72.01, Y:-10.48, Z:-2.30 [[ 9.79373261e-01 1.99980205e-01 2.89125127e-02 7.20128277e+01] [-1.99899674e-01 9.79799913e-01 -5.67893764e-03 -1.04778726e+01] [-2.94641525e-02 -2.17802175e-04 9.99565814e-01 -2.30103712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434012739 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:72.04, Y:-10.48, Z:-2.30 [[ 9.79443802e-01 1.99566123e-01 2.93802923e-02 7.20392121e+01] [-1.99482845e-01 9.79884339e-01 -5.76859759e-03 -1.04837630e+01] [-2.99405050e-02 -2.10847146e-04 9.99551660e-01 -2.30044409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:72.07, Y:-10.49, Z:-2.30 [[ 9.79239998e-01 2.00151847e-01 3.20665604e-02 7.20662566e+01] [-2.00053052e-01 9.79764857e-01 -6.29304037e-03 -1.04906348e+01] [-3.26772526e-02 -2.52616431e-04 9.99465924e-01 -2.30071581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494012739 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:72.09, Y:-10.50, Z:-2.30 [[ 9.79009985e-01 2.00944227e-01 3.40715059e-02 7.20930242e+01] [-2.00971787e-01 9.79593448e-01 -2.64920842e-03 -1.04985531e+01] [-3.39085670e-02 -4.25380991e-03 9.99415886e-01 -2.30268755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:72.12, Y:-10.50, Z:-2.30 [[ 9.78836380e-01 2.02389059e-01 3.02986927e-02 7.21225328e+01] [-2.02176609e-01 9.79298528e-01 -9.95050632e-03 -1.04971559e+01] [-3.16853388e-02 3.61423062e-03 9.99491359e-01 -2.30338654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:72.15, Y:-10.50, Z:-2.31 [[ 9.78049227e-01 2.06609955e-01 2.70561560e-02 7.21499116e+01] [-2.06542219e-01 9.78423307e-01 -5.30517415e-03 -1.05021604e+01] [-2.75684754e-02 -3.99517037e-04 9.99619838e-01 -2.30561036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:72.18, Y:-10.51, Z:-2.31 [[ 9.77608055e-01 2.08849739e-01 2.57735809e-02 7.21769836e+01] [-2.08789096e-01 9.77947642e-01 -5.05198930e-03 -1.05061870e+01] [-2.62603193e-02 -4.42377226e-04 9.99655040e-01 -2.30637487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614012739 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:72.21, Y:-10.51, Z:-2.31 [[ 9.76948382e-01 2.11827956e-01 2.64721678e-02 7.22056571e+01] [-2.11765136e-01 9.77306823e-01 -5.18657986e-03 -1.05076625e+01] [-2.69700929e-02 -5.38861418e-04 9.99636096e-01 -2.30642519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:72.23, Y:-10.51, Z:-2.31 [[ 9.76837936e-01 2.12089562e-01 2.83842166e-02 7.22341672e+01] [-2.12017510e-01 9.77250056e-01 -5.55904143e-03 -1.05100085e+01] [-2.89174920e-02 -5.87668379e-04 9.99581629e-01 -2.30700928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674012739 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:72.26, Y:-10.51, Z:-2.31 [[ 9.76900453e-01 2.11493190e-01 3.05963391e-02 7.22628802e+01] [-2.11409249e-01 9.77379276e-01 -5.98995208e-03 -1.05095090e+01] [-3.11710619e-02 -6.16762165e-04 9.99513874e-01 -2.30801276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:72.29, Y:-10.51, Z:-2.31 [[ 9.77064405e-01 2.10848367e-01 2.98012643e-02 7.22903162e+01] [-2.10768497e-01 9.77518607e-01 -5.83215996e-03 -1.05119355e+01] [-3.03609918e-02 -5.82771784e-04 9.99538829e-01 -2.30906886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73401273900001 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:72.32, Y:-10.51, Z:-2.31 [[ 9.77222092e-01 2.10286589e-01 2.85750504e-02 7.23187548e+01] [-2.10212986e-01 9.77639634e-01 -5.58981713e-03 -1.05140948e+01] [-2.91115654e-02 -5.44353881e-04 9.99576020e-01 -2.31087042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:72.35, Y:-10.51, Z:-2.31 [[ 9.77756610e-01 2.07789411e-01 2.85582136e-02 7.23473402e+01] [-2.07714888e-01 9.78173471e-01 -5.58451259e-03 -1.05112667e+01] [-2.90952895e-02 -4.71672039e-04 9.99576531e-01 -2.31114291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:72.37, Y:-10.51, Z:-2.31 [[ 9.78164942e-01 2.05747244e-01 2.93499278e-02 7.23749477e+01] [-2.05667677e-01 9.78605074e-01 -5.73715933e-03 -1.05134271e+01] [-2.99023930e-02 -4.24443366e-04 9.99552733e-01 -2.31152014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:72.40, Y:-10.52, Z:-2.31 [[ 9.79378730e-01 1.99765999e-01 3.01802578e-02 7.24030603e+01] [-1.99679093e-01 9.79843601e-01 -5.89721547e-03 -1.05156958e+01] [-3.07499956e-02 -2.50759098e-04 9.99527076e-01 -2.31315513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854012739 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:72.43, Y:-10.52, Z:-2.31 [[ 9.80079196e-01 1.96342629e-01 2.99055390e-02 7.24297783e+01] [-1.96255771e-01 9.80535339e-01 -5.84131595e-03 -1.05189733e+01] [-3.04703371e-02 -1.44182380e-04 9.99535661e-01 -2.31430086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:72.46, Y:-10.52, Z:-2.31 [[ 9.80641159e-01 1.93598019e-01 2.93721630e-02 7.24569237e+01] [-1.93513076e-01 9.81080936e-01 -5.73462724e-03 -1.05220965e+01] [-2.99266817e-02 -6.02861201e-05 9.99552095e-01 -2.31486519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914012739 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:72.48, Y:-10.52, Z:-2.32 [[ 9.81541466e-01 1.88881520e-01 3.00020194e-02 7.24839656e+01] [-1.88790770e-01 9.81999880e-01 -5.85497668e-03 -1.05238257e+01] [-3.05678764e-02 8.27980424e-05 9.99532690e-01 -2.31527594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:72.51, Y:-10.53, Z:-2.31 [[ 9.81906550e-01 1.86880207e-01 3.05829281e-02 7.25113152e+01] [-1.86785017e-01 9.82382699e-01 -5.96576291e-03 -1.05279716e+01] [-3.11590225e-02 1.45388930e-04 9.99514429e-01 -2.31497304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974012739 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:72.54, Y:-10.53, Z:-2.32 [[ 9.82446807e-01 1.83990247e-01 3.07548398e-02 7.25391348e+01] [-1.83892635e-01 9.82928041e-01 -5.99713306e-03 -1.05302584e+01] [-3.13332085e-02 2.36275688e-04 9.99508967e-01 -2.31606969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:72.57, Y:-10.53, Z:-2.32 [[ 9.82661313e-01 1.82948055e-01 3.01123550e-02 7.25655280e+01] [-1.82854056e-01 9.83122546e-01 -5.86970023e-03 -1.05340805e+01] [-3.06779853e-02 2.61761076e-04 9.99529286e-01 -2.31762062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034012739 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:72.59, Y:-10.54, Z:-2.32 [[ 9.82851996e-01 1.82063276e-01 2.92389739e-02 7.25934443e+01] [-1.81974333e-01 9.83286777e-01 -5.69704309e-03 -1.05394665e+01] [-2.97875188e-02 2.78607404e-04 9.99556215e-01 -2.31887190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:72.62, Y:-10.54, Z:-2.32 [[ 9.82862485e-01 1.82006580e-01 2.92393696e-02 7.26214186e+01] [-1.81917672e-01 9.83297273e-01 -5.69501180e-03 -1.05447890e+01] [-2.97875220e-02 2.78255396e-04 9.99556215e-01 -2.31975273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09401273900001 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:72.65, Y:-10.55, Z:-2.32 [[ 9.83050316e-01 1.80996766e-01 2.91932850e-02 7.26493212e+01] [-1.80907744e-01 9.83483643e-01 -5.68430679e-03 -1.05503189e+01] [-2.97399594e-02 3.06668239e-04 9.99557623e-01 -2.31982486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:72.68, Y:-10.56, Z:-2.32 [[ 9.83418499e-01 1.79013945e-01 2.90183227e-02 7.26767483e+01] [-1.78925187e-01 9.83846470e-01 -5.64814055e-03 -1.05557269e+01] [-2.95606703e-02 3.62377087e-04 9.99562922e-01 -2.32006773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:72.70, Y:-10.56, Z:-2.32 [[ 9.84318338e-01 1.74145146e-01 2.81225530e-02 7.27024594e+01] [-1.74059852e-01 9.84719872e-01 -5.47183460e-03 -1.05622034e+01] [-2.86457303e-02 4.91019720e-04 9.99589506e-01 -2.32222984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:72.73, Y:-10.57, Z:-2.32 [[ 9.84603660e-01 1.72514433e-01 2.81851582e-02 7.27293573e+01] [-1.72428159e-01 9.85006844e-01 -5.48160262e-03 -1.05682892e+01] [-2.87082293e-02 5.37291046e-04 9.99587689e-01 -2.32337465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214012739 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:72.76, Y:-10.57, Z:-2.32 [[ 9.84819752e-01 1.70889435e-01 3.04443262e-02 7.27557032e+01] [-1.70788070e-01 9.85290011e-01 -5.91860941e-03 -1.05735482e+01] [-3.10079183e-02 6.29235729e-04 9.99518941e-01 -2.32281342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:72.78, Y:-10.58, Z:-2.32 [[ 9.84860650e-01 1.70489645e-01 3.13493369e-02 7.27831458e+01] [-1.70382045e-01 9.85359248e-01 -6.09189004e-03 -1.05782118e+01] [-3.19289632e-02 6.58298666e-04 9.99489924e-01 -2.32324864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274012739 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:72.81, Y:-10.58, Z:-2.32 [[ 9.84963694e-01 1.69866377e-01 3.14950059e-02 7.28113329e+01] [-1.69757515e-01 9.85466870e-01 -6.11834945e-03 -1.05828177e+01] [-3.20765868e-02 6.79838120e-04 9.99485183e-01 -2.32393257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:72.84, Y:-10.59, Z:-2.33 [[ 9.85241916e-01 1.68466126e-01 3.02907938e-02 7.28387292e+01] [-1.68364814e-01 9.85707198e-01 -5.88300867e-03 -1.05895345e+01] [-3.08489412e-02 6.96282857e-04 9.99523816e-01 -2.32604882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334012739 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:72.87, Y:-10.60, Z:-2.33 [[ 9.85413311e-01 1.67573607e-01 2.96596148e-02 7.28661867e+01] [-1.67476123e-01 9.85859313e-01 -5.75867892e-03 -1.05962234e+01] [-3.02052101e-02 7.07401556e-04 9.99543468e-01 -2.32693266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:72.89, Y:-10.60, Z:-2.33 [[ 9.85683697e-01 1.66096107e-01 2.89781451e-02 7.28938195e+01] [-1.66002464e-01 9.86109297e-01 -5.62466398e-03 -1.06040341e+01] [-2.95098531e-02 7.33696081e-04 9.99564220e-01 -2.32744549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394012739 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:72.92, Y:-10.61, Z:-2.33 [[ 9.85762273e-01 1.65544261e-01 2.94591029e-02 7.29217456e+01] [-1.65447278e-01 9.86202068e-01 -5.71665612e-03 -1.06108852e+01] [-2.99989878e-02 7.61335545e-04 9.99549639e-01 -2.32817413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:72.95, Y:-10.62, Z:-2.33 [[ 9.85822211e-01 1.65103646e-01 2.99224562e-02 7.29486290e+01] [-1.65003430e-01 9.86275909e-01 -5.80509700e-03 -1.06181460e+01] [-3.04702404e-02 7.85485671e-04 9.99535366e-01 -2.32899403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454012739 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:72.98, Y:-10.63, Z:-2.33 [[ 9.85846708e-01 1.64790286e-01 3.08290419e-02 7.29762985e+01] [-1.64683815e-01 9.86328289e-01 -5.97890885e-03 -1.06275251e+01] [-3.13928223e-02 8.17243374e-04 9.99506790e-01 -2.32946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:73.00, Y:-10.63, Z:-2.33 [[ 9.85780956e-01 1.65313852e-01 3.01203920e-02 7.30037567e+01] [-1.65212509e-01 9.86240701e-01 -5.84004758e-03 -1.06338701e+01] [-3.06713973e-02 7.80742143e-04 9.99529217e-01 -2.33015478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:73.03, Y:-10.64, Z:-2.33 [[ 9.85551714e-01 1.66967277e-01 2.84560598e-02 7.30313300e+01] [-1.66877567e-01 9.85962198e-01 -5.51556872e-03 -1.06423888e+01] [-2.89775188e-02 6.87200171e-04 9.99579827e-01 -2.33217207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:73.06, Y:-10.65, Z:-2.33 [[ 9.85438251e-01 1.67597728e-01 2.86784791e-02 7.30588080e+01] [-1.67506916e-01 9.85855237e-01 -5.55733091e-03 -1.06498514e+01] [-2.92042249e-02 6.72562847e-04 9.99573239e-01 -2.33311352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574012739 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:73.09, Y:-10.66, Z:-2.33 [[ 9.85325267e-01 1.68185997e-01 2.91133776e-02 7.30871272e+01] [-1.68092706e-01 9.85755056e-01 -5.64022795e-03 -1.06571785e+01] [-2.96472665e-02 6.63712689e-04 9.99560203e-01 -2.33384335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:73.11, Y:-10.66, Z:-2.33 [[ 9.84831622e-01 1.70987863e-01 2.94928425e-02 7.31139094e+01] [-1.70893422e-01 9.85272961e-01 -5.71228946e-03 -1.06642949e+01] [-3.00352324e-02 5.85510510e-04 9.99548669e-01 -2.33392285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:73.14, Y:-10.67, Z:-2.33 [[ 9.84454346e-01 1.73148147e-01 2.94849046e-02 7.31412446e+01] [-1.73054779e-01 9.84895655e-01 -5.70895882e-03 -1.06707880e+01] [-3.00280500e-02 5.17705667e-04 9.99548922e-01 -2.33496273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:73.17, Y:-10.68, Z:-2.34 [[ 9.83760672e-01 1.76948554e-01 3.00690642e-02 7.31686870e+01] [-1.76853284e-01 9.84220018e-01 -5.82004263e-03 -1.06781495e+01] [-3.06244230e-02 4.07716305e-04 9.99530879e-01 -2.33555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694012739 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:73.20, Y:-10.68, Z:-2.34 [[ 9.83421802e-01 1.78703761e-01 3.07656593e-02 7.31963280e+01] [-1.78604931e-01 9.83902859e-01 -5.95332714e-03 -1.06828403e+01] [-3.13343021e-02 3.59733253e-04 9.99508895e-01 -2.33516592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:73.22, Y:-10.69, Z:-2.34 [[ 9.83066892e-01 1.80465819e-01 3.18052510e-02 7.32244771e+01] [-1.80361181e-01 9.83581207e-01 -6.15251272e-03 -1.06871077e+01] [-3.23933654e-02 3.11898933e-04 9.99475149e-01 -2.33608323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754012739 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:73.25, Y:-10.69, Z:-2.34 [[ 9.82539359e-01 1.83173102e-01 3.26193528e-02 7.32520380e+01] [-1.83064583e-01 9.83080649e-01 -6.30833841e-03 -1.06926472e+01] [-3.32229725e-02 2.26742549e-04 9.99447939e-01 -2.33766349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:73.28, Y:-10.70, Z:-2.34 [[ 9.82692151e-01 1.82903624e-01 2.93666456e-02 7.32784300e+01] [-1.82815601e-01 9.83130825e-01 -5.67769058e-03 -1.07005138e+01] [-2.99097247e-02 2.10741017e-04 9.99552582e-01 -2.34056244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814012739 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:73.31, Y:-10.71, Z:-2.34 [[ 9.82912333e-01 1.81880367e-01 2.83350829e-02 7.33059241e+01] [-1.81798043e-01 9.83320639e-01 -5.47660050e-03 -1.07067908e+01] [-2.88585579e-02 2.31755548e-04 9.99583478e-01 -2.34188859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:73.33, Y:-10.71, Z:-2.34 [[ 9.83089234e-01 1.80881825e-01 2.85888651e-02 7.33338819e+01] [-1.80797647e-01 9.83504803e-01 -5.52394069e-03 -1.07128998e+01] [-2.91164666e-02 2.61727073e-04 9.99575992e-01 -2.34193721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:73.36, Y:-10.72, Z:-2.34 [[ 9.83232183e-01 1.79635232e-01 3.13951975e-02 7.33621838e+01] [-1.79533130e-01 9.83733235e-01 -6.06451831e-03 -1.07201108e+01] [-3.19739003e-02 3.26351518e-04 9.99488651e-01 -2.34124930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:73.39, Y:-10.73, Z:-2.34 [[ 9.83184241e-01 1.79965194e-01 3.10044593e-02 7.33890867e+01] [-1.79865829e-01 9.83672930e-01 -5.98755645e-03 -1.07264518e+01] [-3.15757990e-02 3.10228362e-04 9.99501312e-01 -2.34221251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934012739 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:73.42, Y:-10.74, Z:-2.35 [[ 9.82880063e-01 1.82102619e-01 2.80253158e-02 7.34169360e+01] [-1.82022349e-01 9.83279507e-01 -5.41066826e-03 -1.07363701e+01] [-2.85420156e-02 2.16804141e-04 9.99592570e-01 -2.34551042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:73.44, Y:-10.74, Z:-2.35 [[ 9.82731301e-01 1.83152132e-01 2.63531150e-02 7.34448840e+01] [-1.83081556e-01 9.83084567e-01 -5.08699851e-03 -1.07444779e+01] [-2.68390353e-02 1.74383361e-04 9.99639753e-01 -2.34683856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:73.47, Y:-10.75, Z:-2.35 [[ 9.82559210e-01 1.84155236e-01 2.57729868e-02 7.34714710e+01] [-1.84088109e-01 9.82897161e-01 -4.97386410e-03 -1.07517068e+01] [-2.62481587e-02 1.42615571e-04 9.99655448e-01 -2.34797027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:73.50, Y:-10.76, Z:-2.35 [[ 9.81945555e-01 1.87330941e-01 2.62687312e-02 7.34979827e+01] [-1.87262385e-01 9.82296857e-01 -5.06793651e-03 -1.07598538e+01] [-2.67530734e-02 5.72924827e-05 9.99642071e-01 -2.34781228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054012739 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:73.52, Y:-10.77, Z:-2.35 [[ 9.81571108e-01 1.89281618e-01 2.62798326e-02 7.35245875e+01] [-1.89213743e-01 9.81922843e-01 -5.06858508e-03 -1.07672248e+01] [-2.67641579e-02 2.67117349e-06 9.99641776e-01 -2.34935285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:73.55, Y:-10.78, Z:-2.35 [[ 9.80820167e-01 1.92941692e-01 2.76641358e-02 7.35512322e+01] [-1.92867989e-01 9.81210218e-01 -5.33349779e-03 -1.07770182e+01] [-2.81733868e-02 -1.04324030e-04 9.99603046e-01 -2.34854818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114012739 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:73.58, Y:-10.78, Z:-2.35 [[ 9.80425999e-01 1.94785513e-01 2.86960551e-02 7.35780874e+01] [-1.94707059e-01 9.80845847e-01 -5.53034150e-03 -1.07833303e+01] [-2.92236369e-02 -1.65233894e-04 9.99572885e-01 -2.34846203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:73.61, Y:-10.79, Z:-2.35 [[ 9.80099845e-01 1.96271797e-01 2.96930078e-02 7.36056365e+01] [-1.96188544e-01 9.80549506e-01 -5.72029127e-03 -1.07889321e+01] [-3.02381960e-02 -2.18971372e-04 9.99542697e-01 -2.34808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:73.63, Y:-10.80, Z:-2.35 [[ 9.79650034e-01 1.98430589e-01 3.01846348e-02 7.36318511e+01] [-1.98345646e-01 9.80114899e-01 -5.81281903e-03 -1.07961468e+01] [-3.07378514e-02 -2.92462540e-04 9.99527438e-01 -2.34919472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:73.66, Y:-10.80, Z:-2.35 [[ 9.79836019e-01 1.97576304e-01 2.97486269e-02 7.36584704e+01] [-1.97493478e-01 9.80287475e-01 -5.72641251e-03 -1.08039161e+01] [-3.02936098e-02 -2.64214563e-04 9.99541008e-01 -2.35133011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23401273900001 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:73.69, Y:-10.81, Z:-2.35 [[ 9.80030579e-01 1.96695663e-01 2.91698552e-02 7.36863627e+01] [-1.96615688e-01 9.80464564e-01 -5.61335496e-03 -1.08094185e+01] [-2.97041319e-02 -2.33991641e-04 9.99558708e-01 -2.35253138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.82, Z:-2.35 [[ 9.80197241e-01 1.95972342e-01 2.84290248e-02 7.37142989e+01] [-1.95896131e-01 9.80609401e-01 -5.46883910e-03 -1.08150397e+01] [-2.89495102e-02 -2.08594963e-04 9.99580853e-01 -2.35381457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:73.74, Y:-10.82, Z:-2.35 [[ 9.80483655e-01 1.94386036e-01 2.94256858e-02 7.37425064e+01] [-1.94303717e-01 9.80925094e-01 -5.65909666e-03 -1.08227547e+01] [-2.99644430e-02 -1.68868338e-04 9.99550951e-01 -2.35441727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters Centerline goodness : 0.987649 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.83, Z:-2.34 [[ 9.80782005e-01 1.92820791e-01 2.97791929e-02 7.37716549e+01] [-1.92735804e-01 9.81233982e-01 -5.72563565e-03 -1.08287217e+01] [-3.03243777e-02 -1.23916275e-04 9.99540103e-01 -2.33916207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354012739 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:73.80, Y:-10.84, Z:-2.35 [[ 9.81160038e-01 1.90723135e-01 3.08166410e-02 7.37985530e+01] [-1.90631135e-01 9.81643867e-01 -5.92355106e-03 -1.08358502e+01] [-3.13807249e-02 -6.26596677e-05 9.99507502e-01 -2.35462763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.84, Z:-2.36 [[ 9.81407819e-01 1.89667690e-01 2.94085206e-02 7.38254826e+01] [-1.89583484e-01 9.81848342e-01 -5.65118826e-03 -1.08426428e+01] [-2.99465550e-02 -2.92494697e-05 9.99551501e-01 -2.35660314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414012739 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:73.85, Y:-10.85, Z:-2.36 [[ 9.81612772e-01 1.88770026e-01 2.83238928e-02 7.38546265e+01] [-1.88691594e-01 9.82021322e-01 -5.44107495e-03 -1.08504789e+01] [-2.88417785e-02 -3.45180984e-06 9.99583989e-01 -2.35894954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:73.88, Y:-10.86, Z:-2.36 [[ 9.81787726e-01 1.87977986e-01 2.75161550e-02 7.38830975e+01] [-1.87903672e-01 9.82173242e-01 -5.28523168e-03 -1.08579968e+01] [-2.80191383e-02 1.85890350e-05 9.99607387e-01 -2.36029767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474012739 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:73.91, Y:-10.87, Z:-2.36 [[ 9.81958276e-01 1.87011211e-01 2.80134242e-02 7.39108836e+01] [-1.86933813e-01 9.82357778e-01 -5.38004220e-03 -1.08652260e+01] [-2.85253333e-02 4.63207788e-05 9.99593069e-01 -2.35982110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:73.94, Y:-10.87, Z:-2.36 [[ 9.82388599e-01 1.84713931e-01 2.81674309e-02 7.39386869e+01] [-1.84634765e-01 9.82792323e-01 -5.40855752e-03 -1.08728062e+01] [-2.86817707e-02 1.12618262e-04 9.99588587e-01 -2.36087787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534012739 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:73.97, Y:-10.88, Z:-2.36 [[ 9.82597355e-01 1.83661208e-01 2.77668655e-02 7.39669251e+01] [-1.83583896e-01 9.82989594e-01 -5.33028407e-03 -1.08800368e+01] [-2.82735062e-02 1.39973682e-04 9.99600215e-01 -2.36152135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:74.00, Y:-10.89, Z:-2.36 [[ 9.82642033e-01 1.83426507e-01 2.77371709e-02 7.39955044e+01] [-1.83349286e-01 9.83033415e-01 -5.32392683e-03 -1.08866655e+01] [-2.82431152e-02 1.45923796e-04 9.99601073e-01 -2.36332421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59401273900001 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:74.02, Y:-10.89, Z:-2.36 [[ 9.82583131e-01 1.83802588e-01 2.73313047e-02 7.40237845e+01] [-1.83727773e-01 9.82963169e-01 -5.24541588e-03 -1.08923102e+01] [-2.78297868e-02 1.32537422e-04 9.99612668e-01 -2.36364992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:74.05, Y:-10.90, Z:-2.37 [[ 9.82254845e-01 1.85508403e-01 2.76052992e-02 7.40511550e+01] [-1.85432779e-01 9.82642674e-01 -5.29706457e-03 -1.08964364e+01] [-2.81087950e-02 8.41399908e-05 9.99604866e-01 -2.36510358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654012739 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:74.08, Y:-10.90, Z:-2.36 [[ 9.81972951e-01 1.86923035e-01 2.80873995e-02 7.40783879e+01] [-1.86845372e-01 9.82374561e-01 -5.38793927e-03 -1.09000504e+01] [-2.85994767e-02 4.28100125e-05 9.99590950e-01 -2.36429846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:74.11, Y:-10.90, Z:-2.37 [[ 9.81951532e-01 1.87053484e-01 2.79675215e-02 7.41065284e+01] [-1.86976581e-01 9.82349730e-01 -5.36334227e-03 -1.09039835e+01] [-2.84771191e-02 3.72706226e-05 9.99594444e-01 -2.36500551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:74.13, Y:-10.91, Z:-2.37 [[ 9.81973783e-01 1.86953730e-01 2.78530388e-02 7.41339337e+01] [-1.86877451e-01 9.82368720e-01 -5.34013580e-03 -1.09076576e+01] [-2.83603123e-02 3.87684753e-05 9.99597765e-01 -2.36617926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:74.16, Y:-10.91, Z:-2.37 [[ 9.82095567e-01 1.86275239e-01 2.81039451e-02 7.41627230e+01] [-1.86197349e-01 9.82497599e-01 -5.38658420e-03 -1.09117962e+01] [-2.86154459e-02 5.72603926e-05 9.99590493e-01 -2.36742227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:74.19, Y:-10.92, Z:-2.37 [[ 9.82766928e-01 1.82364218e-01 3.02069162e-02 7.41900495e+01] [-1.82272430e-01 9.83231030e-01 -5.78816588e-03 -1.09169338e+01] [-3.07559316e-02 1.82530000e-04 9.99526908e-01 -2.36752030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:74.22, Y:-10.92, Z:-2.37 [[ 9.83905906e-01 1.76045441e-01 3.06132343e-02 7.42191447e+01] [-1.75948160e-01 9.84381966e-01 -5.86425987e-03 -1.09245497e+01] [-3.11674920e-02 3.83537682e-04 9.99514102e-01 -2.36826076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834012739 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:74.25, Y:-10.93, Z:-2.37 [[ 9.84429388e-01 1.73365985e-01 2.90347161e-02 7.42479132e+01] [-1.73277333e-01 9.84857370e-01 -5.56125940e-03 -1.09313671e+01] [-2.95591874e-02 4.43609023e-04 9.99562933e-01 -2.36982136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:74.28, Y:-10.94, Z:-2.37 [[ 9.84789062e-01 1.71559029e-01 2.75318482e-02 7.42775346e+01] [-1.71478630e-01 9.85173730e-01 -5.27275318e-03 -1.09379733e+01] [-2.80282420e-02 4.71426027e-04 9.99607020e-01 -2.37144482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:74.31, Y:-10.95, Z:-2.37 [[ 9.84812639e-01 1.71424011e-01 2.75295361e-02 7.43058734e+01] [-1.71343572e-01 9.85197230e-01 -5.27234274e-03 -1.09464205e+01] [-2.80258288e-02 4.75260712e-04 9.99607086e-01 -2.37205996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.95, Z:-2.37 [[ 9.84694347e-01 1.71949251e-01 2.84692582e-02 7.43338819e+01] [-1.71863453e-01 9.85105694e-01 -5.45201758e-03 -1.09538428e+01] [-2.89826987e-02 4.75745852e-04 9.99579800e-01 -2.37179210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954012739 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:74.36, Y:-10.96, Z:-2.37 [[ 9.84696172e-01 1.71938768e-01 2.84694398e-02 7.43635024e+01] [-1.71852994e-01 9.85107524e-01 -5.45106910e-03 -1.09594746e+01] [-2.89827095e-02 4.75088408e-04 9.99579800e-01 -2.37272454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:74.39, Y:-10.97, Z:-2.37 [[ 9.84458134e-01 1.72940840e-01 3.05556463e-02 7.43913596e+01] [-1.72842524e-01 9.84932098e-01 -5.85015169e-03 -1.09681581e+01] [-3.11069669e-02 4.77914386e-04 9.99515947e-01 -2.37226785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014012739 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:74.42, Y:-10.98, Z:-2.37 [[ 9.84459016e-01 1.72883761e-01 3.08488459e-02 7.44223759e+01] [-1.72783550e-01 9.84942116e-01 -5.90536285e-03 -1.09755194e+01] [-3.14052689e-02 4.83414588e-04 9.99506616e-01 -2.37330343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:74.45, Y:-10.98, Z:-2.37 [[ 9.84570625e-01 1.72267589e-01 3.07337332e-02 7.44533968e+01] [-1.72167662e-01 9.85050060e-01 -5.88852537e-03 -1.09838278e+01] [-3.12886678e-02 5.06314107e-04 9.99510262e-01 -2.37428949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074012739 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:74.48, Y:-11.00, Z:-2.38 [[ 9.85057717e-01 1.69576852e-01 3.00829859e-02 7.44844349e+01] [-1.69479749e-01 9.85516794e-01 -5.76740234e-03 -1.09977176e+01] [-3.06253058e-02 5.82767270e-04 9.99530765e-01 -2.37615807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:74.52, Y:-11.01, Z:-2.38 [[ 9.85402322e-01 1.67549719e-01 3.01555382e-02 7.45153482e+01] [-1.67451016e-01 9.85863411e-01 -5.78723442e-03 -1.10076072e+01] [-3.06988913e-02 6.53178718e-04 9.99528465e-01 -2.37678521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134012739 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:74.55, Y:-11.02, Z:-2.36 [[ 9.85948925e-01 1.64303408e-01 3.01514195e-02 7.45469876e+01] [-1.64203045e-01 9.86409556e-01 -5.79196432e-03 -1.10193931e+01] [-3.06932878e-02 7.59626083e-04 9.99528561e-01 -2.36497219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:74.58, Y:-11.03, Z:-2.38 [[ 9.86007243e-01 1.64016249e-01 2.98058161e-02 7.45774188e+01] [-1.63917861e-01 9.86457340e-01 -5.73156456e-03 -1.10291142e+01] [-3.03422357e-02 7.65658553e-04 9.99539275e-01 -2.37858226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:74.61, Y:-11.04, Z:-2.38 [[ 9.85952803e-01 1.64464044e-01 2.91315683e-02 7.46091247e+01] [-1.64370095e-01 9.86382801e-01 -5.60728367e-03 -1.10388676e+01] [-2.96570744e-02 7.40158425e-04 9.99559858e-01 -2.37983675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:74.64, Y:-11.05, Z:-2.38 [[ 9.85553606e-01 1.67031712e-01 2.80088582e-02 7.46393891e+01] [-1.66945746e-01 9.85951314e-01 -5.39664950e-03 -1.10493617e+01] [-2.85167822e-02 6.42727641e-04 9.99593107e-01 -2.38110556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254012739 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:74.67, Y:-11.06, Z:-2.38 [[ 9.84665211e-01 1.72397077e-01 2.67146179e-02 7.46707130e+01] [-1.72320769e-01 9.85027426e-01 -5.15010807e-03 -1.10592420e+01] [-2.72024949e-02 4.67648756e-04 9.99629834e-01 -2.38360143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:74.70, Y:-11.07, Z:-2.38 [[ 9.84166773e-01 1.75277959e-01 2.63324709e-02 7.47012259e+01] [-1.75204705e-01 9.84518911e-01 -5.08180268e-03 -1.10680652e+01] [-2.68155436e-02 3.87768554e-04 9.99640323e-01 -2.38483961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314012739 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:74.73, Y:-11.08, Z:-2.39 [[ 9.83709057e-01 1.77827331e-01 2.63425734e-02 7.47322081e+01] [-1.77754854e-01 9.84061653e-01 -5.08671995e-03 -1.10769064e+01] [-2.68272742e-02 3.21332206e-04 9.99640032e-01 -2.38535772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:74.76, Y:-11.09, Z:-2.39 [[ 9.82953162e-01 1.81758273e-01 2.76949841e-02 7.47640361e+01] [-1.81679571e-01 9.83343214e-01 -5.35315061e-03 -1.10866385e+01] [-2.82066541e-02 2.30283493e-04 9.99602087e-01 -2.38613051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374012739 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:74.80, Y:-11.09, Z:-2.39 [[ 9.82628338e-01 1.83410042e-01 2.83250061e-02 7.47952091e+01] [-1.83328235e-01 9.83036479e-01 -5.48079035e-03 -1.10946246e+01] [-2.88497463e-02 1.92806547e-04 9.99583741e-01 -2.38645887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:74.83, Y:-11.11, Z:-2.39 [[ 9.82047209e-01 1.86379532e-01 2.90852084e-02 7.48264594e+01] [-1.86294468e-01 9.82477815e-01 -5.63146092e-03 -1.11061959e+01] [-2.96251611e-02 1.11947040e-04 9.99561072e-01 -2.38738324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434012739 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:74.86, Y:-11.11, Z:-2.39 [[ 9.81810362e-01 1.87677533e-01 2.87325090e-02 7.48571865e+01] [-1.87594910e-01 9.82230695e-01 -5.56886675e-03 -1.11145337e+01] [-2.92671034e-02 7.74986494e-05 9.99571624e-01 -2.38782809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:74.89, Y:-11.12, Z:-2.39 [[ 9.81469549e-01 1.89432402e-01 2.88598268e-02 7.48893230e+01] [-1.89349702e-01 9.81893764e-01 -5.59698189e-03 -1.11221936e+01] [-2.93975337e-02 2.86676991e-05 9.99567799e-01 -2.38835634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:74.92, Y:-11.13, Z:-2.39 [[ 9.80460428e-01 1.94459138e-01 2.97151907e-02 7.49218070e+01] [-1.94373588e-01 9.80910612e-01 -5.76877858e-03 -1.11287008e+01] [-3.02697376e-02 -1.19789137e-04 9.99541759e-01 -2.38949446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:74.95, Y:-11.13, Z:-2.39 [[ 9.79851111e-01 1.97508187e-01 2.97038176e-02 7.49545887e+01] [-1.97423930e-01 9.80301215e-01 -5.77229621e-03 -1.11347539e+01] [-3.02587643e-02 -2.08253550e-04 9.99542077e-01 -2.39124256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554012739 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:74.99, Y:-11.14, Z:-2.39 [[ 9.78640323e-01 2.03665646e-01 2.79896907e-02 7.49853465e+01] [-2.03593196e-01 9.79040432e-01 -5.44452204e-03 -1.11381650e+01] [-2.85119009e-02 -3.70281773e-04 9.99593385e-01 -2.39194919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:75.02, Y:-11.14, Z:-2.39 [[ 9.78061556e-01 2.06517596e-01 2.73143857e-02 7.50151773e+01] [-2.06449639e-01 9.78442788e-01 -5.31578543e-03 -1.11412172e+01] [-2.78233670e-02 -4.39879708e-04 9.99612758e-01 -2.39242185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:75.05, Y:-11.14, Z:-2.39 [[ 9.77631032e-01 2.08535322e-01 2.73967907e-02 7.50453391e+01] [-2.08467696e-01 9.78014710e-01 -5.33357217e-03 -1.11435392e+01] [-2.79067024e-02 -4.97080171e-04 9.99610409e-01 -2.39275278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:75.08, Y:-11.14, Z:-2.39 [[ 9.77184077e-01 2.10410329e-01 2.89615905e-02 7.50751348e+01] [-2.10335600e-01 9.77612988e-01 -5.63748342e-03 -1.11433192e+01] [-2.94994118e-02 -5.82794506e-04 9.99564628e-01 -2.39261755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674012739 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:75.10, Y:-11.14, Z:-2.39 [[ 9.77256478e-01 2.09921244e-01 3.00474119e-02 7.51035760e+01] [-2.09840598e-01 9.77718120e-01 -5.84809405e-03 -1.11449264e+01] [-3.06055383e-02 -5.90079099e-04 9.99531367e-01 -2.39262345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:75.13, Y:-11.15, Z:-2.39 [[ 9.77508346e-01 2.08796236e-01 2.96911660e-02 7.51328154e+01] [-2.08717005e-01 9.77959012e-01 -5.77769182e-03 -1.11475918e+01] [-3.02431037e-02 -5.49309284e-04 9.99542422e-01 -2.39348175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73401273900001 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:75.16, Y:-11.15, Z:-2.39 [[ 9.77819633e-01 2.07400343e-01 2.92209513e-02 7.51626761e+01] [-2.07322989e-01 9.78256024e-01 -5.68586429e-03 -1.11500933e+01] [-2.97648219e-02 -4.98425229e-04 9.99556805e-01 -2.39431175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:75.19, Y:-11.15, Z:-2.40 [[ 9.78459701e-01 2.04333686e-01 2.93999875e-02 7.51924795e+01] [-2.04254017e-01 9.78901210e-01 -5.72000286e-03 -1.11499740e+01] [-2.99484726e-02 -4.08273255e-04 9.99551361e-01 -2.39567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:75.22, Y:-11.15, Z:-2.40 [[ 9.78652145e-01 2.03354792e-01 2.97793256e-02 7.52222853e+01] [-2.03272622e-01 9.79105041e-01 -5.79309270e-03 -1.11530188e+01] [-3.03351409e-02 -3.83898984e-04 9.99539710e-01 -2.39651325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:75.25, Y:-11.15, Z:-2.40 [[ 9.78653886e-01 2.03384116e-01 2.95207198e-02 7.52502642e+01] [-2.03303401e-01 9.79098951e-01 -5.74211772e-03 -1.11526938e+01] [-3.00715614e-02 -3.82116919e-04 9.99547675e-01 -2.39811184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854012739 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:75.28, Y:-11.15, Z:-2.40 [[ 9.78637271e-01 2.03580399e-01 2.87073737e-02 7.52791716e+01] [-2.03504204e-01 9.79058158e-01 -5.58223483e-03 -1.11548365e+01] [-2.92426220e-02 -3.79088179e-04 9.99572271e-01 -2.39941729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:75.31, Y:-11.16, Z:-2.40 [[ 9.78606303e-01 2.03822831e-01 2.80349173e-02 7.53077664e+01] [-2.03750302e-01 9.79007717e-01 -5.45015501e-03 -1.11568891e+01] [-2.85572664e-02 -3.78566824e-04 9.99592086e-01 -2.40076351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914012739 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:75.34, Y:-11.16, Z:-2.40 [[ 9.78489973e-01 2.04525096e-01 2.69603100e-02 7.53373726e+01] [-2.04458322e-01 9.78861245e-01 -5.24000189e-03 -1.11568422e+01] [-2.74621145e-02 -3.84970425e-04 9.99622771e-01 -2.40155174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:75.37, Y:-11.16, Z:-2.40 [[ 9.78620426e-01 2.03953353e-01 2.65535580e-02 7.53661355e+01] [-2.03888403e-01 9.78980539e-01 -5.15967398e-03 -1.11594308e+01] [-2.70477493e-02 -3.64600185e-04 9.99634076e-01 -2.40219651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974012739 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:75.40, Y:-11.16, Z:-2.40 [[ 9.79082840e-01 2.01655695e-01 2.70512935e-02 7.53950471e+01] [-2.01587447e-01 9.79456424e-01 -5.25505239e-03 -1.11596661e+01] [-2.75552745e-02 -3.08069568e-04 9.99620234e-01 -2.40174234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:75.42, Y:-11.16, Z:-2.40 [[ 9.79287017e-01 2.00506442e-01 2.81798589e-02 7.54226116e+01] [-2.00431944e-01 9.79692341e-01 -5.47286519e-03 -1.11622699e+01] [-2.87049367e-02 -2.88638089e-04 9.99587887e-01 -2.40224284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034012739 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:75.45, Y:-11.17, Z:-2.40 [[ 9.79462310e-01 1.99459448e-01 2.94874941e-02 7.54513916e+01] [-1.99377457e-01 9.79906044e-01 -5.72492271e-03 -1.11654478e+01] [-3.00368636e-02 -2.71795562e-04 9.99548755e-01 -2.40332175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:75.48, Y:-11.17, Z:-2.40 [[ 9.79665882e-01 1.98373915e-01 3.00424593e-02 7.54809994e+01] [-1.98288344e-01 9.80126385e-01 -5.83116427e-03 -1.11664343e+01] [-3.06021579e-02 -2.44476796e-04 9.99531614e-01 -2.40402203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09401273900001 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:75.51, Y:-11.17, Z:-2.40 [[ 9.79627587e-01 1.98578013e-01 2.99426691e-02 7.55090631e+01] [-1.98493150e-01 9.80085052e-01 -5.81033795e-03 -1.11689836e+01] [-3.05001677e-02 -2.51447358e-04 9.99534730e-01 -2.40486644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:75.54, Y:-11.17, Z:-2.41 [[ 9.79488398e-01 1.99415994e-01 2.89091779e-02 7.55378644e+01] [-1.99337303e-01 9.79914889e-01 -5.60809842e-03 -1.11687935e+01] [-2.94468783e-02 -2.69610225e-04 9.99566310e-01 -2.40556692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154012739 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:75.57, Y:-11.17, Z:-2.41 [[ 9.79429394e-01 1.99767669e-01 2.84770123e-02 7.55654046e+01] [-1.99691511e-01 9.79843254e-01 -5.52258947e-03 -1.11716008e+01] [-2.90062432e-02 -2.77631148e-04 9.99579192e-01 -2.40716329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:75.59, Y:-11.17, Z:-2.41 [[ 9.79403293e-01 1.99985382e-01 2.78394965e-02 7.55924851e+01] [-1.99912739e-01 9.79798841e-01 -5.39701920e-03 -1.11741574e+01] [-2.83564314e-02 -2.79611623e-04 9.99597836e-01 -2.40843929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214012739 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:75.62, Y:-11.18, Z:-2.41 [[ 9.79614991e-01 1.98937465e-01 2.78989974e-02 7.56211502e+01] [-1.98864154e-01 9.80012154e-01 -5.40616925e-03 -1.11751065e+01] [-2.84168462e-02 -2.52146092e-04 9.99596128e-01 -2.41001053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:75.65, Y:-11.18, Z:-2.41 [[ 9.79787887e-01 1.98029080e-01 2.82874622e-02 7.56482720e+01] [-1.97953394e-01 9.80196118e-01 -5.47935616e-03 -1.11792000e+01] [-2.88123325e-02 -2.30992368e-04 9.99584812e-01 -2.41037713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:75.67, Y:-11.18, Z:-2.41 [[ 9.80221102e-01 1.95803054e-01 2.87707459e-02 7.56748940e+01] [-1.95723874e-01 9.80643225e-01 -5.57048065e-03 -1.11822772e+01] [-2.93045542e-02 -1.70819157e-04 9.99570515e-01 -2.40996403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:75.70, Y:-11.19, Z:-2.41 [[ 9.80417231e-01 1.94723913e-01 2.94049460e-02 7.57033459e+01] [-1.94640793e-01 9.80858082e-01 -5.69076591e-03 -1.11853738e+01] [-2.99502071e-02 -1.44077046e-04 9.99551382e-01 -2.41026528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334012739 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:75.73, Y:-11.18, Z:-2.41 [[ 9.80916811e-01 1.92121770e-01 2.98569214e-02 7.57324776e+01] [-1.92034915e-01 9.81371092e-01 -5.77671129e-03 -1.11837665e+01] [-3.04105516e-02 -6.70981465e-05 9.99537490e-01 -2.41141414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:75.76, Y:-11.19, Z:-2.41 [[ 9.81214434e-01 1.90589429e-01 2.98982298e-02 7.57607639e+01] [-1.90501679e-01 9.81669837e-01 -5.78283157e-03 -1.11863813e+01] [-3.04523370e-02 -2.14651810e-05 9.99536220e-01 -2.41279550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394012739 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:75.79, Y:-11.19, Z:-2.41 [[ 9.81500195e-01 1.89196723e-01 2.93592685e-02 7.57883565e+01] [-1.89111550e-01 9.81939204e-01 -5.67647487e-03 -1.11895688e+01] [-2.99029871e-02 1.92844474e-05 9.99552806e-01 -2.41388076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:75.82, Y:-11.19, Z:-2.41 [[ 9.82047486e-01 1.86395152e-01 2.89755624e-02 7.58170269e+01] [-1.86311021e-01 9.82474853e-01 -5.60057790e-03 -1.11906669e+01] [-2.95116820e-02 1.01566836e-04 9.99564430e-01 -2.41489996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454012739 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:75.84, Y:-11.19, Z:-2.42 [[ 9.82410660e-01 1.84568749e-01 2.83491065e-02 7.58446195e+01] [-1.84487513e-01 9.82819594e-01 -5.47754012e-03 -1.11909666e+01] [-2.88730401e-02 1.51137650e-04 9.99583075e-01 -2.41596631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:75.87, Y:-11.20, Z:-2.42 [[ 9.82434475e-01 1.84602400e-01 2.72847272e-02 7.58725650e+01] [-1.84527244e-01 9.82813275e-01 -5.26900085e-03 -1.11951923e+01] [-2.77884623e-02 1.41672570e-04 9.99613816e-01 -2.41712998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514012739 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:75.90, Y:-11.20, Z:-2.42 [[ 9.82422513e-01 1.84733807e-01 2.68221300e-02 7.58988644e+01] [-1.84661279e-01 9.82788585e-01 -5.17777907e-03 -1.11990878e+01] [-2.73169940e-02 1.33757894e-04 9.99626812e-01 -2.41831542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:75.93, Y:-11.20, Z:-2.42 [[ 9.82474341e-01 1.84236575e-01 2.83028913e-02 7.59274009e+01] [-1.84155684e-01 9.82881916e-01 -5.46105650e-03 -1.12011468e+01] [-2.88245264e-02 1.53209581e-04 9.99584475e-01 -2.41814835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574012739 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:75.95, Y:-11.20, Z:-2.42 [[ 9.82559226e-01 1.83630594e-01 2.92775020e-02 7.59537502e+01] [-1.83543831e-01 9.82995307e-01 -5.64689298e-03 -1.12047597e+01] [-2.98165894e-02 1.74701896e-04 9.99555371e-01 -2.41811670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:75.98, Y:-11.21, Z:-2.42 [[ 9.82685892e-01 1.82711419e-01 3.07404542e-02 7.59816854e+01] [-1.82615403e-01 9.83166564e-01 -5.92632607e-03 -1.12091293e+01] [-3.13057942e-02 2.10036589e-04 9.99509831e-01 -2.41921090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634012739 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:76.01, Y:-11.21, Z:-2.42 [[ 9.82724574e-01 1.82498355e-01 3.07695139e-02 7.60092991e+01] [-1.82402121e-01 9.83206135e-01 -5.92974938e-03 -1.12140219e+01] [-3.13349443e-02 2.14885826e-04 9.99508917e-01 -2.42016489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:76.04, Y:-11.22, Z:-2.42 [[ 9.82816865e-01 1.82102381e-01 3.01617901e-02 7.60367488e+01] [-1.82009790e-01 9.83279550e-01 -5.81055049e-03 -1.12178485e+01] [-3.07155864e-02 2.20965948e-04 9.99528141e-01 -2.42080026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694012739 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:76.06, Y:-11.22, Z:-2.42 [[ 9.83047824e-01 1.81258053e-01 2.76133001e-02 7.60642444e+01] [-1.81180167e-01 9.83435543e-01 -5.31783143e-03 -1.12214389e+01] [-2.81198005e-02 2.24700287e-04 9.99604535e-01 -2.42239981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:76.09, Y:-11.23, Z:-2.42 [[ 9.83251699e-01 1.80197209e-01 2.72958189e-02 7.60917640e+01] [-1.80120748e-01 9.83630471e-01 -5.25478234e-03 -1.12269351e+01] [-2.77958963e-02 2.50230345e-04 9.99613588e-01 -2.42356426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754012739 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:76.12, Y:-11.23, Z:-2.42 [[ 9.83779147e-01 1.77015978e-01 2.90505370e-02 7.61178585e+01] [-1.76928046e-01 9.84207912e-01 -5.59039640e-03 -1.12318520e+01] [-2.95813579e-02 3.59860645e-04 9.99562311e-01 -2.42396904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:76.15, Y:-11.24, Z:-2.42 [[ 9.84014373e-01 1.75641817e-01 2.94221856e-02 7.61452661e+01] [-1.75551080e-01 9.84454056e-01 -5.65945171e-03 -1.12359015e+01] [-2.99588263e-02 4.03885395e-04 9.99551052e-01 -2.42477421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814012739 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:76.17, Y:-11.24, Z:-2.43 [[ 9.84487886e-01 1.73207988e-01 2.79749219e-02 7.61729040e+01] [-1.73125031e-01 9.84885165e-01 -5.37917820e-03 -1.12388069e+01] [-2.84838022e-02 4.52576560e-04 9.99594152e-01 -2.42620610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:76.20, Y:-11.24, Z:-2.43 [[ 9.84753446e-01 1.71938598e-01 2.64153118e-02 7.62003719e+01] [-1.71864220e-01 9.85107561e-01 -5.07775633e-03 -1.12428866e+01] [-2.68949857e-02 4.60491100e-04 9.99638158e-01 -2.42772470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874012739 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:76.23, Y:-11.25, Z:-2.43 [[ 9.84772583e-01 1.71828911e-01 2.64156184e-02 7.62283558e+01] [-1.71754536e-01 9.85126698e-01 -5.07616080e-03 -1.12481093e+01] [-2.68949621e-02 4.61861693e-04 9.99638158e-01 -2.42860522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:76.25, Y:-11.25, Z:-2.43 [[ 9.84988064e-01 1.70811061e-01 2.49418352e-02 7.62547367e+01] [-1.70744499e-01 9.85303694e-01 -4.79019286e-03 -1.12522029e+01] [-2.53935003e-02 4.59601639e-04 9.99677427e-01 -2.42979290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934012739 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:76.28, Y:-11.26, Z:-2.43 [[ 9.85279218e-01 1.69116318e-01 2.49906881e-02 7.62826221e+01] [-1.69049019e-01 9.85595972e-01 -4.79684230e-03 -1.12550794e+01] [-2.54419459e-02 5.01577707e-04 9.99676175e-01 -2.43015639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:76.31, Y:-11.26, Z:-2.43 [[ 9.85529608e-01 1.67186127e-01 2.79318855e-02 7.63097805e+01] [-1.67101335e-01 9.85925160e-01 -5.35929675e-03 -1.12559078e+01] [-2.84347487e-02 6.14290254e-04 9.99595462e-01 -2.42944247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994012739 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:76.34, Y:-11.26, Z:-2.43 [[ 9.85793975e-01 1.65496404e-01 2.86562166e-02 7.63375608e+01] [-1.65406529e-01 9.86210161e-01 -5.49533783e-03 -1.12601343e+01] [-2.91705106e-02 6.77345597e-04 9.99574221e-01 -2.42970494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:76.37, Y:-11.27, Z:-2.43 [[ 9.86219160e-01 1.62928702e-01 2.87403204e-02 7.63659945e+01] [-1.62837266e-01 9.86637558e-01 -5.50948251e-03 -1.12655530e+01] [-2.92539324e-02 7.53562011e-04 9.99571728e-01 -2.43054847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054012739 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:76.39, Y:-11.27, Z:-2.43 [[ 9.87040687e-01 1.57816599e-01 2.90620502e-02 7.63936494e+01] [-1.57720932e-01 9.87468018e-01 -5.56971093e-03 -1.12717221e+01] [-2.95768379e-02 9.13837669e-04 9.99562092e-01 -2.43153668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:76.42, Y:-11.28, Z:-2.43 [[ 9.87413581e-01 1.55405568e-01 2.93858877e-02 7.64205614e+01] [-1.55306733e-01 9.87850251e-01 -5.63031511e-03 -1.12774747e+01] [-2.99038388e-02 9.95623390e-04 9.99552284e-01 -2.43226944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114012739 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:76.45, Y:-11.29, Z:-2.43 [[ 9.88033506e-01 1.51382963e-01 2.95463857e-02 7.64481424e+01] [-1.51281303e-01 9.88474552e-01 -5.65923477e-03 -1.12860028e+01] [-3.00625621e-02 1.12169785e-03 9.99547390e-01 -2.43253291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:76.47, Y:-11.29, Z:-2.43 [[ 9.88225312e-01 1.50196896e-01 2.91826092e-02 7.64746466e+01] [-1.50097249e-01 9.88655445e-01 -5.58819259e-03 -1.12930418e+01] [-2.96908746e-02 1.14216403e-03 9.99558476e-01 -2.43330712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174012739 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:76.50, Y:-11.30, Z:-2.43 [[ 9.88357528e-01 1.49506781e-01 2.82333093e-02 7.65021345e+01] [-1.49413280e-01 9.88760062e-01 -5.40475894e-03 -1.13002622e+01] [-2.87240167e-02 1.12340285e-03 9.99586749e-01 -2.43433664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:76.53, Y:-11.31, Z:-2.44 [[ 9.88584877e-01 1.48069127e-01 2.78473489e-02 7.65289300e+01] [-1.47977630e-01 9.88976347e-01 -5.32964936e-03 -1.13113327e+01] [-2.83295260e-02 1.14802605e-03 9.99597979e-01 -2.43535863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23401273900001 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:76.56, Y:-11.32, Z:-2.44 [[ 9.88659111e-01 1.47420346e-01 2.86427005e-02 7.65559667e+01] [-1.47323317e-01 9.89073205e-01 -5.48042649e-03 -1.13207494e+01] [-2.91376539e-02 1.19853593e-03 9.99574690e-01 -2.43575415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:76.58, Y:-11.33, Z:-2.44 [[ 9.88652170e-01 1.47014492e-01 3.08808340e-02 7.65842332e+01] [-1.46901541e-01 9.89133479e-01 -5.90748919e-03 -1.13334143e+01] [-3.14137533e-02 1.30400991e-03 9.99505616e-01 -2.43557546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294012739 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:76.61, Y:-11.34, Z:-2.44 [[ 9.88576546e-01 1.47355277e-01 3.16675773e-02 7.66134088e+01] [-1.47236671e-01 9.89082738e-01 -6.05799282e-03 -1.13417248e+01] [-3.22145313e-02 1.32616097e-03 9.99480097e-01 -2.43680262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:76.64, Y:-11.35, Z:-2.44 [[ 9.88292376e-01 1.49423375e-01 3.08355919e-02 7.66418848e+01] [-1.49311925e-01 9.88772549e-01 -5.89883997e-03 -1.13537545e+01] [-3.13708114e-02 1.22565699e-03 9.99507063e-01 -2.43846599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354012739 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:76.67, Y:-11.36, Z:-2.44 [[ 9.88022726e-01 1.51416355e-01 2.97351872e-02 7.66710798e+01] [-1.51313610e-01 9.88469438e-01 -5.68867540e-03 -1.13624682e+01] [-3.02536823e-02 1.12120205e-03 9.99541624e-01 -2.43975216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:76.70, Y:-11.37, Z:-2.44 [[ 9.87263290e-01 1.56673951e-01 2.76490539e-02 7.66999584e+01] [-1.56587177e-01 9.87649977e-01 -5.28960616e-03 -1.13696050e+01] [-2.81363309e-02 8.92746688e-04 9.99603696e-01 -2.44104244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414012739 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:76.73, Y:-11.38, Z:-2.44 [[ 9.86903644e-01 1.58975495e-01 2.73494153e-02 7.67281288e+01] [-1.58891481e-01 9.87282190e-01 -5.23203899e-03 -1.13751666e+01] [-2.78333566e-02 8.17929240e-04 9.99612242e-01 -2.44266961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:76.76, Y:-11.38, Z:-2.44 [[ 9.86630000e-01 1.60681725e-01 2.72511683e-02 7.67573415e+01] [-1.60598991e-01 9.87005976e-01 -5.21224720e-03 -1.13810836e+01] [-2.77345788e-02 7.66049311e-04 9.99615029e-01 -2.44392727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474012739 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:76.78, Y:-11.39, Z:-2.44 [[ 9.86406348e-01 1.61953749e-01 2.78118686e-02 7.67849660e+01] [-1.61868099e-01 9.86798069e-01 -5.31884906e-03 -1.13900177e+01] [-2.83061058e-02 7.44692183e-04 9.99599025e-01 -2.44458487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:76.81, Y:-11.40, Z:-2.45 [[ 9.86547470e-01 1.61085341e-01 2.78496383e-02 7.68135266e+01] [-1.60999140e-01 9.86940181e-01 -5.32506330e-03 -1.13978150e+01] [-2.83437167e-02 7.69659907e-04 9.99597940e-01 -2.44527984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534012739 meters Centerline goodness : 0.988085 Centerline is valid? [True, True] Translation: X:76.84, Y:-11.40, Z:-2.43 [[ 9.86824980e-01 1.59478375e-01 2.72599914e-02 7.68422442e+01] [-1.59395191e-01 9.87201100e-01 -5.21171807e-03 -1.14048563e+01] [-2.77422499e-02 7.97942053e-04 9.99614791e-01 -2.43357588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:76.87, Y:-11.42, Z:-2.45 [[ 9.87411321e-01 1.55432990e-01 2.93166907e-02 7.68697910e+01] [-1.55335029e-01 9.87845953e-01 -5.60377113e-03 -1.14175711e+01] [-2.98313852e-02 9.79318061e-04 9.99554465e-01 -2.44772749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59401273900001 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:76.90, Y:-11.43, Z:-2.45 [[ 9.87758885e-01 1.53087173e-01 2.99449816e-02 7.69004442e+01] [-1.52983901e-01 9.88212107e-01 -5.72349821e-03 -1.14263730e+01] [-3.04681875e-02 1.07233612e-03 9.99535162e-01 -2.44818620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:76.93, Y:-11.44, Z:-2.45 [[ 9.88235150e-01 1.50146203e-01 2.91102377e-02 7.69309113e+01] [-1.50047322e-01 9.88663157e-01 -5.56442818e-03 -1.14397691e+01] [-2.96156972e-02 1.13105033e-03 9.99560719e-01 -2.44925838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654012739 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:76.96, Y:-11.45, Z:-2.45 [[ 9.88365333e-01 1.49417148e-01 2.84338456e-02 7.69614546e+01] [-1.49322367e-01 9.88773602e-01 -5.44002976e-03 -1.14504363e+01] [-2.89274696e-02 1.13092770e-03 9.99580873e-01 -2.45018704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:76.99, Y:-11.47, Z:-2.45 [[ 9.88364508e-01 1.49352396e-01 2.88003731e-02 7.69908121e+01] [-1.49254977e-01 9.88783360e-01 -5.51528427e-03 -1.14671151e+01] [-2.93010506e-02 1.15251221e-03 9.99569968e-01 -2.45113324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714012739 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:77.02, Y:-11.48, Z:-2.45 [[ 9.88210723e-01 1.50267849e-01 2.93110887e-02 7.70223229e+01] [-1.50167196e-01 9.88644653e-01 -5.61808739e-03 -1.14787938e+01] [-2.98224690e-02 1.15029021e-03 9.99554549e-01 -2.45139278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:77.05, Y:-11.50, Z:-2.45 [[ 9.87485862e-01 1.54856546e-01 2.98516601e-02 7.70516535e+01] [-1.54754060e-01 9.87936423e-01 -5.72749232e-03 -1.14950936e+01] [-3.03784820e-02 1.03615208e-03 9.99537930e-01 -2.45233652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774012739 meters Centerline goodness : 0.987549 Centerline is valid? [True, True] Translation: X:77.08, Y:-11.50, Z:-2.44 [[ 9.87017359e-01 1.57850691e-01 2.96629676e-02 7.70835663e+01] [-1.57750689e-01 9.87462541e-01 -5.69652617e-03 -1.15044883e+01] [-3.01902699e-02 9.43216655e-04 9.99543725e-01 -2.44026027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:77.11, Y:-11.52, Z:-2.45 [[ 9.86524848e-01 1.60721229e-01 3.06171748e-02 7.71136157e+01] [-1.60615872e-01 9.86999441e-01 -5.88605161e-03 -1.15150752e+01] [-3.11651479e-02 8.89131924e-04 9.99513853e-01 -2.45443043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834012739 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:77.14, Y:-11.53, Z:-2.46 [[ 9.85863677e-01 1.64882119e-01 2.97774745e-02 7.71444370e+01] [-1.64784195e-01 9.86313001e-01 -5.73000079e-03 -1.15268197e+01] [-3.03146849e-02 7.42142463e-04 9.99540129e-01 -2.45551239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:77.18, Y:-11.54, Z:-2.46 [[ 9.85228361e-01 1.68624684e-01 2.98461501e-02 7.71760427e+01] [-1.68527856e-01 9.85680128e-01 -5.74868887e-03 -1.15376511e+01] [-3.03881279e-02 6.33863620e-04 9.99537973e-01 -2.45717712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894012739 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:77.21, Y:-11.55, Z:-2.46 [[ 9.85017680e-01 1.69876317e-01 2.97019818e-02 7.72076763e+01] [-1.69780819e-01 9.85465210e-01 -5.72662465e-03 -1.15469764e+01] [-3.02430876e-02 5.97999740e-04 9.99542394e-01 -2.45895537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:77.24, Y:-11.56, Z:-2.46 [[ 9.84923285e-01 1.70522326e-01 2.91248918e-02 7.72387498e+01] [-1.70430613e-01 9.85353646e-01 -5.62119310e-03 -1.15560097e+01] [-2.96568572e-02 5.72670807e-04 9.99559975e-01 -2.45976333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:77.27, Y:-11.57, Z:-2.46 [[ 9.84752699e-01 1.71406844e-01 2.96953654e-02 7.72700049e+01] [-1.71311730e-01 9.85200171e-01 -5.73705515e-03 -1.15656470e+01] [-3.02392496e-02 5.62416148e-04 9.99542531e-01 -2.46062479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:77.30, Y:-11.57, Z:-2.46 [[ 9.84675657e-01 1.71841442e-01 2.97383657e-02 7.73026047e+01] [-1.71746080e-01 9.85124464e-01 -5.75095926e-03 -1.15728436e+01] [-3.02842447e-02 5.55381862e-04 9.99541173e-01 -2.46118155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014012739 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:77.33, Y:-11.58, Z:-2.46 [[ 9.84423776e-01 1.73072862e-01 3.09129914e-02 7.73346406e+01] [-1.72970233e-01 9.84908873e-01 -5.98416623e-03 -1.15825640e+01] [-3.14821764e-02 5.43928204e-04 9.99504165e-01 -2.46272206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:77.37, Y:-11.59, Z:-2.46 [[ 9.84268212e-01 1.73878471e-01 3.13426941e-02 7.73662646e+01] [-1.73773180e-01 9.84766975e-01 -6.07344382e-03 -1.15907936e+01] [-3.19212912e-02 5.31378049e-04 9.99490244e-01 -2.46350380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074012739 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:77.40, Y:-11.60, Z:-2.46 [[ 9.84132158e-01 1.74806462e-01 3.04400493e-02 7.73975671e+01] [-1.74707419e-01 9.84602691e-01 -5.90419608e-03 -1.16003852e+01] [-3.10034461e-02 4.92406787e-04 9.99519156e-01 -2.46440586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:77.43, Y:-11.61, Z:-2.47 [[ 9.84015883e-01 1.75579634e-01 2.97411169e-02 7.74286408e+01] [-1.75485265e-01 9.84465123e-01 -5.77442228e-03 -1.16080616e+01] [-3.02929632e-02 4.62995464e-04 9.99540956e-01 -2.46568957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134012739 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:77.46, Y:-11.62, Z:-2.47 [[ 9.83767270e-01 1.77050584e-01 2.92412214e-02 7.74597128e+01] [-1.76959906e-01 9.84201666e-01 -5.68089923e-03 -1.16163829e+01] [-2.97850653e-02 4.14158951e-04 9.99556241e-01 -2.46669952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:77.49, Y:-11.63, Z:-2.47 [[ 9.83184955e-01 1.80188289e-01 2.96567700e-02 7.74899510e+01] [-1.80096330e-01 9.83632082e-01 -5.76527394e-03 -1.16279312e+01] [-3.02101852e-02 3.27255161e-04 9.99543515e-01 -2.46776485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194012739 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:77.52, Y:-11.64, Z:-2.47 [[ 9.82537744e-01 1.83553623e-01 3.04573354e-02 7.75216223e+01] [-1.83458059e-01 9.83009670e-01 -5.92694622e-03 -1.16386536e+01] [-3.10277677e-02 2.35804736e-04 9.99518495e-01 -2.46732214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:77.55, Y:-11.65, Z:-2.47 [[ 9.82175897e-01 1.85478771e-01 3.04652543e-02 7.75531862e+01] [-1.85383899e-01 9.82648255e-01 -5.93441859e-03 -1.16465312e+01] [-3.10373376e-02 1.80875271e-04 9.99518209e-01 -2.46783871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254012739 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:77.58, Y:-11.65, Z:-2.47 [[ 9.81913303e-01 1.86861772e-01 3.04785819e-02 7.75840587e+01] [-1.86767310e-01 9.82386206e-01 -5.94255304e-03 -1.16541647e+01] [-3.10521745e-02 1.42669106e-04 9.99517755e-01 -2.46835787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:77.62, Y:-11.66, Z:-2.47 [[ 9.81276328e-01 1.90333703e-01 2.94932226e-02 7.76153121e+01] [-1.90122044e-01 9.81711073e-01 -9.84776141e-03 -1.16614716e+01] [-3.08281841e-02 4.05606339e-03 9.99516469e-01 -2.46813459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314012739 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:77.65, Y:-11.67, Z:-2.47 [[ 9.80890274e-01 1.91931197e-01 3.18855027e-02 7.76468608e+01] [-1.91957849e-01 9.81400588e-01 -2.25186969e-03 -1.16744312e+01] [-3.17246551e-02 -3.91183543e-03 9.99488991e-01 -2.46953386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:77.68, Y:-11.68, Z:-2.47 [[ 9.79950417e-01 1.96930776e-01 3.02563979e-02 7.76782663e+01] [-1.96842000e-01 9.80417383e-01 -5.91464219e-03 -1.16793996e+01] [-3.08286735e-02 -1.59673796e-04 9.99524671e-01 -2.47076431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374012739 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:77.71, Y:-11.69, Z:-2.47 [[ 9.79454059e-01 1.99345818e-01 3.05121443e-02 7.77109139e+01] [-1.99256530e-01 9.79929176e-01 -5.97030914e-03 -1.16866644e+01] [-3.10898966e-02 -2.32100470e-04 9.99516565e-01 -2.47210630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:77.74, Y:-11.69, Z:-2.47 [[ 9.78876474e-01 2.02149786e-01 3.05992184e-02 7.77418881e+01] [-2.02061161e-01 9.79354565e-01 -5.99359623e-03 -1.16938342e+01] [-3.11790884e-02 -3.15923245e-04 9.99513764e-01 -2.47289614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434012739 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:77.77, Y:-11.70, Z:-2.47 [[ 9.77916743e-01 2.06583309e-01 3.16572286e-02 7.77740702e+01] [-2.06490566e-01 9.78428903e-01 -6.20706235e-03 -1.17004336e+01] [-3.22566230e-02 -4.66928856e-04 9.99479511e-01 -2.47363986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:77.81, Y:-11.71, Z:-2.47 [[ 9.77423632e-01 2.08860425e-01 3.19431847e-02 7.78053546e+01] [-2.08767008e-01 9.77945311e-01 -6.26942803e-03 -1.17063346e+01] [-3.25481231e-02 -5.40795987e-04 9.99470023e-01 -2.47440825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494012739 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:77.84, Y:-11.71, Z:-2.48 [[ 9.76519294e-01 2.13069735e-01 3.18018159e-02 7.78377680e+01] [-2.12979184e-01 9.77036763e-01 -6.24749631e-03 -1.17115445e+01] [-3.24026956e-02 -6.72324112e-04 9.99474669e-01 -2.47745620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:77.87, Y:-11.72, Z:-2.48 [[ 9.76057832e-01 2.15282347e-01 3.10583350e-02 7.78694693e+01] [-2.15196909e-01 9.76551580e-01 -6.10747629e-03 -1.17173182e+01] [-3.16448979e-02 -7.22407610e-04 9.99498914e-01 -2.47906751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554012739 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:77.90, Y:-11.72, Z:-2.48 [[ 9.75149579e-01 2.19499419e-01 3.00550231e-02 7.79012847e+01] [-2.19421246e-01 9.75612281e-01 -5.91559875e-03 -1.17207680e+01] [-3.06205201e-02 -8.26116974e-04 9.99530741e-01 -2.47941895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:77.93, Y:-11.73, Z:-2.48 [[ 9.74688046e-01 2.21588962e-01 2.96908345e-02 7.79337459e+01] [-2.21513476e-01 9.75139767e-01 -5.84933759e-03 -1.17256554e+01] [-3.02488620e-02 -8.75640516e-04 9.99542015e-01 -2.48011247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614012739 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:77.96, Y:-11.73, Z:-2.48 [[ 9.74282116e-01 2.23399319e-01 2.94466231e-02 7.79648010e+01] [-2.23325723e-01 9.74726577e-01 -5.80695071e-03 -1.17295493e+01] [-2.99996750e-02 -9.18580188e-04 9.99549486e-01 -2.48143412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:77.99, Y:-11.73, Z:-2.48 [[ 9.73794464e-01 2.25550431e-01 2.91778134e-02 7.79949683e+01] [-2.25478997e-01 9.74231010e-01 -5.75865774e-03 -1.17311631e+01] [-2.97247983e-02 -9.71235057e-04 9.99557649e-01 -2.48295121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674012739 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:78.03, Y:-11.73, Z:-2.48 [[ 9.73683972e-01 2.26019678e-01 2.92340071e-02 7.80263636e+01] [-2.25948191e-01 9.74122235e-01 -5.76937013e-03 -1.17344840e+01] [-2.97814875e-02 -9.87827799e-04 9.99555945e-01 -2.48392974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:78.06, Y:-11.73, Z:-2.48 [[ 9.73371076e-01 2.27393255e-01 2.90009509e-02 7.80564207e+01] [-2.27323490e-01 9.73802478e-01 -5.72411658e-03 -1.17343597e+01] [-2.95428233e-02 -1.02090785e-03 9.99562994e-01 -2.48484826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73401273900001 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:78.09, Y:-11.74, Z:-2.49 [[ 9.73229335e-01 2.27983945e-01 2.91201551e-02 7.80860481e+01] [-2.27913879e-01 9.73664332e-01 -5.74730441e-03 -1.17366347e+01] [-2.96635495e-02 -1.04344226e-03 9.99559395e-01 -2.48557875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:78.12, Y:-11.74, Z:-2.49 [[ 9.73232041e-01 2.27972374e-01 2.91202936e-02 7.81156368e+01] [-2.27902324e-01 9.73667041e-01 -5.74660243e-03 -1.17424353e+01] [-2.96635367e-02 -1.04380497e-03 9.99559395e-01 -2.48650603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794012739 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:78.14, Y:-11.74, Z:-2.49 [[ 9.73168296e-01 2.28210867e-01 2.93814297e-02 7.81444250e+01] [-2.28139674e-01 9.73611152e-01 -5.79778834e-03 -1.17447062e+01] [-2.99292059e-02 -1.06084600e-03 9.99551458e-01 -2.48665140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:78.17, Y:-11.74, Z:-2.49 [[ 9.73327817e-01 2.27450780e-01 2.99850468e-02 7.81736116e+01] [-2.27376306e-01 9.73789001e-01 -5.91577666e-03 -1.17415487e+01] [-3.05446568e-02 -1.05989919e-03 9.99532841e-01 -2.48671135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854012739 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:78.20, Y:-11.74, Z:-2.49 [[ 9.73698810e-01 2.25915535e-01 2.95431739e-02 7.82033765e+01] [-2.25842589e-01 9.74146382e-01 -5.82676092e-03 -1.17391406e+01] [-3.00957318e-02 -9.98596689e-04 9.99546522e-01 -2.48913646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:78.23, Y:-11.74, Z:-2.49 [[ 9.73940367e-01 2.24889493e-01 2.94088151e-02 7.82312578e+01] [-2.24816784e-01 9.74383799e-01 -5.79885639e-03 -1.17411150e+01] [-2.99595749e-02 -9.63854923e-04 9.99550646e-01 -2.49035088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914012739 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:78.26, Y:-11.74, Z:-2.49 [[ 9.74326447e-01 2.23208135e-01 2.94296433e-02 7.82605656e+01] [-2.23134611e-01 9.74770379e-01 -5.80117647e-03 -1.17432242e+01] [-2.99820144e-02 -9.14532353e-04 9.99550020e-01 -2.49114720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:78.29, Y:-11.74, Z:-2.49 [[ 9.75387479e-01 2.18451015e-01 2.99736546e-02 7.82897978e+01] [-2.18372545e-01 9.75847601e-01 -5.90693847e-03 -1.17415698e+01] [-3.05400956e-02 -7.83869426e-04 9.99533235e-01 -2.49133223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974012739 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:78.32, Y:-11.74, Z:-2.49 [[ 9.75965316e-01 2.15799987e-01 3.03655598e-02 7.83177224e+01] [-2.15718214e-01 9.76437330e-01 -5.98269099e-03 -1.17434390e+01] [-3.09411308e-02 -7.11505431e-04 9.99520955e-01 -2.49152899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:78.35, Y:-11.74, Z:-2.49 [[ 9.77034484e-01 2.10782824e-01 3.12124724e-02 7.83464631e+01] [-2.10693913e-01 9.77532750e-01 -6.14800963e-03 -1.17448484e+01] [-3.18071088e-02 -5.69460540e-04 9.99493864e-01 -2.49314040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034012739 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:78.37, Y:-11.75, Z:-2.49 [[ 9.77626177e-01 2.08040924e-01 3.10810699e-02 7.83748470e+01] [-2.07951422e-01 9.78120005e-01 -6.12061171e-03 -1.17490554e+01] [-3.16743539e-02 -4.79682468e-04 9.99498127e-01 -2.49383869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:78.40, Y:-11.75, Z:-2.50 [[ 9.78599590e-01 2.03459859e-01 3.07722115e-02 7.84033673e+01] [-2.03369909e-01 9.79083233e-01 -6.05828782e-03 -1.17536291e+01] [-3.13611747e-02 -3.29503876e-04 9.99508063e-01 -2.49532657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09401273900001 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:78.43, Y:-11.76, Z:-2.50 [[ 9.78953689e-01 2.01730897e-01 3.08920751e-02 7.84329980e+01] [-2.01639413e-01 9.79440947e-01 -6.08097319e-03 -1.17588382e+01] [-3.14836835e-02 -2.76068748e-04 9.99504228e-01 -2.49638281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:78.46, Y:-11.76, Z:-2.50 [[ 9.79409816e-01 1.99484225e-01 3.10234829e-02 7.84629207e+01] [-1.99390858e-01 9.79901016e-01 -6.10606760e-03 -1.17629581e+01] [-3.16180066e-02 -2.05456334e-04 9.99500005e-01 -2.49641182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154012739 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:78.49, Y:-11.77, Z:-2.50 [[ 9.79525818e-01 1.98946729e-01 3.08118726e-02 7.84917796e+01] [-1.98854389e-01 9.80010288e-01 -6.06366054e-03 -1.17683588e+01] [-3.14022975e-02 -1.87564059e-04 9.99506809e-01 -2.49778449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:78.52, Y:-11.77, Z:-2.50 [[ 9.79567748e-01 1.98789536e-01 3.04917464e-02 7.85196898e+01] [-1.98699053e-01 9.80042187e-01 -5.99990178e-03 -1.17741351e+01] [-3.10759155e-02 -1.81370864e-04 9.99517011e-01 -2.49923038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214012739 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:78.55, Y:-11.78, Z:-2.50 [[ 9.79462230e-01 1.99342921e-01 3.02677943e-02 7.85491988e+01] [-1.99254062e-01 9.79929773e-01 -5.95470784e-03 -1.17801605e+01] [-3.08473417e-02 -1.98569531e-04 9.99524088e-01 -2.49976658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:78.58, Y:-11.78, Z:-2.50 [[ 9.79257917e-01 2.00468686e-01 2.94319305e-02 7.85776353e+01] [-2.00385197e-01 9.79700084e-01 -5.78954113e-03 -1.17849571e+01] [-2.99950865e-02 -2.28269227e-04 9.99550020e-01 -2.49984038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:78.61, Y:-11.79, Z:-2.50 [[ 9.78758375e-01 2.03023809e-01 2.85197525e-02 7.86060800e+01] [-2.02946531e-01 9.79173756e-01 -5.60906992e-03 -1.17886889e+01] [-2.90645679e-02 -2.98060666e-04 9.99577492e-01 -2.50116384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:78.63, Y:-11.79, Z:-2.50 [[ 9.78616326e-01 2.03693004e-01 2.86224785e-02 7.86349150e+01] [-2.03615495e-01 9.79034758e-01 -5.62786308e-03 -1.17933959e+01] [-2.91687577e-02 -3.20461435e-04 9.99574450e-01 -2.50208052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334012739 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:78.66, Y:-11.80, Z:-2.50 [[ 9.78499076e-01 2.04157755e-01 2.93115726e-02 7.86637417e+01] [-2.04076721e-01 9.78937941e-01 -5.76188077e-03 -1.17964936e+01] [-2.98705431e-02 -3.43814596e-04 9.99553717e-01 -2.50253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:78.69, Y:-11.80, Z:-2.50 [[ 9.78591255e-01 2.03693903e-01 2.94609681e-02 7.86916994e+01] [-2.03611874e-01 9.79034567e-01 -5.78978771e-03 -1.18012652e+01] [-3.00226506e-02 -3.32767293e-04 9.99549163e-01 -2.50377950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394012739 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:78.72, Y:-11.81, Z:-2.51 [[ 9.78835848e-01 2.02399004e-01 3.02493907e-02 7.87194597e+01] [-2.02311954e-01 9.79303095e-01 -5.94320273e-03 -1.18080677e+01] [-3.08262203e-02 -3.02393465e-04 9.99524713e-01 -2.50519151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:78.75, Y:-11.81, Z:-2.51 [[ 9.78849116e-01 2.02323504e-01 3.03250527e-02 7.87476349e+01] [-2.02236027e-01 9.79318696e-01 -5.95656536e-03 -1.18135408e+01] [-3.09030443e-02 -3.02239463e-04 9.99522341e-01 -2.50539255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454012739 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:78.77, Y:-11.82, Z:-2.51 [[ 9.78722109e-01 2.02936664e-01 3.03272787e-02 7.87747330e+01] [-2.02849516e-01 9.79191813e-01 -5.95551113e-03 -1.18175360e+01] [-3.09048146e-02 -3.23083395e-04 9.99522280e-01 -2.50577474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:78.80, Y:-11.82, Z:-2.51 [[ 9.78012915e-01 2.06487331e-01 2.92185040e-02 7.88038959e+01] [-2.06408073e-01 9.78449184e-01 -5.73603808e-03 -1.18208809e+01] [-2.97732406e-02 -4.21015797e-04 9.99556590e-01 -2.50575485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514012739 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:78.83, Y:-11.82, Z:-2.51 [[ 9.77734049e-01 2.07902536e-01 2.85072921e-02 7.88312970e+01] [-2.07827732e-01 9.78149441e-01 -5.59507547e-03 -1.18244035e+01] [-2.90476222e-02 -4.54110052e-04 9.99577926e-01 -2.50690781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:78.86, Y:-11.82, Z:-2.51 [[ 9.77084114e-01 2.11038119e-01 2.77407081e-02 7.88597869e+01] [-2.10968592e-01 9.77477686e-01 -5.44300889e-03 -1.18233005e+01] [-2.82646055e-02 -5.34140605e-04 9.99600334e-01 -2.50842080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574012739 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:78.89, Y:-11.83, Z:-2.51 [[ 9.76759080e-01 2.12475718e-01 2.82093831e-02 7.88883172e+01] [-2.12404481e-01 9.77166170e-01 -5.53287787e-03 -1.18256297e+01] [-2.87408570e-02 -5.87510657e-04 9.99586724e-01 -2.50943001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:78.92, Y:-11.83, Z:-2.51 [[ 9.76516725e-01 2.13482776e-01 2.89860304e-02 7.89151177e+01] [-2.13408067e-01 9.76946621e-01 -5.68305404e-03 -1.18284114e+01] [-2.95310386e-02 -6.36255405e-04 9.99563661e-01 -2.51004083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634012739 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:78.94, Y:-11.83, Z:-2.51 [[ 9.76572133e-01 2.12904544e-01 3.12813631e-02 7.89436849e+01] [-2.12817326e-01 9.77072774e-01 -6.13025087e-03 -1.18285455e+01] [-3.18693265e-02 -6.70583880e-04 9.99491819e-01 -2.51008387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:78.97, Y:-11.83, Z:-2.51 [[ 9.76802471e-01 2.11807103e-01 3.15386140e-02 7.89712877e+01] [-2.11717949e-01 9.77311280e-01 -6.17830326e-03 -1.18302490e+01] [-3.21316517e-02 -6.42308764e-04 9.99483439e-01 -2.51082734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:79.00, Y:-11.83, Z:-2.51 [[ 9.77298872e-01 2.09703622e-01 3.01878259e-02 7.89995867e+01] [-2.09621016e-01 9.77764843e-01 -5.91122011e-03 -1.18288799e+01] [-3.07561991e-02 -5.50973986e-04 9.99526764e-01 -2.51267240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:79.03, Y:-11.83, Z:-2.51 [[ 9.77471596e-01 2.09054891e-01 2.90745897e-02 7.90264491e+01] [-2.08978040e-01 9.77903773e-01 -5.69118736e-03 -1.18303990e+01] [-2.96219215e-02 -5.12976767e-04 9.99561043e-01 -2.51366437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754012739 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:79.05, Y:-11.83, Z:-2.51 [[ 9.77501037e-01 2.08999712e-01 2.84752915e-02 7.90547656e+01] [-2.08926043e-01 9.77915573e-01 -5.57148427e-03 -1.18315924e+01] [-2.90108696e-02 -5.03098323e-04 9.99578970e-01 -2.51357351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:79.08, Y:-11.83, Z:-2.51 [[ 9.77166972e-01 2.10375543e-01 2.97798420e-02 7.90833699e+01] [-2.10295676e-01 9.77620481e-01 -5.82442120e-03 -1.18280056e+01] [-3.03386992e-02 -5.71139975e-04 9.99539513e-01 -2.51241126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814012739 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:79.11, Y:-11.83, Z:-2.51 [[ 9.77063226e-01 2.10657179e-01 3.11609537e-02 7.91116516e+01] [-2.10569963e-01 9.77559810e-01 -6.09174551e-03 -1.18295450e+01] [-3.17449659e-02 -6.09540347e-04 9.99495816e-01 -2.51302192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:79.14, Y:-11.83, Z:-2.51 [[ 9.76900090e-01 2.11213871e-01 3.24794465e-02 7.91399817e+01] [-2.11119505e-01 9.77439650e-01 -6.34703038e-03 -1.18286171e+01] [-3.30872797e-02 -6.56630135e-04 9.99452250e-01 -2.51327007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874012739 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:79.17, Y:-11.83, Z:-2.51 [[ 9.76892319e-01 2.11193275e-01 3.28450411e-02 7.91677313e+01] [-2.11096843e-01 9.77444094e-01 -6.41602370e-03 -1.18307186e+01] [-3.34592125e-02 -6.65720217e-04 9.99439862e-01 -2.51404605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:79.20, Y:-11.83, Z:-2.51 [[ 9.77040433e-01 2.10479073e-01 3.30235115e-02 7.91953148e+01] [-2.10381269e-01 9.77598149e-01 -6.44831081e-03 -1.18329275e+01] [-3.36409582e-02 -6.47267875e-04 9.99433773e-01 -2.51400992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934012739 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:79.22, Y:-11.83, Z:-2.51 [[ 9.77525563e-01 2.08219712e-01 3.29897746e-02 7.92242937e+01] [-2.08120919e-01 9.78081911e-01 -6.43883292e-03 -1.18313854e+01] [-3.36073937e-02 -5.71738432e-04 9.99434948e-01 -2.51426266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:79.25, Y:-11.83, Z:-2.52 [[ 9.77718429e-01 2.07411409e-01 3.23601770e-02 7.92514699e+01] [-2.07315986e-01 9.78253659e-01 -6.31358739e-03 -1.18327424e+01] [-3.29659716e-02 -5.35871274e-04 9.99456331e-01 -2.51612483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994012739 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:79.28, Y:-11.83, Z:-2.52 [[ 9.78084135e-01 2.06045084e-01 2.99474279e-02 7.92805204e+01] [-2.05962795e-01 9.78542393e-01 -5.84048299e-03 -1.18320474e+01] [-3.05082306e-02 -4.55572211e-04 9.99534412e-01 -2.51841014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:79.31, Y:-11.83, Z:-2.52 [[ 9.78451868e-01 2.04418267e-01 2.90708505e-02 7.93087819e+01] [-2.04340069e-01 9.78883556e-01 -5.66744793e-03 -1.18348693e+01] [-2.96155074e-02 -3.95014571e-04 9.99561287e-01 -2.52032802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054012739 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:79.34, Y:-11.84, Z:-2.52 [[ 9.78857208e-01 2.02516906e-01 2.87309827e-02 7.93362991e+01] [-2.02439768e-01 9.79278709e-01 -5.59911166e-03 -1.18379932e+01] [-2.92695544e-02 -3.35562668e-04 9.99571498e-01 -2.52158280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:79.36, Y:-11.84, Z:-2.52 [[ 9.79525157e-01 1.99041982e-01 3.02118637e-02 7.93636342e+01] [-1.98955106e-01 9.79990933e-01 -5.88531748e-03 -1.18382978e+01] [-3.07787777e-02 -2.45988018e-04 9.99526191e-01 -2.52045540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114012739 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:79.39, Y:-11.84, Z:-2.52 [[ 9.79674554e-01 1.98135470e-01 3.13066228e-02 7.93920522e+01] [-1.98041857e-01 9.80174619e-01 -6.09427013e-03 -1.18406774e+01] [-3.18934481e-02 -2.29620342e-04 9.99491248e-01 -2.52074157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:79.42, Y:-11.84, Z:-2.52 [[ 9.79755273e-01 1.97675715e-01 3.16846536e-02 7.94196909e+01] [-1.97579664e-01 9.80267445e-01 -6.16546631e-03 -1.18398831e+01] [-3.22781974e-02 -2.19595091e-04 9.99478899e-01 -2.52211985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:79.45, Y:-11.84, Z:-2.52 [[ 9.79767699e-01 1.97700576e-01 3.11406272e-02 7.94481193e+01] [-1.97607891e-01 9.80262431e-01 -6.05698829e-03 -1.18424986e+01] [-3.17234570e-02 -2.19192196e-04 9.99496660e-01 -2.52359588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:79.48, Y:-11.85, Z:-2.53 [[ 9.79801452e-01 1.97591390e-01 3.07694184e-02 7.94758315e+01] [-1.97500918e-01 9.80284447e-01 -5.98257109e-03 -1.18450376e+01] [-3.13448868e-02 -2.15256516e-04 9.99508605e-01 -2.52561664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23401273900001 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:79.50, Y:-11.85, Z:-2.53 [[ 9.79905970e-01 1.97140497e-01 3.03300917e-02 7.95024198e+01] [-1.97052442e-01 9.80375226e-01 -5.89495697e-03 -1.18475560e+01] [-3.08970053e-02 -2.00115119e-04 9.99522554e-01 -2.52585071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:79.53, Y:-11.85, Z:-2.53 [[ 9.80501838e-01 1.94170512e-01 3.02317501e-02 7.95311232e+01] [-1.94081694e-01 9.80967788e-01 -5.87327997e-03 -1.18483678e+01] [-3.07967908e-02 -1.08667481e-04 9.99525660e-01 -2.52676041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294012739 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:79.56, Y:-11.85, Z:-2.53 [[ 9.80986331e-01 1.91816480e-01 2.95339732e-02 7.95577023e+01] [-1.91730711e-01 9.81430811e-01 -5.73564072e-03 -1.18525955e+01] [-3.00857417e-02 -3.59845507e-05 9.99547321e-01 -2.52830783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:79.59, Y:-11.86, Z:-2.53 [[ 9.82076308e-01 1.86372917e-01 2.81293782e-02 7.95856064e+01] [-1.86292944e-01 9.82479069e-01 -5.46061064e-03 -1.18576690e+01] [-2.86542352e-02 1.22431674e-04 9.99589376e-01 -2.53000785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354012739 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:79.61, Y:-11.86, Z:-2.53 [[ 9.82472519e-01 1.84276996e-01 2.81022704e-02 7.96124213e+01] [-1.84196377e-01 9.82874334e-01 -5.45332306e-03 -1.18614103e+01] [-2.86259223e-02 1.81403635e-04 9.99590178e-01 -2.53119668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:79.64, Y:-11.86, Z:-2.53 [[ 9.82743010e-01 1.82761815e-01 2.85358779e-02 7.96404841e+01] [-1.82678122e-01 9.83157194e-01 -5.53499357e-03 -1.18646283e+01] [-2.90668391e-02 2.26595665e-04 9.99577444e-01 -2.53179076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414012739 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:79.67, Y:-11.87, Z:-2.53 [[ 9.83054643e-01 1.80800804e-01 3.02429737e-02 7.96690690e+01] [-1.80705937e-01 9.83519689e-01 -5.86387227e-03 -1.18664406e+01] [-3.08047529e-02 2.99421974e-04 9.99525376e-01 -2.53217064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:79.70, Y:-11.87, Z:-2.53 [[ 9.83238814e-01 1.79756121e-01 3.04823318e-02 7.96967711e+01] [-1.79659311e-01 9.83711150e-01 -5.90810471e-03 -1.18702033e+01] [-3.10478277e-02 3.32643144e-04 9.99517845e-01 -2.53302536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474012739 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:79.72, Y:-11.87, Z:-2.53 [[ 9.83732912e-01 1.77224615e-01 2.93426999e-02 7.97243346e+01] [-1.77133844e-01 9.84170351e-01 -5.68520694e-03 -1.18726394e+01] [-2.98857739e-02 3.95139946e-04 9.99553242e-01 -2.53449392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters Centerline goodness : 0.987602 Centerline is valid? [True, True] Translation: X:79.75, Y:-11.88, Z:-2.53 [[ 9.83962917e-01 1.76078849e-01 2.85169480e-02 7.97523503e+01] [-1.75992692e-01 9.84375978e-01 -5.52324975e-03 -1.18772680e+01] [-2.90439260e-02 4.15898495e-04 9.99578050e-01 -2.52547097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:79.78, Y:-11.88, Z:-2.54 [[ 9.84219887e-01 1.74507176e-01 2.92994875e-02 7.97781194e+01] [-1.74415592e-01 9.84655789e-01 -5.67269147e-03 -1.18845144e+01] [-2.98398353e-02 4.72888303e-04 9.99554581e-01 -2.53709269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:79.81, Y:-11.89, Z:-2.54 [[ 9.84615552e-01 1.71970104e-01 3.09596238e-02 7.98052457e+01] [-1.71866675e-01 9.85101999e-01 -5.99143709e-03 -1.18918342e+01] [-3.15287354e-02 5.78334537e-04 9.99502679e-01 -2.53796900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59401273900001 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:79.83, Y:-11.90, Z:-2.54 [[ 9.84770365e-01 1.70968929e-01 3.15745615e-02 7.98332914e+01] [-1.70860905e-01 9.85276225e-01 -6.10824527e-03 -1.18961313e+01] [-3.21539849e-02 6.20360771e-04 9.99482734e-01 -2.53855966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:79.86, Y:-11.90, Z:-2.54 [[ 9.84960867e-01 1.70076172e-01 3.04332999e-02 7.98599511e+01] [-1.69975458e-01 9.85430721e-01 -5.88535339e-03 -1.19001326e+01] [-3.09908671e-02 6.23928697e-04 9.99519473e-01 -2.54035973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654012739 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:79.89, Y:-11.91, Z:-2.54 [[ 9.84970531e-01 1.70020112e-01 3.04337721e-02 7.98879304e+01] [-1.69919447e-01 9.85440395e-01 -5.88291080e-03 -1.19054177e+01] [-3.09908816e-02 6.23204064e-04 9.99519473e-01 -2.54123577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:79.92, Y:-11.91, Z:-2.54 [[ 9.85048233e-01 1.69718041e-01 2.95933276e-02 7.99155243e+01] [-1.69622775e-01 9.85492471e-01 -5.71876253e-03 -1.19119280e+01] [-3.01345787e-02 6.13554581e-04 9.99545662e-01 -2.54291400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714012739 meters Centerline goodness : 0.985578 Centerline is valid? [True, True] Translation: X:79.94, Y:-11.92, Z:-2.53 [[ 9.85103590e-01 1.69575282e-01 2.85506555e-02 7.99423428e+01] [-1.69486610e-01 9.85517058e-01 -5.51528248e-03 -1.19206249e+01] [-2.90724135e-02 5.94170768e-04 9.99577131e-01 -2.53061811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:79.97, Y:-11.93, Z:-2.54 [[ 9.85119613e-01 1.69365531e-01 2.92346484e-02 7.99679999e+01] [-1.69272530e-01 9.85553115e-01 -5.64524357e-03 -1.19283214e+01] [-2.97684085e-02 6.12617260e-04 9.99556635e-01 -2.54483293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774012739 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:80.00, Y:-11.93, Z:-2.55 [[ 9.85111320e-01 1.69476316e-01 2.88698032e-02 7.99954378e+01] [-1.69385765e-01 9.85534079e-01 -5.57157496e-03 -1.19344862e+01] [-2.93964249e-02 5.98487857e-04 9.99567653e-01 -2.54537853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:80.02, Y:-11.94, Z:-2.55 [[ 9.85071535e-01 1.69753091e-01 2.85999778e-02 8.00229094e+01] [-1.69664399e-01 9.85486453e-01 -5.51752199e-03 -1.19410213e+01] [-2.91215071e-02 5.82755797e-04 9.99575709e-01 -2.54644632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834012739 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:80.05, Y:-11.95, Z:-2.55 [[ 9.84892809e-01 1.70483553e-01 3.03564231e-02 8.00479369e+01] [-1.70525962e-01 9.85352446e-01 -1.20539218e-03 -1.19535728e+01] [-3.01172753e-02 -3.98937617e-03 9.99538411e-01 -2.54926417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:80.08, Y:-11.96, Z:-2.55 [[ 9.84945768e-01 1.70433249e-01 2.88849572e-02 8.00758898e+01] [-1.70204794e-01 9.85355821e-01 -1.02095591e-02 -1.19573878e+01] [-3.02020090e-02 5.13950384e-03 9.99530602e-01 -2.54795457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894012739 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:80.10, Y:-11.97, Z:-2.55 [[ 9.84982045e-01 1.69966904e-01 3.03582506e-02 8.01010625e+01] [-1.69867396e-01 9.85449588e-01 -5.84620147e-03 -1.19679847e+01] [-3.09101863e-02 6.01526502e-04 9.99521985e-01 -2.54884532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:80.13, Y:-11.98, Z:-2.55 [[ 9.84982991e-01 1.69918281e-01 3.05987741e-02 8.01278255e+01] [-1.69817268e-01 9.85457971e-01 -5.88926671e-03 -1.19754060e+01] [-3.11544999e-02 6.04627324e-04 9.99514398e-01 -2.54976983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954012739 meters Centerline goodness : 0.985808 Centerline is valid? [True, True] Translation: X:80.15, Y:-11.99, Z:-2.54 [[ 9.84835128e-01 1.70957760e-01 2.95501956e-02 8.01541256e+01] [-1.70864083e-01 9.85278205e-01 -5.68537889e-03 -1.19860686e+01] [-3.00871233e-02 5.50093770e-04 9.99547129e-01 -2.53846312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:80.18, Y:-12.00, Z:-2.55 [[ 9.84706116e-01 1.71559305e-01 3.03524217e-02 8.01799494e+01] [-1.71460838e-01 9.85173644e-01 -5.83709647e-03 -1.19951620e+01] [-3.09038141e-02 5.43572937e-04 9.99522215e-01 -2.55313917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014012739 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:80.21, Y:-12.01, Z:-2.55 [[ 9.84191290e-01 1.74609802e-01 2.96466238e-02 8.02060559e+01] [-1.74517305e-01 9.84637612e-01 -5.69933961e-03 -1.20060372e+01] [-3.01863415e-02 4.35391501e-04 9.99544194e-01 -2.55353378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:80.23, Y:-12.01, Z:-2.55 [[ 9.83861430e-01 1.76526919e-01 2.92392545e-02 8.02323198e+01] [-1.76437856e-01 9.84295743e-01 -5.61892364e-03 -1.20135571e+01] [-2.97719650e-02 3.69330860e-04 9.99556649e-01 -2.55441078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074012739 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:80.26, Y:-12.02, Z:-2.56 [[ 9.83540360e-01 1.78357213e-01 2.89320733e-02 8.02592741e+01] [-1.78270876e-01 9.83965756e-01 -5.55743934e-03 -1.20205218e+01] [-2.94593788e-02 3.08219837e-04 9.99565931e-01 -2.55556716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:80.29, Y:-12.03, Z:-2.56 [[ 9.82926547e-01 1.81565021e-01 2.98252563e-02 8.02856050e+01] [-1.81474811e-01 9.83378918e-01 -5.72684711e-03 -1.20298008e+01] [-3.03693233e-02 2.16537302e-04 9.99538722e-01 -2.55691005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134012739 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:80.31, Y:-12.04, Z:-2.56 [[ 9.82605172e-01 1.83179647e-01 3.05334667e-02 8.03108313e+01] [-1.83085950e-01 9.83079442e-01 -5.86056771e-03 -1.20418725e+01] [-3.10903601e-02 1.68375388e-04 9.99516564e-01 -2.55766027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:80.34, Y:-12.05, Z:-2.56 [[ 9.82353864e-01 1.84528660e-01 3.04968734e-02 8.03375564e+01] [-1.84435937e-01 9.82827126e-01 -5.85031015e-03 -1.20502818e+01] [-3.10527043e-02 1.22355348e-04 9.99517741e-01 -2.55846596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:80.36, Y:-12.06, Z:-2.56 [[ 9.81965586e-01 1.86660494e-01 3.00241344e-02 8.03638676e+01] [-1.86571686e-01 9.82424479e-01 -5.75751136e-03 -1.20574505e+01] [-3.05711445e-02 5.20246498e-05 9.99532592e-01 -2.55897354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:80.39, Y:-12.07, Z:-2.56 [[ 9.80741203e-01 1.93143996e-01 2.90187780e-02 8.03898081e+01] [-1.93063939e-01 9.81170411e-01 -5.56239784e-03 -1.20650734e+01] [-2.95467100e-02 -1.47206844e-04 9.99563390e-01 -2.56021388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254012739 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:80.42, Y:-12.07, Z:-2.56 [[ 9.79997927e-01 1.96866937e-01 2.91113729e-02 8.04161494e+01] [-1.96788079e-01 9.80430181e-01 -5.57778201e-03 -1.20713336e+01] [-2.96397495e-02 -2.62556342e-04 9.99560612e-01 -2.56148880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:80.44, Y:-12.08, Z:-2.56 [[ 9.78286213e-01 2.05144402e-01 2.95272847e-02 8.04420579e+01] [-2.05067143e-01 9.78731577e-01 -5.65393095e-03 -1.20798806e+01] [-3.00591582e-02 -5.23913215e-04 9.99547984e-01 -2.56173215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314012739 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:80.47, Y:-12.09, Z:-2.56 [[ 9.77412779e-01 2.09208115e-01 2.99369993e-02 8.04697165e+01] [-2.09130665e-01 9.77870916e-01 -5.73026574e-03 -1.20867087e+01] [-3.04733391e-02 -6.59909608e-04 9.99535362e-01 -2.56283886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:80.50, Y:-12.09, Z:-2.56 [[ 9.76613677e-01 2.12895428e-01 3.00210434e-02 8.04959278e+01] [-2.12819351e-01 9.77074680e-01 -5.74409581e-03 -1.20923195e+01] [-3.05556931e-02 -7.79296424e-04 9.99532762e-01 -2.56348221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374012739 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:80.52, Y:-12.10, Z:-2.56 [[ 9.75889052e-01 2.16183298e-01 3.00888497e-02 8.05221123e+01] [-2.16108517e-01 9.76352393e-01 -5.75445275e-03 -1.20979159e+01] [-3.06213369e-02 -8.86749228e-04 9.99530664e-01 -2.56450053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:80.55, Y:-12.10, Z:-2.57 [[ 9.74906465e-01 2.20595533e-01 2.99164761e-02 8.05488796e+01] [-2.20523792e-01 9.75364836e-01 -5.71776103e-03 -1.21047677e+01] [-3.04407914e-02 -1.02301258e-03 9.99536048e-01 -2.56592797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:80.58, Y:-12.11, Z:-2.57 [[ 9.74608137e-01 2.21794050e-01 3.07632654e-02 8.05767392e+01] [-2.21718856e-01 9.75092921e-01 -5.87737649e-03 -1.21103416e+01] [-3.13006095e-02 -1.09265707e-03 9.99509419e-01 -2.56693999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:80.60, Y:-12.11, Z:-2.57 [[ 9.74361796e-01 2.22831170e-01 3.10702387e-02 8.06035837e+01] [-2.22755064e-01 9.74856385e-01 -5.93381392e-03 -1.21138998e+01] [-3.16112593e-02 -1.13937141e-03 9.99499590e-01 -2.56797118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:80.63, Y:-12.12, Z:-2.57 [[ 9.74296274e-01 2.23221550e-01 3.03135256e-02 8.06312383e+01] [-2.23149369e-01 9.74767085e-01 -5.78689835e-03 -1.21183817e+01] [-3.08403875e-02 -1.12629062e-03 9.99523688e-01 -2.56869991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:80.66, Y:-12.12, Z:-2.57 [[ 9.74173112e-01 2.23777515e-01 3.01723692e-02 8.06590553e+01] [-2.23706335e-01 9.74639586e-01 -5.75787537e-03 -1.21224635e+01] [-3.06956684e-02 -1.14058275e-03 9.99528126e-01 -2.56975419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554012739 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:80.69, Y:-12.12, Z:-2.57 [[ 9.74004946e-01 2.24439250e-01 3.06820654e-02 8.06872408e+01] [-2.24366039e-01 9.74487364e-01 -5.85298833e-03 -1.21239090e+01] [-3.12129254e-02 -1.18317389e-03 9.99512058e-01 -2.56977309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:80.71, Y:-12.13, Z:-2.57 [[ 9.73972164e-01 2.24581579e-01 3.06812314e-02 8.07143631e+01] [-2.24508512e-01 9.74454565e-01 -5.85059676e-03 -1.21260495e+01] [-3.12114022e-02 -1.18987922e-03 9.99512097e-01 -2.57073338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:80.74, Y:-12.13, Z:-2.57 [[ 9.73910698e-01 2.24876999e-01 3.04678158e-02 8.07431415e+01] [-2.24805168e-01 9.74386428e-01 -5.80735837e-03 -1.21255615e+01] [-3.09933676e-02 -1.19347403e-03 9.99518878e-01 -2.57302231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:80.77, Y:-12.13, Z:-2.57 [[ 9.73962998e-01 2.24630930e-01 3.06108545e-02 8.07709690e+01] [-2.24558370e-01 9.74443185e-01 -5.83241483e-03 -1.21280153e+01] [-3.11386793e-02 -1.19336735e-03 9.99514361e-01 -2.57396517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674012739 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:80.80, Y:-12.13, Z:-2.57 [[ 9.74667508e-01 2.21667232e-01 2.97806590e-02 8.07984901e+01] [-2.21597236e-01 9.75121783e-01 -5.67214919e-03 -1.21280462e+01] [-3.02970989e-02 -1.07085221e-03 9.99540364e-01 -2.57463724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:80.83, Y:-12.13, Z:-2.58 [[ 9.75349252e-01 2.18740719e-01 2.90918293e-02 8.08265884e+01] [-2.18672694e-01 9.75782546e-01 -5.53857051e-03 -1.21301599e+01] [-2.95988101e-02 -9.59548086e-04 9.99561399e-01 -2.57567352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73401273900001 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:80.85, Y:-12.13, Z:-2.58 [[ 9.76159949e-01 2.15163505e-01 2.85730711e-02 8.08543442e+01] [-2.15096411e-01 9.76577680e-01 -5.43782193e-03 -1.21323814e+01] [-2.90738443e-02 -8.37781054e-04 9.99576915e-01 -2.57601985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:80.88, Y:-12.13, Z:-2.58 [[ 9.77774564e-01 2.07433418e-01 3.04676725e-02 8.08816928e+01] [-2.07353445e-01 9.78248922e-01 -5.79608105e-03 -1.21340750e+01] [-3.10072687e-02 -6.50316246e-04 9.99518947e-01 -2.57641227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794012739 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:80.91, Y:-12.14, Z:-2.58 [[ 9.78461132e-01 2.03924732e-01 3.20704996e-02 8.09081383e+01] [-2.03834328e-01 9.78986404e-01 -6.09823023e-03 -1.21374429e+01] [-3.26401630e-02 -5.70187462e-04 9.99467005e-01 -2.57638926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:80.94, Y:-12.14, Z:-2.58 [[ 9.79563989e-01 1.98511822e-01 3.23642919e-02 8.09370912e+01] [-1.98378561e-01 9.80098214e-01 -7.31013096e-03 -1.21369854e+01] [-3.31713320e-02 7.40359401e-04 9.99449406e-01 -2.57725054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854012739 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:80.96, Y:-12.14, Z:-2.58 [[ 9.79933558e-01 1.96798256e-01 3.16333418e-02 8.09646536e+01] [-1.96743699e-01 9.80442914e-01 -4.85890382e-03 -1.21413129e+01] [-3.19709096e-02 -1.46225776e-03 9.99487730e-01 -2.57909402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:80.99, Y:-12.14, Z:-2.58 [[ 9.80363368e-01 1.95415237e-01 2.64679251e-02 8.09949950e+01] [-1.95140670e-01 9.80694168e-01 -1.26122015e-02 -1.21390251e+01] [-2.84215561e-02 7.19957170e-03 9.99570098e-01 -2.57868132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914012739 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:81.02, Y:-12.15, Z:-2.58 [[ 9.80513719e-01 1.93955214e-01 3.12125175e-02 8.10204883e+01] [-1.94098258e-01 9.80980802e-01 1.59113426e-03 -1.21528041e+01] [-3.03102717e-02 -7.61842424e-03 9.99511504e-01 -2.58264235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:81.05, Y:-12.15, Z:-2.58 [[ 9.81123700e-01 1.90934811e-01 3.06624000e-02 8.10496188e+01] [-1.90846229e-01 9.81602708e-01 -5.81719813e-03 -1.21497728e+01] [-3.12090005e-02 -1.44412458e-04 9.99512870e-01 -2.58159748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974012739 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:81.08, Y:-12.15, Z:-2.58 [[ 9.81590993e-01 1.88555368e-01 3.04301937e-02 8.10775635e+01] [-1.88467044e-01 9.82062558e-01 -5.77104597e-03 -1.21534298e+01] [-3.09725156e-02 -7.02819159e-05 9.99520234e-01 -2.58174438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:81.10, Y:-12.16, Z:-2.58 [[ 9.82642552e-01 1.83037307e-01 3.01821183e-02 8.11048103e+01] [-1.82947878e-01 9.83105963e-01 -5.72187310e-03 -1.21581995e+01] [-3.07195367e-02 1.00801498e-04 9.99528039e-01 -2.58424759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034012739 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:81.13, Y:-12.16, Z:-2.59 [[ 9.83204963e-01 1.79905993e-01 3.06893284e-02 8.11320569e+01] [-1.79812077e-01 9.83683788e-01 -5.81576566e-03 -1.21645297e+01] [-3.12348859e-02 1.99777782e-04 9.99512052e-01 -2.58567267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:81.16, Y:-12.17, Z:-2.59 [[ 9.83805677e-01 1.76342527e-01 3.20889794e-02 8.11585251e+01] [-1.76238030e-01 9.84328811e-01 -6.07856503e-03 -1.21716078e+01] [-3.26580164e-02 3.24828266e-04 9.99466532e-01 -2.58572256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09401273900001 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:81.19, Y:-12.18, Z:-2.58 [[ 9.84902390e-01 1.69439617e-01 3.54612174e-02 8.11857828e+01] [-1.69307628e-01 9.85540382e-01 -6.71430807e-03 -1.21839971e+01] [-3.60861316e-02 6.09083448e-04 9.99348498e-01 -2.58423386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:81.21, Y:-12.19, Z:-2.59 [[ 9.85471896e-01 1.65894949e-01 3.63869252e-02 8.12134684e+01] [-1.65753627e-01 9.86143141e-01 -6.88776584e-03 -1.21938406e+01] [-3.70253623e-02 7.56434820e-04 9.99314040e-01 -2.58518176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154012739 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:81.24, Y:-12.21, Z:-2.59 [[ 9.86393391e-01 1.60734075e-01 3.45345514e-02 8.12401442e+01] [-1.60603670e-01 9.86997339e-01 -6.53562698e-03 -1.22092605e+01] [-3.51360083e-02 9.00323553e-04 9.99382134e-01 -2.58725126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:81.27, Y:-12.22, Z:-2.59 [[ 9.86740665e-01 1.58858378e-01 3.32697317e-02 8.12684360e+01] [-1.58736303e-01 9.87300941e-01 -6.29582197e-03 -1.22195142e+01] [-3.38473814e-02 9.31229345e-04 9.99426579e-01 -2.58911904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214012739 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:81.30, Y:-12.24, Z:-2.59 [[ 9.86828525e-01 1.58410127e-01 3.27977866e-02 8.12965726e+01] [-1.58291269e-01 9.87372960e-01 -6.20580193e-03 -1.22353101e+01] [-3.33667095e-02 9.32459123e-04 9.99442741e-01 -2.58947153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:81.32, Y:-12.25, Z:-2.59 [[ 9.86612629e-01 1.59778645e-01 3.26543144e-02 8.13248393e+01] [-1.59661573e-01 9.87152474e-01 -6.17868420e-03 -1.22458160e+01] [-3.32220090e-02 8.82328669e-04 9.99447607e-01 -2.58949427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274012739 meters Centerline goodness : 0.987320 Centerline is valid? [True, True] Translation: X:81.35, Y:-12.25, Z:-2.58 [[ 9.86332478e-01 1.61649682e-01 3.19002195e-02 8.13531518e+01] [-1.61538923e-01 9.86847881e-01 -6.03631884e-03 -1.22549644e+01] [-3.24564330e-02 8.00690224e-04 9.99472830e-01 -2.58184273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters Centerline goodness : 0.985622 Centerline is valid? [True, True] Translation: X:81.38, Y:-12.27, Z:-2.58 [[ 9.85487782e-01 1.66926965e-01 3.08094111e-02 8.13822241e+01] [-1.66826240e-01 9.85969078e-01 -5.82955546e-03 -1.22666742e+01] [-3.13502366e-02 6.05137484e-04 9.99508277e-01 -2.58045277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334012739 meters Centerline goodness : 0.984372 Centerline is valid? [True, True] Translation: X:81.41, Y:-12.27, Z:-2.58 [[ 9.84950705e-01 1.70207612e-01 3.00246225e-02 8.14095691e+01] [-1.70113476e-01 9.85408104e-01 -5.68106720e-03 -1.22746382e+01] [-3.05534672e-02 4.87978223e-04 9.99533015e-01 -2.57928690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:81.44, Y:-12.29, Z:-2.60 [[ 9.84014171e-01 1.75306292e-01 3.13658351e-02 8.14373580e+01] [-1.75206181e-01 9.84513883e-01 -5.93364005e-03 -1.22872079e+01] [-3.19203045e-02 3.43297713e-04 9.99490358e-01 -2.59618977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394012739 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:81.47, Y:-12.29, Z:-2.59 [[ 9.83833087e-01 1.76280976e-01 3.15828346e-02 8.14665000e+01] [-1.76180001e-01 9.84339840e-01 -5.97392381e-03 -1.22944813e+01] [-3.21413314e-02 3.13080091e-04 9.99483285e-01 -2.59307332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:81.50, Y:-12.30, Z:-2.59 [[ 9.83936378e-01 1.75795619e-01 3.10661400e-02 8.14953148e+01] [-1.75697704e-01 9.84426633e-01 -5.87543881e-03 -1.23034629e+01] [-3.16152120e-02 3.22808508e-04 9.99500062e-01 -2.58964127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454012739 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:81.52, Y:-12.31, Z:-2.60 [[ 9.84018457e-01 1.75248915e-01 3.15514556e-02 8.15233097e+01] [-1.75147660e-01 9.84524098e-01 -5.96645076e-03 -1.23130786e+01] [-3.21087824e-02 3.44934053e-04 9.99484321e-01 -2.60096074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:81.55, Y:-12.32, Z:-2.60 [[ 9.84062543e-01 1.75050052e-01 3.12792257e-02 8.15525112e+01] [-1.74950449e-01 9.84559474e-01 -5.91460372e-03 -1.23221605e+01] [-3.18316097e-02 3.48025406e-04 9.99493185e-01 -2.60231767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514012739 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:81.58, Y:-12.33, Z:-2.59 [[ 9.83922222e-01 1.76130100e-01 2.95846090e-02 8.15821792e+01] [-1.76041487e-01 9.84366852e-01 -5.59416782e-03 -1.23302733e+01] [-3.01074097e-02 2.96107485e-04 9.99546625e-01 -2.59101332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:81.61, Y:-12.34, Z:-2.59 [[ 9.83929091e-01 1.76091726e-01 2.95846049e-02 8.16118112e+01] [-1.76003094e-01 9.84373718e-01 -5.59418952e-03 -1.23358260e+01] [-3.01073980e-02 2.97303808e-04 9.99546625e-01 -2.59193853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574012739 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:81.64, Y:-12.34, Z:-2.61 [[ 9.83642697e-01 1.77564763e-01 3.02952136e-02 8.16398564e+01] [-1.77472559e-01 9.84109084e-01 -5.72731386e-03 -1.23432016e+01] [-3.08307640e-02 2.57061376e-04 9.99524586e-01 -2.60533804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:81.67, Y:-12.35, Z:-2.61 [[ 9.83425382e-01 1.78830965e-01 2.98998916e-02 8.16691306e+01] [-1.78741725e-01 9.83879789e-01 -5.65293532e-03 -1.23497539e+01] [-3.04288189e-02 2.14881861e-04 9.99536913e-01 -2.60695323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634012739 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:81.70, Y:-12.36, Z:-2.61 [[ 9.83048476e-01 1.81084137e-01 2.87093950e-02 8.16965142e+01] [-1.81002823e-01 9.83467598e-01 -5.42790918e-03 -1.23566634e+01] [-2.92176679e-02 1.39416301e-04 9.99573063e-01 -2.60893236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:81.73, Y:-12.36, Z:-2.61 [[ 9.82444633e-01 1.84245287e-01 2.92612007e-02 8.17258122e+01] [-1.84162249e-01 9.82880294e-01 -5.53114910e-03 -1.23625372e+01] [-2.97793457e-02 4.52392044e-05 9.99556496e-01 -2.60990786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694012739 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:81.75, Y:-12.37, Z:-2.61 [[ 9.82188501e-01 1.85543455e-01 2.96542663e-02 8.17535774e+01] [-1.85458784e-01 9.82636060e-01 -5.60473271e-03 -1.23681508e+01] [-3.01792729e-02 5.25984002e-06 9.99544502e-01 -2.60948549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:81.78, Y:-12.37, Z:-2.61 [[ 9.82074090e-01 1.86053244e-01 3.02435335e-02 8.17822965e+01] [-1.85965450e-01 9.82539663e-01 -5.71499499e-03 -1.23737901e+01] [-3.07787646e-02 -1.17038150e-05 9.99526222e-01 -2.61048341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754012739 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:81.81, Y:-12.38, Z:-2.61 [[ 9.82170071e-01 1.85558461e-01 3.01663556e-02 8.18101244e+01] [-1.85470925e-01 9.82633226e-01 -5.69898159e-03 -1.23789175e+01] [-3.06999575e-02 2.38727192e-06 9.99528645e-01 -2.61166937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:81.84, Y:-12.38, Z:-2.61 [[ 9.82592752e-01 1.83066908e-01 3.15909873e-02 8.18390511e+01] [-1.82969655e-01 9.83100453e-01 -5.96696546e-03 -1.23833101e+01] [-3.21494679e-02 8.29049465e-05 9.99483069e-01 -2.61393790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814012739 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:81.87, Y:-12.39, Z:-2.61 [[ 9.83220257e-01 1.79518370e-01 3.24203903e-02 8.18684785e+01] [-1.79414037e-01 9.83754600e-01 -6.12289662e-03 -1.23898293e+01] [-3.29928805e-02 2.03482862e-04 9.99455566e-01 -2.61454871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:81.90, Y:-12.40, Z:-2.62 [[ 9.83672173e-01 1.77147926e-01 3.17437879e-02 8.18986395e+01] [-1.77046661e-01 9.84184198e-01 -5.99537003e-03 -1.23971038e+01] [-3.23038018e-02 2.77347018e-04 9.99478058e-01 -2.61550308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874012739 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:81.93, Y:-12.40, Z:-2.62 [[ 9.84166661e-01 1.74526095e-01 3.09293744e-02 8.19281260e+01] [-1.74428518e-01 9.84652484e-01 -5.84625028e-03 -1.24043862e+01] [-3.14750085e-02 3.58719674e-04 9.99504475e-01 -2.61674440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:81.96, Y:-12.41, Z:-2.62 [[ 9.84602401e-01 1.72059153e-01 3.08829935e-02 8.19572232e+01] [-1.71960654e-01 9.85086523e-01 -5.83748340e-03 -1.24118434e+01] [-3.14268131e-02 4.36940395e-04 9.99505960e-01 -2.61846526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934012739 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:81.99, Y:-12.42, Z:-2.62 [[ 9.85278098e-01 1.68223310e-01 3.04629027e-02 8.19863246e+01] [-1.68125640e-01 9.85748758e-01 -5.75808179e-03 -1.24221570e+01] [-3.09974120e-02 5.51716868e-04 9.99519312e-01 -2.62024196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:82.02, Y:-12.43, Z:-2.62 [[ 9.85495794e-01 1.67039928e-01 2.99282768e-02 8.20187831e+01] [-1.66945102e-01 9.85949962e-01 -5.65732543e-03 -1.24308075e+01] [-3.04527826e-02 5.78891186e-04 9.99536039e-01 -2.62099759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994012739 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:82.05, Y:-12.44, Z:-2.62 [[ 9.85711312e-01 1.65826955e-01 2.95741337e-02 8.20492666e+01] [-1.65733646e-01 9.86154675e-01 -5.59603357e-03 -1.24412621e+01] [-3.00926434e-02 6.14644607e-04 9.99546925e-01 -2.62162289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:82.08, Y:-12.45, Z:-2.62 [[ 9.85722319e-01 1.65660072e-01 3.01371898e-02 8.20814634e+01] [-1.65562927e-01 9.86182709e-01 -5.70810460e-03 -1.24504484e+01] [-3.06663805e-02 6.37004755e-04 9.99529473e-01 -2.62318886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:82.11, Y:-12.46, Z:-2.62 [[ 9.85695854e-01 1.65721712e-01 3.06593731e-02 8.21127698e+01] [-1.65621014e-01 9.86172343e-01 -5.81295614e-03 -1.24602503e+01] [-3.11987589e-02 6.51970290e-04 9.99512988e-01 -2.62367606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:82.14, Y:-12.47, Z:-2.62 [[ 9.85399580e-01 1.67314004e-01 3.15228650e-02 8.21433242e+01] [-1.67208170e-01 9.85903461e-01 -5.98282098e-03 -1.24743091e+01] [-3.20795114e-02 6.24588733e-04 9.99485125e-01 -2.62419686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114012739 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:82.17, Y:-12.48, Z:-2.63 [[ 9.85234433e-01 1.68264704e-01 3.16243899e-02 8.21743962e+01] [-1.68158482e-01 9.85741664e-01 -6.00809048e-03 -1.24831013e+01] [-3.21844282e-02 6.01468218e-04 9.99481766e-01 -2.62506181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:82.21, Y:-12.49, Z:-2.63 [[ 9.85084733e-01 1.69225485e-01 3.11577317e-02 8.22065902e+01] [-1.69122684e-01 9.85577198e-01 -5.92487661e-03 -1.24918727e+01] [-3.17109901e-02 5.67026273e-04 9.99496919e-01 -2.62587084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174012739 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:82.24, Y:-12.50, Z:-2.63 [[ 9.84762282e-01 1.71028969e-01 3.15014159e-02 8.22379161e+01] [-1.70924626e-01 9.85265863e-01 -5.99589854e-03 -1.25043646e+01] [-3.20627420e-02 5.20166994e-04 9.99485723e-01 -2.62698422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:82.27, Y:-12.51, Z:-2.63 [[ 9.84580154e-01 1.72044586e-01 3.16635665e-02 8.22685418e+01] [-1.71939498e-01 9.85089039e-01 -6.03273740e-03 -1.25138556e+01] [-3.22293321e-02 4.95495783e-04 9.99480377e-01 -2.62664850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:82.30, Y:-12.52, Z:-2.63 [[ 9.84308727e-01 1.73445425e-01 3.24501886e-02 8.22998793e+01] [-1.73335617e-01 9.84843372e-01 -6.18847094e-03 -1.25238130e+01] [-3.30317151e-02 4.66592504e-04 9.99454195e-01 -2.62685806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters Centerline goodness : 0.987835 Centerline is valid? [True, True] Translation: X:82.33, Y:-12.53, Z:-2.62 [[ 9.84190032e-01 1.74152712e-01 3.22616590e-02 8.23330851e+01] [-1.74044359e-01 9.84718556e-01 -6.15850372e-03 -1.25304097e+01] [-3.28411744e-02 4.46178210e-04 9.99460484e-01 -2.61577592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294012739 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:82.36, Y:-12.54, Z:-2.63 [[ 9.83849761e-01 1.75677661e-01 3.43075258e-02 8.23628036e+01] [-1.75555818e-01 9.84447651e-01 -6.55571607e-03 -1.25425953e+01] [-3.49256560e-02 4.26953921e-04 9.99389822e-01 -2.62796776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:82.39, Y:-12.55, Z:-2.63 [[ 9.83708352e-01 1.76337020e-01 3.49733279e-02 8.23939444e+01] [-1.76210597e-01 9.84329762e-01 -6.68911738e-03 -1.25507772e+01] [-3.56048265e-02 4.17469649e-04 9.99365860e-01 -2.62887963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354012739 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:82.43, Y:-12.56, Z:-2.63 [[ 9.83380847e-01 1.78297774e-01 3.42346753e-02 8.24259215e+01] [-1.78177620e-01 9.83976516e-01 -6.55369060e-03 -1.25568367e+01] [-3.48546250e-02 3.44920858e-04 9.99392333e-01 -2.62917552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:82.46, Y:-12.56, Z:-2.63 [[ 9.83110861e-01 1.80028431e-01 3.29059130e-02 8.24579343e+01] [-1.79918200e-01 9.83661368e-01 -6.30514573e-03 -1.25632571e+01] [-3.35033809e-02 2.78284613e-04 9.99438565e-01 -2.63101186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414012739 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:82.49, Y:-12.57, Z:-2.63 [[ 9.82812391e-01 1.81888579e-01 3.15650070e-02 8.24903907e+01] [-1.81787931e-01 9.83319124e-01 -6.05376655e-03 -1.25711413e+01] [-3.21395860e-02 2.11579474e-04 9.99483368e-01 -2.63255362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:82.52, Y:-12.58, Z:-2.63 [[ 9.82276702e-01 1.84681495e-01 3.20191507e-02 8.25208501e+01] [-1.84579219e-01 9.82798417e-01 -6.14676439e-03 -1.25816665e+01] [-3.26035643e-02 1.27753613e-04 9.99468354e-01 -2.63323335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:82.55, Y:-12.59, Z:-2.63 [[ 9.81967236e-01 1.86040077e-01 3.36070929e-02 8.25534186e+01] [-1.85927990e-01 9.82542152e-01 -6.45768117e-03 -1.25888507e+01] [-3.42217729e-02 9.27321199e-05 9.99414259e-01 -2.63360190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:82.58, Y:-12.60, Z:-2.63 [[ 9.81400305e-01 1.88955834e-01 3.38988746e-02 8.25845132e+01] [-1.88843298e-01 9.81985587e-01 -6.52044653e-03 -1.25955801e+01] [-3.45202827e-02 -2.40705767e-06 9.99403997e-01 -2.63454973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534012739 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:82.62, Y:-12.60, Z:-2.64 [[ 9.81064652e-01 1.90916235e-01 3.26058271e-02 8.26172031e+01] [-1.90813000e-01 9.81606330e-01 -6.27786606e-03 -1.26024177e+01] [-3.32046328e-02 -6.26232104e-05 9.99448572e-01 -2.63683038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:82.65, Y:-12.61, Z:-2.64 [[ 9.80639892e-01 1.93303022e-01 3.12944650e-02 8.26487190e+01] [-1.93208954e-01 9.81139095e-01 -6.03123634e-03 -1.26087588e+01] [-3.18700792e-02 -1.31899894e-04 9.99492011e-01 -2.63901047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59401273900001 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:82.68, Y:-12.61, Z:-2.64 [[ 9.79734657e-01 1.97977295e-01 3.04136780e-02 8.26798570e+01] [-1.97890533e-01 9.80206569e-01 -5.86681065e-03 -1.26120340e+01] [-3.09731823e-02 -2.70661239e-04 9.99520179e-01 -2.64028572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:82.71, Y:-12.62, Z:-2.64 [[ 9.79318862e-01 2.00043021e-01 3.02878947e-02 8.27104592e+01] [-1.99957941e-01 9.79787058e-01 -5.84322987e-03 -1.26157923e+01] [-3.08445846e-02 -3.33919851e-04 9.99524137e-01 -2.64102237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654012739 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:82.74, Y:-12.62, Z:-2.64 [[ 9.78815021e-01 2.02657329e-01 2.91746622e-02 8.27400812e+01] [-2.02579505e-01 9.79249635e-01 -5.62999235e-03 -1.26164170e+01] [-2.97102365e-02 -3.99467534e-04 9.99558474e-01 -2.64274357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:82.77, Y:-12.62, Z:-2.64 [[ 9.78622443e-01 2.03685328e-01 2.84675536e-02 8.27686029e+01] [-2.03611684e-01 9.79036317e-01 -5.49292846e-03 -1.26190794e+01] [-2.89895978e-02 -4.20823461e-04 9.99579625e-01 -2.64446551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714012739 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:82.80, Y:-12.62, Z:-2.65 [[ 9.78541405e-01 2.04059350e-01 2.85744817e-02 8.27977740e+01] [-2.03985330e-01 9.78958423e-01 -5.51289556e-03 -1.26213345e+01] [-2.90981874e-02 -4.34178519e-04 9.99576464e-01 -2.64584758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:82.83, Y:-12.62, Z:-2.65 [[ 9.78490861e-01 2.04176689e-01 2.94536070e-02 8.28258673e+01] [-2.04098136e-01 9.78933948e-01 -5.68118842e-03 -1.26236336e+01] [-2.99931020e-02 -4.52435335e-04 9.99550003e-01 -2.64679584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774012739 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:82.86, Y:-12.62, Z:-2.65 [[ 9.78799082e-01 2.02453166e-01 3.10656215e-02 8.28550525e+01] [-2.02364973e-01 9.79291855e-01 -5.99010951e-03 -1.26249781e+01] [-3.16350268e-02 -4.23479975e-04 9.99499398e-01 -2.64648436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:82.88, Y:-12.63, Z:-2.65 [[ 9.79366213e-01 1.99501971e-01 3.22611774e-02 8.28834245e+01] [-1.99405305e-01 9.79897365e-01 -6.21915815e-03 -1.26255592e+01] [-3.28533771e-02 -3.42216546e-04 9.99460124e-01 -2.64694796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:82.91, Y:-12.63, Z:-2.65 [[ 9.79772749e-01 1.97545067e-01 3.19578986e-02 8.29126126e+01] [-1.97449225e-01 9.80293767e-01 -6.15899497e-03 -1.26278826e+01] [-3.25448079e-02 -2.75646867e-04 9.99470239e-01 -2.64766250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:82.94, Y:-12.63, Z:-2.65 [[ 9.80241392e-01 1.95273672e-01 3.15437290e-02 8.29403943e+01] [-1.95179166e-01 9.80748772e-01 -6.07780810e-03 -1.26303654e+01] [-3.21233094e-02 -1.98959636e-04 9.99483894e-01 -2.64948067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894012739 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:82.97, Y:-12.63, Z:-2.65 [[ 9.80675586e-01 1.93237605e-01 3.05716150e-02 8.29689892e+01] [-1.93147896e-01 9.81151982e-01 -5.88890467e-03 -1.26347512e+01] [-3.11333585e-02 -1.29738067e-04 9.99515231e-01 -2.65124299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:83.00, Y:-12.64, Z:-2.65 [[ 9.81415290e-01 1.89460421e-01 3.04758499e-02 8.30001117e+01] [-1.89369490e-01 9.81888359e-01 -5.86922394e-03 -1.26414943e+01] [-3.10358679e-02 -1.10500399e-05 9.99518271e-01 -2.65307972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954012739 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:83.03, Y:-12.65, Z:-2.65 [[ 9.82042137e-01 1.86247225e-01 3.00867399e-02 8.30315022e+01] [-1.86156932e-01 9.82502907e-01 -5.79951521e-03 -1.26474133e+01] [-3.06404530e-02 9.45131206e-05 9.99530467e-01 -2.65379736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:83.06, Y:-12.65, Z:-2.66 [[ 9.82385776e-01 1.84557257e-01 2.92712429e-02 8.30622190e+01] [-1.84470883e-01 9.82821752e-01 -5.64769315e-03 -1.26539606e+01] [-2.98107370e-02 1.48521377e-04 9.99555550e-01 -2.65509360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014012739 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:83.09, Y:-12.66, Z:-2.66 [[ 9.82812208e-01 1.82395382e-01 2.84971833e-02 8.30919951e+01] [-1.82312471e-01 9.83225243e-01 -5.50306472e-03 -1.26605983e+01] [-2.90228835e-02 2.13087298e-04 9.99578725e-01 -2.65651824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters Centerline goodness : 0.987260 Centerline is valid? [True, True] Translation: X:83.12, Y:-12.67, Z:-2.65 [[ 9.83158182e-01 1.80723943e-01 2.71817222e-02 8.31230331e+01] [-1.80647865e-01 9.83533829e-01 -5.24931002e-03 -1.26665166e+01] [-2.76828193e-02 2.50582023e-04 9.99616726e-01 -2.64536608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074012739 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:83.15, Y:-12.68, Z:-2.66 [[ 9.83466176e-01 1.78706989e-01 2.92932130e-02 8.31538247e+01] [-1.78617716e-01 9.83902283e-01 -5.65769797e-03 -1.26754377e+01] [-2.98327293e-02 3.31867786e-04 9.99554850e-01 -2.65693787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:83.19, Y:-12.68, Z:-2.66 [[ 9.83589448e-01 1.77675727e-01 3.13549759e-02 8.31856970e+01] [-1.77572735e-01 9.84089010e-01 -6.06163430e-03 -1.26829524e+01] [-3.19330925e-02 3.94370704e-04 9.99489931e-01 -2.65699571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134012739 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:83.22, Y:-12.69, Z:-2.66 [[ 9.83866241e-01 1.75532957e-01 3.45745559e-02 8.32162709e+01] [-1.75406266e-01 9.84473420e-01 -6.68777926e-03 -1.26919213e+01] [-3.52116570e-02 5.15286494e-04 9.99379744e-01 -2.65670224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:83.25, Y:-12.70, Z:-2.66 [[ 9.83949747e-01 1.75124260e-01 3.42693639e-02 8.32472462e+01] [-1.74999337e-01 9.84546196e-01 -6.63480784e-03 -1.26989966e+01] [-3.49016877e-02 5.31201542e-04 9.99390609e-01 -2.65734813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194012739 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:83.28, Y:-12.71, Z:-2.66 [[ 9.83887740e-01 1.75645713e-01 3.33691284e-02 8.32799174e+01] [-1.75527428e-01 9.84453315e-01 -6.46465172e-03 -1.27060553e+01] [-3.39858375e-02 5.03294275e-04 9.99422188e-01 -2.65848170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:83.31, Y:-12.71, Z:-2.66 [[ 9.83330009e-01 1.79191024e-01 3.08653601e-02 8.33123309e+01] [-1.79091401e-01 9.83814235e-01 -5.98506040e-03 -1.27122413e+01] [-3.14382497e-02 3.57568909e-04 9.99505632e-01 -2.66030678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254012739 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:83.34, Y:-12.72, Z:-2.66 [[ 9.82829505e-01 1.82042362e-01 3.01121775e-02 8.33445114e+01] [-1.81948804e-01 9.83290654e-01 -5.84150637e-03 -1.27183056e+01] [-3.06724243e-02 2.62330119e-04 9.99529456e-01 -2.66129754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:83.38, Y:-12.72, Z:-2.66 [[ 9.81750587e-01 1.87597181e-01 3.11942658e-02 8.33766054e+01] [-1.87499366e-01 9.82246043e-01 -6.05803265e-03 -1.27231569e+01] [-3.17769140e-02 9.85720636e-05 9.99494981e-01 -2.66127085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314012739 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:83.41, Y:-12.73, Z:-2.66 [[ 9.81295184e-01 1.89794055e-01 3.22176830e-02 8.34077362e+01] [-1.89690689e-01 9.81823923e-01 -6.26314308e-03 -1.27289007e+01] [-3.28207992e-02 3.45976614e-05 9.99461252e-01 -2.66190775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:83.44, Y:-12.74, Z:-2.66 [[ 9.81045533e-01 1.91068974e-01 3.22848172e-02 8.34387507e+01] [-1.90965677e-01 9.81576613e-01 -6.28195021e-03 -1.27350959e+01] [-3.28903073e-02 -2.41278727e-06 9.99458967e-01 -2.66252305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374012739 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:83.47, Y:-12.74, Z:-2.66 [[ 9.80853264e-01 1.92037959e-01 3.23774105e-02 8.34698782e+01] [-1.91934571e-01 9.81387498e-01 -6.30072762e-03 -1.27410424e+01] [-3.29847647e-02 -3.42551580e-05 9.99455854e-01 -2.66295698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:83.50, Y:-12.75, Z:-2.66 [[ 9.80813518e-01 1.92154436e-01 3.28864132e-02 8.35021283e+01] [-1.92047793e-01 9.81364698e-01 -6.40106846e-03 -1.27470602e+01] [-3.35035587e-02 -3.75086127e-05 9.99438597e-01 -2.66386317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434012739 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:83.53, Y:-12.75, Z:-2.67 [[ 9.80633377e-01 1.92987908e-01 3.33743525e-02 8.35349365e+01] [-1.92878328e-01 9.81201133e-01 -6.50283475e-03 -1.27529084e+01] [-3.40019209e-02 -6.02925083e-05 9.99421766e-01 -2.66594544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:83.57, Y:-12.76, Z:-2.67 [[ 9.80607478e-01 1.93119672e-01 3.33731323e-02 8.35677822e+01] [-1.93009956e-01 9.81175208e-01 -6.50909108e-03 -1.27594695e+01] [-3.40019236e-02 -5.84833880e-05 9.99421766e-01 -2.66697342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494012739 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:83.60, Y:-12.77, Z:-2.67 [[ 9.80401075e-01 1.93675987e-01 3.61018556e-02 8.35970619e+01] [-1.93882873e-01 9.81022018e-01 2.28713575e-03 -1.27724864e+01] [-3.49737520e-02 -9.24184183e-03 9.99345498e-01 -2.66825621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:83.63, Y:-12.76, Z:-2.67 [[ 9.80223821e-01 1.96066748e-01 2.68158711e-02 8.36305287e+01] [-1.95728800e-01 9.80547574e-01 -1.47204596e-02 -1.27635356e+01] [-2.91804300e-02 9.18070686e-03 9.99531999e-01 -2.66835293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554012739 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:83.66, Y:-12.77, Z:-2.67 [[ 9.80083238e-01 1.96664948e-01 2.75634554e-02 8.36585078e+01] [-1.96591275e-01 9.80470743e-01 -5.38445739e-03 -1.27732952e+01] [-2.80840957e-02 -1.41518402e-04 9.99605554e-01 -2.66975478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:83.69, Y:-12.78, Z:-2.67 [[ 9.79881235e-01 1.97612136e-01 2.79680079e-02 8.36878369e+01] [-1.97536658e-01 9.80280273e-01 -5.46391791e-03 -1.27774590e+01] [-2.84962229e-02 -1.70716176e-04 9.99593886e-01 -2.67095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614012739 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:83.72, Y:-12.78, Z:-2.67 [[ 9.79794031e-01 1.97935106e-01 2.87289113e-02 8.37178905e+01] [-1.97855624e-01 9.80215109e-01 -5.61182277e-03 -1.27822703e+01] [-2.92712897e-02 -1.85746229e-04 9.99571487e-01 -2.67239819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:83.75, Y:-12.79, Z:-2.67 [[ 9.79741691e-01 1.98093652e-01 2.94129964e-02 8.37469817e+01] [-1.98010410e-01 9.80183078e-01 -5.74545666e-03 -1.27856285e+01] [-2.99682598e-02 -1.95016064e-04 9.99550832e-01 -2.67220714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674012739 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:83.78, Y:-12.79, Z:-2.67 [[ 9.79892679e-01 1.97450926e-01 2.86961717e-02 8.37765361e+01] [-1.97371427e-01 9.80312758e-01 -5.60509950e-03 -1.27889249e+01] [-2.92379553e-02 -1.71408401e-04 9.99572465e-01 -2.67296909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:83.81, Y:-12.79, Z:-2.67 [[ 9.80259519e-01 1.95813380e-01 2.73568347e-02 8.38063663e+01] [-1.95740511e-01 9.80641171e-01 -5.34285904e-03 -1.27908240e+01] [-2.78734417e-02 -1.17452363e-04 9.99611453e-01 -2.67494407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734012739 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:83.84, Y:-12.80, Z:-2.68 [[ 9.80343475e-01 1.95405216e-01 2.72667061e-02 8.38358103e+01] [-1.95332687e-01 9.80722586e-01 -5.32459547e-03 -1.27960385e+01] [-2.77815282e-02 -1.06146542e-04 9.99614013e-01 -2.67587786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:83.86, Y:-12.80, Z:-2.68 [[ 9.80419246e-01 1.94925608e-01 2.79662084e-02 8.38635911e+01] [-1.94849133e-01 9.80818025e-01 -5.46051987e-03 -1.28011295e+01] [-2.84941565e-02 -9.55926960e-05 9.99593955e-01 -2.67710172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794012739 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:83.89, Y:-12.80, Z:-2.68 [[ 9.80742312e-01 1.93097352e-01 2.92904419e-02 8.38931462e+01] [-1.93012679e-01 9.81179602e-01 -5.71796287e-03 -1.28042929e+01] [-2.98433076e-02 -4.55785394e-05 9.99554588e-01 -2.67646266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:83.92, Y:-12.81, Z:-2.68 [[ 9.81003365e-01 1.91700713e-01 2.97192584e-02 8.39227389e+01] [-1.91612923e-01 9.81453431e-01 -5.80094666e-03 -1.28100221e+01] [-3.02801137e-02 -3.84576773e-06 9.99541452e-01 -2.67716684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:83.95, Y:-12.82, Z:-2.68 [[ 9.81788107e-01 1.87601897e-01 2.99606727e-02 8.39518168e+01] [-1.87510788e-01 9.82245139e-01 -5.84733602e-03 -1.28195198e+01] [-3.05256964e-02 1.22895612e-04 9.99533975e-01 -2.67844102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:83.98, Y:-12.83, Z:-2.68 [[ 9.82189235e-01 1.85437562e-01 3.02855825e-02 8.39813731e+01] [-1.85343436e-01 9.82656030e-01 -5.91075175e-03 -1.28275300e+01] [-3.08563857e-02 1.92242801e-04 9.99523810e-01 -2.67962273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914012739 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:84.01, Y:-12.83, Z:-2.68 [[ 9.82485519e-01 1.83833893e-01 3.04516704e-02 8.40115670e+01] [-1.83737950e-01 9.82957293e-01 -5.94353915e-03 -1.28347270e+01] [-3.10253155e-02 2.44313643e-04 9.99518569e-01 -2.68029802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:84.04, Y:-12.84, Z:-2.68 [[ 9.82889814e-01 1.81710907e-01 3.01456528e-02 8.40421418e+01] [-1.81615861e-01 9.83351947e-01 -5.88455764e-03 -1.28446379e+01] [-3.07130747e-02 3.08943071e-04 9.99528194e-01 -2.68028748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974012739 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:84.07, Y:-12.85, Z:-2.68 [[ 9.83008350e-01 1.81145811e-01 2.96779084e-02 8.40719908e+01] [-1.81053285e-01 9.83456196e-01 -5.79822300e-03 -1.28541456e+01] [-3.02372466e-02 3.26418827e-04 9.99542697e-01 -2.68087287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:84.10, Y:-12.87, Z:-2.68 [[ 9.83171041e-01 1.80106278e-01 3.06011962e-02 8.41033457e+01] [-1.80007306e-01 9.83647086e-01 -5.98164318e-03 -1.28656856e+01] [-3.11781089e-02 3.72539483e-04 9.99513775e-01 -2.68128668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034012739 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:84.14, Y:-12.87, Z:-2.68 [[ 9.83144666e-01 1.80180286e-01 3.10101498e-02 8.41352724e+01] [-1.80078492e-01 9.83633529e-01 -6.06773229e-03 -1.28733521e+01] [-3.15959088e-02 3.81197627e-04 9.99500652e-01 -2.68253353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:84.17, Y:-12.88, Z:-2.68 [[ 9.82863897e-01 1.81822225e-01 3.03189436e-02 8.41661840e+01] [-1.81725514e-01 9.83331364e-01 -5.93853323e-03 -1.28823354e+01] [-3.08933255e-02 3.27044303e-04 9.99522634e-01 -2.68382317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09401273900001 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:84.20, Y:-12.89, Z:-2.68 [[ 9.82609710e-01 1.83323250e-01 2.95083691e-02 8.41969614e+01] [-1.83232153e-01 9.83052648e-01 -5.78524595e-03 -1.28906868e+01] [-3.00688505e-02 2.77756843e-04 9.99547791e-01 -2.68433198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:84.23, Y:-12.90, Z:-2.68 [[ 9.82323944e-01 1.84876510e-01 2.93316457e-02 8.42281196e+01] [-1.84787024e-01 9.82761732e-01 -5.75627337e-03 -1.28987775e+01] [-2.98902187e-02 2.34417647e-04 9.99553160e-01 -2.68467668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154012739 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:84.26, Y:-12.91, Z:-2.69 [[ 9.81648073e-01 1.88262850e-01 3.03999892e-02 8.42591258e+01] [-1.88168182e-01 9.82118669e-01 -5.97126147e-03 -1.29058905e+01] [-3.09805637e-02 1.41366601e-04 9.99519977e-01 -2.68553270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:84.29, Y:-12.91, Z:-2.69 [[ 9.81269313e-01 1.90173198e-01 3.07358108e-02 8.42896599e+01] [-1.90077198e-01 9.81750552e-01 -6.04249092e-03 -1.29121488e+01] [-3.13240190e-02 8.71341294e-05 9.99509279e-01 -2.68640472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214012739 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:84.32, Y:-12.92, Z:-2.69 [[ 9.80912672e-01 1.92266397e-01 2.90510374e-02 8.43212759e+01] [-1.92181424e-01 9.81342770e-01 -5.71560875e-03 -1.29194180e+01] [-2.96079450e-02 2.34433131e-05 9.99561588e-01 -2.68957488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:84.35, Y:-12.93, Z:-2.69 [[ 9.80921152e-01 1.92467305e-01 2.73866781e-02 8.43518221e+01] [-1.92391777e-01 9.81303386e-01 -5.39147056e-03 -1.29251070e+01] [-2.79123218e-02 1.96358327e-05 9.99610375e-01 -2.69112012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274012739 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:84.38, Y:-12.93, Z:-2.69 [[ 9.80979298e-01 1.92282906e-01 2.65876145e-02 8.43823980e+01] [-1.92211639e-01 9.81339535e-01 -5.23472911e-03 -1.29303115e+01] [-2.70980262e-02 2.47119161e-05 9.99632781e-01 -2.69247878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:84.41, Y:-12.94, Z:-2.69 [[ 9.81250981e-01 1.90834626e-01 2.69936576e-02 8.44132730e+01] [-1.90760589e-01 9.81622199e-01 -5.31572178e-03 -1.29360376e+01] [-2.75119973e-02 6.67311917e-05 9.99621471e-01 -2.69250329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334012739 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:84.44, Y:-12.94, Z:-2.69 [[ 9.81475294e-01 1.89556444e-01 2.78316788e-02 8.44442405e+01] [-1.89477203e-01 9.81869820e-01 -5.48146099e-03 -1.29427969e+01] [-2.83661317e-02 1.06449876e-04 9.99597595e-01 -2.69257324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:84.48, Y:-12.95, Z:-2.69 [[ 9.81993513e-01 1.86774393e-01 2.83560846e-02 8.44767350e+01] [-1.86690964e-01 9.82402814e-01 -5.58517760e-03 -1.29510387e+01] [-2.89002655e-02 1.90783397e-04 9.99582282e-01 -2.69332780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394012739 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:84.51, Y:-12.96, Z:-2.69 [[ 9.82174956e-01 1.85763148e-01 2.87125165e-02 8.45078572e+01] [-1.85677007e-01 9.82594525e-01 -5.66116294e-03 -1.29584994e+01] [-2.92643969e-02 2.28998346e-04 9.99571680e-01 -2.69463366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:84.54, Y:-12.97, Z:-2.70 [[ 9.82302737e-01 1.85060078e-01 2.88807911e-02 8.45403484e+01] [-1.84972519e-01 9.82727176e-01 -5.69779565e-03 -1.29663758e+01] [-2.94363728e-02 2.54807591e-04 9.99566624e-01 -2.69519631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454012739 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:84.57, Y:-12.97, Z:-2.70 [[ 9.82538166e-01 1.83670938e-01 2.97277345e-02 8.45713175e+01] [-1.83577348e-01 9.82987736e-01 -5.87091704e-03 -1.29742286e+01] [-3.03003153e-02 3.11061400e-04 9.99540792e-01 -2.69558149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:84.60, Y:-12.98, Z:-2.70 [[ 9.82648534e-01 1.83090920e-01 2.96576127e-02 8.46038484e+01] [-1.82997398e-01 9.83095929e-01 -5.86066198e-03 -1.29819401e+01] [-3.02293123e-02 3.31704941e-04 9.99542935e-01 -2.69579111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514012739 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:84.63, Y:-12.99, Z:-2.70 [[ 9.82854414e-01 1.82020764e-01 2.94218067e-02 8.46338793e+01] [-1.81928069e-01 9.83294618e-01 -5.81989703e-03 -1.29942323e+01] [-2.99896463e-02 3.67459006e-04 9.99550142e-01 -2.69683482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:84.67, Y:-13.00, Z:-2.70 [[ 9.83012517e-01 1.81225987e-01 2.90436441e-02 8.46657199e+01] [-1.81135156e-01 9.83441400e-01 -5.75041564e-03 -1.30042258e+01] [-2.96048467e-02 3.91905564e-04 9.99561604e-01 -2.69795167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574012739 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:84.70, Y:-13.01, Z:-2.70 [[ 9.83086835e-01 1.80870529e-01 2.87424100e-02 8.46966610e+01] [-1.80781256e-01 9.83506832e-01 -5.69641098e-03 -1.30137757e+01] [-2.92986694e-02 4.03977677e-04 9.99570620e-01 -2.69879500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:84.73, Y:-13.03, Z:-2.70 [[ 9.83252984e-01 1.80138809e-01 2.76329423e-02 8.47273589e+01] [-1.80055870e-01 9.83641112e-01 -5.48139232e-03 -1.30261018e+01] [-2.81683096e-02 4.14121880e-04 9.99603109e-01 -2.70053810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634012739 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:84.76, Y:-13.04, Z:-2.70 [[ 9.83225492e-01 1.80420576e-01 2.67590557e-02 8.47580658e+01] [-1.80342766e-01 9.83589476e-01 -5.31314162e-03 -1.30358803e+01] [-2.72785257e-02 3.98214160e-04 9.99627792e-01 -2.70172089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:84.79, Y:-13.05, Z:-2.70 [[ 9.82649843e-01 1.83473475e-01 2.71435178e-02 8.47897205e+01] [-1.83394438e-01 9.83024608e-01 -5.39448150e-03 -1.30471538e+01] [-2.76724902e-02 3.22916211e-04 9.99616991e-01 -2.70089296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694012739 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:84.82, Y:-13.05, Z:-2.70 [[ 9.82094778e-01 1.86307900e-01 2.79144122e-02 8.48223798e+01] [-1.86225293e-01 9.82491375e-01 -5.55328124e-03 -1.30543440e+01] [-2.84602894e-02 2.55478916e-04 9.99594891e-01 -2.70151711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:84.85, Y:-13.06, Z:-2.70 [[ 9.81393943e-01 1.89906755e-01 2.83081943e-02 8.48549847e+01] [-1.89823135e-01 9.81802118e-01 -5.63721792e-03 -1.30613999e+01] [-2.88635908e-02 1.58781347e-04 9.99583347e-01 -2.70229924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754012739 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:84.89, Y:-13.07, Z:-2.70 [[ 9.79975417e-01 1.97027066e-01 2.87839713e-02 8.48856550e+01] [-1.96943505e-01 9.80398048e-01 -5.73783369e-03 -1.30698272e+01] [-2.93502579e-02 -4.58802296e-05 9.99569187e-01 -2.70312354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:84.92, Y:-13.08, Z:-2.70 [[ 9.79379377e-01 2.00026625e-01 2.83793116e-02 8.49176312e+01] [-1.99946505e-01 9.79790453e-01 -5.66236887e-03 -1.30774522e+01] [-2.89384031e-02 -1.28736889e-04 9.99581188e-01 -2.70415814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:84.95, Y:-13.08, Z:-2.71 [[ 9.78838590e-01 2.02717419e-01 2.79403588e-02 8.49485650e+01] [-2.02640702e-01 9.79237258e-01 -5.58010903e-03 -1.30842279e+01] [-2.84914257e-02 -1.99827875e-04 9.99594017e-01 -2.70550667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:84.98, Y:-13.09, Z:-2.71 [[ 9.77931829e-01 2.06983618e-01 2.84098409e-02 8.49810082e+01] [-2.06905949e-01 9.78344355e-01 -5.67902994e-03 -1.30917311e+01] [-2.89700736e-02 -3.24460955e-04 9.99580227e-01 -2.70673634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874012739 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:85.01, Y:-13.10, Z:-2.71 [[ 9.77459648e-01 2.09181868e-01 2.85583950e-02 8.50119927e+01] [-2.09104150e-01 9.77876678e-01 -5.71464802e-03 -1.30985686e+01] [-2.91219891e-02 -3.85841051e-04 9.99575790e-01 -2.70720796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:85.04, Y:-13.10, Z:-2.71 [[ 9.76990639e-01 2.11592330e-01 2.67950903e-02 8.50432914e+01] [-2.11524726e-01 9.77357920e-01 -5.36524963e-03 -1.31017497e+01] [-2.73236394e-02 -4.26025457e-04 9.99626549e-01 -2.70842218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934012739 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:85.07, Y:-13.11, Z:-2.71 [[ 9.76643658e-01 2.13289123e-01 2.59791206e-02 8.50746949e+01] [-2.13226158e-01 9.76989017e-01 -5.20244653e-03 -1.31063828e+01] [-2.64909407e-02 -4.58491665e-04 9.99648948e-01 -2.70969644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:85.11, Y:-13.11, Z:-2.71 [[ 9.76224607e-01 2.15201956e-01 2.59544953e-02 8.51059171e+01] [-2.15139770e-01 9.76569434e-01 -5.19813126e-03 -1.31117476e+01] [-2.64650148e-02 -5.09300505e-04 9.99649610e-01 -2.71092079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994012739 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:85.14, Y:-13.12, Z:-2.71 [[ 9.75502847e-01 2.18209585e-01 2.79065120e-02 8.51368808e+01] [-2.18138900e-01 9.75901724e-01 -5.58981414e-03 -1.31172498e+01] [-2.84537642e-02 -6.34616221e-04 9.99594908e-01 -2.71183484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:85.17, Y:-13.12, Z:-2.71 [[ 9.75343850e-01 2.18898119e-01 2.80711183e-02 8.51681692e+01] [-2.18826863e-01 9.75747498e-01 -5.62347163e-03 -1.31222238e+01] [-2.86212908e-02 -6.57896284e-04 9.99590110e-01 -2.71178273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054012739 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:85.20, Y:-13.13, Z:-2.71 [[ 9.75223207e-01 2.19474109e-01 2.77634943e-02 8.51985774e+01] [-2.19404620e-01 9.75618097e-01 -5.56253852e-03 -1.31263770e+01] [-2.83074006e-02 -6.66722263e-04 9.99599043e-01 -2.71411926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:85.23, Y:-13.13, Z:-2.72 [[ 9.75233376e-01 2.19544724e-01 2.68323653e-02 8.52294111e+01] [-2.19479838e-01 9.75602223e-01 -5.37625829e-03 -1.31323802e+01] [-2.73580444e-02 -6.46056665e-04 9.99625490e-01 -2.71534284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114012739 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:85.26, Y:-13.14, Z:-2.72 [[ 9.75167708e-01 2.19986310e-01 2.55727441e-02 8.52595828e+01] [-2.19927507e-01 9.75502758e-01 -5.12455588e-03 -1.31378911e+01] [-2.60736145e-02 -6.26848453e-04 9.99659829e-01 -2.71651390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:85.29, Y:-13.14, Z:-2.72 [[ 9.74854479e-01 2.21525420e-01 2.41916044e-02 8.52890120e+01] [-2.21473270e-01 9.75154392e-01 -4.84785618e-03 -1.31416225e+01] [-2.46644727e-02 -6.31839427e-04 9.99695586e-01 -2.71798059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174012739 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:85.32, Y:-13.15, Z:-2.72 [[ 9.74640651e-01 2.22437982e-01 2.44324804e-02 8.53184057e+01] [-2.22385081e-01 9.74946617e-01 -4.89589407e-03 -1.31475840e+01] [-2.49093969e-02 -6.61681750e-04 9.99689494e-01 -2.71913991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:85.35, Y:-13.15, Z:-2.72 [[ 9.74371199e-01 2.23245080e-01 2.76115896e-02 8.53467165e+01] [-2.23177858e-01 9.74762042e-01 -5.53221846e-03 -1.31548254e+01] [-2.81497700e-02 -7.71861070e-04 9.99603419e-01 -2.71765239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234012739 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:85.38, Y:-13.16, Z:-2.72 [[ 9.74363630e-01 2.23112938e-01 2.89159633e-02 8.53762348e+01] [-2.23039188e-01 9.74792269e-01 -5.79247411e-03 -1.31603752e+01] [-2.94794334e-02 -8.05416856e-04 9.99565063e-01 -2.71710310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:85.40, Y:-13.17, Z:-2.72 [[ 9.74414506e-01 2.22971742e-01 2.82837722e-02 8.54049258e+01] [-2.22901141e-01 9.74824593e-01 -5.66516537e-03 -1.31657667e+01] [-2.88348885e-02 -7.84265785e-04 9.99583880e-01 -2.71842310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294012739 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:85.44, Y:-13.17, Z:-2.72 [[ 9.74656735e-01 2.22279861e-01 2.52172954e-02 8.54350148e+01] [-2.22223517e-01 9.74982666e-01 -5.05064801e-03 -1.31727443e+01] [-2.57090832e-02 -6.81227961e-04 9.99669235e-01 -2.72121118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:85.46, Y:-13.18, Z:-2.72 [[ 9.74681088e-01 2.22171866e-01 2.52277237e-02 8.54644428e+01] [-2.22115439e-01 9.75007283e-01 -5.05273666e-03 -1.31798394e+01] [-2.57197903e-02 -6.78660076e-04 9.99668961e-01 -2.72157830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354012739 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:85.49, Y:-13.19, Z:-2.72 [[ 9.74681593e-01 2.22169650e-01 2.52277216e-02 8.54948249e+01] [-2.22113223e-01 9.75007788e-01 -5.05274733e-03 -1.31859234e+01] [-2.57197921e-02 -6.78590728e-04 9.99668961e-01 -2.72252423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:85.52, Y:-13.19, Z:-2.72 [[ 9.74638619e-01 2.22096899e-01 2.74322766e-02 8.55239216e+01] [-2.22030152e-01 9.75024321e-01 -5.49417712e-03 -1.31914529e+01] [-2.79673766e-02 -7.35955348e-04 9.99608565e-01 -2.72047122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414012739 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:85.55, Y:-13.20, Z:-2.72 [[ 9.74605924e-01 2.22156138e-01 2.81059399e-02 8.55529933e+01] [-2.22086083e-01 9.75010810e-01 -5.62955629e-03 -1.31958702e+01] [-2.86542357e-02 -7.55339181e-04 9.99589098e-01 -2.72002995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.20, Z:-2.72 [[ 9.74564680e-01 2.22323652e-01 2.82113011e-02 8.55831625e+01] [-2.22253161e-01 9.74972620e-01 -5.64996975e-03 -1.32007253e+01] [-2.87613681e-02 -7.63789883e-04 9.99586014e-01 -2.72137865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474012739 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:85.61, Y:-13.21, Z:-2.72 [[ 9.74800813e-01 2.21487930e-01 2.65795477e-02 8.56124591e+01] [-2.21425047e-01 9.75162864e-01 -5.32321235e-03 -1.32068353e+01] [-2.70984151e-02 -6.96305863e-04 9.99632528e-01 -2.72371520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters Centerline goodness : 0.989511 Centerline is valid? [True, True] Translation: X:85.64, Y:-13.21, Z:-2.72 [[ 9.75122302e-01 2.20164357e-01 2.57711500e-02 8.56417921e+01] [-2.20104786e-01 9.75462581e-01 -5.16106701e-03 -1.32118465e+01] [-2.62750755e-02 -6.39681903e-04 9.99654546e-01 -2.72478710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534012739 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:85.67, Y:-13.22, Z:-2.72 [[ 9.75917835e-01 2.16624217e-01 2.56579086e-02 8.56701873e+01] [-2.16563959e-01 9.76254913e-01 -5.13784264e-03 -1.32152322e+01] [-2.61616404e-02 -5.42465995e-04 9.99657579e-01 -2.72472567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:85.70, Y:-13.22, Z:-2.73 [[ 9.76375919e-01 2.14485678e-01 2.61908055e-02 8.56983849e+01] [-2.14422147e-01 9.76727008e-01 -5.24357649e-03 -1.32209472e+01] [-2.67059392e-02 -4.96186932e-04 9.99643210e-01 -2.72508797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59401273900001 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:85.73, Y:-13.23, Z:-2.73 [[ 9.76777908e-01 2.12715258e-01 2.56346802e-02 8.57272013e+01] [-2.12653804e-01 9.77114132e-01 -5.13160604e-03 -1.32275872e+01] [-2.61395792e-02 -4.38872845e-04 9.99658206e-01 -2.72578388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters Centerline goodness : 0.990461 Centerline is valid? [True, True] Translation: X:85.76, Y:-13.23, Z:-2.73 [[ 9.76959685e-01 2.12214743e-01 2.26865035e-02 8.57564645e+01] [-2.12166488e-01 9.77222984e-01 -4.54100282e-03 -1.32320994e+01] [-2.31334404e-02 -3.76939101e-04 9.99732315e-01 -2.72747781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654012739 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:85.79, Y:-13.24, Z:-2.73 [[ 9.76751328e-01 2.13196517e-01 2.24519076e-02 8.57853747e+01] [-2.13149521e-01 9.77009257e-01 -4.49372728e-03 -1.32356410e+01] [-2.28937686e-02 -3.96359271e-04 9.99737825e-01 -2.72878755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:85.81, Y:-13.24, Z:-2.73 [[ 9.75992619e-01 2.16423150e-01 2.44832029e-02 8.58131204e+01] [-2.16368308e-01 9.76299521e-01 -4.89911534e-03 -1.32392956e+01] [-2.49632212e-02 -5.15888766e-04 9.99688237e-01 -2.72670714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714012739 meters Centerline goodness : 0.990538 Centerline is valid? [True, True] Translation: X:85.84, Y:-13.25, Z:-2.73 [[ 9.75645545e-01 2.17782001e-01 2.62063213e-02 8.58421648e+01] [-2.17719705e-01 9.75997259e-01 -5.24208997e-03 -1.32455493e+01] [-2.67189307e-02 -5.91210839e-04 9.99642811e-01 -2.72627518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:85.87, Y:-13.25, Z:-2.73 [[ 9.75401703e-01 2.18731518e-01 2.73503499e-02 8.58703149e+01] [-2.18664055e-01 9.75784867e-01 -5.47024580e-03 -1.32510597e+01] [-2.78845728e-02 -6.44851361e-04 9.99610942e-01 -2.72600107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774012739 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:85.90, Y:-13.26, Z:-2.73 [[ 9.75408371e-01 2.18744946e-01 2.70029182e-02 8.59000642e+01] [-2.18679213e-01 9.75781862e-01 -5.40000940e-03 -1.32560085e+01] [-2.75301826e-02 -6.37762524e-04 9.99620769e-01 -2.72715530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:85.93, Y:-13.26, Z:-2.73 [[ 9.75569251e-01 2.18178735e-01 2.57424895e-02 8.59290194e+01] [-2.18118816e-01 9.75908647e-01 -5.14726782e-03 -1.32641647e+01] [-2.62453425e-02 -5.93405129e-04 9.99655356e-01 -2.72793105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834012739 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:85.96, Y:-13.27, Z:-2.73 [[ 9.75587422e-01 2.18101945e-01 2.57045448e-02 8.59583279e+01] [-2.18042174e-01 9.75925813e-01 -5.13978242e-03 -1.32708509e+01] [-2.62067253e-02 -5.90367737e-04 9.99656370e-01 -2.72780893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters Centerline goodness : 0.990075 Centerline is valid? [True, True] Translation: X:85.99, Y:-13.28, Z:-2.73 [[ 9.75430993e-01 2.18740672e-01 2.62087244e-02 8.59877727e+01] [-2.18678780e-01 9.75782831e-01 -5.23995063e-03 -1.32761845e+01] [-2.67202136e-02 -6.20081642e-04 9.99642759e-01 -2.72810899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894012739 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:86.02, Y:-13.28, Z:-2.73 [[ 9.74846198e-01 2.21280569e-01 2.66420703e-02 8.60164098e+01] [-2.21217579e-01 9.75209935e-01 -5.32594388e-03 -1.32792761e+01] [-2.71601396e-02 -7.01718153e-04 9.99630849e-01 -2.72869957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:86.04, Y:-13.29, Z:-2.73 [[ 9.74676903e-01 2.22013430e-01 2.67389423e-02 8.60440544e+01] [-2.21950276e-01 9.75043338e-01 -5.34456372e-03 -1.32856187e+01] [-2.72581924e-02 -7.25492801e-04 9.99628163e-01 -2.72985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954012739 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.29, Z:-2.73 [[ 9.74707787e-01 2.21926779e-01 2.63293303e-02 8.60726251e+01] [-2.21865540e-01 9.75063073e-01 -5.26172588e-03 -1.32944626e+01] [-2.68404756e-02 -7.12925904e-04 9.99639475e-01 -2.72970158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters Centerline goodness : 0.989941 Centerline is valid? [True, True] Translation: X:86.10, Y:-13.30, Z:-2.73 [[ 9.74658509e-01 2.22197735e-01 2.58642016e-02 8.61024940e+01] [-2.22138754e-01 9.75001367e-01 -5.16807661e-03 -1.33015975e+01] [-2.63659668e-02 -7.08331673e-04 9.99652107e-01 -2.72989142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014012739 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:86.13, Y:-13.31, Z:-2.73 [[ 9.74557578e-01 2.22648107e-01 2.57943362e-02 8.61312165e+01] [-2.22589600e-01 9.74898612e-01 -5.15416643e-03 -1.33079797e+01] [-2.62944280e-02 -7.18519034e-04 9.99653984e-01 -2.73091619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:86.16, Y:-13.32, Z:-2.73 [[ 9.74206606e-01 2.23940486e-01 2.77875456e-02 8.61607713e+01] [-2.23873124e-01 9.74602483e-01 -5.55205443e-03 -1.33159645e+01] [-2.83251407e-02 -8.12036538e-04 9.99598433e-01 -2.73275002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074012739 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.32, Z:-2.73 [[ 9.74142176e-01 2.24179078e-01 2.81205027e-02 8.61911040e+01] [-2.24110192e-01 9.74547615e-01 -5.61853661e-03 -1.33223618e+01] [-2.86643272e-02 -8.28837769e-04 9.99588750e-01 -2.73271802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.33, Z:-2.73 [[ 9.74017485e-01 2.24889209e-01 2.67354186e-02 8.62208178e+01] [-2.24827196e-01 9.74384006e-01 -5.34230648e-03 -1.33271806e+01] [-2.72519913e-02 -8.07349268e-04 9.99628269e-01 -2.73342732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134012739 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.33, Z:-2.73 [[ 9.73899268e-01 2.25509956e-01 2.57968178e-02 8.62493958e+01] [-2.25452392e-01 9.74240540e-01 -5.15652649e-03 -1.33325353e+01] [-2.62951538e-02 -7.94016904e-04 9.99653907e-01 -2.73490745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.34, Z:-2.74 [[ 9.73754852e-01 2.26195904e-01 2.52369026e-02 8.62779507e+01] [-2.26141065e-01 9.74081506e-01 -5.04369525e-03 -1.33386727e+01] [-2.57236633e-02 -7.95777317e-04 9.99668775e-01 -2.73656997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194012739 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.34, Z:-2.74 [[ 9.73413958e-01 2.27540544e-01 2.62786465e-02 8.63063074e+01] [-2.27481589e-01 9.73768222e-01 -5.25128175e-03 -1.33437594e+01] [-2.67841904e-02 -8.66237322e-04 9.99640864e-01 -2.73643621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.35, Z:-2.74 [[ 9.73273402e-01 2.28065388e-01 2.69270049e-02 8.63351579e+01] [-2.28003715e-01 9.73645399e-01 -5.37989454e-03 -1.33486366e+01] [-2.74443222e-02 -9.03348887e-04 9.99622925e-01 -2.73627605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254012739 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:86.36, Y:-13.35, Z:-2.74 [[ 9.73156408e-01 2.28562987e-01 2.69363503e-02 8.63629938e+01] [-2.28501494e-01 9.73528693e-01 -5.38057048e-03 -1.33516848e+01] [-2.74531092e-02 -9.18859636e-04 9.99622670e-01 -2.73650632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:86.39, Y:-13.36, Z:-2.74 [[ 9.73089063e-01 2.28860735e-01 2.68410050e-02 8.63922766e+01] [-2.28799834e-01 9.73458734e-01 -5.35990467e-03 -1.33558334e+01] [-2.73552825e-02 -9.25552871e-04 9.99625346e-01 -2.73692311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314012739 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:86.42, Y:-13.36, Z:-2.74 [[ 9.73046289e-01 2.28965463e-01 2.74906473e-02 8.64203017e+01] [-2.28901636e-01 9.73434082e-01 -5.48904835e-03 -1.33589771e+01] [-2.80171355e-02 -9.51556009e-04 9.99606990e-01 -2.73774806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters Centerline goodness : 0.991261 Centerline is valid? [True, True] Translation: X:86.45, Y:-13.36, Z:-2.74 [[ 9.72983322e-01 2.29205315e-01 2.77196640e-02 8.64490216e+01] [-2.29140565e-01 9.73377618e-01 -5.53309663e-03 -1.33615758e+01] [-2.82499157e-02 -9.68088721e-04 9.99600423e-01 -2.73927541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374012739 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:86.48, Y:-13.37, Z:-2.74 [[ 9.73013947e-01 2.29202091e-01 2.66507121e-02 8.64767618e+01] [-2.29142269e-01 9.73378412e-01 -5.31858186e-03 -1.33658553e+01] [-2.71602579e-02 -9.31750318e-04 9.99630658e-01 -2.74026012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:86.50, Y:-13.37, Z:-2.74 [[ 9.73178352e-01 2.28656273e-01 2.53022680e-02 8.65049201e+01] [-2.28602206e-01 9.73506831e-01 -5.04801455e-03 -1.33697719e+01] [-2.57861910e-02 -8.71535807e-04 9.99667101e-01 -2.74097944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434012739 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:86.53, Y:-13.37, Z:-2.74 [[ 9.73617660e-01 2.26805395e-01 2.50592266e-02 8.65331738e+01] [-2.26751777e-01 9.73939756e-01 -4.99843976e-03 -1.33702393e+01] [-2.55398502e-02 -8.15654938e-04 9.99673472e-01 -2.74159024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:86.56, Y:-13.37, Z:-2.74 [[ 9.74225019e-01 2.23956143e-01 2.70047668e-02 8.65618983e+01] [-2.23892828e-01 9.74598895e-01 -5.38480733e-03 -1.33729010e+01] [-2.75247765e-02 -8.00159572e-04 9.99620801e-01 -2.74205966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494012739 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:86.59, Y:-13.38, Z:-2.74 [[ 9.74639428e-01 2.22046187e-01 2.78114583e-02 8.65913659e+01] [-2.21978296e-01 9.75035845e-01 -5.54417853e-03 -1.33786890e+01] [-2.83482324e-02 -7.69965138e-04 9.99597812e-01 -2.74217592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:86.62, Y:-13.38, Z:-2.74 [[ 9.75104473e-01 2.19946927e-01 2.81889534e-02 8.66196440e+01] [-2.19876324e-01 9.75511575e-01 -5.61874088e-03 -1.33835034e+01] [-2.87344751e-02 -7.19224074e-04 9.99586821e-01 -2.74235045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554012739 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:86.65, Y:-13.39, Z:-2.74 [[ 9.75873581e-01 2.16584712e-01 2.76010264e-02 8.66480434e+01] [-2.16515707e-01 9.76263639e-01 -5.50054868e-03 -1.33852840e+01] [-2.81372133e-02 -6.08215624e-04 9.99603885e-01 -2.74313305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:86.68, Y:-13.39, Z:-2.74 [[ 9.76193639e-01 2.15227498e-01 2.68905776e-02 8.66766318e+01] [-2.15161512e-01 9.76563780e-01 -5.35801051e-03 -1.33897009e+01] [-2.74135553e-02 -5.55361560e-04 9.99624024e-01 -2.74457172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614012739 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:86.71, Y:-13.39, Z:-2.75 [[ 9.77198436e-01 2.10705029e-01 2.62031913e-02 8.67059076e+01] [-2.10640773e-01 9.77549598e-01 -5.22007901e-03 -1.33944826e+01] [-2.67148160e-02 -4.18407421e-04 9.99643008e-01 -2.74667709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:86.74, Y:-13.40, Z:-2.75 [[ 9.77847656e-01 2.07657860e-01 2.63092067e-02 8.67355456e+01] [-2.07591996e-01 9.78201462e-01 -5.24056136e-03 -1.33995350e+01] [-2.68239482e-02 -3.37110094e-04 9.99640116e-01 -2.74723625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674012739 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:86.77, Y:-13.40, Z:-2.75 [[ 9.78429287e-01 2.04793174e-01 2.71272263e-02 8.67652334e+01] [-2.04722068e-01 9.78805233e-01 -5.40282256e-03 -1.34047902e+01] [-2.76587322e-02 -2.67262035e-04 9.99617388e-01 -2.74778701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:86.80, Y:-13.41, Z:-2.75 [[ 9.79567590e-01 1.99312774e-01 2.68654947e-02 8.67961048e+01] [-1.99240993e-01 9.79935919e-01 -5.34988776e-03 -1.34122080e+01] [-2.73927642e-02 -1.12131172e-04 9.99624742e-01 -2.74825552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734012739 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:86.83, Y:-13.42, Z:-2.75 [[ 9.80130888e-01 1.96529686e-01 2.68239668e-02 8.68262961e+01] [-1.96457065e-01 9.80497874e-01 -5.34228311e-03 -1.34197946e+01] [-2.73507596e-02 -3.36211089e-05 9.99625897e-01 -2.74927787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:86.86, Y:-13.43, Z:-2.75 [[ 9.81355708e-01 1.90190850e-01 2.77203148e-02 8.68561787e+01] [-1.90110747e-01 9.81747126e-01 -5.52135276e-03 -1.34282781e+01] [-2.82644501e-02 1.48481286e-04 9.99600470e-01 -2.75013856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794012739 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:86.89, Y:-13.44, Z:-2.75 [[ 9.81922253e-01 1.87154202e-01 2.83194941e-02 8.68879158e+01] [-1.87069256e-01 9.82330517e-01 -5.64340213e-03 -1.34369812e+01] [-2.88752897e-02 2.43675428e-04 9.99582992e-01 -2.75123371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:86.92, Y:-13.45, Z:-2.75 [[ 9.82421669e-01 1.84440457e-01 2.87990124e-02 8.69185906e+01] [-1.84351271e-01 9.82843632e-01 -5.74481390e-03 -1.34464500e+01] [-2.93645020e-02 3.34695108e-04 9.99568714e-01 -2.75251371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854012739 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:86.95, Y:-13.46, Z:-2.75 [[ 9.83228791e-01 1.80131429e-01 2.85273987e-02 8.69501483e+01] [-1.80042007e-01 9.83642442e-01 -5.69398386e-03 -1.34577800e+01] [-2.90864256e-02 4.62358750e-04 9.99576793e-01 -2.75253394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:86.98, Y:-13.47, Z:-2.75 [[ 9.83436545e-01 1.79149710e-01 2.75307753e-02 8.69819715e+01] [-1.79065896e-01 9.83821707e-01 -5.50029626e-03 -1.34652927e+01] [-2.80707508e-02 4.79369403e-04 9.99605824e-01 -2.75021029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914012739 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:87.01, Y:-13.47, Z:-2.75 [[ 9.83152411e-01 1.80948249e-01 2.58663533e-02 8.70129111e+01] [-1.80874759e-01 9.83492535e-01 -5.17259804e-03 -1.34742611e+01] [-2.63753379e-02 4.06881810e-04 9.99652027e-01 -2.75441941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:87.04, Y:-13.48, Z:-2.76 [[ 9.82783579e-01 1.82916975e-01 2.60349316e-02 8.70448340e+01] [-1.82843086e-01 9.83128298e-01 -5.21114020e-03 -1.34823030e+01] [-2.65488839e-02 3.61115785e-04 9.99647451e-01 -2.75531688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974012739 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:87.08, Y:-13.49, Z:-2.76 [[ 9.82390843e-01 1.84867045e-01 2.70630056e-02 8.70756599e+01] [-1.84787791e-01 9.82763486e-01 -5.42244828e-03 -1.34898208e+01] [-2.75989657e-02 3.26050517e-04 9.99619023e-01 -2.75579805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:87.11, Y:-13.50, Z:-2.76 [[ 9.81804866e-01 1.87571486e-01 2.95996980e-02 8.71075650e+01] [-1.87477725e-01 9.82250915e-01 -5.93659535e-03 -1.34980047e+01] [-3.01878665e-02 2.79294156e-04 9.99544203e-01 -2.75613355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034012739 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:87.14, Y:-13.51, Z:-2.76 [[ 9.81586641e-01 1.88645611e-01 3.00083156e-02 8.71381995e+01] [-1.88549565e-01 9.82045197e-01 -6.02439364e-03 -1.35054076e+01] [-3.06059976e-02 2.55409455e-04 9.99531494e-01 -2.75742213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:87.17, Y:-13.51, Z:-2.76 [[ 9.81344034e-01 1.90022746e-01 2.92445246e-02 8.71701199e+01] [-1.89931987e-01 9.81779665e-01 -5.87618356e-03 -1.35141145e+01] [-2.98282881e-02 2.12087028e-04 9.99555015e-01 -2.75835467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09401273900001 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:87.20, Y:-13.52, Z:-2.76 [[ 9.81234117e-01 1.90651466e-01 2.88379483e-02 8.72018499e+01] [-1.90563328e-01 9.81657772e-01 -5.79980310e-03 -1.35214407e+01] [-2.94147371e-02 1.95509276e-04 9.99567274e-01 -2.75903098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:87.23, Y:-13.53, Z:-2.76 [[ 9.81157167e-01 1.91094852e-01 2.85196503e-02 8.72338465e+01] [-1.91008676e-01 9.81571558e-01 -5.74129772e-03 -1.35289153e+01] [-2.90912100e-02 1.85614768e-04 9.99576744e-01 -2.76011754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154012739 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:87.27, Y:-13.54, Z:-2.76 [[ 9.81052192e-01 1.91680463e-01 2.81992306e-02 8.72654056e+01] [-1.91596296e-01 9.81457371e-01 -5.68232168e-03 -1.35368707e+01] [-2.87655328e-02 1.71786016e-04 9.99586172e-01 -2.76191913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.54, Z:-2.76 [[ 9.80924754e-01 1.92389850e-01 2.77987846e-02 8.72980900e+01] [-1.92308187e-01 9.81318563e-01 -5.60706462e-03 -1.35438811e+01] [-2.83582056e-02 1.54174620e-04 9.99597813e-01 -2.76317657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214012739 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:87.33, Y:-13.55, Z:-2.76 [[ 9.80894563e-01 1.92469859e-01 2.83056575e-02 8.73303229e+01] [-1.92385059e-01 9.81302873e-01 -5.71498233e-03 -1.35511599e+01] [-2.88763848e-02 1.60209501e-04 9.99582977e-01 -2.76463677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:87.36, Y:-13.56, Z:-2.76 [[ 9.80934013e-01 1.92200856e-01 2.87626994e-02 8.73611445e+01] [-1.92113010e-01 9.81355593e-01 -5.81304276e-03 -1.35584053e+01] [-2.93437078e-02 1.76522591e-04 9.99569365e-01 -2.76444784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274012739 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:87.39, Y:-13.57, Z:-2.77 [[ 9.80918254e-01 1.92281427e-01 2.87616527e-02 8.73939404e+01] [-1.92193464e-01 9.81339809e-01 -5.81821689e-03 -1.35651786e+01] [-2.93436899e-02 1.79393477e-04 9.99569365e-01 -2.76547043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:87.43, Y:-13.57, Z:-2.77 [[ 9.81148497e-01 1.90943263e-01 2.98043138e-02 8.74257823e+01] [-1.90848108e-01 9.81601048e-01 -6.03176237e-03 -1.35744452e+01] [-3.04076701e-02 2.29957688e-04 9.99537553e-01 -2.76659739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334012739 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:87.46, Y:-13.58, Z:-2.77 [[ 9.81345038e-01 1.89956491e-01 2.96386373e-02 8.74568860e+01] [-1.89861759e-01 9.81792474e-01 -6.00425452e-03 -1.35818729e+01] [-3.02395382e-02 2.65001548e-04 9.99542645e-01 -2.76824149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:87.49, Y:-13.59, Z:-2.77 [[ 9.81551817e-01 1.89087344e-01 2.83197099e-02 8.74888522e+01] [-1.89000348e-01 9.81960231e-01 -5.74218290e-03 -1.35909031e+01] [-2.88946030e-02 2.83815024e-04 9.99582423e-01 -2.76945803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:87.52, Y:-13.60, Z:-2.77 [[ 9.81565167e-01 1.89186850e-01 2.71690745e-02 8.75213709e+01] [-1.89106680e-01 9.81941068e-01 -5.51392070e-03 -1.35982734e+01] [-2.77215913e-02 2.74419034e-04 9.99615645e-01 -2.77047959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:87.55, Y:-13.60, Z:-2.77 [[ 9.81493764e-01 1.89594061e-01 2.69088109e-02 8.75525626e+01] [-1.89515425e-01 9.81862527e-01 -5.46646381e-03 -1.36048136e+01] [-2.74571621e-02 2.65665413e-04 9.99622946e-01 -2.77207848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454012739 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:87.58, Y:-13.61, Z:-2.77 [[ 9.81247442e-01 1.90782481e-01 2.74863906e-02 8.75838150e+01] [-1.90700751e-01 9.81632307e-01 -5.58907056e-03 -1.36118700e+01] [-2.80478257e-02 2.42585875e-04 9.99606553e-01 -2.77289814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:87.62, Y:-13.62, Z:-2.77 [[ 9.81127957e-01 1.91297576e-01 2.81632716e-02 8.76159568e+01] [-1.91211830e-01 9.81532058e-01 -5.73198692e-03 -1.36203460e+01] [-2.87396691e-02 2.38661920e-04 9.99586902e-01 -2.77356262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514012739 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:87.65, Y:-13.63, Z:-2.77 [[ 9.81004718e-01 1.91836051e-01 2.87866825e-02 8.76462495e+01] [-1.91746525e-01 9.81426959e-01 -5.86473862e-03 -1.36318687e+01] [-2.93770945e-02 2.33589929e-04 9.99568373e-01 -2.77381853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:87.68, Y:-13.64, Z:-2.77 [[ 9.80960902e-01 1.92002352e-01 2.91685709e-02 8.76781469e+01] [-1.91910345e-01 9.81394437e-01 -5.94800663e-03 -1.36406363e+01] [-2.97679044e-02 2.37011453e-04 9.99556810e-01 -2.77483824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574012739 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:87.71, Y:-13.65, Z:-2.78 [[ 9.80877360e-01 1.92408256e-01 2.93030501e-02 8.77092818e+01] [-1.92315401e-01 9.81314939e-01 -5.98137394e-03 -1.36482560e+01] [-2.99063865e-02 2.31566434e-04 9.99552677e-01 -2.77622566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:87.74, Y:-13.66, Z:-2.78 [[ 9.80185202e-01 1.95932517e-01 2.91104473e-02 8.77403312e+01] [-1.95842272e-01 9.80617373e-01 -5.94748264e-03 -1.36564939e+01] [-2.97115156e-02 1.28578350e-04 9.99558507e-01 -2.77679954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634012739 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:87.77, Y:-13.66, Z:-2.78 [[ 9.79067734e-01 2.01460085e-01 2.89863117e-02 8.77723956e+01] [-2.01372869e-01 9.79496724e-01 -5.92746456e-03 -1.36639404e+01] [-2.95861449e-02 -3.36674475e-05 9.99562234e-01 -2.77814091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:87.80, Y:-13.67, Z:-2.78 [[ 9.78419660e-01 2.04534826e-01 2.93338283e-02 8.78042550e+01] [-2.04446710e-01 9.78859280e-01 -6.00439710e-03 -1.36699963e+01] [-2.99417984e-02 -1.22384510e-04 9.99551636e-01 -2.77898686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694012739 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:87.84, Y:-13.68, Z:-2.78 [[ 9.77707004e-01 2.07848534e-01 2.97993356e-02 8.78366415e+01] [-2.07759024e-01 9.78160997e-01 -6.10337111e-03 -1.36759990e+01] [-3.04171246e-02 -2.23772199e-04 9.99537267e-01 -2.77977985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:87.87, Y:-13.68, Z:-2.78 [[ 9.76457468e-01 2.13667698e-01 2.96129662e-02 8.78689456e+01] [-2.13581798e-01 9.76906320e-01 -6.07108651e-03 -1.36799323e+01] [-3.02262889e-02 -3.96632784e-04 9.99543003e-01 -2.78095371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754012739 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:87.90, Y:-13.68, Z:-2.78 [[ 9.75881583e-01 2.16354359e-01 2.90848339e-02 8.79004065e+01] [-2.16272585e-01 9.76314792e-01 -5.96630676e-03 -1.36841119e+01] [-2.96867900e-02 -4.67843308e-04 9.99559141e-01 -2.78146906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:87.93, Y:-13.68, Z:-2.78 [[ 9.75106224e-01 2.19809096e-01 2.91858272e-02 8.79328522e+01] [-2.19728135e-01 9.75542740e-01 -5.99251274e-03 -1.36833705e+01] [-2.97892306e-02 -5.69610880e-04 9.99556040e-01 -2.78306304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814012739 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:87.96, Y:-13.69, Z:-2.78 [[ 9.74868612e-01 2.20693645e-01 3.04221233e-02 8.79647453e+01] [-2.20606083e-01 9.75342980e-01 -6.24713084e-03 -1.36859176e+01] [-3.10507065e-02 -6.21173702e-04 9.99517618e-01 -2.78428973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:87.99, Y:-13.69, Z:-2.78 [[ 9.74715696e-01 2.21177712e-01 3.17762887e-02 8.79948512e+01] [-2.21082412e-01 9.75233294e-01 -6.52599349e-03 -1.36881361e+01] [-3.24326990e-02 -6.64190251e-04 9.99473701e-01 -2.78456634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874012739 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:88.03, Y:-13.69, Z:-2.79 [[ 9.74551180e-01 2.21926829e-01 3.15987461e-02 8.80262631e+01] [-2.21832973e-01 9.75063082e-01 -6.48989155e-03 -1.36853749e+01] [-3.22510519e-02 -6.84912319e-04 9.99479565e-01 -2.78569812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:88.06, Y:-13.69, Z:-2.79 [[ 9.74569916e-01 2.22042003e-01 3.01799150e-02 8.80565839e+01] [-2.21956443e-01 9.75036879e-01 -6.19848221e-03 -1.36858311e+01] [-3.08028536e-02 -6.57772296e-04 9.99525263e-01 -2.78723360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934012739 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:88.09, Y:-13.68, Z:-2.79 [[ 9.74685120e-01 2.21680554e-01 2.90972324e-02 8.80852149e+01] [-2.21600872e-01 9.75119143e-01 -5.97581766e-03 -1.36822280e+01] [-2.96979909e-02 -6.23431507e-04 9.99558723e-01 -2.78922339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:88.11, Y:-13.68, Z:-2.79 [[ 9.74893329e-01 2.20713378e-01 2.94720389e-02 8.81141577e+01] [-2.20631242e-01 9.75338526e-01 -6.05100729e-03 -1.36848185e+01] [-3.00807532e-02 -6.03365890e-04 9.99547290e-01 -2.79017812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994012739 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:88.14, Y:-13.68, Z:-2.79 [[ 9.75656516e-01 2.17225313e-01 3.01251890e-02 8.81428055e+01] [-2.17137877e-01 9.76121358e-01 -6.18364801e-03 -1.36836192e+01] [-3.07490852e-02 -5.08203091e-04 9.99527006e-01 -2.79136516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:88.17, Y:-13.69, Z:-2.79 [[ 9.76221567e-01 2.14677326e-01 3.00848413e-02 8.81714706e+01] [-2.14588968e-01 9.76684935e-01 -6.17360508e-03 -1.36862104e+01] [-3.07087443e-02 -4.29068625e-04 9.99528283e-01 -2.79314004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054012739 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:88.20, Y:-13.69, Z:-2.79 [[ 9.76884718e-01 2.11699747e-01 2.96557571e-02 8.82000573e+01] [-2.11612561e-01 9.77334695e-01 -6.08417443e-03 -1.36897535e+01] [-3.02716185e-02 -3.31993682e-04 9.99541654e-01 -2.79424070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:88.23, Y:-13.69, Z:-2.80 [[ 9.78250649e-01 2.05264960e-01 2.98657797e-02 8.82282579e+01] [-2.05173575e-01 9.78706431e-01 -6.12584539e-03 -1.36919912e+01] [-3.04872521e-02 -1.35056585e-04 9.99535147e-01 -2.79522599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114012739 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:88.26, Y:-13.70, Z:-2.80 [[ 9.78808262e-01 2.02569912e-01 2.99969646e-02 8.82568331e+01] [-2.02476510e-01 9.79267802e-01 -6.15098476e-03 -1.36955108e+01] [-3.06210660e-02 -5.30460110e-05 9.99531064e-01 -2.79593681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:88.29, Y:-13.70, Z:-2.80 [[ 9.79501416e-01 1.99264808e-01 2.95044392e-02 8.82858263e+01] [-1.99172991e-01 9.79945679e-01 -6.04861986e-03 -1.36974444e+01] [-3.01180248e-02 4.81443317e-05 9.99546348e-01 -2.79733567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174012739 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:88.31, Y:-13.70, Z:-2.80 [[ 9.79757448e-01 1.98096067e-01 2.88667676e-02 8.83136820e+01] [-1.98007698e-01 9.80182606e-01 -5.91694191e-03 -1.37025042e+01] [-2.94668264e-02 8.13257169e-05 9.99565755e-01 -2.79863387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:88.34, Y:-13.71, Z:-2.80 [[ 9.80083186e-01 1.96511100e-01 2.86414916e-02 8.83417937e+01] [-1.96423494e-01 9.80501592e-01 -5.86850853e-03 -1.37077736e+01] [-2.92362552e-02 1.25764690e-04 9.99572521e-01 -2.80004952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234012739 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:88.37, Y:-13.71, Z:-2.80 [[ 9.80793951e-01 1.92763196e-01 2.97586115e-02 8.83704510e+01] [-1.92666939e-01 9.81245275e-01 -6.09595779e-03 -1.37128209e+01] [-3.03755732e-02 2.45377937e-04 9.99538526e-01 -2.80072628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:88.40, Y:-13.72, Z:-2.80 [[ 9.81774270e-01 1.87714981e-01 2.97047048e-02 8.83981395e+01] [-1.87616802e-01 9.82223460e-01 -6.08354085e-03 -1.37191058e+01] [-3.03186297e-02 3.99562166e-04 9.99540205e-01 -2.80201529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294012739 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:88.43, Y:-13.73, Z:-2.80 [[ 9.82244194e-01 1.85292033e-01 2.93803669e-02 8.84271075e+01] [-1.85194926e-01 9.82683389e-01 -6.01634578e-03 -1.37256846e+01] [-2.99863795e-02 4.68425839e-04 9.99550198e-01 -2.80256208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:88.46, Y:-13.73, Z:-2.80 [[ 9.82555773e-01 1.83628731e-01 2.94047919e-02 8.84552404e+01] [-1.83530727e-01 9.82995534e-01 -6.02102424e-03 -1.37320263e+01] [-3.00104121e-02 5.19309279e-04 9.99549451e-01 -2.80352575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354012739 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:88.48, Y:-13.74, Z:-2.80 [[ 9.82709758e-01 1.82798417e-01 2.94324654e-02 8.84846750e+01] [-1.82699887e-01 9.83150264e-01 -6.02568955e-03 -1.37386089e+01] [-3.00380227e-02 5.44195817e-04 9.99548609e-01 -2.80398721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:88.51, Y:-13.75, Z:-2.80 [[ 9.82576686e-01 1.83528873e-01 2.93293231e-02 8.85126972e+01] [-1.83431377e-01 9.83014182e-01 -6.00391727e-03 -1.37454450e+01] [-2.99330327e-02 5.19391017e-04 9.99551771e-01 -2.80438640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414012739 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:88.54, Y:-13.75, Z:-2.81 [[ 9.82049449e-01 1.86387871e-01 2.89558451e-02 8.85437117e+01] [-1.86294107e-01 9.82476147e-01 -5.92666600e-03 -1.37524426e+01] [-2.95530858e-02 4.25975763e-04 9.99563121e-01 -2.80520703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:88.57, Y:-13.76, Z:-2.81 [[ 9.81671443e-01 1.88260831e-01 2.96485657e-02 8.85733461e+01] [-1.88163357e-01 9.82118993e-01 -6.06921626e-03 -1.37585819e+01] [-3.02610152e-02 3.79202622e-04 9.99541959e-01 -2.80535513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474012739 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:88.60, Y:-13.76, Z:-2.81 [[ 9.81285187e-01 1.89932967e-01 3.16993722e-02 8.86022444e+01] [-1.89822398e-01 9.81796998e-01 -6.48940490e-03 -1.37646800e+01] [-3.23549003e-02 3.50706076e-04 9.99476382e-01 -2.80546406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:88.63, Y:-13.77, Z:-2.79 [[ 9.80887053e-01 1.91221434e-01 3.59854359e-02 8.86321214e+01] [-1.91079813e-01 9.81546861e-01 -7.36641888e-03 -1.37735799e+01] [-3.67300089e-02 3.49534548e-04 9.99325164e-01 -2.79303092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534012739 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:88.66, Y:-13.78, Z:-2.80 [[ 9.81019120e-01 1.90227130e-01 3.76181469e-02 8.86621690e+01] [-1.90071576e-01 9.81740024e-01 -7.70205530e-03 -1.37826573e+01] [-3.83963803e-02 4.05723070e-04 9.99262505e-01 -2.80498804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:88.69, Y:-13.80, Z:-2.81 [[ 9.81673448e-01 1.87280297e-01 3.52609024e-02 8.86931766e+01] [-1.87141511e-01 9.82306391e-01 -7.22558204e-03 -1.37963973e+01] [-3.59902190e-02 4.94383481e-04 9.99352020e-01 -2.80754830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59401273900001 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:88.73, Y:-13.81, Z:-2.81 [[ 9.81954794e-01 1.86081041e-01 3.37435875e-02 8.87253333e+01] [-1.85953022e-01 9.82534261e-01 -6.92092530e-03 -1.38059828e+01] [-3.44420838e-02 5.21313697e-04 9.99406559e-01 -2.80931381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:88.76, Y:-13.82, Z:-2.81 [[ 9.81980910e-01 1.86148335e-01 3.25927758e-02 8.87565754e+01] [-1.86028735e-01 9.82521521e-01 -6.69100904e-03 -1.38185073e+01] [-3.32686238e-02 5.07250292e-04 9.99446317e-01 -2.80927698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:88.79, Y:-13.83, Z:-2.81 [[ 9.81700305e-01 1.87679767e-01 3.22616735e-02 8.87874412e+01] [-1.87563201e-01 9.82230165e-01 -6.62942147e-03 -1.38279495e+01] [-3.29325972e-02 4.57002308e-04 9.99457470e-01 -2.80973972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:88.82, Y:-13.84, Z:-2.81 [[ 9.81199214e-01 1.90305435e-01 3.21238937e-02 8.88192061e+01] [-1.90191072e-01 9.81724861e-01 -6.60710200e-03 -1.38377057e+01] [-3.27941925e-02 3.73205486e-04 9.99462056e-01 -2.81105532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714012739 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:88.85, Y:-13.85, Z:-2.81 [[ 9.80040801e-01 1.96302980e-01 3.13873930e-02 8.88502998e+01] [-1.96196687e-01 9.80543273e-01 -6.46147768e-03 -1.38485555e+01] [-3.20451044e-02 1.74409255e-04 9.99486409e-01 -2.81336486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:88.88, Y:-13.86, Z:-2.81 [[ 9.79539403e-01 1.98837528e-01 3.10836776e-02 8.88815770e+01] [-1.98734368e-01 9.80032463e-01 -6.40489683e-03 -1.38568441e+01] [-3.17365470e-02 9.64537957e-05 9.99496264e-01 -2.81464991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:88.91, Y:-13.87, Z:-2.82 [[ 9.78802546e-01 2.02490585e-01 3.07105583e-02 8.89127845e+01] [-2.02391566e-01 9.79284209e-01 -6.33178419e-03 -1.38673084e+01] [-3.13564915e-02 -1.79914920e-05 9.99508264e-01 -2.81565759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:88.94, Y:-13.88, Z:-2.82 [[ 9.78684879e-01 2.03076659e-01 3.05905079e-02 8.89433476e+01] [-2.02978510e-01 9.79162841e-01 -6.31306013e-03 -1.38753122e+01] [-3.12351237e-02 -3.07192120e-05 9.99512064e-01 -2.81639518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:88.97, Y:-13.88, Z:-2.82 [[ 9.78689571e-01 2.03065816e-01 3.05122685e-02 8.89749408e+01] [-2.02967987e-01 9.79165090e-01 -6.30257456e-03 -1.38837310e+01] [-3.11563856e-02 -2.47497238e-05 9.99514522e-01 -2.81713483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:89.01, Y:-13.89, Z:-2.82 [[ 9.79125776e-01 2.01050142e-01 2.98589064e-02 8.90065025e+01] [-2.00955343e-01 9.79580950e-01 -6.17347988e-03 -1.38947095e+01] [-3.04903949e-02 4.43065164e-05 9.99535059e-01 -2.81941591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:89.04, Y:-13.90, Z:-2.82 [[ 9.79299657e-01 2.00244687e-01 2.95676811e-02 8.90378291e+01] [-2.00151181e-01 9.79745916e-01 -6.11922166e-03 -1.39040048e+01] [-3.01941564e-02 7.45453842e-05 9.99544050e-01 -2.82035717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:89.07, Y:-13.92, Z:-2.82 [[ 9.79489561e-01 1.99243700e-01 3.00357825e-02 8.90681166e+01] [-1.99146547e-01 9.79949966e-01 -6.22234740e-03 -1.39155395e+01] [-3.06733275e-02 1.13201942e-04 9.99529456e-01 -2.82179296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954012739 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:89.10, Y:-13.92, Z:-2.82 [[ 9.79585965e-01 1.98793758e-01 2.98727080e-02 8.90998345e+01] [-1.98697275e-01 9.80041338e-01 -6.19425546e-03 -1.39244608e+01] [-3.05078680e-02 1.32180054e-04 9.99534518e-01 -2.82275110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:89.13, Y:-13.93, Z:-2.82 [[ 9.79641326e-01 1.98537499e-01 2.97612813e-02 8.91316911e+01] [-1.98441443e-01 9.80093282e-01 -6.17682620e-03 -1.39339396e+01] [-3.03951635e-02 1.45202600e-04 9.99537950e-01 -2.82428135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:89.16, Y:-13.95, Z:-2.83 [[ 9.79693508e-01 1.98264320e-01 2.98645175e-02 8.91616675e+01] [-1.98167285e-01 9.80148577e-01 -6.20432865e-03 -1.39454481e+01] [-3.05017613e-02 1.60170158e-04 9.99534700e-01 -2.82525592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:89.19, Y:-13.96, Z:-2.83 [[ 9.79307783e-01 2.00128972e-01 3.00775787e-02 8.91937791e+01] [-2.00031249e-01 9.79769556e-01 -6.25434101e-03 -1.39553376e+01] [-3.07207708e-02 1.08469203e-04 9.99528000e-01 -2.82607127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074012739 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:89.23, Y:-13.96, Z:-2.83 [[ 9.78981670e-01 2.01678471e-01 3.03427741e-02 8.92252844e+01] [-2.01579572e-01 9.79451780e-01 -6.31553069e-03 -1.39637423e+01] [-3.09929907e-02 6.63053644e-05 9.99519600e-01 -2.82681855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:89.26, Y:-13.97, Z:-2.83 [[ 9.78632272e-01 2.03273497e-01 3.09638769e-02 8.92566733e+01] [-2.03171106e-01 9.79121997e-01 -6.45111444e-03 -1.39725394e+01] [-3.16287536e-02 2.23036689e-05 9.99499686e-01 -2.82817975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134012739 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:89.29, Y:-13.98, Z:-2.83 [[ 9.78376232e-01 2.04398045e-01 3.16447153e-02 8.92885414e+01] [-2.04291479e-01 9.78887858e-01 -6.59943585e-03 -1.39819585e+01] [-3.23255394e-02 -8.01450479e-06 9.99477393e-01 -2.82801186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:89.32, Y:-13.99, Z:-2.83 [[ 9.78358751e-01 2.04481897e-01 3.16434668e-02 8.93212934e+01] [-2.04375181e-01 9.78870346e-01 -6.60541684e-03 -1.39889305e+01] [-3.23255395e-02 -4.67190780e-06 9.99477393e-01 -2.82903455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194012739 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:89.35, Y:-14.00, Z:-2.83 [[ 9.78452465e-01 2.03864518e-01 3.27113328e-02 8.93518507e+01] [-2.03750021e-01 9.78999110e-01 -6.83162540e-03 -1.39981110e+01] [-3.34170918e-02 1.94859688e-05 9.99441493e-01 -2.82580175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:89.38, Y:-14.01, Z:-2.83 [[ 9.78872863e-01 2.01733924e-01 3.33368029e-02 8.93823656e+01] [-2.01613551e-01 9.79440357e-01 -6.96868315e-03 -1.40085330e+01] [-3.40572300e-02 1.00303622e-04 9.99419879e-01 -2.83162553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254012739 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:89.41, Y:-14.02, Z:-2.83 [[ 9.79054642e-01 2.01030392e-01 3.22302628e-02 8.94133748e+01] [-2.00917306e-01 9.79584997e-01 -6.74320945e-03 -1.40185266e+01] [-3.29278719e-02 1.26352948e-04 9.99457723e-01 -2.83378772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:89.44, Y:-14.03, Z:-2.84 [[ 9.79175457e-01 2.00646708e-01 3.09244783e-02 8.94443865e+01] [-2.00542239e-01 9.79663656e-01 -6.47543329e-03 -1.40279367e+01] [-3.15948618e-02 1.38921231e-04 9.99500748e-01 -2.83520218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314012739 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:89.48, Y:-14.04, Z:-2.84 [[ 9.78842302e-01 2.02343815e-01 3.04093479e-02 8.94759858e+01] [-2.02243447e-01 9.79314542e-01 -6.37300959e-03 -1.40359432e+01] [-3.10698557e-02 8.80800228e-05 9.99517212e-01 -2.83663330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:89.51, Y:-14.04, Z:-2.84 [[ 9.78386889e-01 2.04511689e-01 3.05624683e-02 8.95075268e+01] [-2.04411178e-01 9.78864122e-01 -6.41106312e-03 -1.40422664e+01] [-3.12276411e-02 2.51899398e-05 9.99512298e-01 -2.83692978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374012739 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:89.54, Y:-14.05, Z:-2.84 [[ 9.77331060e-01 2.09527510e-01 3.03681145e-02 8.95403365e+01] [-2.09430522e-01 9.77802744e-01 -6.37577332e-03 -1.40485349e+01] [-3.10299256e-02 -1.28768766e-04 9.99518448e-01 -2.83809502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:89.57, Y:-14.06, Z:-2.84 [[ 9.76915090e-01 2.11580910e-01 2.95029620e-02 8.95714909e+01] [-2.11490133e-01 9.77360468e-01 -6.19989074e-03 -1.40551031e+01] [-3.01468073e-02 -1.82818549e-04 9.99545465e-01 -2.83923321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434012739 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:89.60, Y:-14.06, Z:-2.84 [[ 9.76744127e-01 2.12396856e-01 2.92999197e-02 8.96038629e+01] [-2.12307529e-01 9.77183470e-01 -6.16265252e-03 -1.40618363e+01] [-2.99403252e-02 -2.01258888e-04 9.99551668e-01 -2.84084656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:89.64, Y:-14.07, Z:-2.84 [[ 9.76710917e-01 2.12418825e-01 3.02328701e-02 8.96362550e+01] [-2.12323540e-01 9.77178695e-01 -6.36494483e-03 -1.40691489e+01] [-3.08949507e-02 -2.02438913e-04 9.99522617e-01 -2.84221948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494012739 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:89.67, Y:-14.08, Z:-2.84 [[ 9.76780291e-01 2.12014108e-01 3.08266277e-02 8.96685597e+01] [-2.11914649e-01 9.77266588e-01 -6.49603632e-03 -1.40767678e+01] [-3.15030846e-02 -1.87413731e-04 9.99503637e-01 -2.84332907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:89.70, Y:-14.08, Z:-2.84 [[ 9.76912372e-01 2.11340593e-01 3.12629293e-02 8.97010071e+01] [-2.11237755e-01 9.77412465e-01 -6.59419411e-03 -1.40837104e+01] [-3.19503977e-02 -1.61961176e-04 9.99489443e-01 -2.84355824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:89.73, Y:-14.09, Z:-2.84 [[ 9.76926572e-01 2.11323908e-01 3.09302173e-02 8.97319663e+01] [-2.11223045e-01 9.77416074e-01 -6.53015055e-03 -1.40898675e+01] [-3.16116685e-02 -1.53697072e-04 9.99500215e-01 -2.84422941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:89.76, Y:-14.10, Z:-2.85 [[ 9.76951057e-01 2.11234202e-01 3.07692073e-02 8.97642381e+01] [-2.11134162e-01 9.77435466e-01 -6.50187783e-03 -1.40969405e+01] [-3.14483334e-02 -1.44414385e-04 9.99505368e-01 -2.84528535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614012739 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:89.80, Y:-14.10, Z:-2.85 [[ 9.77031797e-01 2.10855645e-01 3.08020110e-02 8.97954085e+01] [-2.10755013e-01 9.77517202e-01 -6.51487455e-03 -1.41049294e+01] [-3.14831937e-02 -1.26438622e-04 9.99504273e-01 -2.84630536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:89.83, Y:-14.11, Z:-2.85 [[ 9.76975544e-01 2.11113240e-01 3.08218643e-02 8.98275392e+01] [-2.11012427e-01 9.77461602e-01 -6.52476915e-03 -1.41109426e+01] [-3.15046540e-02 -1.29256483e-04 9.99503597e-01 -2.84752761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674012739 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:89.86, Y:-14.12, Z:-2.85 [[ 9.76805964e-01 2.11771788e-01 3.16673182e-02 8.98606233e+01] [-2.11665507e-01 9.77319133e-01 -6.71010858e-03 -1.41157860e+01] [-3.23700876e-02 -1.48404876e-04 9.99475940e-01 -2.84816616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:89.89, Y:-14.12, Z:-2.85 [[ 9.76634571e-01 2.12423271e-01 3.25771200e-02 8.98921111e+01] [-2.12310937e-01 9.77177735e-01 -6.90942335e-03 -1.41225008e+01] [-3.33013587e-02 -1.68497179e-04 9.99445342e-01 -2.84895306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:89.92, Y:-14.13, Z:-2.85 [[ 9.76306475e-01 2.13773954e-01 3.35613312e-02 8.99248260e+01] [-2.13655309e-01 9.76883130e-01 -7.12448800e-03 -1.41287924e+01] [-3.43085282e-02 -2.14872812e-04 9.99411266e-01 -2.84867798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:89.96, Y:-14.13, Z:-2.85 [[ 9.76207583e-01 2.14327713e-01 3.28996464e-02 8.99574827e+01] [-2.14213807e-01 9.76761783e-01 -6.99023636e-03 -1.41338686e+01] [-3.36333186e-02 -2.23636749e-04 9.99434215e-01 -2.85004248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794012739 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:89.99, Y:-14.14, Z:-2.85 [[ 9.76229507e-01 2.14460172e-01 3.13493897e-02 8.99890684e+01] [-2.14356634e-01 9.76732712e-01 -6.66659401e-03 -1.41383807e+01] [-3.20496933e-02 -2.11823886e-04 9.99486254e-01 -2.85282973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:90.02, Y:-14.14, Z:-2.86 [[ 9.76314967e-01 2.14448695e-01 2.86503635e-02 9.00208056e+01] [-2.14362079e-01 9.76735236e-01 -6.09731960e-03 -1.41427355e+01] [-2.92913818e-02 -1.88647103e-04 9.99570898e-01 -2.85674708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854012739 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:90.05, Y:-14.15, Z:-2.86 [[ 9.76288041e-01 2.14461475e-01 2.94607794e-02 9.00531437e+01] [-2.14369731e-01 9.76732430e-01 -6.27521092e-03 -1.41469769e+01] [-3.01210897e-02 -1.89085997e-04 9.99546239e-01 -2.85635534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:90.09, Y:-14.15, Z:-2.86 [[ 9.76179090e-01 2.14841222e-01 3.02924528e-02 9.00857300e+01] [-2.14744235e-01 9.76648969e-01 -6.45792329e-03 -1.41520166e+01] [-3.09725209e-02 -2.01039922e-04 9.99520216e-01 -2.85663628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914012739 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:90.12, Y:-14.16, Z:-2.86 [[ 9.76091532e-01 2.15121719e-01 3.11121704e-02 9.01171531e+01] [-2.15019348e-01 9.76587222e-01 -6.63912017e-03 -1.41566975e+01] [-3.18119670e-02 -2.09329602e-04 9.99493849e-01 -2.85728774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:90.15, Y:-14.16, Z:-2.86 [[ 9.75969475e-01 2.15596430e-01 3.16506552e-02 9.01499131e+01] [-2.15490535e-01 9.76482529e-01 -6.76013509e-03 -1.41596799e+01] [-3.23637728e-02 -2.22731143e-04 9.99476131e-01 -2.85875421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974012739 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:90.18, Y:-14.16, Z:-2.86 [[ 9.75901582e-01 2.15892875e-01 3.17233270e-02 9.01822535e+01] [-2.15786450e-01 9.76417029e-01 -6.78180254e-03 -1.41646873e+01] [-3.24393395e-02 -2.27092286e-04 9.99473680e-01 -2.86010813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:90.21, Y:-14.17, Z:-2.86 [[ 9.75661029e-01 2.17097201e-01 3.08927414e-02 9.02146953e+01] [-2.16996696e-01 9.76149958e-01 -6.61009832e-03 -1.41668934e+01] [-3.15909821e-02 -2.54407470e-04 9.99500848e-01 -2.86129682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034012739 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:90.25, Y:-14.17, Z:-2.86 [[ 9.75438024e-01 2.18288464e-01 2.95094631e-02 9.02476977e+01] [-2.18197150e-01 9.75884251e-01 -6.31923761e-03 -1.41720594e+01] [-3.01772370e-02 -2.74856110e-04 9.99544526e-01 -2.86200271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:90.28, Y:-14.18, Z:-2.86 [[ 9.75269988e-01 2.19271088e-01 2.77243599e-02 9.02792247e+01] [-2.19190735e-01 9.75663933e-01 -5.94229120e-03 -1.41750990e+01] [-2.83526307e-02 -2.81584568e-04 9.99597944e-01 -2.86355950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09401273900001 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:90.31, Y:-14.18, Z:-2.86 [[ 9.75493994e-01 2.18270902e-01 2.77359248e-02 9.03093509e+01] [-2.18189940e-01 9.75888186e-01 -5.94963473e-03 -1.41797904e+01] [-2.83657934e-02 -2.47866810e-04 9.99597579e-01 -2.86455215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:90.34, Y:-14.19, Z:-2.86 [[ 9.76338090e-01 2.14157783e-01 3.00062849e-02 9.03397898e+01] [-2.14061078e-01 9.76799071e-01 -6.43665391e-03 -1.41850938e+01] [-3.06885707e-02 -1.38827293e-04 9.99528985e-01 -2.86427128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154012739 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:90.37, Y:-14.19, Z:-2.86 [[ 9.76834400e-01 2.11716371e-01 3.11566040e-02 9.03716628e+01] [-2.11610833e-01 9.77331149e-01 -6.68437952e-03 -1.41911456e+01] [-3.18655121e-02 -6.35430646e-05 9.99492164e-01 -2.86445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:90.40, Y:-14.20, Z:-2.86 [[ 9.77250497e-01 2.09742763e-01 3.14553614e-02 9.04036083e+01] [-2.09633995e-01 9.77756602e-01 -6.75387992e-03 -1.41969589e+01] [-3.21722647e-02 6.11943354e-06 9.99482339e-01 -2.85576101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:90.44, Y:-14.20, Z:-2.87 [[ 9.78181608e-01 2.05259196e-01 3.20843167e-02 9.04357997e+01] [-2.05143436e-01 9.78707636e-01 -6.89455133e-03 -1.42036661e+01] [-3.28163358e-02 1.62236341e-04 9.99461386e-01 -2.86718060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:90.47, Y:-14.21, Z:-2.87 [[ 9.78543080e-01 2.03464750e-01 3.24890281e-02 9.04671921e+01] [-2.03344849e-01 9.79082245e-01 -6.98787173e-03 -1.42117754e+01] [-3.32312161e-02 2.31457014e-04 9.99447664e-01 -2.86754470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274012739 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:90.50, Y:-14.22, Z:-2.87 [[ 9.78987562e-01 2.01353957e-01 3.22480572e-02 9.04982425e+01] [-2.01234492e-01 9.79518499e-01 -6.94183726e-03 -1.42199852e+01] [-3.29853350e-02 3.06550930e-04 9.99455789e-01 -2.86682614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:90.53, Y:-14.23, Z:-2.87 [[ 9.79065152e-01 2.01143919e-01 3.11857527e-02 9.05292960e+01] [-2.01031918e-01 9.79561651e-01 -6.71858708e-03 -1.42259032e+01] [-3.18997703e-02 3.08602810e-04 9.99491025e-01 -2.86805585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:90.56, Y:-14.23, Z:-2.87 [[ 9.79057167e-01 2.01332613e-01 3.02033517e-02 9.05605678e+01] [-2.01227487e-01 9.79522889e-01 -6.51217106e-03 -1.42319811e+01] [-3.08959867e-02 2.98043202e-04 9.99522561e-01 -2.87046820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:90.59, Y:-14.24, Z:-2.87 [[ 9.79157673e-01 2.00814884e-01 3.03913613e-02 9.05916016e+01] [-2.00708027e-01 9.79629154e-01 -6.55811057e-03 -1.42398032e+01] [-3.10892297e-02 3.21634126e-04 9.99516561e-01 -2.87280074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:90.62, Y:-14.25, Z:-2.87 [[ 9.79278622e-01 2.00121474e-01 3.10608299e-02 9.06235070e+01] [-2.00009341e-01 9.79771029e-01 -6.70782051e-03 -1.42485037e+01] [-3.17748802e-02 3.56369105e-04 9.99494987e-01 -2.87364193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:90.65, Y:-14.26, Z:-2.87 [[ 9.79473328e-01 1.99035839e-01 3.18862774e-02 9.06544042e+01] [-1.98916891e-01 9.79992127e-01 -6.89218883e-03 -1.42570717e+01] [-3.26200934e-02 4.07995959e-04 9.99467740e-01 -2.87360193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:90.69, Y:-14.26, Z:-2.87 [[ 9.79440115e-01 1.99329447e-01 3.10617661e-02 9.06867638e+01] [-1.99216551e-01 9.79932455e-01 -6.71928747e-03 -1.42642436e+01] [-3.17777846e-02 3.93121763e-04 9.99494881e-01 -2.87437614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:90.72, Y:-14.27, Z:-2.88 [[ 9.79326968e-01 2.00010704e-01 3.02391903e-02 9.07179234e+01] [-1.99903865e-01 9.79793644e-01 -6.54680917e-03 -1.42707465e+01] [-3.09375983e-02 3.66535772e-04 9.99521251e-01 -2.87609756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514012739 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:90.75, Y:-14.28, Z:-2.88 [[ 9.79101418e-01 2.01197485e-01 2.96645500e-02 9.07486985e+01] [-2.01095060e-01 9.79550644e-01 -6.42744619e-03 -1.42753918e+01] [-3.03511150e-02 3.27727218e-04 9.99539245e-01 -2.87701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:90.78, Y:-14.28, Z:-2.88 [[ 9.78867465e-01 2.02275521e-01 3.00516232e-02 9.07789774e+01] [-2.02170774e-01 9.79328608e-01 -6.51583280e-03 -1.42792025e+01] [-3.07484078e-02 3.02576800e-04 9.99527110e-01 -2.87732740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:90.81, Y:-14.28, Z:-2.88 [[ 9.78681183e-01 2.03218473e-01 2.97555773e-02 9.08086422e+01] [-2.03116205e-01 9.79133382e-01 -6.45197746e-03 -1.42845776e+01] [-3.04458400e-02 2.70588993e-04 9.99536381e-01 -2.87828825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:90.84, Y:-14.29, Z:-2.88 [[ 9.78515921e-01 2.04073793e-01 2.93339139e-02 9.08386613e+01] [-2.03974742e-01 9.78955478e-01 -6.36210878e-03 -1.42894030e+01] [-3.00149354e-02 2.42047229e-04 9.99549421e-01 -2.87921430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:90.87, Y:-14.29, Z:-2.88 [[ 9.78393877e-01 2.04850218e-01 2.79608645e-02 9.08683985e+01] [-2.04760541e-01 9.78793311e-01 -6.06433493e-03 -1.42928120e+01] [-2.86101874e-02 2.08026442e-04 9.99590623e-01 -2.88068943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:90.90, Y:-14.30, Z:-2.88 [[ 9.78437713e-01 2.04656872e-01 2.78425367e-02 9.08971222e+01] [-2.04567882e-01 9.78833755e-01 -6.03837989e-03 -1.42986138e+01] [-2.84890107e-02 2.12489850e-04 9.99594083e-01 -2.88161429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694012739 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:90.92, Y:-14.30, Z:-2.88 [[ 9.78770450e-01 2.03078449e-01 2.77047007e-02 9.09249482e+01] [-2.02989722e-01 9.79162437e-01 -6.00788697e-03 -1.43042553e+01] [-2.83474746e-02 2.56572732e-04 9.99598097e-01 -2.88284154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:90.96, Y:-14.31, Z:-2.88 [[ 9.79035053e-01 2.01836182e-01 2.74321152e-02 9.09551501e+01] [-2.01748734e-01 9.79419253e-01 -5.94777764e-03 -1.43101241e+01] [-2.80680185e-02 2.88688275e-04 9.99605974e-01 -2.87929274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:90.99, Y:-14.32, Z:-2.89 [[ 9.79226266e-01 2.00895339e-01 2.75133154e-02 9.09868751e+01] [-2.00807013e-01 9.79612660e-01 -5.96497914e-03 -1.43163697e+01] [-2.81507286e-02 3.16197569e-04 9.99603640e-01 -2.88503749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:91.02, Y:-14.32, Z:-2.89 [[ 9.79556700e-01 1.99268985e-01 2.75779546e-02 9.10174955e+01] [-1.99179459e-01 9.79944762e-01 -5.98394779e-03 -1.43243578e+01] [-2.82172873e-02 3.68654093e-04 9.99601745e-01 -2.88596128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:91.05, Y:-14.33, Z:-2.89 [[ 9.79835341e-01 1.97827295e-01 2.80547052e-02 9.10492523e+01] [-1.97733956e-01 9.80236800e-01 -6.09083345e-03 -1.43347278e+01] [-2.87051876e-02 4.20646027e-04 9.99587833e-01 -2.88702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:91.08, Y:-14.34, Z:-2.89 [[ 9.79895120e-01 1.97430295e-01 2.87546892e-02 9.10803837e+01] [-1.97331895e-01 9.80316825e-01 -6.24867834e-03 -1.43430449e+01] [-2.94223840e-02 4.48832089e-04 9.99566967e-01 -2.88806435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874012739 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:91.11, Y:-14.35, Z:-2.89 [[ 9.80004707e-01 1.96819811e-01 2.92016365e-02 9.11128065e+01] [-1.96717891e-01 9.80439560e-01 -6.35136806e-03 -1.43512086e+01] [-2.98805147e-02 4.79886269e-04 9.99553363e-01 -2.88842103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:91.14, Y:-14.36, Z:-2.89 [[ 9.80088109e-01 1.96222583e-01 3.03973114e-02 9.11437579e+01] [-1.96111770e-01 9.80559242e-01 -6.61418732e-03 -1.43605433e+01] [-3.11042176e-02 5.21215791e-04 9.99516011e-01 -2.88895423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934012739 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:91.18, Y:-14.37, Z:-2.89 [[ 9.80058073e-01 1.96351009e-01 3.05361107e-02 9.11752680e+01] [-1.96239068e-01 9.80533531e-01 -6.65000507e-03 -1.43690096e+01] [-3.12474157e-02 5.25013238e-04 9.99511542e-01 -2.88960488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:91.21, Y:-14.38, Z:-2.89 [[ 9.79790512e-01 1.97699377e-01 3.04221933e-02 9.12059191e+01] [-1.97588737e-01 9.80262577e-01 -6.63105141e-03 -1.43789601e+01] [-3.11326924e-02 4.85958512e-04 9.99515142e-01 -2.89041640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994012739 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:91.24, Y:-14.39, Z:-2.89 [[ 9.79638047e-01 1.98591227e-01 2.95096844e-02 9.12383904e+01] [-1.98487374e-01 9.80082304e-01 -6.43733163e-03 -1.43870094e+01] [-3.02003171e-02 4.48955223e-04 9.99543766e-01 -2.89202479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:91.27, Y:-14.39, Z:-2.89 [[ 9.79448777e-01 1.99773615e-01 2.77596032e-02 9.12696951e+01] [-1.99682045e-01 9.79842002e-01 -6.06072214e-03 -1.43947886e+01] [-2.84107976e-02 3.93072540e-04 9.99596255e-01 -2.89370941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:91.30, Y:-14.40, Z:-2.90 [[ 9.78838295e-01 2.02921091e-01 2.64314710e-02 9.13003289e+01] [-2.02839141e-01 9.79195050e-01 -5.77375332e-03 -1.44045820e+01] [-2.70531819e-02 2.90233983e-04 9.99633954e-01 -2.89512569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:91.33, Y:-14.41, Z:-2.90 [[ 9.78826853e-01 2.02976367e-01 2.64307686e-02 9.13322089e+01] [-2.02894350e-01 9.79183593e-01 -5.77696702e-03 -1.44116473e+01] [-2.70531627e-02 2.91996842e-04 9.99633954e-01 -2.89612273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114012739 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:91.36, Y:-14.42, Z:-2.90 [[ 9.78433797e-01 2.04828251e-01 2.66963104e-02 9.13641093e+01] [-2.04745235e-01 9.78797899e-01 -5.83617285e-03 -1.44199803e+01] [-2.73257056e-02 2.44366417e-04 9.99626553e-01 -2.89668727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:91.39, Y:-14.43, Z:-2.90 [[ 9.77422621e-01 2.09478566e-01 2.76360227e-02 9.13940344e+01] [-2.09391296e-01 9.77813231e-01 -6.04733479e-03 -1.44277555e+01] [-2.82896557e-02 1.24059223e-04 9.99599760e-01 -2.89666727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174012739 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:91.42, Y:-14.43, Z:-2.90 [[ 9.76835594e-01 2.12119533e-01 2.82404952e-02 9.14245996e+01] [-2.12029372e-01 9.77243726e-01 -6.18420398e-03 -1.44349278e+01] [-2.89096372e-02 5.31360877e-05 9.99582028e-01 -2.89732528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:91.46, Y:-14.44, Z:-2.90 [[ 9.75925840e-01 2.16303700e-01 2.79546871e-02 9.14550882e+01] [-2.16216938e-01 9.76326126e-01 -6.12623523e-03 -1.44417016e+01] [-2.86180187e-02 -6.55255647e-05 9.99590418e-01 -2.89801618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:91.49, Y:-14.45, Z:-2.90 [[ 9.75477442e-01 2.18288029e-01 2.81797135e-02 9.14850652e+01] [-2.18200673e-01 9.75884379e-01 -6.17619195e-03 -1.44475568e+01] [-2.88483310e-02 -1.24096522e-04 9.99583793e-01 -2.89884946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:91.52, Y:-14.45, Z:-2.90 [[ 9.74886793e-01 2.20801928e-01 2.90215414e-02 9.15159891e+01] [-2.20710335e-01 9.75318649e-01 -6.36242019e-03 -1.44535923e+01] [-2.97100852e-02 -2.02714710e-04 9.99558537e-01 -2.89971944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:91.54, Y:-14.46, Z:-2.90 [[ 9.73251779e-01 2.27665577e-01 3.08116803e-02 9.15445028e+01] [-2.27565743e-01 9.73739285e-01 -6.75561584e-03 -1.44563460e+01] [-3.15405647e-02 -4.36767775e-04 9.99502377e-01 -2.89832231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:91.58, Y:-14.46, Z:-2.90 [[ 9.72317448e-01 2.31595773e-01 3.10189867e-02 9.15750255e+01] [-2.31496622e-01 9.72811942e-01 -6.79997258e-03 -1.44594555e+01] [-3.17504856e-02 -5.69058657e-04 9.99495664e-01 -2.89881098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354012739 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:91.61, Y:-14.46, Z:-2.90 [[ 9.70383797e-01 2.39762209e-01 2.94850803e-02 9.16063319e+01] [-2.39676383e-01 9.70831320e-01 -6.46371818e-03 -1.44568842e+01] [-3.01747947e-02 -7.94590001e-04 9.99544321e-01 -2.90021741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:91.63, Y:-14.46, Z:-2.90 [[ 9.69607250e-01 2.42961030e-01 2.88395316e-02 9.16341708e+01] [-2.42880354e-01 9.70035655e-01 -6.32152754e-03 -1.44578473e+01] [-2.95112588e-02 -8.75156697e-04 9.99564065e-01 -2.90187905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414012739 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:91.66, Y:-14.46, Z:-2.90 [[ 9.68882115e-01 2.45808552e-01 2.90792423e-02 9.16630536e+01] [-2.45727863e-01 9.69317911e-01 -6.37223785e-03 -1.44553915e+01] [-2.97533809e-02 -9.71632774e-04 9.99556798e-01 -2.90315519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:91.69, Y:-14.46, Z:-2.90 [[ 9.68977097e-01 2.45417257e-01 2.92190926e-02 9.16908281e+01] [-2.45335666e-01 9.69417060e-01 -6.40110219e-03 -1.44575571e+01] [-2.98964278e-02 -9.65964128e-04 9.99552535e-01 -2.90363855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474012739 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:91.72, Y:-14.46, Z:-2.90 [[ 9.69777169e-01 2.42277695e-01 2.88749017e-02 9.17207696e+01] [-2.42196676e-01 9.70206564e-01 -6.32394021e-03 -1.44560652e+01] [-2.95467688e-02 -8.60592376e-04 9.99563028e-01 -2.90485743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:91.75, Y:-14.46, Z:-2.91 [[ 9.70433595e-01 2.39621939e-01 2.89821272e-02 9.17480415e+01] [-2.39539174e-01 9.70865960e-01 -6.34602382e-03 -1.44579903e+01] [-2.96584073e-02 -7.83960110e-04 9.99559785e-01 -2.90561816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534012739 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:91.78, Y:-14.46, Z:-2.91 [[ 9.71808081e-01 2.33939516e-01 2.93488703e-02 9.17765289e+01] [-2.33852147e-01 9.72250954e-01 -6.42313304e-03 -1.44570353e+01] [-3.00370918e-02 -6.21243717e-04 9.99548592e-01 -2.90626634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:91.80, Y:-14.46, Z:-2.91 [[ 9.72587150e-01 2.30651417e-01 2.95661989e-02 9.18047745e+01] [-2.30561295e-01 9.73036303e-01 -6.46852197e-03 -1.44600208e+01] [-3.02609586e-02 -5.25619769e-04 9.99541894e-01 -2.90670140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59401273900001 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:91.83, Y:-14.46, Z:-2.91 [[ 9.73344961e-01 2.27376870e-01 2.99890900e-02 9.18325316e+01] [-2.27282653e-01 9.73806743e-01 -6.55920026e-03 -1.44634605e+01] [-3.06949885e-02 -4.31635404e-04 9.99528705e-01 -2.90707713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:91.86, Y:-14.47, Z:-2.91 [[ 9.74836756e-01 2.20816805e-01 3.05489479e-02 9.18613305e+01] [-2.20715881e-01 9.75315275e-01 -6.67940680e-03 -1.44666713e+01] [-3.12697808e-02 -2.31306702e-04 9.99510954e-01 -2.90884181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654012739 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:91.89, Y:-14.47, Z:-2.91 [[ 9.75627957e-01 2.17334197e-01 3.02644478e-02 9.18887440e+01] [-2.17233516e-01 9.76097245e-01 -6.61567403e-03 -1.44719907e+01] [-3.09788563e-02 -1.20015871e-04 9.99520033e-01 -2.90984790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters Centerline goodness : 0.989754 Centerline is valid? [True, True] Translation: X:91.92, Y:-14.48, Z:-2.90 [[ 9.77054803e-01 2.11131613e-01 2.80598313e-02 9.19167907e+01] [-2.11042555e-01 9.77457640e-01 -6.13209435e-03 -1.44786121e+01] [-2.87219755e-02 6.95737273e-05 9.99587437e-01 -2.89932163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714012739 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:91.94, Y:-14.48, Z:-2.91 [[ 9.77623886e-01 2.08411952e-01 2.85656364e-02 9.19445342e+01] [-2.08318536e-01 9.78041122e-01 -6.24117221e-03 -1.44849237e+01] [-2.92391019e-02 1.50767494e-04 9.99572435e-01 -2.91137882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:91.97, Y:-14.49, Z:-2.90 [[ 9.78036141e-01 2.06555773e-01 2.79288405e-02 9.19713718e+01] [-2.06465757e-01 9.78434807e-01 -6.10070578e-03 -1.44920271e+01] [-2.85866857e-02 2.00361520e-04 9.99591297e-01 -2.89969249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774012739 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:92.00, Y:-14.50, Z:-2.91 [[ 9.78555066e-01 2.03985057e-01 2.86370271e-02 9.19984167e+01] [-2.03889374e-01 9.78973962e-01 -6.25341692e-03 -1.45015923e+01] [-2.93105075e-02 2.80527271e-04 9.99570315e-01 -2.91401555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:92.03, Y:-14.51, Z:-2.91 [[ 9.78835103e-01 2.02757044e-01 2.77744805e-02 9.20252230e+01] [-2.02666583e-01 9.79229027e-01 -6.06373447e-03 -1.45115288e+01] [-2.84270424e-02 3.06437082e-04 9.99595823e-01 -2.91494234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834012739 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:92.05, Y:-14.52, Z:-2.92 [[ 9.78888629e-01 2.02465149e-01 2.80163580e-02 9.20533447e+01] [-2.02373015e-01 9.79289417e-01 -6.11553498e-03 -1.45191925e+01] [-2.86743056e-02 3.16672832e-04 9.99588757e-01 -2.91575482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:92.08, Y:-14.53, Z:-2.91 [[ 9.78837335e-01 2.02656146e-01 2.84245989e-02 9.20816903e+01] [-2.02561428e-01 9.79249911e-01 -6.20324713e-03 -1.45268627e+01] [-2.90919121e-02 3.14242556e-04 9.99576691e-01 -2.91485398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894012739 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:92.11, Y:-14.54, Z:-2.92 [[ 9.78603715e-01 2.03608908e-01 2.96341363e-02 9.21090888e+01] [-2.03506414e-01 9.79052258e-01 -6.46646614e-03 -1.45356437e+01] [-3.03299981e-02 2.97370986e-04 9.99539896e-01 -2.91529484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:92.14, Y:-14.54, Z:-2.92 [[ 9.78429337e-01 2.04365088e-01 3.01818471e-02 9.21379293e+01] [-2.04259164e-01 9.78894700e-01 -6.58487429e-03 -1.45437743e+01] [-3.08905686e-02 2.77915326e-04 9.99522734e-01 -2.91671659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:92.17, Y:-14.55, Z:-2.92 [[ 9.77859285e-01 2.06834727e-01 3.17901571e-02 9.21655214e+01] [-2.06718540e-01 9.78375875e-01 -6.93493739e-03 -1.45540219e+01] [-3.25371086e-02 2.09778059e-04 9.99470506e-01 -2.91723187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:92.19, Y:-14.56, Z:-2.92 [[ 9.77500414e-01 2.08431898e-01 3.23895631e-02 9.21940829e+01] [-2.08312202e-01 9.78036870e-01 -7.06454483e-03 -1.45613662e+01] [-3.31506634e-02 1.58454283e-04 9.99450353e-01 -2.91797976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014012739 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.57, Z:-2.92 [[ 9.76666427e-01 2.12418229e-01 3.16415295e-02 9.22247002e+01] [-2.12306110e-01 9.77178845e-01 -6.90074152e-03 -1.45693412e+01] [-3.23852765e-02 2.20325244e-05 9.99475459e-01 -2.91841742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:92.25, Y:-14.58, Z:-2.92 [[ 9.76118286e-01 2.15042170e-01 3.08213762e-02 9.22532698e+01] [-2.14937073e-01 9.76604762e-01 -6.72261022e-03 -1.45764848e+01] [-3.15459474e-02 -6.25936247e-05 9.99502301e-01 -2.91876590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074012739 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:92.28, Y:-14.58, Z:-2.91 [[ 9.75559666e-01 2.17668481e-01 3.00627838e-02 9.22811685e+01] [-2.17569752e-01 9.76022752e-01 -6.55676632e-03 -1.45834977e+01] [-3.07691624e-02 -1.44235671e-04 9.99526507e-01 -2.91132739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:92.31, Y:-14.59, Z:-2.92 [[ 9.74336111e-01 2.23013713e-01 3.05618334e-02 9.23091579e+01] [-2.22914341e-01 9.74815255e-01 -6.66445989e-03 -1.45907495e+01] [-3.12784074e-02 -3.19247018e-04 9.99510660e-01 -2.92105342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134012739 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:92.34, Y:-14.60, Z:-2.92 [[ 9.72927793e-01 2.29040362e-01 3.08548651e-02 9.23375295e+01] [-2.28942145e-01 9.73416788e-01 -6.72689580e-03 -1.45971114e+01] [-3.15753743e-02 -5.19195126e-04 9.99501239e-01 -2.92199440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:92.37, Y:-14.60, Z:-2.92 [[ 9.72162675e-01 2.32311692e-01 3.05124867e-02 9.23654235e+01] [-2.32217299e-01 9.72641195e-01 -6.65076300e-03 -1.46026581e+01] [-3.12227515e-02 -6.19903686e-04 9.99512259e-01 -2.92316156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194012739 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:92.39, Y:-14.61, Z:-2.92 [[ 9.71452794e-01 2.35336918e-01 2.99333355e-02 9.23927199e+01] [-2.35247554e-01 9.71913596e-01 -6.52305067e-03 -1.46076623e+01] [-3.06277304e-02 -7.04908171e-04 9.99530612e-01 -2.92438542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.61, Z:-2.93 [[ 9.70619700e-01 2.38754753e-01 2.98925705e-02 9.24215874e+01] [-2.38667308e-01 9.71079557e-01 -6.51231266e-03 -1.46117127e+01] [-3.05829097e-02 -8.13400353e-04 9.99531902e-01 -2.92637233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254012739 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:92.45, Y:-14.62, Z:-2.93 [[ 9.70557139e-01 2.39003650e-01 2.99348355e-02 9.24502243e+01] [-2.38916120e-01 9.71018319e-01 -6.52004034e-03 -1.46176764e+01] [-3.06255871e-02 -8.23843060e-04 9.99530587e-01 -2.92703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:92.48, Y:-14.62, Z:-2.93 [[ 9.70756534e-01 2.38322121e-01 2.88845854e-02 9.24780689e+01] [-2.38240366e-01 9.71185855e-01 -6.28989077e-03 -1.46226880e+01] [-2.95513209e-02 -7.75521644e-04 9.99562963e-01 -2.92909927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314012739 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:92.51, Y:-14.63, Z:-2.93 [[ 9.70945733e-01 2.37654886e-01 2.80096118e-02 9.25066171e+01] [-2.37577786e-01 9.71349379e-01 -6.09749007e-03 -1.46286409e+01] [-2.86562174e-02 -7.34129609e-04 9.99589057e-01 -2.93079943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:92.53, Y:-14.63, Z:-2.93 [[ 9.71183058e-01 2.36764091e-01 2.73172486e-02 9.25341525e+01] [-2.36690441e-01 9.71566923e-01 -5.94545934e-03 -1.46344906e+01] [-2.79482064e-02 -6.91602211e-04 9.99609133e-01 -2.93222483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:92.56, Y:-14.64, Z:-2.93 [[ 9.71618097e-01 2.34927054e-01 2.77047537e-02 9.25618673e+01] [-2.34850602e-01 9.72012787e-01 -6.02806099e-03 -1.46407450e+01] [-2.83455295e-02 -6.49504923e-04 9.99597974e-01 -2.93285019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:92.59, Y:-14.65, Z:-2.93 [[ 9.71878862e-01 2.33696134e-01 2.89412385e-02 9.25899426e+01] [-2.33612224e-01 9.72309469e-01 -6.29487731e-03 -1.46453511e+01] [-2.96109287e-02 -6.43168899e-04 9.99561293e-01 -2.93344970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:92.62, Y:-14.65, Z:-2.93 [[ 9.71802524e-01 2.33974272e-01 2.92556786e-02 9.26180971e+01] [-2.33888698e-01 9.72242565e-01 -6.36183016e-03 -1.46510735e+01] [-2.99321206e-02 -6.60129954e-04 9.99551716e-01 -2.93447366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:92.65, Y:-14.65, Z:-2.94 [[ 9.71669321e-01 2.34682796e-01 2.79770484e-02 9.26455696e+01] [-2.34510488e-01 9.72068766e-01 -9.33513194e-03 -1.46546813e+01] [-2.93864098e-02 2.50975005e-03 9.99564975e-01 -2.93539193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494012739 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:92.67, Y:-14.67, Z:-2.94 [[ 9.71369793e-01 2.35774484e-01 2.91739243e-02 9.26726155e+01] [-2.35786521e-01 9.71800007e-01 -3.07606106e-03 -1.46651886e+01] [-2.90764766e-02 -3.89082533e-03 9.99569617e-01 -2.93639046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:92.70, Y:-14.67, Z:-2.94 [[ 9.71263642e-01 2.36361798e-01 2.79291545e-02 9.27004586e+01] [-2.36284924e-01 9.71664862e-01 -6.06884456e-03 -1.46676914e+01] [-2.85722210e-02 -7.04790061e-04 9.99591482e-01 -2.93704477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:92.73, Y:-14.67, Z:-2.94 [[ 9.71204971e-01 2.36605736e-01 2.79039312e-02 9.27277078e+01] [-2.36529155e-01 9.71605484e-01 -6.06150579e-03 -1.46718722e+01] [-2.85457996e-02 -7.13128704e-04 9.99592231e-01 -2.93801417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:92.76, Y:-14.68, Z:-2.94 [[ 9.71280495e-01 2.36071527e-01 2.97394505e-02 9.27557441e+01] [-2.35984357e-01 9.71735395e-01 -6.45795558e-03 -1.46758338e+01] [-3.04234161e-02 -7.45558794e-04 9.99536823e-01 -2.93894095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614012739 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:92.78, Y:-14.68, Z:-2.94 [[ 9.71545875e-01 2.34804984e-01 3.10681986e-02 9.27837840e+01] [-2.34709275e-01 9.72042217e-01 -6.74415326e-03 -1.46805413e+01] [-3.17831615e-02 -7.39740103e-04 9.99494514e-01 -2.94015786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:92.81, Y:-14.69, Z:-2.94 [[ 9.71783868e-01 2.33849203e-01 3.08328401e-02 9.28107007e+01] [-2.33754507e-01 9.72272623e-01 -6.69154835e-03 -1.46854099e+01] [-3.15427396e-02 -7.04576602e-04 9.99502156e-01 -2.94102574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:92.84, Y:-14.69, Z:-2.94 [[ 9.72055895e-01 2.32840174e-01 2.98796069e-02 9.28383484e+01] [-2.32750821e-01 9.72514795e-01 -6.48290676e-03 -1.46908961e+01] [-3.05678409e-02 -6.52755304e-04 9.99532481e-01 -2.94243218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:92.87, Y:-14.70, Z:-2.94 [[ 9.72553894e-01 2.30957268e-01 2.82429309e-02 9.28664993e+01] [-2.30876691e-01 9.72963732e-01 -6.12616809e-03 -1.46985690e+01] [-2.88942305e-02 -5.62605788e-04 9.99582316e-01 -2.94462397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734012739 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:92.89, Y:-14.70, Z:-2.95 [[ 9.72647084e-01 2.30546205e-01 2.83918613e-02 9.28934507e+01] [-2.30464640e-01 9.73061221e-01 -6.15708606e-03 -1.47039965e+01] [-2.90465121e-02 -5.54648307e-04 9.99577907e-01 -2.94512454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:92.92, Y:-14.71, Z:-2.95 [[ 9.72364447e-01 2.31638250e-01 2.91736585e-02 9.29215855e+01] [-2.31552677e-01 9.72801806e-01 -6.32478932e-03 -1.47061880e+01] [-2.98452508e-02 -6.05238467e-04 9.99554348e-01 -2.94534519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794012739 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:92.95, Y:-14.71, Z:-2.95 [[ 9.72297617e-01 2.31898313e-01 2.93345640e-02 9.29494839e+01] [-2.31811965e-01 9.72739837e-01 -6.35789741e-03 -1.47101524e+01] [-3.00092847e-02 -6.18334427e-04 9.99549429e-01 -2.94631508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:92.98, Y:-14.71, Z:-2.95 [[ 9.72420819e-01 2.31496832e-01 2.84071672e-02 9.29773551e+01] [-2.31415744e-01 9.72835479e-01 -6.15494825e-03 -1.47120198e+01] [-2.90603512e-02 -5.88665911e-04 9.99577485e-01 -2.94785524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854012739 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:93.00, Y:-14.72, Z:-2.95 [[ 9.72533622e-01 2.31122149e-01 2.75845153e-02 9.30049111e+01] [-2.31045594e-01 9.72924579e-01 -5.97477986e-03 -1.47153845e+01] [-2.82185569e-02 -5.62606413e-04 9.99601619e-01 -2.94922205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:93.03, Y:-14.72, Z:-2.95 [[ 9.72653951e-01 2.30661892e-01 2.71916042e-02 9.30312682e+01] [-2.30587376e-01 9.73033811e-01 -5.88775038e-03 -1.47188004e+01] [-2.78164299e-02 -5.43296998e-04 9.99612901e-01 -2.95077552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914012739 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:93.06, Y:-14.72, Z:-2.95 [[ 9.72939591e-01 2.29364386e-01 2.79379816e-02 9.30591690e+01] [-2.29285258e-01 9.73340488e-01 -6.04690477e-03 -1.47218735e+01] [-2.85801133e-02 -5.22494260e-04 9.99591369e-01 -2.95180719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:93.09, Y:-14.73, Z:-2.95 [[ 9.73080760e-01 2.28676080e-01 2.86545905e-02 9.30863282e+01] [-2.28592607e-01 9.73502431e-01 -6.19975779e-03 -1.47259935e+01] [-2.93130498e-02 -5.17362527e-04 9.99570146e-01 -2.95165924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974012739 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:93.11, Y:-14.73, Z:-2.95 [[ 9.73093600e-01 2.28621385e-01 2.86549647e-02 9.31141936e+01] [-2.28537940e-01 9.73515277e-01 -6.19802764e-03 -1.47318872e+01] [-2.93130476e-02 -5.17485581e-04 9.99570146e-01 -2.95252879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:93.14, Y:-14.73, Z:-2.95 [[ 9.73662178e-01 2.26087623e-01 2.94338074e-02 9.31422888e+01] [-2.25998475e-01 9.74106863e-01 -6.36471780e-03 -1.47323029e+01] [-3.01106577e-02 -4.54910572e-04 9.99546468e-01 -2.95206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:93.17, Y:-14.74, Z:-2.95 [[ 9.73934676e-01 2.24974769e-01 2.89413111e-02 9.31699788e+01] [-2.24888152e-01 9.74364501e-01 -6.25609022e-03 -1.47362577e+01] [-2.96068486e-02 -4.15534759e-04 9.99561535e-01 -2.95300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:93.20, Y:-14.74, Z:-2.95 [[ 9.74233286e-01 2.23507299e-01 3.02323010e-02 9.31966992e+01] [-2.23412135e-01 9.74702178e-01 -6.53318074e-03 -1.47404450e+01] [-3.09277032e-02 -3.89420781e-04 9.99521548e-01 -2.95272715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09401273900001 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:93.22, Y:-14.74, Z:-2.95 [[ 9.74272426e-01 2.23216041e-01 3.11101123e-02 9.32247268e+01] [-2.23115227e-01 9.74768918e-01 -6.71954174e-03 -1.47443801e+01] [-3.18250800e-02 -3.94475528e-04 9.99493376e-01 -2.95389046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:93.25, Y:-14.74, Z:-2.95 [[ 9.74388990e-01 2.22505725e-01 3.25161221e-02 9.32528606e+01] [-2.22395264e-01 9.74931305e-01 -7.02113141e-03 -1.47445534e+01] [-3.32632273e-02 -3.90118408e-04 9.99446550e-01 -2.95498719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154012739 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:93.28, Y:-14.75, Z:-2.96 [[ 9.74514343e-01 2.22089679e-01 3.15906503e-02 9.32806060e+01] [-2.21985272e-01 9.75026174e-01 -6.81904614e-03 -1.47490082e+01] [-3.23161507e-02 -3.67400840e-04 9.99477629e-01 -2.95542187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:93.31, Y:-14.75, Z:-2.96 [[ 9.74616724e-01 2.21785580e-01 3.05515449e-02 9.33086803e+01] [-2.21687848e-01 9.75095398e-01 -6.59259546e-03 -1.47536755e+01] [-3.12528134e-02 -3.47652455e-04 9.99511451e-01 -2.95622528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214012739 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:93.34, Y:-14.75, Z:-2.96 [[ 9.74750290e-01 2.21278529e-01 2.99614000e-02 9.33356832e+01] [-2.21184364e-01 9.75210595e-01 -6.46311082e-03 -1.47541521e+01] [-3.06488224e-02 -3.27074035e-04 9.99530161e-01 -2.95650221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:93.36, Y:-14.76, Z:-2.96 [[ 9.74798991e-01 2.20934856e-01 3.08984779e-02 9.33635451e+01] [-2.20834619e-01 9.75288512e-01 -6.66258927e-03 -1.47568502e+01] [-3.16069288e-02 -3.28768292e-04 9.99500322e-01 -2.95688706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274012739 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:93.39, Y:-14.76, Z:-2.96 [[ 9.74815087e-01 2.20667413e-01 3.22713398e-02 9.33918515e+01] [-2.20557992e-01 9.75349055e-01 -6.95648766e-03 -1.47593805e+01] [-3.30108909e-02 -3.36412769e-04 9.99454935e-01 -2.95665502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:93.42, Y:-14.76, Z:-2.96 [[ 9.74946465e-01 2.20171874e-01 3.16817843e-02 9.34186685e+01] [-2.20066232e-01 9.75461043e-01 -6.82698265e-03 -1.47634125e+01] [-3.24074560e-02 -3.16148302e-04 9.99474690e-01 -2.95819337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:93.45, Y:-14.77, Z:-2.96 [[ 9.75115088e-01 2.19543035e-01 3.08451205e-02 9.34451677e+01] [-2.19442691e-01 9.75602773e-01 -6.64335274e-03 -1.47670234e+01] [-3.15510869e-02 -2.90702741e-04 9.99502098e-01 -2.95969051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:93.47, Y:-14.77, Z:-2.96 [[ 9.75585252e-01 2.17592062e-01 2.97844093e-02 9.34736020e+01] [-2.17497668e-01 9.76039776e-01 -6.41243668e-03 -1.47679898e+01] [-3.04660635e-02 -2.22160905e-04 9.99535777e-01 -2.96205588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394012739 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:93.50, Y:-14.77, Z:-2.96 [[ 9.76104235e-01 2.15291667e-01 2.94961238e-02 9.35007953e+01] [-2.15198109e-01 9.76549781e-01 -6.34812617e-03 -1.47721997e+01] [-3.01711319e-02 -1.51077223e-04 9.99544736e-01 -2.96287157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:93.53, Y:-14.78, Z:-2.96 [[ 9.76535477e-01 2.13393845e-01 2.90091268e-02 9.35282365e+01] [-2.13302589e-01 9.76966252e-01 -6.24075787e-03 -1.47770560e+01] [-2.96726772e-02 -9.34003894e-05 9.99559665e-01 -2.96342615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454012739 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:93.55, Y:-14.78, Z:-2.96 [[ 9.76890663e-01 2.11768527e-01 2.89607129e-02 9.35547124e+01] [-2.11676927e-01 9.77319850e-01 -6.22815300e-03 -1.47817423e+01] [-2.96228064e-02 -4.60901810e-05 9.99561147e-01 -2.96451712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:93.58, Y:-14.79, Z:-2.97 [[ 9.77254800e-01 2.10087994e-01 2.89152379e-02 9.35821057e+01] [-2.09996021e-01 9.77682482e-01 -6.21580636e-03 -1.47868199e+01] [-2.95757879e-02 2.34169018e-06 9.99562541e-01 -2.96519599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514012739 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:93.61, Y:-14.79, Z:-2.97 [[ 9.77908480e-01 2.06855198e-01 3.00987037e-02 9.36092650e+01] [-2.06754081e-01 9.78371564e-01 -6.46785671e-03 -1.47924948e+01] [-3.07856256e-02 1.01942086e-04 9.99526005e-01 -2.96573767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:93.64, Y:-14.80, Z:-2.97 [[ 9.78376636e-01 2.04519063e-01 3.08400821e-02 9.36357099e+01] [-2.04411816e-01 9.78862565e-01 -6.62479437e-03 -1.47990010e+01] [-3.15430986e-02 1.77466834e-04 9.99502377e-01 -2.96582652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574012739 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:93.66, Y:-14.81, Z:-2.97 [[ 9.78520973e-01 2.03735056e-01 3.14441096e-02 9.36625235e+01] [-2.03623250e-01 9.79026039e-01 -6.75180263e-03 -1.48064377e+01] [-3.21601809e-02 2.04028698e-04 9.99482707e-01 -2.96601878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:93.69, Y:-14.81, Z:-2.97 [[ 9.78702539e-01 2.02766772e-01 3.20464653e-02 9.36900693e+01] [-2.02650198e-01 9.79227032e-01 -6.87880315e-03 -1.48138486e+01] [-3.27755578e-02 2.38079580e-04 9.99462709e-01 -2.96649804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634012739 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:93.72, Y:-14.82, Z:-2.97 [[ 9.78699838e-01 2.02647130e-01 3.28750329e-02 9.37164646e+01] [-2.02524438e-01 9.79251796e-01 -7.05493880e-03 -1.48215006e+01] [-3.36225981e-02 2.46669900e-04 9.99434570e-01 -2.96609735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:93.74, Y:-14.83, Z:-2.97 [[ 9.78491786e-01 2.03763706e-01 3.21586217e-02 9.37435799e+01] [-2.03646972e-01 9.79020077e-01 -6.89924381e-03 -1.48276955e+01] [-3.28897518e-02 2.01847475e-04 9.99458965e-01 -2.96728093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694012739 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:93.77, Y:-14.83, Z:-2.97 [[ 9.77700429e-01 2.07719025e-01 3.08978606e-02 9.37716728e+01] [-2.07613298e-01 9.78188531e-01 -6.62693819e-03 -1.48342825e+01] [-3.16004740e-02 6.43535869e-05 9.99500578e-01 -2.96849199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:93.80, Y:-14.84, Z:-2.97 [[ 9.77289155e-01 2.09682008e-01 3.06490265e-02 9.37975919e+01] [-2.09578991e-01 9.77769633e-01 -6.57199944e-03 -1.48400574e+01] [-3.13457174e-02 -6.48265995e-07 9.99508602e-01 -2.96917013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754012739 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:93.82, Y:-14.85, Z:-2.97 [[ 9.76706281e-01 2.12615116e-01 2.89767756e-02 9.38245225e+01] [-2.12524398e-01 9.77136021e-01 -6.21100307e-03 -1.48457743e+01] [-2.96348044e-02 -9.19460818e-05 9.99560789e-01 -2.97072736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:93.85, Y:-14.85, Z:-2.97 [[ 9.76597440e-01 2.13224948e-01 2.81524606e-02 9.38515371e+01] [-2.13139629e-01 9.77003127e-01 -6.03233133e-03 -1.48516442e+01] [-2.87912856e-02 -1.09245671e-04 9.99585439e-01 -2.97173477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814012739 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:93.88, Y:-14.86, Z:-2.97 [[ 9.76674290e-01 2.12861935e-01 2.82334563e-02 9.38781866e+01] [-2.12776032e-01 9.77082282e-01 -6.04763215e-03 -1.48571033e+01] [-2.88737206e-02 -1.00835957e-04 9.99583062e-01 -2.97245206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:93.90, Y:-14.86, Z:-2.97 [[ 9.76877044e-01 2.11586824e-01 3.06961970e-02 9.39049087e+01] [-2.11484736e-01 9.77359202e-01 -6.57233292e-03 -1.48638099e+01] [-3.13918296e-02 -7.14159710e-05 9.99507153e-01 -2.97255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874012739 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:93.93, Y:-14.87, Z:-2.97 [[ 9.76915646e-01 2.11274780e-01 3.16036139e-02 9.39323544e+01] [-2.11166479e-01 9.77426705e-01 -6.76424450e-03 -1.48698045e+01] [-3.23193304e-02 -6.55275797e-05 9.99477592e-01 -2.97285843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:93.96, Y:-14.87, Z:-2.97 [[ 9.76457813e-01 2.13413002e-01 3.13851969e-02 9.39590748e+01] [-2.13307375e-01 9.76962062e-01 -6.71509391e-03 -1.48724697e+01] [-3.20952351e-02 -1.37688041e-04 9.99484806e-01 -2.97268075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:93.99, Y:-14.88, Z:-2.97 [[ 9.76024872e-01 2.15427665e-01 3.10865008e-02 9.39870995e+01] [-2.15325146e-01 9.76519779e-01 -6.64846714e-03 -1.48755887e+01] [-3.17888466e-02 -2.04636037e-04 9.99494586e-01 -2.97340033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:94.01, Y:-14.88, Z:-2.97 [[ 9.75502779e-01 2.17798393e-01 3.09546077e-02 9.40136525e+01] [-2.17698011e-01 9.75993740e-01 -6.61784804e-03 -1.48789724e+01] [-3.16528600e-02 -2.83027375e-04 9.99498883e-01 -2.97482709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994012739 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:94.04, Y:-14.88, Z:-2.98 [[ 9.74454375e-01 2.22388298e-01 3.13387262e-02 9.40423073e+01] [-2.22287888e-01 9.74958076e-01 -6.69655889e-03 -1.48796308e+01] [-3.20431805e-02 -4.40728149e-04 9.99486388e-01 -2.97590399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:94.07, Y:-14.88, Z:-2.98 [[ 9.73779410e-01 2.25473843e-01 3.02523973e-02 9.40714351e+01] [-2.25381830e-01 9.74249080e-01 -6.46225570e-03 -1.48782330e+01] [-3.09304399e-02 -5.25529137e-04 9.99521401e-01 -2.97730978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054012739 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:94.10, Y:-14.88, Z:-2.98 [[ 9.73840297e-01 2.25310174e-01 2.95025600e-02 9.40995984e+01] [-2.25222657e-01 9.74286953e-01 -6.29989492e-03 -1.48802669e+01] [-3.01633897e-02 -5.09553420e-04 9.99544852e-01 -2.97853158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:94.13, Y:-14.88, Z:-2.98 [[ 9.74076358e-01 2.24346884e-01 2.90469474e-02 9.41267018e+01] [-2.24261686e-01 9.74509236e-01 -6.20043301e-03 -1.48824468e+01] [-2.96975663e-02 -4.74422207e-04 9.99558817e-01 -2.97982791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:94.16, Y:-14.88, Z:-2.98 [[ 9.75176456e-01 2.19416996e-01 2.97835753e-02 9.41552942e+01] [-2.19325203e-01 9.75631114e-01 -6.35495934e-03 -1.48814845e+01] [-3.04521688e-02 -3.35081967e-04 9.99536169e-01 -2.97962980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:94.18, Y:-14.88, Z:-2.98 [[ 9.75900197e-01 2.16141048e-01 3.00308770e-02 9.41820188e+01] [-2.16046243e-01 9.76362121e-01 -6.40544095e-03 -1.48846790e+01] [-3.07054895e-02 -2.36987075e-04 9.99528447e-01 -2.98053745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:94.21, Y:-14.89, Z:-2.98 [[ 9.77295607e-01 2.09815119e-01 2.95112385e-02 9.42102414e+01] [-2.09720756e-01 9.77741077e-01 -6.29207410e-03 -1.48875744e+01] [-3.01745224e-02 -3.99028762e-05 9.99544645e-01 -2.98210828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:94.24, Y:-14.89, Z:-2.98 [[ 9.77793225e-01 2.07509028e-01 2.93327764e-02 9.42379854e+01] [-2.07414831e-01 9.78233102e-01 -6.25186413e-03 -1.48918145e+01] [-2.99916111e-02 2.89775376e-05 9.99550150e-01 -2.98256241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234012739 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:94.27, Y:-14.90, Z:-2.98 [[ 9.78159939e-01 2.05698295e-01 2.98553906e-02 9.42662158e+01] [-2.05599934e-01 9.78615453e-01 -6.36102545e-03 -1.48957750e+01] [-3.05253987e-02 8.38339246e-05 9.99533988e-01 -2.98313007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:94.29, Y:-14.90, Z:-2.98 [[ 9.78496854e-01 2.04096705e-01 2.98067458e-02 9.42934747e+01] [-2.03997988e-01 9.78950723e-01 -6.34848320e-03 -1.48984846e+01] [-3.04750398e-02 1.31454675e-04 9.99535519e-01 -2.98342978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294012739 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:94.32, Y:-14.90, Z:-2.98 [[ 9.78616976e-01 2.03604256e-01 2.92253502e-02 9.43198529e+01] [-2.03509205e-01 9.79053261e-01 -6.22225214e-03 -1.49029090e+01] [-2.98800514e-02 1.41573784e-04 9.99553482e-01 -2.98428270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:94.35, Y:-14.91, Z:-2.98 [[ 9.78782364e-01 2.02897356e-01 2.85962769e-02 9.43474427e+01] [-2.02806161e-01 9.79199999e-01 -6.08460428e-03 -1.49062644e+01] [-2.92360245e-02 1.56002208e-04 9.99572524e-01 -2.98434961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354012739 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:94.37, Y:-14.91, Z:-2.98 [[ 9.78904187e-01 2.02193508e-01 2.94002988e-02 9.43739131e+01] [-2.02096859e-01 9.79345574e-01 -6.25353731e-03 -1.49099135e+01] [-3.00574772e-02 1.79905819e-04 9.99548156e-01 -2.98489667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:94.40, Y:-14.91, Z:-2.99 [[ 9.78997494e-01 2.01530244e-01 3.08134403e-02 9.44011222e+01] [-2.01423880e-01 9.79482271e-01 -6.54999523e-03 -1.49142368e+01] [-3.15012406e-02 2.05866240e-04 9.99503692e-01 -2.98510305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414012739 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:94.43, Y:-14.92, Z:-2.98 [[ 9.79367971e-01 1.99426599e-01 3.26712234e-02 9.44280700e+01] [-1.99305935e-01 9.79912725e-01 -6.94228006e-03 -1.49180067e+01] [-3.33994229e-02 2.87478020e-04 9.99442042e-01 -2.98481125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:94.46, Y:-14.92, Z:-2.99 [[ 9.79703369e-01 1.97883334e-01 3.19921042e-02 9.44555767e+01] [-1.97766940e-01 9.80225524e-01 -6.79408174e-03 -1.49227107e+01] [-3.27039127e-02 3.29204195e-04 9.99465030e-01 -2.98595998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:94.48, Y:-14.93, Z:-2.99 [[ 9.80497376e-01 1.94246370e-01 2.98871641e-02 9.44824575e+01] [-1.94143163e-01 9.80952686e-01 -6.34509367e-03 -1.49252977e+01] [-3.05504053e-02 4.18959131e-04 9.99533140e-01 -2.98709321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:94.51, Y:-14.93, Z:-2.99 [[ 9.80878931e-01 1.92313315e-01 2.98682355e-02 9.45099342e+01] [-1.92209417e-01 9.81333461e-01 -6.33864173e-03 -1.49305222e+01] [-3.05297042e-02 4.76483992e-04 9.99533746e-01 -2.98804540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:94.54, Y:-14.94, Z:-2.99 [[ 9.81840889e-01 1.87382288e-01 2.96031384e-02 9.45366378e+01] [-1.87278045e-01 9.82286868e-01 -6.28035584e-03 -1.49371270e+01] [-3.02556015e-02 6.22292275e-04 9.99542001e-01 -2.98832651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:94.56, Y:-14.94, Z:-2.99 [[ 9.82466425e-01 1.84174694e-01 2.89724870e-02 9.45631307e+01] [-1.84073512e-01 9.82893273e-01 -6.14454730e-03 -1.49436947e+01] [-2.96085327e-02 7.03743990e-04 9.99561324e-01 -2.98917505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59401273900001 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:94.59, Y:-14.95, Z:-2.99 [[ 9.83121533e-01 1.80762219e-01 2.82324558e-02 9.45903705e+01] [-1.80664800e-01 9.83526515e-01 -5.98531087e-03 -1.49505725e+01] [-2.88492870e-02 7.83677014e-04 9.99583465e-01 -2.99043584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:94.62, Y:-14.96, Z:-2.99 [[ 9.84342232e-01 1.73943015e-01 2.85341423e-02 9.46162390e+01] [-1.73840698e-01 9.84755220e-01 -6.04719592e-03 -1.49609617e+01] [-2.91510131e-02 9.92115109e-04 9.99574527e-01 -2.99147134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654012739 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:94.64, Y:-14.97, Z:-2.99 [[ 9.84810456e-01 1.71169060e-01 2.91464976e-02 9.46426400e+01] [-1.71061164e-01 9.85241064e-01 -6.17445715e-03 -1.49704129e+01] [-2.97732024e-02 1.09483614e-03 9.99556080e-01 -2.99285458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:94.67, Y:-14.98, Z:-2.99 [[ 9.85349587e-01 1.67984429e-01 2.94520486e-02 9.46691683e+01] [-1.67872898e-01 9.85788916e-01 -6.23717179e-03 -1.49838718e+01] [-3.00812508e-02 1.20159389e-03 9.99546735e-01 -2.99309876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:94.70, Y:-14.99, Z:-2.99 [[ 9.85457071e-01 1.67453546e-01 2.88733749e-02 9.46967779e+01] [-1.67346169e-01 9.85879246e-01 -6.11326483e-03 -1.49927819e+01] [-2.94893490e-02 1.19251137e-03 9.99564383e-01 -2.99323102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters Centerline goodness : 0.986845 Centerline is valid? [True, True] Translation: X:94.72, Y:-15.00, Z:-2.98 [[ 9.85338206e-01 1.68371102e-01 2.75643080e-02 9.47228535e+01] [-1.68273636e-01 9.85723053e-01 -5.83487633e-03 -1.50045434e+01] [-2.81531984e-02 1.11098025e-03 9.99603003e-01 -2.98149494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774012739 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:94.75, Y:-15.01, Z:-3.00 [[ 9.85120513e-01 1.69498909e-01 2.84199553e-02 9.47490601e+01] [-1.69395815e-01 9.85529749e-01 -6.01426273e-03 -1.50132337e+01] [-2.90281224e-02 1.11055211e-03 9.99577978e-01 -2.99552555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:94.78, Y:-15.03, Z:-3.00 [[ 9.84730506e-01 1.71810848e-01 2.80510739e-02 9.47762474e+01] [-1.71711397e-01 9.85129422e-01 -5.93455086e-03 -1.50259765e+01] [-2.86535584e-02 1.02724419e-03 9.99588875e-01 -2.99688632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834012739 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:94.80, Y:-15.04, Z:-3.00 [[ 9.84640726e-01 1.72302560e-01 2.81863107e-02 9.48031100e+01] [-1.72202388e-01 9.85043550e-01 -5.96178672e-03 -1.50350631e+01] [-2.87919746e-02 1.01646798e-03 9.99584908e-01 -2.99842715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.04, Z:-3.00 [[ 9.84619190e-01 1.72492924e-01 2.77712548e-02 9.48303075e+01] [-1.72395805e-01 9.85010255e-01 -5.87229282e-03 -1.50443307e+01] [-2.83678997e-02 9.94324372e-04 9.99597056e-01 -2.99883285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894012739 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:94.86, Y:-15.06, Z:-3.00 [[ 9.84594341e-01 1.72881769e-01 2.61892655e-02 9.48574999e+01] [-1.72795571e-01 9.84942149e-01 -5.53659434e-03 -1.50564174e+01] [-2.67520877e-02 9.25910371e-04 9.99641670e-01 -3.00017504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:94.89, Y:-15.06, Z:-3.00 [[ 9.84600537e-01 1.72846436e-01 2.61895395e-02 9.48861972e+01] [-1.72760260e-01 9.84948350e-01 -5.53529811e-03 -1.50624039e+01] [-2.67521003e-02 9.25545849e-04 9.99641670e-01 -3.00107009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954012739 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:94.91, Y:-15.07, Z:-3.00 [[ 9.84256024e-01 1.74832481e-01 2.59554058e-02 9.49122774e+01] [-1.74748552e-01 9.84597816e-01 -5.48494654e-03 -1.50719966e+01] [-2.65145827e-02 8.62922086e-04 9.99648054e-01 -3.00265851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:94.94, Y:-15.08, Z:-3.00 [[ 9.84040464e-01 1.75960412e-01 2.65009084e-02 9.49399118e+01] [-1.75873373e-01 9.84396878e-01 -5.59849157e-03 -1.50794424e+01] [-2.70725244e-02 8.48338096e-04 9.99633112e-01 -3.00384080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014012739 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:94.97, Y:-15.09, Z:-3.00 [[ 9.83863161e-01 1.76849556e-01 2.71572242e-02 9.49673520e+01] [-1.76758527e-01 9.84237534e-01 -5.73579495e-03 -1.50873828e+01] [-2.77435322e-02 8.42966409e-04 9.99614719e-01 -3.00440044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:94.99, Y:-15.10, Z:-3.00 [[ 9.83522900e-01 1.78558766e-01 2.82749433e-02 9.49946001e+01] [-1.78460834e-01 9.83928902e-01 -5.97043960e-03 -1.50983353e+01] [-2.88866083e-02 8.26094108e-04 9.99582354e-01 -3.00442033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074012739 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:95.02, Y:-15.11, Z:-3.00 [[ 9.83327849e-01 1.79541607e-01 2.88297286e-02 9.50217872e+01] [-1.79440259e-01 9.83750046e-01 -6.08609840e-03 -1.51063363e+01] [-2.94539547e-02 8.11416088e-04 9.99565809e-01 -3.00462728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:95.05, Y:-15.12, Z:-3.01 [[ 9.83087035e-01 1.80842534e-01 2.89112282e-02 9.50497595e+01] [-1.80741206e-01 9.83511759e-01 -6.10220471e-03 -1.51159856e+01] [-2.95380710e-02 7.73548094e-04 9.99563357e-01 -3.00550282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:95.08, Y:-15.12, Z:-3.01 [[ 9.83015630e-01 1.81166349e-01 2.93091289e-02 9.50779743e+01] [-1.81062378e-01 9.83452162e-01 -6.18544899e-03 -1.51241758e+01] [-2.99447214e-02 7.73612471e-04 9.99551257e-01 -3.00672681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:95.11, Y:-15.14, Z:-3.01 [[ 9.83011638e-01 1.81084307e-01 2.99431632e-02 9.51064824e+01] [-1.80975761e-01 9.83467257e-01 -6.31888227e-03 -1.51350659e+01] [-3.05923709e-02 7.92548076e-04 9.99531630e-01 -3.00752600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194012739 meters Centerline goodness : 0.989028 Centerline is valid? [True, True] Translation: X:95.14, Y:-15.14, Z:-3.00 [[ 9.83002121e-01 1.81273668e-01 2.90978884e-02 9.51352533e+01] [-1.81171249e-01 9.83432394e-01 -6.14049542e-03 -1.51441922e+01] [-2.97289161e-02 7.64419255e-04 9.99557706e-01 -2.99930148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:95.16, Y:-15.16, Z:-3.00 [[ 9.82944871e-01 1.81847970e-01 2.73988237e-02 9.51630345e+01] [-1.81757378e-01 9.83326406e-01 -5.78231225e-03 -1.51555168e+01] [-2.79934886e-02 7.03755820e-04 9.99607858e-01 -2.99681782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254012739 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:95.19, Y:-15.16, Z:-3.01 [[ 9.82812795e-01 1.82542150e-01 2.75204308e-02 9.51900672e+01] [-1.82451031e-01 9.83197789e-01 -5.80770157e-03 -1.51637169e+01] [-2.81181771e-02 6.86752425e-04 9.99604370e-01 -3.01087666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:95.22, Y:-15.17, Z:-3.01 [[ 9.82233584e-01 1.85725048e-01 2.68959754e-02 9.52177619e+01] [-1.85639238e-01 9.82601582e-01 -5.67491473e-03 -1.51746063e+01] [-2.74820018e-02 5.81143447e-04 9.99622130e-01 -3.01193577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314012739 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:95.25, Y:-15.18, Z:-3.01 [[ 9.81764940e-01 1.88067397e-01 2.77174553e-02 9.52467977e+01] [-1.87977205e-01 9.82155982e-01 -5.84793071e-03 -1.51827967e+01] [-2.83226696e-02 5.31043570e-04 9.99598692e-01 -3.01294716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:95.27, Y:-15.19, Z:-3.01 [[ 9.81239182e-01 1.90705375e-01 2.83042013e-02 9.52748509e+01] [-1.90612439e-01 9.81647210e-01 -5.97103733e-03 -1.51903990e+01] [-2.89234491e-02 4.63882956e-04 9.99581522e-01 -3.01311812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374012739 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:95.30, Y:-15.20, Z:-3.01 [[ 9.80187240e-01 1.95997582e-01 2.85993238e-02 9.53030440e+01] [-1.95904966e-01 9.80604330e-01 -6.03264571e-03 -1.51978424e+01] [-2.92270048e-02 3.10372773e-04 9.99572752e-01 -3.01424898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:95.33, Y:-15.20, Z:-3.01 [[ 9.79715593e-01 1.98349384e-01 2.85460678e-02 9.53316815e+01] [-1.98258150e-01 9.80131351e-01 -6.02003100e-03 -1.52037765e+01] [-2.91729655e-02 2.38427646e-04 9.99574350e-01 -3.01488183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434012739 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:95.36, Y:-15.21, Z:-3.02 [[ 9.78990555e-01 2.01986326e-01 2.79108848e-02 9.53587633e+01] [-2.01900602e-01 9.79388334e-01 -5.88546685e-03 -1.52090909e+01] [-2.85243787e-02 1.26592023e-04 9.99593089e-01 -3.01583666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:95.39, Y:-15.21, Z:-3.02 [[ 9.78781328e-01 2.02977910e-01 2.80549449e-02 9.53867505e+01] [-2.02891745e-01 9.79183312e-01 -5.91448585e-03 -1.52145730e+01] [-2.86714438e-02 9.68716043e-05 9.99588885e-01 -3.01627817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494012739 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:95.42, Y:-15.22, Z:-3.02 [[ 9.78640468e-01 2.03451403e-01 2.95018955e-02 9.54154944e+01] [-2.03356379e-01 9.79085042e-01 -6.21799823e-03 -1.52185413e+01] [-3.01499250e-02 8.57860451e-05 9.99545384e-01 -3.01572310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:95.44, Y:-15.22, Z:-3.02 [[ 9.78748472e-01 2.02783405e-01 3.05011301e-02 9.54433080e+01] [-2.02681559e-01 9.79223610e-01 -6.42704812e-03 -1.52230897e+01] [-3.11707254e-02 1.08446931e-04 9.99514069e-01 -3.01661207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554012739 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:95.47, Y:-15.23, Z:-3.02 [[ 9.78895692e-01 2.01967989e-01 3.11793999e-02 9.54719955e+01] [-2.01861208e-01 9.79392114e-01 -6.56808541e-03 -1.52284147e+01] [-3.18634014e-02 1.35559178e-04 9.99492224e-01 -3.01774983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:95.50, Y:-15.23, Z:-3.02 [[ 9.79507335e-01 1.98908831e-01 3.16331861e-02 9.55000323e+01] [-1.98797348e-01 9.80017970e-01 -6.66287055e-03 -1.52339305e+01] [-3.23263946e-02 2.37737067e-04 9.99477337e-01 -3.01783010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614012739 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:95.53, Y:-15.24, Z:-3.02 [[ 9.79834778e-01 1.97275409e-01 3.17209900e-02 9.55277408e+01] [-1.97162489e-01 9.80348065e-01 -6.68020371e-03 -1.52396544e+01] [-3.24154510e-02 2.91306593e-04 9.99474439e-01 -3.01871186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:95.56, Y:-15.25, Z:-3.02 [[ 9.80340661e-01 1.94939519e-01 3.05085619e-02 9.55554278e+01] [-1.94833969e-01 9.80815201e-01 -6.42382824e-03 -1.52457700e+01] [-3.11755192e-02 3.53435836e-04 9.99513863e-01 -3.01978716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674012739 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:95.58, Y:-15.25, Z:-3.02 [[ 9.80544647e-01 1.94035529e-01 2.97053636e-02 9.55841261e+01] [-1.93935074e-01 9.80994432e-01 -6.25389569e-03 -1.52527895e+01] [-3.03542742e-02 3.71312050e-04 9.99539134e-01 -3.02118295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:95.61, Y:-15.26, Z:-3.02 [[ 9.80853216e-01 1.92672533e-01 2.83595336e-02 9.56123076e+01] [-1.92580426e-01 9.81263033e-01 -5.96991793e-03 -1.52608496e+01] [-2.89784012e-02 3.94122152e-04 9.99579960e-01 -3.02229575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734012739 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:95.64, Y:-15.27, Z:-3.02 [[ 9.80880275e-01 1.92492966e-01 2.86416553e-02 9.56404814e+01] [-1.92398960e-01 9.81298271e-01 -6.02864231e-03 -1.52682835e+01] [-2.92664780e-02 4.02751654e-04 9.99571564e-01 -3.02320165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:95.67, Y:-15.28, Z:-3.02 [[ 9.80853856e-01 1.92528669e-01 2.92988810e-02 9.56682677e+01] [-1.92430346e-01 9.81291263e-01 -6.16592118e-03 -1.52780246e+01] [-2.99378525e-02 4.09873773e-04 9.99551678e-01 -3.02373269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794012739 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:95.70, Y:-15.29, Z:-3.02 [[ 9.80815938e-01 1.92713717e-01 2.93516469e-02 9.56967264e+01] [-1.92615142e-01 9.81254941e-01 -6.17634203e-03 -1.52862001e+01] [-2.99917144e-02 4.04283083e-04 9.99550066e-01 -3.02457939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:95.72, Y:-15.29, Z:-3.03 [[ 9.80709416e-01 1.93263552e-01 2.92957588e-02 9.57249187e+01] [-1.93165618e-01 9.81146804e-01 -6.16390411e-03 -1.52941940e+01] [-2.99346981e-02 3.86065451e-04 9.99551782e-01 -3.02564673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854012739 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:95.75, Y:-15.30, Z:-3.03 [[ 9.80296930e-01 1.95544012e-01 2.79368612e-02 9.57520389e+01] [-1.95455897e-01 9.80694881e-01 -5.87739684e-03 -1.53036730e+01] [-2.85468265e-02 3.01169828e-04 9.99592411e-01 -3.02573020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:95.78, Y:-15.31, Z:-3.03 [[ 9.80098011e-01 1.96622014e-01 2.73436185e-02 9.57817300e+01] [-1.96538049e-01 9.80479329e-01 -5.75158041e-03 -1.53119704e+01] [-2.79407401e-02 2.63051071e-04 9.99609547e-01 -3.02687698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914012739 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:95.81, Y:-15.32, Z:-3.03 [[ 9.79582402e-01 1.99074054e-01 2.80684781e-02 9.58096386e+01] [-1.98986582e-01 9.79984429e-01 -5.90409441e-03 -1.53207683e+01] [-2.86820235e-02 1.98296472e-04 9.99588566e-01 -3.02774254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:95.84, Y:-15.33, Z:-3.03 [[ 9.79292909e-01 2.00458372e-01 2.83167835e-02 9.58385027e+01] [-2.00369944e-01 9.79702208e-01 -5.95562712e-03 -1.53277911e+01] [-2.89358707e-02 1.58471070e-04 9.99581257e-01 -3.02837459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974012739 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:95.87, Y:-15.34, Z:-3.03 [[ 9.78989842e-01 2.01955036e-01 2.81612015e-02 9.58680849e+01] [-2.01868217e-01 9.79394788e-01 -5.92217539e-03 -1.53355107e+01] [-2.87769471e-02 1.12898010e-04 9.99585852e-01 -3.02941114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:95.90, Y:-15.34, Z:-3.03 [[ 9.78546326e-01 2.04207679e-01 2.73187146e-02 9.58962645e+01] [-2.04126855e-01 9.78927588e-01 -5.74503564e-03 -1.53444130e+01] [-2.79162238e-02 4.53002082e-05 9.99610265e-01 -3.03093193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034012739 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:95.92, Y:-15.35, Z:-3.03 [[ 9.78340097e-01 2.05225482e-01 2.70768552e-02 9.59248386e+01] [-2.05146479e-01 9.78714719e-01 -5.69393230e-03 -1.53505871e+01] [-2.76690567e-02 1.58807877e-05 9.99617138e-01 -3.03238200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:95.95, Y:-15.35, Z:-3.03 [[ 9.77696295e-01 2.08234031e-01 2.73595119e-02 9.59542918e+01] [-2.08154583e-01 9.78079027e-01 -5.75207849e-03 -1.53549537e+01] [-2.79575433e-02 -7.12219618e-05 9.99609109e-01 -3.03288198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09401273900001 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:95.98, Y:-15.36, Z:-3.03 [[ 9.77215937e-01 2.10412932e-01 2.78461835e-02 9.59835944e+01] [-2.10331536e-01 9.77612592e-01 -5.85368300e-03 -1.53603435e+01] [-2.84544703e-02 -1.36618234e-04 9.99595080e-01 -3.03369522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:96.01, Y:-15.36, Z:-3.03 [[ 9.76375269e-01 2.14238017e-01 2.81674540e-02 9.60115040e+01] [-2.14156342e-01 9.76781454e-01 -5.92051575e-03 -1.53649113e+01] [-2.87818462e-02 -2.51593754e-04 9.99585685e-01 -3.03442057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154012739 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:96.04, Y:-15.37, Z:-3.04 [[ 9.76062136e-01 2.15657908e-01 2.81846208e-02 9.60389323e+01] [-2.15576754e-01 9.76468935e-01 -5.92309107e-03 -1.53695400e+01] [-2.87987680e-02 -2.94644143e-04 9.99585186e-01 -3.03589217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:96.07, Y:-15.37, Z:-3.04 [[ 9.75866180e-01 2.16584820e-01 2.78606375e-02 9.60661493e+01] [-2.16505947e-01 9.76263752e-01 -5.85335068e-03 -1.53741880e+01] [-2.84670774e-02 -3.19906732e-04 9.99594679e-01 -3.03735037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214012739 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:96.09, Y:-15.38, Z:-3.04 [[ 9.75692518e-01 2.17351571e-01 2.79715042e-02 9.60942144e+01] [-2.17272437e-01 9.76093323e-01 -5.87476231e-03 -1.53793222e+01] [-2.85796873e-02 -3.45475270e-04 9.99591458e-01 -3.03919868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:96.12, Y:-15.39, Z:-3.04 [[ 9.75842770e-01 2.16427838e-01 2.98308530e-02 9.61222728e+01] [-2.16337447e-01 9.76298558e-01 -6.26373447e-03 -1.53852452e+01] [-3.04794653e-02 -3.41110574e-04 9.99535335e-01 -3.03900397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274012739 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:96.15, Y:-15.39, Z:-3.04 [[ 9.75982608e-01 2.15716299e-01 3.04044105e-02 9.61510108e+01] [-2.15622100e-01 9.76456027e-01 -6.38265680e-03 -1.53908086e+01] [-3.10654129e-02 -3.26500811e-04 9.99517300e-01 -3.03965497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:96.18, Y:-15.40, Z:-3.04 [[ 9.76168928e-01 2.14965945e-01 2.97299109e-02 9.61794299e+01] [-2.14875575e-01 9.76621500e-01 -6.23963555e-03 -1.53964061e+01] [-3.03761794e-02 -2.97293356e-04 9.99538493e-01 -3.04054219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334012739 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:96.21, Y:-15.40, Z:-3.04 [[ 9.76669325e-01 2.13016269e-01 2.72231226e-02 9.62075286e+01] [-2.12939759e-01 9.77048628e-01 -5.71287622e-03 -1.54020427e+01] [-2.78152502e-02 -2.17294216e-04 9.99613057e-01 -3.04244623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:96.24, Y:-15.41, Z:-3.04 [[ 9.77500141e-01 2.09118580e-01 2.76205140e-02 9.62357223e+01] [-2.09038300e-01 9.77890284e-01 -5.79497454e-03 -1.54096507e+01] [-2.82216691e-02 -1.09156855e-04 9.99601683e-01 -3.04321769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394012739 meters Centerline goodness : 0.990147 Centerline is valid? [True, True] Translation: X:96.26, Y:-15.42, Z:-3.04 [[ 9.77921812e-01 2.07055280e-01 2.82319054e-02 9.62640956e+01] [-2.06970587e-01 9.78329243e-01 -5.92180325e-03 -1.54169269e+01] [-2.88462393e-02 -5.21134768e-05 9.99583859e-01 -3.04385066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.42, Z:-3.04 [[ 9.78320770e-01 2.05147570e-01 2.83363012e-02 9.62917023e+01] [-2.05061469e-01 9.78731053e-01 -5.94301460e-03 -1.54238413e+01] [-2.89528129e-02 3.49106947e-06 9.99580779e-01 -3.04451522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:96.32, Y:-15.43, Z:-3.05 [[ 9.78836676e-01 2.02764455e-01 2.76647472e-02 9.63202011e+01] [-2.02681465e-01 9.79227538e-01 -5.80111289e-03 -1.54318052e+01] [-2.82663418e-02 7.12105522e-05 9.99600425e-01 -3.04595777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:96.35, Y:-15.44, Z:-3.05 [[ 9.78932470e-01 2.02271741e-01 2.78812093e-02 9.63489715e+01] [-2.02187257e-01 9.79329431e-01 -5.84618885e-03 -1.54382727e+01] [-2.84874076e-02 8.57988739e-05 9.99594148e-01 -3.04747882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514012739 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:96.38, Y:-15.46, Z:-3.04 [[ 9.78870017e-01 2.02644126e-01 2.73650946e-02 9.63781083e+01] [-2.02908957e-01 9.79170798e-01 7.24588007e-03 -1.54558903e+01] [-2.53267665e-02 -1.26453976e-02 9.99599244e-01 -3.04245166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:96.41, Y:-15.45, Z:-3.05 [[ 9.78812931e-01 2.03210532e-01 2.51142509e-02 9.64100723e+01] [-2.02788476e-01 9.79050249e-01 -1.83696544e-02 -1.54462412e+01] [-2.83210209e-02 1.28875746e-02 9.99515798e-01 -3.05010300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574012739 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:96.44, Y:-15.47, Z:-3.05 [[ 9.79060286e-01 2.01778459e-01 2.69520109e-02 9.64373532e+01] [-2.01699184e-01 9.79431184e-01 -5.65648612e-03 -1.54658744e+01] [-2.75389970e-02 1.01842304e-04 9.99620725e-01 -3.05092810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:96.47, Y:-15.47, Z:-3.05 [[ 9.79248909e-01 2.00812536e-01 2.73111702e-02 9.64673573e+01] [-2.00730760e-01 9.79629679e-01 -5.73180023e-03 -1.54747387e+01] [-2.79058502e-02 1.30667168e-04 9.99610547e-01 -3.05130702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634012739 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:96.50, Y:-15.49, Z:-3.05 [[ 9.79673059e-01 1.98414594e-01 2.95355168e-02 9.64972462e+01] [-1.98317839e-01 9.80118157e-01 -6.19940365e-03 -1.54858982e+01] [-3.01783485e-02 2.15968886e-04 9.99544507e-01 -3.05106150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:96.53, Y:-15.50, Z:-3.05 [[ 9.79895135e-01 1.97192257e-01 3.03436816e-02 9.65287084e+01] [-1.97089520e-01 9.80364802e-01 -6.36987323e-03 -1.54953645e+01] [-3.10039671e-02 2.61386136e-04 9.99519227e-01 -3.05138699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694012739 meters Centerline goodness : 0.990461 Centerline is valid? [True, True] Translation: X:96.56, Y:-15.50, Z:-3.05 [[ 9.80035635e-01 1.96426432e-01 3.07702753e-02 9.65598332e+01] [-1.96320212e-01 9.80518521e-01 -6.46567966e-03 -1.55044973e+01] [-3.14408552e-02 2.95769486e-04 9.99505570e-01 -3.05220799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:96.59, Y:-15.51, Z:-3.05 [[ 9.79894709e-01 1.97037461e-01 3.13464140e-02 9.65912415e+01] [-1.96927405e-01 9.80395919e-01 -6.59087224e-03 -1.55149515e+01] [-3.20305451e-02 2.85392885e-04 9.99486850e-01 -3.05267282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754012739 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:96.62, Y:-15.52, Z:-3.05 [[ 9.79672195e-01 1.98125727e-01 3.14417983e-02 9.66231216e+01] [-1.98015359e-01 9.80176581e-01 -6.61720566e-03 -1.55237502e+01] [-3.21295531e-02 2.56733424e-04 9.99483680e-01 -3.05355018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:96.65, Y:-15.54, Z:-3.05 [[ 9.79199956e-01 2.00432744e-01 3.15303319e-02 9.66529503e+01] [-2.00322742e-01 9.79707446e-01 -6.64222527e-03 -1.55354061e+01] [-3.22218204e-02 1.87824149e-04 9.99480725e-01 -3.05427624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814012739 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:96.69, Y:-15.54, Z:-3.06 [[ 9.79183352e-01 2.00514028e-01 3.15291572e-02 9.66856893e+01] [-2.00403889e-01 9.79690813e-01 -6.64779706e-03 -1.55424465e+01] [-3.22218022e-02 1.90846510e-04 9.99480725e-01 -3.05530069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:96.72, Y:-15.55, Z:-3.06 [[ 9.79016513e-01 2.01395669e-01 3.10878054e-02 9.67164903e+01] [-2.01288948e-01 9.79509958e-01 -6.55750944e-03 -1.55519779e+01] [-3.17714690e-02 1.62278366e-04 9.99495146e-01 -3.05712739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874012739 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:96.75, Y:-15.57, Z:-3.06 [[ 9.78841486e-01 2.02584214e-01 2.87920260e-02 9.67470098e+01] [-2.02493048e-01 9.79264838e-01 -6.07812213e-03 -1.55652741e+01] [-2.94263503e-02 1.19333000e-04 9.99566944e-01 -3.05954488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:96.78, Y:-15.58, Z:-3.06 [[ 9.78769559e-01 2.03085642e-01 2.76834391e-02 9.67775720e+01] [-2.03001409e-01 9.79160973e-01 -5.84954287e-03 -1.55759764e+01] [-2.82945013e-02 1.05577347e-04 9.99599625e-01 -3.06080157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934012739 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:96.81, Y:-15.59, Z:-3.06 [[ 9.78213893e-01 2.05752913e-01 2.76282096e-02 9.68075712e+01] [-2.05669929e-01 9.78603974e-01 -5.84314706e-03 -1.55887281e+01] [-2.82393202e-02 3.35557249e-05 9.99601190e-01 -3.06116964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:96.84, Y:-15.60, Z:-3.06 [[ 9.77562761e-01 2.08686415e-01 2.86535972e-02 9.68390484e+01] [-2.08598256e-01 9.77982606e-01 -6.06545018e-03 -1.55974045e+01] [-2.92884967e-02 -4.77321719e-05 9.99570999e-01 -3.06105295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994012739 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:96.87, Y:-15.61, Z:-3.06 [[ 9.76592871e-01 2.13027428e-01 2.97603557e-02 9.68708728e+01] [-2.12934158e-01 9.77046203e-01 -6.30565360e-03 -1.56057035e+01] [-3.04205198e-02 -1.78939945e-04 9.99537173e-01 -3.06126307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters Centerline goodness : 0.983506 Centerline is valid? [True, True] Translation: X:96.90, Y:-15.61, Z:-3.05 [[ 9.74193172e-01 2.23850691e-01 2.89574175e-02 9.69033939e+01] [-2.23766991e-01 9.74623323e-01 -6.14107760e-03 -1.56137819e+01] [-2.95972590e-02 -4.97118316e-04 9.99561782e-01 -3.05372569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054012739 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:96.94, Y:-15.62, Z:-3.06 [[ 9.72948133e-01 2.29265679e-01 2.84460584e-02 9.69350282e+01] [-2.29187054e-01 9.73363669e-01 -6.03831260e-03 -1.56178852e+01] [-2.90727376e-02 -6.44503348e-04 9.99577091e-01 -3.06383543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:96.97, Y:-15.62, Z:-3.07 [[ 9.70757048e-01 2.38470156e-01 2.76177355e-02 9.69658943e+01] [-2.38399603e-01 9.71149420e-01 -5.86791174e-03 -1.56192256e+01] [-2.82202696e-02 -8.87740504e-04 9.99601335e-01 -3.06644917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114012739 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:97.00, Y:-15.62, Z:-3.07 [[ 9.69953960e-01 2.41723594e-01 2.75503042e-02 9.69962347e+01] [-2.41654685e-01 9.70344652e-01 -5.85394850e-03 -1.56237225e+01] [-2.81483279e-02 -9.79599567e-04 9.99603277e-01 -3.06795484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters Centerline goodness : 0.989655 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.62, Z:-3.07 [[ 9.69031366e-01 2.45503809e-01 2.65724022e-02 9.70261988e+01] [-2.45441121e-01 9.69395057e-01 -5.64624254e-03 -1.56240497e+01] [-2.71453294e-02 -1.05057407e-03 9.99630946e-01 -3.06928026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174012739 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:97.06, Y:-15.63, Z:-3.07 [[ 9.68819109e-01 2.46347048e-01 2.65078487e-02 9.70558448e+01] [-2.46284996e-01 9.69181089e-01 -5.63188454e-03 -1.56252796e+01] [-2.70783038e-02 -1.07220806e-03 9.99632740e-01 -3.07037056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:97.08, Y:-15.63, Z:-3.07 [[ 9.68742046e-01 2.46594088e-01 2.70222780e-02 9.70845043e+01] [-2.46529716e-01 9.69118230e-01 -5.74061470e-03 -1.56261054e+01] [-2.76033838e-02 -1.10061968e-03 9.99618348e-01 -3.07144244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234012739 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:97.11, Y:-15.62, Z:-3.07 [[ 9.69192575e-01 2.44553083e-01 2.93179408e-02 9.71131347e+01] [-2.44476433e-01 9.69635244e-01 -6.22637775e-03 -1.56232876e+01] [-2.99503885e-02 -1.13298650e-03 9.99550744e-01 -3.07103045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:97.14, Y:-15.62, Z:-3.07 [[ 9.70217636e-01 2.40226282e-01 3.11299290e-02 9.71428028e+01] [-2.40137699e-01 9.70716335e-01 -6.60923490e-03 -1.56207780e+01] [-3.18060425e-02 -1.06307328e-03 9.99493494e-01 -3.07041583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294012739 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:97.17, Y:-15.62, Z:-3.07 [[ 9.70790998e-01 2.37812725e-01 3.17796406e-02 9.71703608e+01] [-2.37719166e-01 9.71310504e-01 -6.74557495e-03 -1.56225989e+01] [-3.24720823e-02 -1.00608621e-03 9.99472137e-01 -3.07153872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:97.20, Y:-15.63, Z:-3.07 [[ 9.71401063e-01 2.35350244e-01 3.14680544e-02 9.71983177e+01] [-2.35257281e-01 9.71910193e-01 -6.67748889e-03 -1.56257388e+01] [-3.21556714e-02 -9.16569116e-04 9.99482452e-01 -3.07262321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354012739 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:97.23, Y:-15.63, Z:-3.07 [[ 9.72515848e-01 2.30849662e-01 3.03539000e-02 9.72276647e+01] [-2.30761029e-01 9.72989148e-01 -6.43931210e-03 -1.56279288e+01] [-3.10205284e-02 -7.42164158e-04 9.99518472e-01 -3.07452930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:97.26, Y:-15.63, Z:-3.08 [[ 9.73361045e-01 2.27329190e-01 2.98281112e-02 9.72562623e+01] [-2.27241991e-01 9.73817773e-01 -6.32635720e-03 -1.56298311e+01] [-3.04853105e-02 -6.20369734e-04 9.99535022e-01 -3.07573752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414012739 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:97.28, Y:-15.63, Z:-3.08 [[ 9.73761549e-01 2.25624479e-01 2.96991752e-02 9.72848231e+01] [-2.25537284e-01 9.74214183e-01 -6.29757765e-03 -1.56343355e+01] [-3.03542454e-02 -5.65932331e-04 9.99539044e-01 -3.07719502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:97.31, Y:-15.64, Z:-3.08 [[ 9.74152739e-01 2.23917590e-01 2.97885000e-02 9.73132963e+01] [-2.23829115e-01 9.74607945e-01 -6.31506806e-03 -1.56393786e+01] [-3.04461636e-02 -5.15692770e-04 9.99536275e-01 -3.07752607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474012739 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:97.34, Y:-15.65, Z:-3.08 [[ 9.74775997e-01 2.21194806e-01 2.97424363e-02 9.73425470e+01] [-2.21105382e-01 9.75229548e-01 -6.30385467e-03 -1.56452387e+01] [-3.04000826e-02 -4.31366501e-04 9.99537718e-01 -3.07871689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:97.37, Y:-15.65, Z:-3.08 [[ 9.74928549e-01 2.20577035e-01 2.93273966e-02 9.73707835e+01] [-2.20489831e-01 9.75369472e-01 -6.21516361e-03 -1.56511302e+01] [-2.99759696e-02 -4.07052277e-04 9.99550537e-01 -3.07957097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534012739 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:97.40, Y:-15.66, Z:-3.08 [[ 9.74773968e-01 2.21419152e-01 2.80939515e-02 9.73978382e+01] [-2.21339509e-01 9.75178643e-01 -5.95279596e-03 -1.56553929e+01] [-2.87146846e-02 -4.15670888e-04 9.99587562e-01 -3.08017856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:97.43, Y:-15.66, Z:-3.08 [[ 9.74587685e-01 2.22218696e-01 2.82435108e-02 9.74258632e+01] [-2.22138588e-01 9.74996746e-01 -5.98274086e-03 -1.56599607e+01] [-2.88668080e-02 -4.43268048e-04 9.99583169e-01 -3.08213205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594012739 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:97.45, Y:-15.66, Z:-3.08 [[ 9.74077684e-01 2.24231432e-01 2.98819308e-02 9.74534386e+01] [-2.24142752e-01 9.74535777e-01 -6.32823089e-03 -1.56633850e+01] [-3.05399989e-02 -5.33629706e-04 9.99533403e-01 -3.08259686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:97.48, Y:-15.67, Z:-3.08 [[ 9.74023736e-01 2.24385523e-01 3.04778422e-02 9.74815445e+01] [-2.24293405e-01 9.74500299e-01 -6.45252200e-03 -1.56683249e+01] [-3.11485189e-02 -5.51069431e-04 9.99514615e-01 -3.08306433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654012739 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:97.51, Y:-15.67, Z:-3.08 [[ 9.74247652e-01 2.23479488e-01 2.99738267e-02 9.75095710e+01] [-2.23390008e-01 9.74708497e-01 -6.34437515e-03 -1.56736108e+01] [-3.06335813e-02 -5.14860777e-04 9.99530549e-01 -3.08409339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:97.54, Y:-15.68, Z:-3.09 [[ 9.74780050e-01 2.21338050e-01 2.85188104e-02 9.75373251e+01] [-2.21256169e-01 9.75197049e-01 -6.03508660e-03 -1.56801957e+01] [-2.91472541e-02 -4.27080732e-04 9.99575037e-01 -3.08540812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714012739 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:97.57, Y:-15.69, Z:-3.09 [[ 9.75207272e-01 2.19379792e-01 2.90393520e-02 9.75659255e+01] [-2.19294069e-01 9.75639465e-01 -6.14378831e-03 -1.56865889e+01] [-2.96797609e-02 -3.76690635e-04 9.99559388e-01 -3.08669133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:97.59, Y:-15.69, Z:-3.09 [[ 9.75274085e-01 2.19010133e-01 2.95807587e-02 9.75936702e+01] [-2.18921059e-01 9.75722513e-01 -6.25685731e-03 -1.56916847e+01] [-3.02329273e-02 -3.73700216e-04 9.99542811e-01 -3.08800026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774012739 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:97.62, Y:-15.70, Z:-3.09 [[ 9.75197756e-01 2.19362853e-01 2.94834831e-02 9.76217249e+01] [-2.19274583e-01 9.75643270e-01 -6.23436415e-03 -1.56970090e+01] [-3.01329498e-02 -3.85240520e-04 9.99545825e-01 -3.08882092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:97.65, Y:-15.70, Z:-3.09 [[ 9.74844981e-01 2.20964888e-01 2.91853007e-02 9.76496200e+01] [-2.20879153e-01 9.75281668e-01 -6.16991429e-03 -1.57027025e+01] [-2.98272232e-02 -4.31714515e-04 9.99554976e-01 -3.09002230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834012739 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:97.68, Y:-15.71, Z:-3.09 [[ 9.74696977e-01 2.21667949e-01 2.87945205e-02 9.76770276e+01] [-2.21584842e-01 9.75122105e-01 -6.08592951e-03 -1.57085893e+01] [-2.94272290e-02 -4.48492184e-04 9.99566825e-01 -3.09126370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:97.70, Y:-15.71, Z:-3.09 [[ 9.74409132e-01 2.22857962e-01 2.93457434e-02 9.77045336e+01] [-2.22772236e-01 9.74850801e-01 -6.20062105e-03 -1.57142401e+01] [-2.99895792e-02 -4.95475085e-04 9.99550089e-01 -3.09150820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894012739 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:97.73, Y:-15.72, Z:-3.09 [[ 9.74347064e-01 2.23081491e-01 2.97060168e-02 9.77324931e+01] [-2.22993805e-01 9.74799665e-01 -6.27497117e-03 -1.57200861e+01] [-3.03572452e-02 -5.10257979e-04 9.99538982e-01 -3.09234230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:97.76, Y:-15.73, Z:-3.09 [[ 9.74453840e-01 2.22579465e-01 2.99682377e-02 9.77611375e+01] [-2.22490029e-01 9.74914423e-01 -6.32894295e-03 -1.57256761e+01] [-3.06251599e-02 -5.00371310e-04 9.99530815e-01 -3.09240193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954012739 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:97.79, Y:-15.73, Z:-3.09 [[ 9.74567883e-01 2.22053269e-01 3.01626799e-02 9.77899701e+01] [-2.21962460e-01 9.75034413e-01 -6.36858900e-03 -1.57309394e+01] [-3.08238169e-02 -4.88360337e-04 9.99524714e-01 -3.09378182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:97.82, Y:-15.74, Z:-3.09 [[ 9.74646916e-01 2.21692301e-01 3.02640625e-02 9.78175490e+01] [-2.21600754e-01 9.75116554e-01 -6.38847642e-03 -1.57360568e+01] [-3.09272644e-02 -4.80030252e-04 9.99521522e-01 -3.09442994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014012739 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:97.85, Y:-15.74, Z:-3.09 [[ 9.74698084e-01 2.21407925e-01 3.06948940e-02 9.78459277e+01] [-2.21313671e-01 9.75181163e-01 -6.47749784e-03 -1.57409164e+01] [-3.13672518e-02 -4.79594950e-04 9.99507812e-01 -3.09473366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:97.87, Y:-15.74, Z:-3.10 [[ 9.74811979e-01 2.20841861e-01 3.11524803e-02 9.78743024e+01] [-2.20744536e-01 9.75309516e-01 -6.57253625e-03 -1.57444059e+01] [-3.18348017e-02 -4.69752739e-04 9.99493034e-01 -3.09634325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074012739 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:97.90, Y:-15.75, Z:-3.10 [[ 9.74925577e-01 2.20320426e-01 3.12894527e-02 9.79020608e+01] [-2.20222025e-01 9.75427446e-01 -6.59984634e-03 -1.57495805e+01] [-3.19746719e-02 -4.56267648e-04 9.99488575e-01 -3.09728890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:97.93, Y:-15.76, Z:-3.10 [[ 9.75070081e-01 2.19642097e-01 3.15544926e-02 9.79303652e+01] [-2.19541730e-01 9.75580420e-01 -6.65378853e-03 -1.57560576e+01] [-3.22453972e-02 -4.39617773e-04 9.99479885e-01 -3.09887985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134012739 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:97.96, Y:-15.76, Z:-3.10 [[ 9.75514902e-01 2.17691680e-01 3.13210389e-02 9.79584490e+01] [-2.17591837e-01 9.76017517e-01 -6.60302679e-03 -1.57640724e+01] [-3.20073066e-02 -3.73851357e-04 9.99487565e-01 -3.09933330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:97.99, Y:-15.77, Z:-3.10 [[ 9.75778288e-01 2.16594401e-01 3.07180277e-02 9.79855076e+01] [-2.16497858e-01 9.76261622e-01 -6.47475266e-03 -1.57703500e+01] [-3.13912267e-02 -3.32464142e-04 9.99507119e-01 -3.10042456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194012739 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:98.01, Y:-15.78, Z:-3.10 [[ 9.76384272e-01 2.14028756e-01 2.94184467e-02 9.80138264e+01] [-2.13939100e-01 9.76827331e-01 -6.19901987e-03 -1.57776242e+01] [-3.00635113e-02 -2.41130517e-04 9.99547961e-01 -3.10200603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:98.04, Y:-15.78, Z:-3.10 [[ 9.76686221e-01 2.12676418e-01 2.92021635e-02 9.80419713e+01] [-2.12587514e-01 9.77122664e-01 -6.15204732e-03 -1.57846419e+01] [-2.98424912e-02 -1.99395484e-04 9.99554594e-01 -3.10307739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254012739 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:98.07, Y:-15.79, Z:-3.10 [[ 9.77137251e-01 2.10347688e-01 3.09296412e-02 9.80691536e+01] [-2.10246834e-01 9.77626632e-01 -6.51440868e-03 -1.57930814e+01] [-3.16079318e-02 -1.37387760e-04 9.99500335e-01 -3.10352603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:98.10, Y:-15.80, Z:-3.10 [[ 9.77440420e-01 2.08826422e-01 3.16504559e-02 9.80978035e+01] [-2.08720050e-01 9.77952717e-01 -6.66508212e-03 -1.58001912e+01] [-3.23444946e-02 -9.13640938e-05 9.99476776e-01 -3.10448969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314012739 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:98.13, Y:-15.81, Z:-3.11 [[ 9.77689088e-01 2.07631054e-01 3.18338242e-02 9.81262085e+01] [-2.07522838e-01 9.78207208e-01 -6.70292626e-03 -1.58075293e+01] [-3.25318119e-02 -5.28676838e-05 9.99470699e-01 -3.10582206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:98.16, Y:-15.82, Z:-3.11 [[ 9.77974279e-01 2.06405533e-01 3.10332843e-02 9.81555669e+01] [-2.06302087e-01 9.78466533e-01 -6.53401996e-03 -1.58158054e+01] [-3.17136880e-02 -1.21278551e-05 9.99496994e-01 -3.10757551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374012739 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:98.19, Y:-15.82, Z:-3.11 [[ 9.78163207e-01 2.05761725e-01 2.93061925e-02 9.81855118e+01] [-2.05669176e-01 9.78602122e-01 -6.17069372e-03 -1.58229775e+01] [-2.99487947e-02 8.56509267e-06 9.99551434e-01 -3.10884014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:98.21, Y:-15.83, Z:-3.11 [[ 9.78296841e-01 2.05195706e-01 2.88099572e-02 9.82131812e+01] [-2.05105970e-01 9.78720962e-01 -6.06790931e-03 -1.58294037e+01] [-2.94420179e-02 2.71222823e-05 9.99566489e-01 -3.10954870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434012739 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:98.24, Y:-15.84, Z:-3.11 [[ 9.78415619e-01 2.04613967e-01 2.89136870e-02 9.82422643e+01] [-2.04523361e-01 9.78842747e-01 -6.08869315e-03 -1.58364731e+01] [-2.95477845e-02 4.37480190e-05 9.99563368e-01 -3.11001930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:98.27, Y:-15.84, Z:-3.11 [[ 9.78393622e-01 2.04487194e-01 3.05107927e-02 9.82698641e+01] [-2.04386262e-01 9.78869238e-01 -6.42423238e-03 -1.58432122e+01] [-3.11797496e-02 4.94411172e-05 9.99513792e-01 -3.10929110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494012739 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:98.30, Y:-15.85, Z:-3.11 [[ 9.78180783e-01 2.05452847e-01 3.08461318e-02 9.82974386e+01] [-2.05350199e-01 9.78667016e-01 -6.49372344e-03 -1.58494497e+01] [-3.15222458e-02 1.77761690e-05 9.99503050e-01 -3.11100974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:98.33, Y:-15.86, Z:-3.11 [[ 9.78041227e-01 2.06110834e-01 3.08817559e-02 9.83272444e+01] [-2.06008311e-01 9.78528653e-01 -6.50015961e-03 -1.58559422e+01] [-3.15584363e-02 -4.47428462e-06 9.99501908e-01 -3.11278637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554012739 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:98.36, Y:-15.86, Z:-3.11 [[ 9.77936780e-01 2.06649529e-01 3.05880163e-02 9.83561808e+01] [-2.06549211e-01 9.78415030e-01 -6.43832362e-03 -1.58624219e+01] [-3.12582514e-02 -2.16571448e-05 9.99511341e-01 -3.11375483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:98.39, Y:-15.87, Z:-3.11 [[ 9.77700615e-01 2.07841950e-01 3.00538183e-02 9.83855054e+01] [-2.07745679e-01 9.78162420e-01 -6.32552772e-03 -1.58693920e+01] [-3.07122257e-02 -5.90785716e-05 9.99528267e-01 -3.11466512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614012739 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:98.41, Y:-15.88, Z:-3.12 [[ 9.77700569e-01 2.07903824e-01 2.96242700e-02 9.84147439e+01] [-2.07810336e-01 9.78149271e-01 -6.23441623e-03 -1.58762871e+01] [-3.02731171e-02 -6.08372096e-05 9.99541662e-01 -3.11646076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:98.44, Y:-15.88, Z:-3.12 [[ 9.77881804e-01 2.07008517e-01 2.99107076e-02 9.84430528e+01] [-2.06912794e-01 9.78339140e-01 -6.29469696e-03 -1.58839939e+01] [-3.05658718e-02 -3.34384521e-05 9.99532754e-01 -3.11693118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674012739 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:98.47, Y:-15.89, Z:-3.12 [[ 9.77864210e-01 2.07018632e-01 3.04117211e-02 9.84721936e+01] [-2.06919690e-01 9.78337000e-01 -6.39977307e-03 -1.58905252e+01] [-3.10777842e-02 -3.46748646e-05 9.99516968e-01 -3.11643403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:98.50, Y:-15.90, Z:-3.11 [[ 9.77580785e-01 2.08465009e-01 2.96335659e-02 9.85022746e+01] [-2.08371719e-01 9.78029823e-01 -6.23640826e-03 -1.58979387e+01] [-3.02825841e-02 -7.82041633e-05 9.99541374e-01 -3.10689957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734012739 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:98.53, Y:-15.90, Z:-3.11 [[ 9.77588920e-01 2.08426861e-01 2.96335636e-02 9.85317893e+01] [-2.08333553e-01 9.78037953e-01 -6.23641922e-03 -1.59040962e+01] [-3.02825871e-02 -7.70112610e-05 9.99541374e-01 -3.10782167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:98.56, Y:-15.91, Z:-3.12 [[ 9.77230480e-01 2.09955684e-01 3.06463683e-02 9.85598569e+01] [-2.09856678e-01 9.77710895e-01 -6.44831392e-03 -1.59107040e+01] [-3.13171483e-02 -1.29856132e-04 9.99509489e-01 -3.11972863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794012739 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:98.59, Y:-15.92, Z:-3.12 [[ 9.76885327e-01 2.11473777e-01 3.12073719e-02 9.85876790e+01] [-2.11371874e-01 9.77383655e-01 -6.56672529e-03 -1.59174401e+01] [-3.18902655e-02 -1.81423118e-04 9.99491360e-01 -3.12102157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:98.62, Y:-15.92, Z:-3.12 [[ 9.76260720e-01 2.14293246e-01 3.15184277e-02 9.86168503e+01] [-2.14190806e-01 9.76769332e-01 -6.63106551e-03 -1.59239394e+01] [-3.22072261e-02 -2.77308636e-04 9.99481174e-01 -3.12140968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854012739 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:98.65, Y:-15.93, Z:-3.12 [[ 9.75934497e-01 2.16100428e-01 2.91969560e-02 9.86454344e+01] [-2.16013352e-01 9.76371091e-01 -6.14202915e-03 -1.59288176e+01] [-2.98343590e-02 -3.12714212e-04 9.99554808e-01 -3.12208018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:98.67, Y:-15.93, Z:-3.12 [[ 9.75859239e-01 2.16563488e-01 2.82665979e-02 9.86739583e+01] [-2.16482095e-01 9.76268485e-01 -5.94537358e-03 -1.59348939e+01] [-2.88833395e-02 -3.17364592e-04 9.99582739e-01 -3.12363910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914012739 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:98.70, Y:-15.94, Z:-3.12 [[ 9.75771353e-01 2.16960745e-01 2.82542502e-02 9.87030645e+01] [-2.16879629e-01 9.76180273e-01 -5.94142408e-03 -1.59412520e+01] [-2.88702975e-02 -3.30299894e-04 9.99583112e-01 -3.12466474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:98.73, Y:-15.95, Z:-3.12 [[ 9.75625218e-01 2.17400164e-01 2.98764664e-02 9.87315915e+01] [-2.17309693e-01 9.76082495e-01 -6.28177719e-03 -1.59466908e+01] [-3.05275553e-02 -3.63785517e-04 9.99533859e-01 -3.12454965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974012739 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:98.76, Y:-15.95, Z:-3.12 [[ 9.75284175e-01 2.18663654e-01 3.17330132e-02 9.87609699e+01] [-2.18562295e-01 9.75800196e-01 -6.67092425e-03 -1.59516167e+01] [-3.24237691e-02 -4.29593323e-04 9.99474119e-01 -3.12459488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:98.79, Y:-15.96, Z:-3.13 [[ 9.74280890e-01 2.22835808e-01 3.34805871e-02 9.87888377e+01] [-2.22725468e-01 9.74855806e-01 -7.03732668e-03 -1.59551920e+01] [-3.42069131e-02 -6.00646527e-04 9.99414592e-01 -3.12510531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034012739 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:98.82, Y:-15.96, Z:-3.13 [[ 9.73947053e-01 2.24363622e-01 3.29864184e-02 9.88175876e+01] [-2.24257456e-01 9.74505283e-01 -6.93154636e-03 -1.59602356e+01] [-3.37006258e-02 -6.46491119e-04 9.99431763e-01 -3.12606574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:98.85, Y:-15.96, Z:-3.13 [[ 9.73816565e-01 2.25151659e-01 3.14329230e-02 9.88474741e+01] [-2.25055714e-01 9.74323517e-01 -6.60372816e-03 -1.59628388e+01] [-3.21126764e-02 -6.43339049e-04 9.99484048e-01 -3.12823938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094012739 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:98.88, Y:-15.97, Z:-3.13 [[ 9.73937447e-01 2.24577304e-01 3.17943995e-02 9.88758449e+01] [-2.24478859e-01 9.74456071e-01 -6.67885852e-03 -1.59673145e+01] [-3.24821656e-02 -6.32380092e-04 9.99472115e-01 -3.12946653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:98.90, Y:-15.97, Z:-3.13 [[ 9.74860960e-01 2.20280525e-01 3.35052054e-02 9.89048949e+01] [-2.20168702e-01 9.75436427e-01 -7.03699663e-03 -1.59732991e+01] [-3.42323111e-02 -5.16704291e-04 9.99413769e-01 -3.13030170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154012739 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:98.93, Y:-15.98, Z:-3.13 [[ 9.75494553e-01 2.17522914e-01 3.30780782e-02 9.89347092e+01] [-2.17412364e-01 9.76055126e-01 -6.94656867e-03 -1.59802591e+01] [-3.37970657e-02 -4.15243272e-04 9.99428630e-01 -3.13130492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:98.96, Y:-15.99, Z:-3.13 [[ 9.76093175e-01 2.15031775e-01 3.16772810e-02 9.89639712e+01] [-2.14929080e-01 9.76607002e-01 -6.65239395e-03 -1.59873096e+01] [-3.23667305e-02 -3.15012506e-04 9.99476010e-01 -3.13328515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214012739 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:98.99, Y:-16.00, Z:-3.13 [[ 9.76904793e-01 2.11643921e-01 2.93917820e-02 9.89925855e+01] [-2.11553978e-01 9.77346825e-01 -6.17243360e-03 -1.59957522e+01] [-3.00323228e-02 -1.88068428e-04 9.99548910e-01 -3.13494213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:99.02, Y:-16.00, Z:-3.14 [[ 9.77073930e-01 2.10816234e-01 2.97161798e-02 9.90214152e+01] [-2.10723923e-01 9.77525697e-01 -6.24019861e-03 -1.60029794e+01] [-3.03638645e-02 -1.64774599e-04 9.99538898e-01 -3.13503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274012739 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:99.05, Y:-16.01, Z:-3.13 [[ 9.76978451e-01 2.10961428e-01 3.17550269e-02 9.90489408e+01] [-2.10856116e-01 9.77494370e-01 -6.66751115e-03 -1.60096275e+01] [-3.24469477e-02 -1.81726920e-04 9.99473443e-01 -3.13466678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:99.08, Y:-16.02, Z:-3.14 [[ 9.76953183e-01 2.11056433e-01 3.19007807e-02 9.90789695e+01] [-2.10950237e-01 9.77473860e-01 -6.69703897e-03 -1.60173109e+01] [-3.25956324e-02 -1.86783712e-04 9.99468604e-01 -3.13569556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334012739 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:99.11, Y:-16.03, Z:-3.14 [[ 9.77009739e-01 2.11070433e-01 3.00207040e-02 9.91062812e+01] [-2.10976395e-01 9.77470839e-01 -6.30234688e-03 -1.60296161e+01] [-3.06746018e-02 -1.76205612e-04 9.99529408e-01 -3.13744561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:99.14, Y:-16.04, Z:-3.14 [[ 9.76968693e-01 2.11258098e-01 3.00364573e-02 9.91365270e+01] [-2.11164060e-01 9.77430296e-01 -6.30530328e-03 -1.60388241e+01] [-3.06905897e-02 -1.82536363e-04 9.99528916e-01 -3.13857200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394012739 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:99.17, Y:-16.05, Z:-3.14 [[ 9.76762492e-01 2.11947154e-01 3.18345409e-02 9.91668173e+01] [-2.11841857e-01 9.77281105e-01 -6.68359189e-03 -1.60486161e+01] [-3.25278635e-02 -2.15606384e-04 9.99470806e-01 -3.13885774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:99.20, Y:-16.06, Z:-3.14 [[ 9.76612092e-01 2.12542123e-01 3.24756622e-02 9.91979826e+01] [-2.12432829e-01 9.77151876e-01 -6.81939793e-03 -1.60570476e+01] [-3.31830635e-02 -2.38990327e-04 9.99449262e-01 -3.13955065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454012739 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:99.23, Y:-16.07, Z:-3.14 [[ 9.76419890e-01 2.13449660e-01 3.23023351e-02 9.92288643e+01] [-2.13341841e-01 9.76954028e-01 -6.78861667e-03 -1.60663022e+01] [-3.30069243e-02 -2.62899297e-04 9.99455088e-01 -3.14010433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:99.26, Y:-16.08, Z:-3.14 [[ 9.76038163e-01 2.15493617e-01 3.01994174e-02 9.92602864e+01] [-2.15400198e-01 9.76505201e-01 -6.35192198e-03 -1.60763059e+01] [-3.08586868e-02 -3.05242212e-04 9.99523711e-01 -3.14136801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514012739 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:99.29, Y:-16.08, Z:-3.14 [[ 9.75805193e-01 2.16661895e-01 2.93572636e-02 9.92906047e+01] [-2.16573970e-01 9.76246647e-01 -6.18057148e-03 -1.60831544e+01] [-2.99990245e-02 -3.26985389e-04 9.99549874e-01 -3.14242312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:99.32, Y:-16.09, Z:-3.14 [[ 9.75392689e-01 2.18471523e-01 2.96529262e-02 9.93205025e+01] [-2.18382562e-01 9.75843249e-01 -6.24583140e-03 -1.60909416e+01] [-3.03011441e-02 -3.83543694e-04 9.99540741e-01 -3.14313143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574012739 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:99.35, Y:-16.10, Z:-3.14 [[ 9.75255478e-01 2.18998286e-01 3.02738069e-02 9.93504677e+01] [-2.18905788e-01 9.75725158e-01 -6.37741075e-03 -1.60992279e+01] [-3.09355570e-02 -4.07506787e-04 9.99521298e-01 -3.14355400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:99.38, Y:-16.11, Z:-3.14 [[ 9.75146256e-01 2.19401515e-01 3.08667174e-02 9.93806586e+01] [-2.19305407e-01 9.75634561e-01 -6.50714475e-03 -1.61070632e+01] [-3.15423137e-02 -4.23820177e-04 9.99502328e-01 -3.14480763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634012739 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:99.41, Y:-16.11, Z:-3.15 [[ 9.74814074e-01 2.20773458e-01 3.15689943e-02 9.94120124e+01] [-2.20673619e-01 9.75324998e-01 -6.65597140e-03 -1.61120476e+01] [-3.22594911e-02 -4.78109630e-04 9.99479413e-01 -3.14613585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:99.44, Y:-16.12, Z:-3.15 [[ 9.74232625e-01 2.23355762e-01 3.13527732e-02 9.94423189e+01] [-2.23258596e-01 9.74736832e-01 -6.61119431e-03 -1.61158058e+01] [-3.20373511e-02 -5.58934950e-04 9.99486516e-01 -3.14720178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694012739 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:99.47, Y:-16.12, Z:-3.15 [[ 9.73936861e-01 2.24679863e-01 3.10797239e-02 9.94746098e+01] [-2.24584996e-01 9.74432453e-01 -6.55553311e-03 -1.61214132e+01] [-3.17579878e-02 -5.95364313e-04 9.99495411e-01 -3.14773431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.13, Z:-3.15 [[ 9.73714642e-01 2.25625705e-01 3.11903402e-02 9.95051580e+01] [-2.25530451e-01 9.74213864e-01 -6.58498516e-03 -1.61257051e+01] [-3.18718038e-02 -6.22475019e-04 9.99491771e-01 -3.14826892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754012739 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:99.54, Y:-16.13, Z:-3.15 [[ 9.73407464e-01 2.26902288e-01 3.15160357e-02 9.95362119e+01] [-2.26805689e-01 9.73917297e-01 -6.65412922e-03 -1.61267518e+01] [-3.22038495e-02 -6.70837159e-04 9.99481096e-01 -3.14953960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:99.57, Y:-16.13, Z:-3.15 [[ 9.73341297e-01 2.27321379e-01 3.05239193e-02 9.95654949e+01] [-2.27230974e-01 9.73819568e-01 -6.44465154e-03 -1.61298138e+01] [-3.11897970e-02 -6.63134435e-04 9.99513260e-01 -3.15054874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814012739 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:99.59, Y:-16.13, Z:-3.15 [[ 9.73486969e-01 2.26753891e-01 3.00964219e-02 9.95942253e+01] [-2.26665741e-01 9.73951882e-01 -6.35402667e-03 -1.61332945e+01] [-3.07532670e-02 -6.36265609e-04 9.99526804e-01 -3.15144857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:99.62, Y:-16.14, Z:-3.15 [[ 9.73536111e-01 2.26522312e-01 3.02503504e-02 9.96244139e+01] [-2.26433180e-01 9.74005771e-01 -6.38542545e-03 -1.61362251e+01] [-3.09104572e-02 -6.33240783e-04 9.99521957e-01 -3.15256739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874012739 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:99.65, Y:-16.14, Z:-3.15 [[ 9.73496150e-01 2.26525985e-01 3.14837049e-02 9.96538154e+01] [-2.26429464e-01 9.74004899e-01 -6.64493513e-03 -1.61357309e+01] [-3.21705332e-02 -6.60019659e-04 9.99482177e-01 -3.15365322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:99.68, Y:-16.14, Z:-3.15 [[ 9.73423696e-01 2.26810613e-01 3.16741779e-02 9.96820819e+01] [-2.26713122e-01 9.73938648e-01 -6.68356874e-03 -1.61391682e+01] [-3.23646103e-02 -6.75007588e-04 9.99475901e-01 -3.15428957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934012739 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:99.71, Y:-16.14, Z:-3.16 [[ 9.73270207e-01 2.27653336e-01 3.03160645e-02 9.97119054e+01] [-2.27564480e-01 9.73742011e-01 -6.39557374e-03 -1.61389191e+01] [-3.09759994e-02 -6.74238087e-04 9.99519901e-01 -3.15527823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:99.74, Y:-16.14, Z:-3.16 [[ 9.73205003e-01 2.28026722e-01 2.95945169e-02 9.97399144e+01] [-2.27942262e-01 9.73654643e-01 -6.24193917e-03 -1.61412000e+01] [-3.02381677e-02 -6.71154685e-04 9.99542497e-01 -3.15658862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994012739 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:99.77, Y:-16.14, Z:-3.16 [[ 9.73522852e-01 2.26658183e-01 2.96533975e-02 9.97687626e+01] [-2.26572807e-01 9.73974162e-01 -6.25254549e-03 -1.61415637e+01] [-3.02988336e-02 -6.31657588e-04 9.99540685e-01 -3.15819929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:99.80, Y:-16.14, Z:-3.16 [[ 9.73905904e-01 2.24998892e-01 2.97117633e-02 9.97973276e+01] [-2.24912451e-01 9.74358845e-01 -6.26340993e-03 -1.61444821e+01] [-3.03591797e-02 -5.82573585e-04 9.99538884e-01 -3.15854127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054012739 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:99.83, Y:-16.15, Z:-3.16 [[ 9.74352631e-01 2.22991118e-01 3.01978605e-02 9.98254249e+01] [-2.22900908e-01 9.74820332e-01 -6.36435841e-03 -1.61468739e+01] [-3.08566838e-02 -5.30001141e-04 9.99523679e-01 -3.15895624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:99.85, Y:-16.15, Z:-3.16 [[ 9.75200874e-01 2.19073619e-01 3.14643549e-02 9.98538593e+01] [-2.18973707e-01 9.75708240e-01 -6.62926553e-03 -1.61480130e+01] [-3.21523275e-02 -4.25000873e-04 9.99482890e-01 -3.15947636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:99.88, Y:-16.15, Z:-3.16 [[ 9.75640563e-01 2.17163678e-01 3.10713669e-02 9.98826223e+01] [-2.17065336e-01 9.76135138e-01 -6.54460310e-03 -1.61529053e+01] [-3.17511031e-02 -3.59336451e-04 9.99495742e-01 -3.16102458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:99.91, Y:-16.16, Z:-3.16 [[ 9.76548711e-01 2.13280834e-01 2.93921731e-02 9.99099325e+01] [-2.13191118e-01 9.76990909e-01 -6.18956149e-03 -1.61569375e+01] [-3.00360008e-02 -2.21741949e-04 9.99548793e-01 -3.16278552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174012739 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:99.94, Y:-16.16, Z:-3.16 [[ 9.76874656e-01 2.11872776e-01 2.87373292e-02 9.99381706e+01] [-2.11786458e-01 9.77297240e-01 -6.04983361e-03 -1.61613735e+01] [-2.93667075e-02 -1.76248041e-04 9.99568690e-01 -3.16429166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:99.97, Y:-16.16, Z:-3.16 [[ 9.77099576e-01 2.10736583e-01 2.94365524e-02 9.99663702e+01] [-2.10645541e-01 9.77542874e-01 -6.19557057e-03 -1.61646288e+01] [-3.00811254e-02 -1.46989132e-04 9.99547450e-01 -3.16417700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234012739 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:99.99, Y:-16.17, Z:-3.16 [[ 9.77212354e-01 2.10217793e-01 2.94022942e-02 9.99938171e+01] [-2.10126782e-01 9.77654572e-01 -6.18658021e-03 -1.61688111e+01] [-3.00458166e-02 -1.32606846e-04 9.99548514e-01 -3.16392537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:100.02, Y:-16.17, Z:-3.17 [[ 9.77181528e-01 2.10261340e-01 3.01069724e-02 1.00021253e+02] [-2.10165993e-01 9.77645206e-01 -6.33291461e-03 -1.61732720e+01] [-3.07655043e-02 -1.39054574e-04 9.99526620e-01 -3.16529846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294012739 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:100.05, Y:-16.18, Z:-3.17 [[ 9.77447886e-01 2.09048715e-01 2.99042537e-02 1.00049124e+02] [-2.08954138e-01 9.77905223e-01 -6.28840524e-03 -1.61771766e+01] [-3.05581089e-02 -1.02029130e-04 9.99532987e-01 -3.16616605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:100.08, Y:-16.18, Z:-3.17 [[ 9.78041678e-01 2.06126851e-01 3.07603184e-02 1.00077364e+02] [-2.06025403e-01 9.78525279e-01 -6.46623799e-03 -1.61842419e+01] [-3.14326145e-02 -1.31567638e-05 9.99505873e-01 -3.16584669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:100.10, Y:-16.19, Z:-3.17 [[ 9.78447950e-01 2.04210718e-01 3.06201261e-02 1.00104131e+02] [-2.04109300e-01 9.78926954e-01 -6.43531032e-03 -1.61898903e+01] [-3.12890261e-02 4.67636904e-05 9.99510377e-01 -3.16630110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:100.13, Y:-16.20, Z:-3.17 [[ 9.78806085e-01 2.02493535e-01 3.05780461e-02 1.00131858e+02] [-2.02391614e-01 9.79283594e-01 -6.42467205e-03 -1.61956933e+01] [-3.12455334e-02 9.97680049e-05 9.99511734e-01 -3.16775859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414012739 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:100.16, Y:-16.20, Z:-3.17 [[ 9.79182439e-01 2.00665922e-01 3.05767849e-02 1.00159858e+02] [-2.00563164e-01 9.79659718e-01 -6.42291836e-03 -1.62024122e+01] [-3.12437054e-02 1.56632118e-04 9.99511784e-01 -3.16916098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:100.19, Y:-16.21, Z:-3.17 [[ 9.79150527e-01 2.00867484e-01 3.02737286e-02 1.00188280e+02] [-2.00766895e-01 9.79618412e-01 -6.35780714e-03 -1.62090287e+01] [-3.09337787e-02 1.47287731e-04 9.99521425e-01 -3.16931304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474012739 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:100.21, Y:-16.22, Z:-3.17 [[ 9.78559182e-01 2.03761488e-01 3.00529996e-02 1.00214603e+02] [-2.03716190e-01 9.79019208e-01 -4.59394014e-03 -1.62164961e+01] [-3.03585319e-02 -1.62684028e-03 9.99537750e-01 -3.17037552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:100.24, Y:-16.22, Z:-3.17 [[ 9.78156826e-01 2.05932734e-01 2.83007620e-02 1.00244731e+02] [-2.05798943e-01 9.78564837e-01 -7.59310130e-03 -1.62202784e+01] [-2.92577987e-02 1.60297694e-03 9.99570614e-01 -3.17170295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:100.27, Y:-16.23, Z:-3.17 [[ 9.77610570e-01 2.08513870e-01 2.82761152e-02 1.00273143e+02] [-2.08429299e-01 9.78019406e-01 -5.93879182e-03 -1.62274095e+01] [-2.88929099e-02 -8.77452070e-05 9.99582509e-01 -3.17306100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:100.30, Y:-16.23, Z:-3.17 [[ 9.76637040e-01 2.13037359e-01 2.81988623e-02 1.00300627e+02] [-2.12955173e-01 9.77044029e-01 -5.92115019e-03 -1.62328311e+01] [-2.88129562e-02 -2.22278994e-04 9.99584796e-01 -3.17451807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594012739 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:100.33, Y:-16.24, Z:-3.18 [[ 9.76660523e-01 2.12929628e-01 2.81992060e-02 1.00328527e+02] [-2.12847445e-01 9.77067513e-01 -5.91951299e-03 -1.62385296e+01] [-2.88129677e-02 -2.20774277e-04 9.99584796e-01 -3.17538964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:100.36, Y:-16.24, Z:-3.18 [[ 9.76126288e-01 2.15393296e-01 2.79856598e-02 1.00356301e+02] [-2.15313458e-01 9.76527338e-01 -5.87140727e-03 -1.62435924e+01] [-2.85934236e-02 -2.94454207e-04 9.99591081e-01 -3.17673593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654012739 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:100.38, Y:-16.25, Z:-3.18 [[ 9.75959305e-01 2.16131178e-01 2.81202758e-02 1.00383191e+02] [-2.16050935e-01 9.76364282e-01 -5.89757882e-03 -1.62494473e+01] [-2.87302836e-02 -3.19614970e-04 9.99587149e-01 -3.17679360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:100.41, Y:-16.26, Z:-3.18 [[ 9.75839811e-01 2.16602186e-01 2.86383792e-02 1.00410791e+02] [-2.16519225e-01 9.76259892e-01 -6.00408755e-03 -1.62551163e+01] [-2.92589995e-02 -3.41732017e-04 9.99571805e-01 -3.17725248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714012739 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:100.44, Y:-16.26, Z:-3.18 [[ 9.75824479e-01 2.16619411e-01 2.90278820e-02 1.00438854e+02] [-2.16534249e-01 9.76256067e-01 -6.08357477e-03 -1.62589082e+01] [-2.96564663e-02 -3.49029442e-04 9.99560089e-01 -3.17795933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:100.47, Y:-16.26, Z:-3.18 [[ 9.75953381e-01 2.16056791e-01 2.88870450e-02 1.00466493e+02] [-2.15972259e-01 9.76380742e-01 -6.05231937e-03 -1.62629071e+01] [-2.95123991e-02 -3.32018808e-04 9.99564359e-01 -3.17923164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774012739 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:100.49, Y:-16.27, Z:-3.18 [[ 9.76109024e-01 2.15399428e-01 2.85352420e-02 1.00493748e+02] [-2.15316724e-01 9.76525980e-01 -5.97648826e-03 -1.62660289e+01] [-2.91527373e-02 -3.10410683e-04 9.99574920e-01 -3.18044908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:100.52, Y:-16.27, Z:-3.18 [[ 9.76197236e-01 2.14982214e-01 2.86636332e-02 1.00520979e+02] [-2.14898641e-01 9.76617917e-01 -6.00145763e-03 -1.62709030e+01] [-2.92836244e-02 -3.01169457e-04 9.99571097e-01 -3.18097098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834012739 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:100.55, Y:-16.27, Z:-3.18 [[ 9.76415539e-01 2.13954558e-01 2.89161146e-02 1.00549041e+02] [-2.13869118e-01 9.76843576e-01 -6.05217421e-03 -1.62744713e+01] [-2.95414110e-02 -2.74826973e-04 9.99563519e-01 -3.18095623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:100.58, Y:-16.28, Z:-3.18 [[ 9.76639118e-01 2.12845368e-01 2.95445725e-02 1.00575965e+02] [-2.12755734e-01 9.77085865e-01 -6.18145671e-03 -1.62789341e+01] [-3.01832786e-02 -2.48724775e-04 9.99544350e-01 -3.18123704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894012739 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:100.60, Y:-16.28, Z:-3.18 [[ 9.76968285e-01 2.11260274e-01 3.00344414e-02 1.00604705e+02] [-2.11166974e-01 9.77429821e-01 -6.28130115e-03 -1.62845446e+01] [-3.06835481e-02 -2.05650080e-04 9.99529128e-01 -3.18180287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:100.63, Y:-16.29, Z:-3.18 [[ 9.77792423e-01 2.07317674e-01 3.06815824e-02 1.00631192e+02] [-2.07218418e-01 9.78273671e-01 -6.41503799e-03 -1.62935344e+01] [-3.13449350e-02 -8.52134096e-05 9.99508623e-01 -3.18286625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954012739 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:100.66, Y:-16.30, Z:-3.18 [[ 9.78610352e-01 2.03305799e-01 3.14409083e-02 1.00658944e+02] [-2.03199560e-01 9.79115290e-01 -6.57178989e-03 -1.63030982e+01] [-3.21203570e-02 4.24428913e-05 9.99484007e-01 -3.18341942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:100.69, Y:-16.31, Z:-3.18 [[ 9.78895127e-01 2.01944221e-01 3.13506220e-02 1.00687097e+02] [-2.01837943e-01 9.79397021e-01 -6.55137466e-03 -1.63099966e+01] [-3.20277181e-02 8.53636766e-05 9.99486977e-01 -3.18419258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014012739 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:100.71, Y:-16.32, Z:-3.19 [[ 9.79103045e-01 2.01021717e-01 3.07814391e-02 1.00714066e+02] [-2.00918856e-01 9.79586778e-01 -6.43093359e-03 -1.63170866e+01] [-3.14458480e-02 1.11975153e-04 9.99505451e-01 -3.18541758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:100.74, Y:-16.33, Z:-3.19 [[ 9.79314766e-01 2.00299605e-01 2.86820135e-02 1.00741515e+02] [-2.00210037e-01 9.79734685e-01 -5.99066814e-03 -1.63273980e+01] [-2.93006919e-02 1.24322773e-04 9.99570635e-01 -3.18684853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074012739 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:100.77, Y:-16.34, Z:-3.19 [[ 9.79383126e-01 2.00084023e-01 2.78401936e-02 1.00768626e+02] [-1.99999586e-01 9.79778734e-01 -5.81356232e-03 -1.63354938e+01] [-2.84404305e-02 1.25677651e-04 9.99595481e-01 -3.18784824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:100.80, Y:-16.34, Z:-3.19 [[ 9.79330576e-01 2.00382200e-01 2.75426409e-02 1.00796558e+02] [-2.00299724e-01 9.79717797e-01 -5.74975842e-03 -1.63445588e+01] [-2.81361647e-02 1.14130853e-04 9.99604093e-01 -3.18971592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134012739 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:100.82, Y:-16.35, Z:-3.19 [[ 9.79272851e-01 2.00621034e-01 2.78547006e-02 1.00823465e+02] [-2.00536813e-01 9.79668918e-01 -5.81355738e-03 -1.63515840e+01] [-2.84547063e-02 1.07166033e-04 9.99595077e-01 -3.19002550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:100.85, Y:-16.36, Z:-3.19 [[ 9.79253109e-01 2.00591241e-01 2.87489578e-02 1.00849986e+02] [-2.00501564e-01 9.79675019e-01 -5.99840452e-03 -1.63603692e+01] [-2.93678632e-02 1.09745271e-04 9.99568665e-01 -3.19041794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194012739 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:100.88, Y:-16.37, Z:-3.19 [[ 9.79284502e-01 2.00414993e-01 2.89083731e-02 1.00876899e+02] [-2.00324294e-01 9.79711089e-01 -6.02991593e-03 -1.63671328e+01] [-2.95303392e-02 1.13953789e-04 9.99563878e-01 -3.19142119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:100.90, Y:-16.37, Z:-3.19 [[ 9.79293747e-01 2.00421441e-01 2.85482460e-02 1.00904407e+02] [-2.00333040e-01 9.79709770e-01 -5.95310162e-03 -1.63736513e+01] [-2.91621247e-02 1.10678293e-04 9.99574689e-01 -3.19217445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254012739 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:100.93, Y:-16.38, Z:-3.19 [[ 9.79381304e-01 2.00225370e-01 2.68712345e-02 1.00932124e+02] [-2.00147010e-01 9.79749861e-01 -5.60220861e-03 -1.63808979e+01] [-2.74487926e-02 1.08501117e-04 9.99623205e-01 -3.19460350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:100.96, Y:-16.39, Z:-3.20 [[ 9.79367470e-01 2.00320699e-01 2.66641327e-02 1.00960337e+02] [-2.00243613e-01 9.79730375e-01 -5.55775642e-03 -1.63873900e+01] [-2.72369944e-02 1.03763587e-04 9.99628999e-01 -3.19576222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314012739 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:100.99, Y:-16.39, Z:-3.20 [[ 9.79332810e-01 2.00322119e-01 2.78979687e-02 1.00987647e+02] [-2.00237761e-01 9.79730084e-01 -5.81394926e-03 -1.63941603e+01] [-2.84971419e-02 1.07564455e-04 9.99593868e-01 -3.19533377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:101.01, Y:-16.40, Z:-3.20 [[ 9.79304750e-01 2.00295333e-01 2.90514520e-02 1.01014411e+02] [-2.00203895e-01 9.79735560e-01 -6.05256045e-03 -1.64003573e+01] [-2.96750402e-02 1.11087354e-04 9.99559593e-01 -3.19509930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374012739 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:101.04, Y:-16.41, Z:-3.20 [[ 9.79087140e-01 2.01141953e-01 3.05006200e-02 1.01042219e+02] [-2.01041633e-01 9.79562100e-01 -6.35253482e-03 -1.64078492e+01] [-3.11550126e-02 8.77907138e-05 9.99514561e-01 -3.19554298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:101.07, Y:-16.41, Z:-3.20 [[ 9.78927162e-01 2.02053702e-01 2.95958444e-02 1.01070226e+02] [-2.01959686e-01 9.79374442e-01 -6.16333467e-03 -1.64144756e+01] [-3.02307381e-02 5.62882768e-05 9.99542945e-01 -3.19711750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434012739 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:101.10, Y:-16.42, Z:-3.20 [[ 9.78776944e-01 2.02961785e-01 2.83232715e-02 1.01098303e+02] [-2.02876088e-01 9.79186659e-01 -5.89741209e-03 -1.64208559e+01] [-2.89307189e-02 2.61364376e-05 9.99581419e-01 -3.19906259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:101.13, Y:-16.43, Z:-3.20 [[ 9.78639920e-01 2.03814274e-01 2.69007233e-02 1.01125460e+02] [-2.03737325e-01 9.79009572e-01 -5.60007375e-03 -1.64288958e+01] [-2.74774406e-02 -2.25668839e-07 9.99622424e-01 -3.20079200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494012739 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:101.15, Y:-16.44, Z:-3.20 [[ 9.78571593e-01 2.03846117e-01 2.90585383e-02 1.01152317e+02] [-2.03756393e-01 9.79002942e-01 -6.04746601e-03 -1.64372178e+01] [-2.96811469e-02 -2.98450202e-06 9.99559418e-01 -3.20011519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:101.18, Y:-16.44, Z:-3.20 [[ 9.78393367e-01 2.04516708e-01 3.03205435e-02 1.01180884e+02] [-2.04419397e-01 9.78863073e-01 -6.30830266e-03 -1.64442851e+01] [-3.09698137e-02 -2.61057431e-05 9.99520320e-01 -3.20068266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554012739 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:101.21, Y:-16.45, Z:-3.20 [[ 9.78290171e-01 2.04971580e-01 3.05776663e-02 1.01208934e+02] [-2.04872857e-01 9.78767924e-01 -6.36104845e-03 -1.64511862e+01] [-3.12322732e-02 -4.15826772e-05 9.99512153e-01 -3.20151928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:101.24, Y:-16.46, Z:-3.20 [[ 9.77993874e-01 2.06664940e-01 2.85934365e-02 1.01236536e+02] [-2.06579367e-01 9.78411771e-01 -5.94732690e-03 -1.64585956e+01] [-2.92052588e-02 -9.03647328e-05 9.99573431e-01 -3.20372598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:101.26, Y:-16.47, Z:-3.20 [[ 9.77392660e-01 2.09727801e-01 2.67924914e-02 1.01264873e+02] [-2.09653850e-01 9.77759797e-01 -5.57161695e-03 -1.64651835e+01] [-2.73651439e-02 -1.71491463e-04 9.99625490e-01 -3.20498697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:101.29, Y:-16.47, Z:-3.21 [[ 9.76982015e-01 2.11648199e-01 2.66679823e-02 1.01292542e+02] [-2.11575682e-01 9.77345890e-01 -5.54453195e-03 -1.64713196e+01] [-2.72373331e-02 -2.25388543e-04 9.99628970e-01 -3.20605288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674012739 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:101.32, Y:-16.48, Z:-3.21 [[ 9.76490985e-01 2.13846794e-01 2.71091444e-02 1.01320616e+02] [-2.13772738e-01 9.76867168e-01 -5.63501355e-03 -1.64775537e+01] [-2.76870627e-02 -2.92656096e-04 9.99616597e-01 -3.20612850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:101.35, Y:-16.48, Z:-3.21 [[ 9.75515047e-01 2.17978261e-01 2.92552765e-02 1.01348630e+02] [-2.17893911e-01 9.75953524e-01 -6.07968746e-03 -1.64822556e+01] [-2.98770299e-02 -4.43720021e-04 9.99553483e-01 -3.20553649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734012739 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:101.38, Y:-16.49, Z:-3.21 [[ 9.75176904e-01 2.19396377e-01 2.99204927e-02 1.01375557e+02] [-2.19308857e-01 9.75635680e-01 -6.21650349e-03 -1.64871502e+01] [-3.05553786e-02 -4.99638427e-04 9.99532951e-01 -3.20600475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:101.40, Y:-16.49, Z:-3.21 [[ 9.74786749e-01 2.21114570e-01 2.99856622e-02 1.01403933e+02] [-2.21027535e-01 9.75247680e-01 -6.22830515e-03 -1.64923776e+01] [-3.06206166e-02 -5.56387667e-04 9.99530924e-01 -3.20714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794012739 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:101.43, Y:-16.50, Z:-3.21 [[ 9.74745200e-01 2.21334036e-01 2.97159747e-02 1.01431136e+02] [-2.21248702e-01 9.75197894e-01 -6.17093501e-03 -1.64978169e+01] [-3.03447939e-02 -5.59531531e-04 9.99539334e-01 -3.20805562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:101.46, Y:-16.50, Z:-3.21 [[ 9.74823502e-01 2.21102547e-01 2.88583223e-02 1.01458567e+02] [-2.21022015e-01 9.75250416e-01 -5.99122905e-03 -1.65032499e+01] [-2.94687668e-02 -5.37933637e-04 9.99565557e-01 -3.20899648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854012739 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:101.49, Y:-16.51, Z:-3.21 [[ 9.74866862e-01 2.20949972e-01 2.85606632e-02 1.01486942e+02] [-2.20871073e-01 9.75284999e-01 -5.92787424e-03 -1.65082845e+01] [-2.91645500e-02 -5.29336164e-04 9.99574484e-01 -3.20939639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:101.51, Y:-16.51, Z:-3.21 [[ 9.74701181e-01 2.21478412e-01 3.00819005e-02 1.01514532e+02] [-2.21391177e-01 9.75165105e-01 -6.24217649e-03 -1.65110926e+01] [-3.07173270e-02 -5.75610585e-04 9.99527946e-01 -3.20937823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914012739 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:101.54, Y:-16.51, Z:-3.21 [[ 9.74547356e-01 2.22093738e-01 3.05257770e-02 1.01542457e+02] [-2.22004266e-01 9.75025130e-01 -6.33253609e-03 -1.65149248e+01] [-3.11698163e-02 -6.05496419e-04 9.99513920e-01 -3.20964988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:101.57, Y:-16.52, Z:-3.21 [[ 9.74338287e-01 2.23019982e-01 3.04465145e-02 1.01570634e+02] [-2.22931487e-01 9.74813666e-01 -6.31412327e-03 -1.65180163e+01] [-3.10878541e-02 -6.35394704e-04 9.99516454e-01 -3.21086687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974012739 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:101.60, Y:-16.52, Z:-3.21 [[ 9.73732167e-01 2.25789297e-01 2.94085012e-02 1.01599174e+02] [-2.25708051e-01 9.74175909e-01 -6.09701743e-03 -1.65163272e+01] [-3.00256947e-02 -7.00873511e-04 9.99548881e-01 -3.21259933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:101.63, Y:-16.52, Z:-3.21 [[ 9.73448117e-01 2.27067086e-01 2.89707203e-02 1.01627134e+02] [-2.26988861e-01 9.73878845e-01 -6.00441137e-03 -1.65179342e+01] [-2.95773758e-02 -7.31047859e-04 9.99562226e-01 -3.21382362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034012739 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:101.65, Y:-16.52, Z:-3.21 [[ 9.73347660e-01 2.27517679e-01 2.88103956e-02 1.01654692e+02] [-2.27440569e-01 9.73773667e-01 -5.96933888e-03 -1.65161018e+01] [-2.94129347e-02 -7.42410730e-04 9.99567070e-01 -3.21447371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:101.68, Y:-16.52, Z:-3.21 [[ 9.73644912e-01 2.26189759e-01 2.92194725e-02 1.01682676e+02] [-2.26109949e-01 9.74082995e-01 -6.05063042e-03 -1.65180487e+01] [-2.98307819e-02 -7.15647898e-04 9.99554707e-01 -3.21466669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094012739 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:101.71, Y:-16.52, Z:-3.22 [[ 9.74404634e-01 2.22768711e-01 3.01614215e-02 1.01710824e+02] [-2.22682095e-01 9.74871120e-01 -6.24363126e-03 -1.65165098e+01] [-3.07943844e-02 -6.32585305e-04 9.99525540e-01 -3.21504175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:101.74, Y:-16.52, Z:-3.22 [[ 9.74941639e-01 2.20464334e-01 2.97368196e-02 1.01738267e+02] [-2.20379137e-01 9.75394879e-01 -6.15349132e-03 -1.65193272e+01] [-3.03617670e-02 -5.54079735e-04 9.99538822e-01 -3.21638768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154012739 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:101.77, Y:-16.52, Z:-3.22 [[ 9.76318073e-01 2.14491795e-01 2.82186061e-02 1.01766410e+02] [-2.14412639e-01 9.76725727e-01 -5.83727309e-03 -1.65212842e+01] [-2.88138858e-02 -3.51390601e-04 9.99584732e-01 -3.21779204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:101.79, Y:-16.53, Z:-3.22 [[ 9.77065647e-01 2.11037557e-01 2.83878769e-02 1.01793768e+02] [-2.10956043e-01 9.77477921e-01 -5.87043291e-03 -1.65252301e+01] [-2.89874047e-02 -2.52795863e-04 9.99579745e-01 -3.21802358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214012739 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:101.82, Y:-16.53, Z:-3.22 [[ 9.77743901e-01 2.07791189e-01 2.89773321e-02 1.01821545e+02] [-2.07704886e-01 9.78173193e-01 -5.99040056e-03 -1.65299942e+01] [-2.95896019e-02 -1.61655841e-04 9.99562119e-01 -3.21825612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:101.85, Y:-16.53, Z:-3.22 [[ 9.78911696e-01 2.02113145e-01 2.97013214e-02 1.01850670e+02] [-2.02019918e-01 9.79362178e-01 -6.13809051e-03 -1.65336263e+01] [-3.03289396e-02 8.39007046e-06 9.99539972e-01 -3.21756765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274012739 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:101.88, Y:-16.54, Z:-3.22 [[ 9.79298465e-01 2.00227390e-01 2.97238784e-02 1.01878479e+02] [-2.00133196e-01 9.79749452e-01 -6.14131386e-03 -1.65384485e+01] [-3.03516128e-02 6.54444466e-05 9.99539282e-01 -3.21878538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:101.91, Y:-16.55, Z:-3.22 [[ 9.79942984e-01 1.97336823e-01 2.77475494e-02 1.01905482e+02] [-1.97253626e-01 9.80335737e-01 -5.73144405e-03 -1.65451802e+01] [-2.83329393e-02 1.43183662e-04 9.99598531e-01 -3.22175952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334012739 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:101.93, Y:-16.55, Z:-3.22 [[ 9.80264086e-01 1.95942468e-01 2.62463304e-02 1.01933063e+02] [-1.95867576e-01 9.80615378e-01 -5.41970979e-03 -1.65520059e+01] [-2.67995065e-02 1.71941753e-04 9.99640814e-01 -3.22355697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:101.96, Y:-16.56, Z:-3.22 [[ 9.80608140e-01 1.94504158e-01 2.39959968e-02 1.01960549e+02] [-1.94441153e-01 9.80901675e-01 -4.95403503e-03 -1.65586072e+01] [-2.45012939e-02 1.92157783e-04 9.99699780e-01 -3.22430321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394012739 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:101.99, Y:-16.56, Z:-3.22 [[ 9.80605072e-01 1.94507545e-01 2.40937454e-02 1.01989175e+02] [-1.94444065e-01 9.80901003e-01 -4.97263972e-03 -1.65646891e+01] [-2.46007950e-02 1.91309927e-04 9.99697336e-01 -3.22472442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:102.02, Y:-16.57, Z:-3.22 [[ 9.80280118e-01 1.95790709e-01 2.67747857e-02 1.02016394e+02] [-1.95712830e-01 9.80645689e-01 -5.52454030e-03 -1.65725636e+01] [-2.73382318e-02 1.75427934e-04 9.99626225e-01 -3.22394863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454012739 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:102.04, Y:-16.58, Z:-3.22 [[ 9.79979952e-01 1.97105891e-01 2.80813385e-02 1.02043566e+02] [-1.97020816e-01 9.80382194e-01 -5.79232142e-03 -1.65810417e+01] [-2.86721449e-02 1.43750639e-04 9.99588859e-01 -3.22375664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:102.07, Y:-16.59, Z:-3.23 [[ 9.79825245e-01 1.97840649e-01 2.83119651e-02 1.02071914e+02] [-1.97754528e-01 9.80234188e-01 -5.83814286e-03 -1.65877238e+01] [-2.89073781e-02 1.21540454e-04 9.99582087e-01 -3.22502711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514012739 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:102.10, Y:-16.59, Z:-3.23 [[ 9.79832118e-01 1.97806564e-01 2.83122400e-02 1.02100643e+02] [-1.97720468e-01 9.80241066e-01 -5.83680932e-03 -1.65935629e+01] [-2.89073796e-02 1.21183903e-04 9.99582087e-01 -3.22592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:102.13, Y:-16.60, Z:-3.23 [[ 9.79601274e-01 1.98903930e-01 2.86106871e-02 1.02127826e+02] [-1.98816505e-01 9.80018989e-01 -5.89732073e-03 -1.65997395e+01] [-2.92120169e-02 8.87460819e-05 9.99573234e-01 -3.22647697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574012739 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:102.16, Y:-16.61, Z:-3.23 [[ 9.78963043e-01 2.02076902e-01 2.82185466e-02 1.02155626e+02] [-2.01993225e-01 9.79369657e-01 -5.81477817e-03 -1.66058604e+01] [-2.88114206e-02 -7.50229131e-06 9.99584865e-01 -3.22704892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:102.18, Y:-16.61, Z:-3.23 [[ 9.78561063e-01 2.04048434e-01 2.79728892e-02 1.02183810e+02] [-2.03967040e-01 9.78960792e-01 -5.76318498e-03 -1.66104657e+01] [-2.85603307e-02 -6.59190040e-05 9.99592068e-01 -3.22764010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634012739 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:102.21, Y:-16.61, Z:-3.23 [[ 9.77592199e-01 2.08772906e-01 2.69697295e-02 1.02211281e+02] [-2.08699074e-01 9.77964127e-01 -5.55536745e-03 -1.66127869e+01] [-2.75352382e-02 -1.97673686e-04 9.99620814e-01 -3.22864186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:102.24, Y:-16.62, Z:-3.23 [[ 9.77156255e-01 2.10886205e-01 2.63184572e-02 1.02238899e+02] [-2.10816720e-01 9.77510585e-01 -5.41904136e-03 -1.66171929e+01] [-2.68693716e-02 -2.53120666e-04 9.99638921e-01 -3.22974474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694012739 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:102.27, Y:-16.62, Z:-3.23 [[ 9.76715752e-01 2.12885834e-01 2.65699342e-02 1.02265411e+02] [-2.12815802e-01 9.77077031e-01 -5.46906099e-03 -1.66206357e+01] [-2.71251580e-02 -3.12783841e-04 9.99631996e-01 -3.23033142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:102.29, Y:-16.62, Z:-3.23 [[ 9.76847297e-01 2.12193777e-01 2.72609632e-02 1.02292399e+02] [-2.12119876e-01 9.77227562e-01 -5.60801373e-03 -1.66245159e+01] [-2.78301502e-02 -3.04419064e-04 9.99612620e-01 -3.23102798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754012739 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:102.32, Y:-16.63, Z:-3.23 [[ 9.77163544e-01 2.10660501e-01 2.78129624e-02 1.02319772e+02] [-2.10583022e-01 9.77559247e-01 -5.71921626e-03 -1.66287743e+01] [-2.83936315e-02 -2.68328040e-04 9.99596784e-01 -3.23135218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:102.35, Y:-16.63, Z:-3.23 [[ 9.78063572e-01 2.06288337e-01 2.89270108e-02 1.02345682e+02] [-2.06202675e-01 9.78491236e-01 -5.94619543e-03 -1.66343798e+01] [-2.95314574e-02 -1.49069859e-04 9.99563840e-01 -3.23238318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814012739 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:102.37, Y:-16.64, Z:-3.23 [[ 9.78610611e-01 2.03677260e-01 2.89282826e-02 1.02373150e+02] [-2.03590519e-01 9.79038083e-01 -5.94408487e-03 -1.66411481e+01] [-2.95325652e-02 -7.25795352e-05 9.99563816e-01 -3.23314951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:102.40, Y:-16.65, Z:-3.23 [[ 9.79673500e-01 1.98597344e-01 2.82653100e-02 1.02400272e+02] [-1.98512474e-01 9.80081165e-01 -5.80592072e-03 -1.66475206e+01] [-2.88553384e-02 7.68900649e-05 9.99583595e-01 -3.23334854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874012739 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:102.43, Y:-16.65, Z:-3.23 [[ 9.80188047e-01 1.96142947e-01 2.75560870e-02 1.02427690e+02] [-1.96061355e-01 9.80575302e-01 -5.65872806e-03 -1.66528539e+01] [-2.81307380e-02 1.43933834e-04 9.99604242e-01 -3.23453512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:102.45, Y:-16.66, Z:-3.24 [[ 9.80939227e-01 1.92499640e-01 2.64975872e-02 1.02453973e+02] [-1.92422915e-01 9.81297015e-01 -5.43959135e-03 -1.66616800e+01] [-2.70491226e-02 2.37165563e-04 9.99634077e-01 -3.23558328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934012739 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:102.48, Y:-16.67, Z:-3.24 [[ 9.81208670e-01 1.91046237e-01 2.70348304e-02 1.02480355e+02] [-1.90965861e-01 9.81580998e-01 -5.54833230e-03 -1.66693535e+01] [-2.75968638e-02 2.81342111e-04 9.99619094e-01 -3.23641496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:102.51, Y:-16.68, Z:-3.24 [[ 9.81602858e-01 1.88688313e-01 2.91984580e-02 1.02507948e+02] [-1.88593568e-01 9.82036955e-01 -5.99044879e-03 -1.66774116e+01] [-2.98042925e-02 3.73600291e-04 9.99555684e-01 -3.23541756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994012739 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:102.54, Y:-16.68, Z:-3.24 [[ 9.81748230e-01 1.87829943e-01 2.98383245e-02 1.02536455e+02] [-1.87730644e-01 9.82201480e-01 -6.12035912e-03 -1.66844107e+01] [-3.04568331e-02 4.07083878e-04 9.99536000e-01 -3.23589388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters Centerline goodness : 0.987883 Centerline is valid? [True, True] Translation: X:102.56, Y:-16.69, Z:-3.23 [[ 9.81756584e-01 1.87845537e-01 2.94629157e-02 1.02564607e+02] [-1.87748748e-01 9.82198500e-01 -6.04267217e-03 -1.66924149e+01] [-3.00735206e-02 4.00807649e-04 9.99547609e-01 -3.22781183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054012739 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:102.59, Y:-16.70, Z:-3.24 [[ 9.81643709e-01 1.88445453e-01 2.93928368e-02 1.02592847e+02] [-1.88349425e-01 9.82083584e-01 -6.02725252e-03 -1.67025107e+01] [-3.00020309e-02 3.80490612e-04 9.99549765e-01 -3.23785878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:102.62, Y:-16.71, Z:-3.24 [[ 9.81817796e-01 1.87638829e-01 2.87312592e-02 1.02622057e+02] [-1.87546752e-01 9.82238013e-01 -5.89086410e-03 -1.67091059e+01] [-2.93262898e-02 3.95300868e-04 9.99569814e-01 -3.23927556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114012739 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:102.65, Y:-16.72, Z:-3.24 [[ 9.82508237e-01 1.84096195e-01 2.80384658e-02 1.02650277e+02] [-1.84007051e-01 9.82908109e-01 -5.74925969e-03 -1.67168728e+01] [-2.86176523e-02 4.89419598e-04 9.99590311e-01 -3.24075394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:102.68, Y:-16.73, Z:-3.24 [[ 9.82910524e-01 1.81966858e-01 2.78381784e-02 1.02679761e+02] [-1.81878166e-01 9.83304513e-01 -5.70689175e-03 -1.67250631e+01] [-2.84118716e-02 5.46207134e-04 9.99596152e-01 -3.24137087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:102.71, Y:-16.74, Z:-3.24 [[ 9.83569773e-01 1.78569746e-01 2.65206824e-02 1.02710116e+02] [-1.78488033e-01 9.83927065e-01 -5.43620472e-03 -1.67376941e+01] [-2.70651589e-02 6.13262201e-04 9.99633483e-01 -3.24344770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:102.74, Y:-16.75, Z:-3.24 [[ 9.83723034e-01 1.77810579e-01 2.59304936e-02 1.02739654e+02] [-1.77732066e-01 9.84064534e-01 -5.32025380e-03 -1.67469427e+01] [-2.64632765e-02 6.24976017e-04 9.99649591e-01 -3.24493199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234012739 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:102.77, Y:-16.76, Z:-3.25 [[ 9.83815517e-01 1.77307652e-01 2.58655209e-02 1.02769601e+02] [-1.77229352e-01 9.84155268e-01 -5.30719160e-03 -1.67587867e+01] [-2.63966943e-02 6.37167959e-04 9.99651343e-01 -3.24565770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:102.80, Y:-16.77, Z:-3.25 [[ 9.83686936e-01 1.77975832e-01 2.61651359e-02 1.02799701e+02] [-1.77895939e-01 9.84034659e-01 -5.36880606e-03 -1.67679135e+01] [-2.67029183e-02 6.26552965e-04 9.99643217e-01 -3.24593104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294012739 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:102.83, Y:-16.78, Z:-3.25 [[ 9.83196008e-01 1.80515025e-01 2.72017385e-02 1.02830303e+02] [-1.80429525e-01 9.83572054e-01 -5.58587048e-03 -1.67797177e+01] [-2.77632034e-02 5.84008808e-04 9.99614357e-01 -3.24611200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:102.86, Y:-16.79, Z:-3.25 [[ 9.82883412e-01 1.82188971e-01 2.73381874e-02 1.02860015e+02] [-1.82103126e-01 9.83263384e-01 -5.61863236e-03 -1.67881519e+01] [-2.79042915e-02 5.44091174e-04 9.99610451e-01 -3.24686387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354012739 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:102.89, Y:-16.80, Z:-3.25 [[ 9.82372145e-01 1.85101503e-01 2.61228168e-02 1.02891103e+02] [-1.85024050e-01 9.82719307e-01 -5.37261518e-03 -1.68001631e+01] [-2.66658756e-02 4.44558133e-04 9.99644303e-01 -3.24856197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:102.92, Y:-16.81, Z:-3.25 [[ 9.82163414e-01 1.86283808e-01 2.55611159e-02 1.02922051e+02] [-1.86209919e-01 9.82495891e-01 -5.26215669e-03 -1.68103108e+01] [-2.60939459e-02 4.08564473e-04 9.99659412e-01 -3.24992931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414012739 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:102.95, Y:-16.82, Z:-3.25 [[ 9.81924380e-01 1.87485297e-01 2.59571998e-02 1.02953049e+02] [-1.87409385e-01 9.82267333e-01 -5.34874060e-03 -1.68205188e+01] [-2.64997197e-02 3.87435922e-04 9.99648746e-01 -3.25055883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:102.98, Y:-16.83, Z:-3.25 [[ 9.81321207e-01 1.90347347e-01 2.78671031e-02 1.02982499e+02] [-1.90260855e-01 9.81716748e-01 -5.74751546e-03 -1.68319275e+01] [-2.84516261e-02 3.38139968e-04 9.99595113e-01 -3.24898284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474012739 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:103.01, Y:-16.84, Z:-3.25 [[ 9.80490558e-01 1.94511386e-01 2.83476103e-02 1.03012728e+02] [-1.94423492e-01 9.80900234e-01 -5.85116222e-03 -1.68434550e+01] [-2.89442952e-02 2.25567930e-04 9.99581001e-01 -3.25021228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:103.04, Y:-16.85, Z:-3.25 [[ 9.79924222e-01 1.97438574e-01 2.76862467e-02 1.03044158e+02] [-1.97355752e-01 9.80315250e-01 -5.71989993e-03 -1.68524500e+01] [-2.82705787e-02 1.41028454e-04 9.99600297e-01 -3.25129235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534012739 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:103.08, Y:-16.86, Z:-3.25 [[ 9.79238371e-01 2.00892470e-01 2.71003576e-02 1.03075531e+02] [-2.00814294e-01 9.79613298e-01 -5.60408097e-03 -1.68606593e+01] [-2.76736884e-02 4.55919300e-05 9.99617009e-01 -3.25252704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:103.11, Y:-16.87, Z:-3.25 [[ 9.77766641e-01 2.08006403e-01 2.65656170e-02 1.03105701e+02] [-2.07933770e-01 9.78127453e-01 -5.49843401e-03 -1.68682422e+01] [-2.71282688e-02 -1.47703531e-04 9.99631950e-01 -3.25332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594012739 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:103.14, Y:-16.88, Z:-3.25 [[ 9.76158608e-01 2.15299425e-01 2.75777209e-02 1.03135740e+02] [-2.15224034e-01 9.76548015e-01 -5.70867882e-03 -1.68753915e+01] [-2.81600439e-02 -3.62812382e-04 9.99603361e-01 -3.25233001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:103.16, Y:-16.88, Z:-3.25 [[ 9.75408986e-01 2.18632836e-01 2.78746019e-02 1.03164317e+02] [-2.18557172e-01 9.75807085e-01 -5.77015945e-03 -1.68813019e+01] [-2.84617803e-02 -4.63928787e-04 9.99594774e-01 -3.25251505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654012739 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:103.20, Y:-16.89, Z:-3.25 [[ 9.74794340e-01 2.21385971e-01 2.76450124e-02 1.03195030e+02] [-2.21312667e-01 9.75186116e-01 -5.72221528e-03 -1.68873903e+01] [-2.82258505e-02 -5.40208345e-04 9.99601425e-01 -3.25293580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:103.22, Y:-16.89, Z:-3.25 [[ 9.74259209e-01 2.23741013e-01 2.75491129e-02 1.03224409e+02] [-2.23669135e-01 9.74648446e-01 -5.70313407e-03 -1.68928614e+01] [-2.81267251e-02 -6.05555369e-04 9.99604182e-01 -3.25433843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714012739 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:103.25, Y:-16.90, Z:-3.26 [[ 9.73531478e-01 2.26880614e-01 2.75979637e-02 1.03252328e+02] [-2.26809748e-01 9.73922328e-01 -5.71296255e-03 -1.68986484e+01] [-2.81744335e-02 -6.97738319e-04 9.99602778e-01 -3.25529599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:103.28, Y:-16.90, Z:-3.26 [[ 9.73191842e-01 2.28093147e-01 2.95153258e-02 1.03280149e+02] [-2.28012683e-01 9.73638999e-01 -6.10871637e-03 -1.69044955e+01] [-3.01306286e-02 -7.84915671e-04 9.99545661e-01 -3.25575724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774012739 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:103.31, Y:-16.91, Z:-3.26 [[ 9.73114164e-01 2.28439386e-01 2.93984722e-02 1.03309539e+02] [-2.28359747e-01 9.73557814e-01 -6.08346572e-03 -1.69105445e+01] [-3.00108155e-02 -7.93521010e-04 9.99549259e-01 -3.25663790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:103.34, Y:-16.92, Z:-3.26 [[ 9.73034775e-01 2.28896258e-01 2.84574979e-02 1.03339739e+02] [-2.28821832e-01 9.73450508e-01 -5.88874863e-03 -1.69169036e+01] [-2.90498783e-02 -7.81739594e-04 9.99577658e-01 -3.25786136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:103.37, Y:-16.92, Z:-3.26 [[ 9.72706835e-01 2.30570857e-01 2.60479130e-02 1.03367599e+02] [-2.30509099e-01 9.73055240e-01 -5.39027207e-03 -1.69219323e+01] [-2.65888979e-02 -7.61126467e-04 9.99646163e-01 -3.25982310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:103.40, Y:-16.93, Z:-3.26 [[ 9.72369870e-01 2.32066930e-01 2.53332812e-02 1.03397281e+02] [-2.32009045e-01 9.72699507e-01 -5.24144491e-03 -1.69263695e+01] [-2.58580362e-02 -7.80927283e-04 9.99665320e-01 -3.26058201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894012739 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:103.43, Y:-16.93, Z:-3.26 [[ 9.71894907e-01 2.34060268e-01 2.52206236e-02 1.03425327e+02] [-2.34003583e-01 9.72221734e-01 -5.21753180e-03 -1.69300718e+01] [-2.57412553e-02 -8.30823696e-04 9.99668294e-01 -3.26196824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:103.45, Y:-16.93, Z:-3.26 [[ 9.70878723e-01 2.38192263e-01 2.56700546e-02 1.03453060e+02] [-2.38134997e-01 9.71217550e-01 -5.30985741e-03 -1.69312314e+01] [-2.61959745e-02 -9.57710784e-04 9.99656368e-01 -3.26241211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954012739 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:103.48, Y:-16.93, Z:-3.26 [[ 9.70013564e-01 2.41677601e-01 2.57996850e-02 1.03481941e+02] [-2.41621026e-01 9.70356026e-01 -5.33507501e-03 -1.69315070e+01] [-2.63242480e-02 -1.05865125e-03 9.99652896e-01 -3.26357865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:103.51, Y:-16.93, Z:-3.26 [[ 9.69791303e-01 2.42538015e-01 2.60794868e-02 1.03509471e+02] [-2.42480551e-01 9.70141285e-01 -5.39169777e-03 -1.69335224e+01] [-2.66084785e-02 -1.09494672e-03 9.99645332e-01 -3.26446974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014012739 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:103.54, Y:-16.94, Z:-3.27 [[ 9.69719048e-01 2.42811136e-01 2.62244149e-02 1.03537169e+02] [-2.42753173e-01 9.70072946e-01 -5.42007038e-03 -1.69358968e+01] [-2.67556489e-02 -1.11011444e-03 9.99641387e-01 -3.26534760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:103.57, Y:-16.93, Z:-3.27 [[ 9.70277218e-01 2.40541162e-01 2.64965859e-02 1.03566534e+02] [-2.40481188e-01 9.70638360e-01 -5.47467815e-03 -1.69348076e+01] [-2.70354881e-02 -1.05997496e-03 9.99633912e-01 -3.26587596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074012739 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:103.59, Y:-16.94, Z:-3.27 [[ 9.70762178e-01 2.38587669e-01 2.63954081e-02 1.03594435e+02] [-2.38527466e-01 9.71120445e-01 -5.45250540e-03 -1.69374544e+01] [-2.69340210e-02 -1.00294378e-03 9.99636710e-01 -3.26678668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:103.62, Y:-16.94, Z:-3.27 [[ 9.71711009e-01 2.34783946e-01 2.55775991e-02 1.03623061e+02] [-2.34726138e-01 9.72047190e-01 -5.28207108e-03 -1.69375413e+01] [-2.61027788e-02 -8.71084424e-04 9.99658885e-01 -3.26697332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134012739 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:103.65, Y:-16.94, Z:-3.27 [[ 9.72139701e-01 2.33023418e-01 2.53867665e-02 1.03650537e+02] [-2.32965915e-01 9.72470779e-01 -5.24087812e-03 -1.69405420e+01] [-2.59091359e-02 -8.19385600e-04 9.99663966e-01 -3.26734705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:103.68, Y:-16.94, Z:-3.27 [[ 9.72617696e-01 2.30978128e-01 2.57666926e-02 1.03677014e+02] [-2.30918222e-01 9.72958632e-01 -5.31750512e-03 -1.69434860e+01] [-2.62981533e-02 -7.78099269e-04 9.99653841e-01 -3.26850424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194012739 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:103.70, Y:-16.95, Z:-3.27 [[ 9.73581879e-01 2.26712324e-01 2.72001403e-02 1.03704843e+02] [-2.26643968e-01 9.73961513e-01 -5.61092223e-03 -1.69465928e+01] [-2.77639551e-02 -7.02055526e-04 9.99614261e-01 -3.26884914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:103.73, Y:-16.95, Z:-3.27 [[ 9.74493371e-01 2.22669124e-01 2.79487101e-02 1.03732414e+02] [-2.22595349e-01 9.74893889e-01 -5.76327582e-03 -1.69507408e+01] [-2.85303303e-02 -6.04978792e-04 9.99592744e-01 -3.26918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:103.76, Y:-16.96, Z:-3.27 [[ 9.74820033e-01 2.21209215e-01 2.81493716e-02 1.03761000e+02] [-2.21133817e-01 9.75226210e-01 -5.80295749e-03 -1.69567287e+01] [-2.87356727e-02 -5.67938789e-04 9.99586884e-01 -3.27026458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:103.79, Y:-16.96, Z:-3.27 [[ 9.75047521e-01 2.20211886e-01 2.80901553e-02 1.03789599e+02] [-2.20136430e-01 9.75451913e-01 -5.78938525e-03 -1.69629570e+01] [-2.86754872e-02 -5.38740787e-04 9.99588628e-01 -3.27106342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:103.82, Y:-16.97, Z:-3.27 [[ 9.75025381e-01 2.20307636e-01 2.81078681e-02 1.03817386e+02] [-2.20232163e-01 9.75430290e-01 -5.79169870e-03 -1.69675923e+01] [-2.86932213e-02 -5.43203354e-04 9.99588117e-01 -3.27210023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:103.84, Y:-16.97, Z:-3.27 [[ 9.74773155e-01 2.21471331e-01 2.77082242e-02 1.03843726e+02] [-2.21398507e-01 9.75166716e-01 -5.70763967e-03 -1.69717520e+01] [-2.82842165e-02 -5.70905555e-04 9.99599758e-01 -3.27311715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374012739 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:103.87, Y:-16.98, Z:-3.27 [[ 9.73934755e-01 2.25218880e-01 2.69731287e-02 1.03871284e+02] [-2.25151378e-01 9.74307967e-01 -5.55354532e-03 -1.69755781e+01] [-2.75308974e-02 -6.64246299e-04 9.99620732e-01 -3.27440984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:103.90, Y:-16.98, Z:-3.28 [[ 9.73947852e-01 2.25162187e-01 2.69735234e-02 1.03899206e+02] [-2.25094717e-01 9.74321070e-01 -5.55162733e-03 -1.69811956e+01] [-2.75308888e-02 -6.64602117e-04 9.99620732e-01 -3.27528158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:103.93, Y:-16.99, Z:-3.28 [[ 9.73532873e-01 2.26998603e-01 2.65589786e-02 1.03927049e+02] [-2.26933915e-01 9.73894827e-01 -5.46476507e-03 -1.69859769e+01] [-2.71061459e-02 -7.07004556e-04 9.99632311e-01 -3.27581946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:103.95, Y:-16.99, Z:-3.28 [[ 9.73234185e-01 2.28235715e-01 2.69012765e-02 1.03953981e+02] [-2.28169875e-01 9.73605614e-01 -5.53324844e-03 -1.69882531e+01] [-2.74541187e-02 -7.52914349e-04 9.99622781e-01 -3.27714474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494012739 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:103.98, Y:-16.99, Z:-3.28 [[ 9.73271727e-01 2.28069606e-01 2.69518004e-02 1.03981894e+02] [-2.28003518e-01 9.73644540e-01 -5.54133042e-03 -1.69921289e+01] [-2.75052823e-02 -7.51885078e-04 9.99621375e-01 -3.27775745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:104.01, Y:-16.99, Z:-3.28 [[ 9.73551995e-01 2.26976951e-01 2.60379731e-02 1.04008453e+02] [-2.26914925e-01 9.73899880e-01 -5.35170246e-03 -1.69945612e+01] [-2.65730920e-02 -6.98244110e-04 9.99646629e-01 -3.27891230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:104.03, Y:-17.00, Z:-3.28 [[ 9.73747200e-01 2.26235119e-01 2.51805682e-02 1.04034837e+02] [-2.26176911e-01 9.74072502e-01 -5.17361319e-03 -1.69979783e+01] [-2.56981521e-02 -6.57471780e-04 9.99669532e-01 -3.27999987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:104.06, Y:-17.00, Z:-3.28 [[ 9.73799712e-01 2.25950708e-01 2.56982158e-02 1.04063168e+02] [-2.25890066e-01 9.74138508e-01 -5.27677689e-03 -1.69988893e+01] [-2.62259131e-02 -6.66447850e-04 9.99655819e-01 -3.28004242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614012739 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:104.09, Y:-17.00, Z:-3.28 [[ 9.73704197e-01 2.26242504e-01 2.67294904e-02 1.04091061e+02] [-2.26177061e-01 9.74070754e-01 -5.48656611e-03 -1.70018594e+01] [-2.72777093e-02 -7.03305141e-04 9.99627647e-01 -3.28074048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:104.12, Y:-17.00, Z:-3.28 [[ 9.73574029e-01 2.26756814e-01 2.71101038e-02 1.04119101e+02] [-2.26689746e-01 9.73951136e-01 -5.56275749e-03 -1.70048483e+01] [-2.76653095e-02 -7.29826334e-04 9.99616976e-01 -3.28141889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:104.15, Y:-17.00, Z:-3.28 [[ 9.73177950e-01 2.28517036e-01 2.65450867e-02 1.04146198e+02] [-2.28453437e-01 9.73539613e-01 -5.44505034e-03 -1.70046879e+01] [-2.70869802e-02 -7.65313360e-04 9.99632787e-01 -3.28189218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:104.17, Y:-17.01, Z:-3.28 [[ 9.72981260e-01 2.29423297e-01 2.59310167e-02 1.04173549e+02] [-2.29362982e-01 9.73326436e-01 -5.31704468e-03 -1.70069477e+01] [-2.64591980e-02 -7.74230496e-04 9.99649594e-01 -3.28248815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734012739 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:104.20, Y:-17.01, Z:-3.28 [[ 9.72760413e-01 2.30259310e-01 2.67923296e-02 1.04202015e+02] [-2.30195301e-01 9.73128958e-01 -5.49137942e-03 -1.70059664e+01] [-2.73368330e-02 -8.25671863e-04 9.99625938e-01 -3.28273438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:104.23, Y:-17.01, Z:-3.28 [[ 9.72880369e-01 2.29634112e-01 2.77842041e-02 1.04230294e+02] [-2.29565076e-01 9.73276666e-01 -5.69269350e-03 -1.70094508e+01] [-2.83489542e-02 -8.39973167e-04 9.99597735e-01 -3.28356041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794012739 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:104.26, Y:-17.01, Z:-3.28 [[ 9.73788944e-01 2.25587972e-01 2.90716371e-02 1.04257431e+02] [-2.25510648e-01 9.74222507e-01 -5.95438470e-03 -1.70110443e+01] [-2.96654807e-02 -7.57649732e-04 9.99559596e-01 -3.28441393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:104.28, Y:-17.01, Z:-3.28 [[ 9.74358016e-01 2.23114029e-01 2.90961563e-02 1.04284937e+02] [-2.23035541e-01 9.74792112e-01 -5.95707366e-03 -1.70149066e+01] [-2.96918103e-02 -6.85154491e-04 9.99558866e-01 -3.28452460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854012739 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:104.31, Y:-17.02, Z:-3.28 [[ 9.74843208e-01 2.20989172e-01 2.90603827e-02 1.04311909e+02] [-2.20909991e-01 9.75276063e-01 -5.94781744e-03 -1.70186923e+01] [-2.96562989e-02 -6.21539453e-04 9.99559962e-01 -3.28475133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:104.34, Y:-17.02, Z:-3.29 [[ 9.75580811e-01 2.17710212e-01 2.90576264e-02 1.04339380e+02] [-2.17629696e-01 9.76013313e-01 -5.94370537e-03 -1.70210952e+01] [-2.96546356e-02 -5.25237507e-04 9.99560067e-01 -3.28574190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914012739 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:104.37, Y:-17.03, Z:-3.28 [[ 9.76426689e-01 2.13909185e-01 2.88752802e-02 1.04366292e+02] [-2.13828081e-01 9.76853465e-01 -5.90414275e-03 -1.70260100e+01] [-2.94698679e-02 -4.09383203e-04 9.99565585e-01 -3.27823242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:104.39, Y:-17.03, Z:-3.28 [[ 9.76893663e-01 2.11757413e-01 2.89407893e-02 1.04393765e+02] [-2.11675064e-01 9.77322197e-01 -5.91524867e-03 -1.70322497e+01] [-2.95370736e-02 -3.47474494e-04 9.99563625e-01 -3.27759260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974012739 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:104.42, Y:-17.04, Z:-3.29 [[ 9.77333133e-01 2.09614119e-01 2.96962671e-02 1.04420674e+02] [-2.09526486e-01 9.77784146e-01 -6.06762042e-03 -1.70385030e+01] [-3.03083981e-02 -2.92068014e-04 9.99540552e-01 -3.28872770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:104.45, Y:-17.05, Z:-3.29 [[ 9.78189586e-01 2.05657338e-01 2.91580674e-02 1.04446163e+02] [-2.05571151e-01 9.78624050e-01 -5.95575453e-03 -1.70462766e+01] [-2.97596307e-02 -1.68200425e-04 9.99557070e-01 -3.28875814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034012739 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:104.47, Y:-17.05, Z:-3.29 [[ 9.78579385e-01 2.03904899e-01 2.83756708e-02 1.04473781e+02] [-2.03822601e-01 9.78990694e-01 -5.79380233e-03 -1.70538282e+01] [-2.89609024e-02 -1.13907516e-04 9.99580539e-01 -3.28637208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:104.50, Y:-17.06, Z:-3.29 [[ 9.79163459e-01 2.01232278e-01 2.72853690e-02 1.04499049e+02] [-2.01155198e-01 9.79543551e-01 -5.56928710e-03 -1.70625144e+01] [-2.78479276e-02 -3.53513865e-05 9.99612171e-01 -3.29150020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094012739 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:104.53, Y:-17.07, Z:-3.29 [[ 9.79373084e-01 2.00253547e-01 2.69606849e-02 1.04525994e+02] [-2.00177984e-01 9.79744108e-01 -5.50071357e-03 -1.70691812e+01] [-2.75161096e-02 -9.68475097e-06 9.99621360e-01 -3.29292491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:104.55, Y:-17.08, Z:-3.30 [[ 9.79787095e-01 1.98400016e-01 2.55867585e-02 1.04552844e+02] [-1.98331375e-01 9.80121131e-01 -5.21855506e-03 -1.70782689e+01] [-2.61134841e-02 3.84159075e-05 9.99658984e-01 -3.29530164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154012739 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:104.58, Y:-17.09, Z:-3.30 [[ 9.80044103e-01 1.97220094e-01 2.48553850e-02 1.04579514e+02] [-1.97154980e-01 9.80359235e-01 -5.06792510e-03 -1.70870708e+01] [-2.53667029e-02 6.64271645e-05 9.99678211e-01 -3.29648306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:104.61, Y:-17.10, Z:-3.30 [[ 9.80216582e-01 1.96452629e-01 2.41208710e-02 1.04605855e+02] [-1.96391111e-01 9.80513313e-01 -4.91665409e-03 -1.70963068e+01] [-2.46167248e-02 8.22612048e-05 9.99696959e-01 -3.29732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214012739 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:104.63, Y:-17.11, Z:-3.30 [[ 9.80192479e-01 1.96528068e-01 2.44831262e-02 1.04633377e+02] [-1.96464755e-01 9.80498196e-01 -4.98878716e-03 -1.71074418e+01] [-2.49860978e-02 7.99002557e-05 9.99687796e-01 -3.29717333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:104.66, Y:-17.12, Z:-3.30 [[ 9.79729856e-01 1.98582494e-01 2.63515132e-02 1.04660101e+02] [-1.98509925e-01 9.80084176e-01 -5.36815629e-03 -1.71181041e+01] [-2.68927229e-02 2.83060807e-05 9.99638325e-01 -3.29686861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274012739 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:104.69, Y:-17.13, Z:-3.30 [[ 9.79476777e-01 1.99722905e-01 2.71293916e-02 1.04686958e+02] [-1.99646472e-01 9.79852418e-01 -5.52494615e-03 -1.71271460e+01] [-2.76862583e-02 -4.73087668e-06 9.99616662e-01 -3.29759590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:104.71, Y:-17.14, Z:-3.30 [[ 9.79215923e-01 2.00959768e-01 2.74107048e-02 1.04714176e+02] [-2.00882278e-01 9.79599495e-01 -5.58036813e-03 -1.71362861e+01] [-2.79729421e-02 -4.19395000e-05 9.99608680e-01 -3.29886167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334012739 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:104.74, Y:-17.15, Z:-3.30 [[ 9.78555764e-01 2.04111175e-01 2.76991843e-02 1.04740572e+02] [-2.04033334e-01 9.78947706e-01 -5.63811403e-03 -1.71462417e+01] [-2.82668550e-02 -1.34347941e-04 9.99600404e-01 -3.29980724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:104.77, Y:-17.15, Z:-3.30 [[ 9.78131263e-01 2.06053310e-01 2.83066224e-02 1.04768206e+02] [-2.05972883e-01 9.78540748e-01 -5.75994216e-03 -1.71542192e+01] [-2.88860386e-02 -1.96417103e-04 9.99582692e-01 -3.29994674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:104.80, Y:-17.17, Z:-3.30 [[ 9.77257721e-01 2.10045799e-01 2.91223221e-02 1.04795222e+02] [-2.09962482e-01 9.77691494e-01 -5.92445387e-03 -1.71659108e+01] [-2.97170533e-02 -3.24876761e-04 9.99558298e-01 -3.30059592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:104.82, Y:-17.17, Z:-3.30 [[ 9.76811795e-01 2.12094561e-01 2.92337938e-02 1.04821731e+02] [-2.12011565e-01 9.77249070e-01 -5.94569041e-03 -1.71738207e+01] [-2.98297464e-02 -3.90081843e-04 9.99554918e-01 -3.30136671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454012739 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:104.85, Y:-17.18, Z:-3.30 [[ 9.76380755e-01 2.14089641e-01 2.90903378e-02 1.04848904e+02] [-2.14008395e-01 9.76813914e-01 -5.91473380e-03 -1.71809791e+01] [-2.96821300e-02 -4.50544257e-04 9.99559287e-01 -3.30233475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:104.88, Y:-17.19, Z:-3.30 [[ 9.75392469e-01 2.18546195e-01 2.91048547e-02 1.04876577e+02] [-2.18466902e-01 9.75826426e-01 -5.91591993e-03 -1.71883354e+01] [-2.96941881e-02 -5.88103686e-04 9.99558857e-01 -3.30416761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514012739 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:104.90, Y:-17.19, Z:-3.31 [[ 9.74826739e-01 2.21120706e-01 2.86087736e-02 1.04904438e+02] [-2.21045238e-01 9.75246227e-01 -5.81377289e-03 -1.71938991e+01] [-2.91861441e-02 -6.56411921e-04 9.99573778e-01 -3.30527465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:104.93, Y:-17.20, Z:-3.31 [[ 9.73413339e-01 2.27311982e-01 2.82087474e-02 1.04932059e+02] [-2.27241244e-01 9.73821632e-01 -5.73111698e-03 -1.71970630e+01] [-2.87730400e-02 -8.31445132e-04 9.99585625e-01 -3.30610471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574012739 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:104.96, Y:-17.20, Z:-3.31 [[ 9.72747539e-01 2.30133681e-01 2.82969074e-02 1.04959489e+02] [-2.30063741e-01 9.73158591e-01 -5.74728097e-03 -1.72007694e+01] [-2.88600215e-02 -9.19438976e-04 9.99583040e-01 -3.30627881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:104.99, Y:-17.20, Z:-3.31 [[ 9.72097973e-01 2.32829603e-01 2.85640735e-02 1.04987190e+02] [-2.32759555e-01 9.72517020e-01 -5.79960222e-03 -1.72033860e+01] [-2.91293667e-02 -1.01077947e-03 9.99575139e-01 -3.30697532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634012739 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:105.02, Y:-17.20, Z:-3.31 [[ 9.70985918e-01 2.37312104e-01 2.94841100e-02 1.05015341e+02] [-2.37239598e-01 9.71432737e-01 -5.98418346e-03 -1.72018399e+01] [-3.00619489e-02 -1.18424054e-03 9.99547336e-01 -3.30858298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:105.04, Y:-17.20, Z:-3.31 [[ 9.70785345e-01 2.37997823e-01 3.05425940e-02 1.05042831e+02] [-2.37920439e-01 9.71264882e-01 -6.19633340e-03 -1.71999708e+01] [-3.11396628e-02 -1.25139771e-03 9.99514260e-01 -3.30981237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694012739 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:105.07, Y:-17.20, Z:-3.31 [[ 9.71113521e-01 2.36659220e-01 3.05113442e-02 1.05070615e+02] [-2.36581414e-01 9.71591967e-01 -6.18745588e-03 -1.72014775e+01] [-3.11088955e-02 -1.20969489e-03 9.99515269e-01 -3.31039298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:105.10, Y:-17.20, Z:-3.31 [[ 9.71674073e-01 2.34445906e-01 2.97424583e-02 1.05098734e+02] [-2.34370999e-01 9.72128531e-01 -6.02946851e-03 -1.72031960e+01] [-3.03270765e-02 -1.11209144e-03 9.99539410e-01 -3.31136003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754012739 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:105.13, Y:-17.20, Z:-3.31 [[ 9.73018470e-01 2.29071914e-01 2.75883289e-02 1.05127435e+02] [-2.29005357e-01 9.73409106e-01 -5.59095856e-03 -1.72028590e+01] [-2.81354622e-02 -8.77769180e-04 9.99603734e-01 -3.31287001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:105.15, Y:-17.21, Z:-3.31 [[ 9.73745762e-01 2.26073650e-01 2.66438565e-02 1.05154175e+02] [-2.26010501e-01 9.74109911e-01 -5.39771118e-03 -1.72059582e+01] [-2.71743249e-02 -7.65792961e-04 9.99630417e-01 -3.31336275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:105.18, Y:-17.21, Z:-3.31 [[ 9.74344639e-01 2.23509219e-01 2.63847090e-02 1.05181669e+02] [-2.23446414e-01 9.74701571e-01 -5.34292910e-03 -1.72095189e+01] [-2.69114112e-02 -6.89714285e-04 9.99637584e-01 -3.31469118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:105.21, Y:-17.21, Z:-3.32 [[ 9.75424489e-01 2.18721316e-01 2.66092632e-02 1.05210297e+02] [-2.18655703e-01 9.75787204e-01 -5.38661402e-03 -1.72106383e+01] [-2.71431459e-02 -5.64031941e-04 9.99631398e-01 -3.31590092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:105.24, Y:-17.21, Z:-3.32 [[ 9.76424432e-01 2.13996789e-01 2.82966829e-02 1.05237223e+02] [-2.13920710e-01 9.76834254e-01 -5.72455138e-03 -1.72133102e+01] [-2.88662048e-02 -4.63654675e-04 9.99583177e-01 -3.31574590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:105.26, Y:-17.22, Z:-3.32 [[ 9.77012859e-01 2.11166688e-01 2.92319012e-02 1.05264748e+02] [-2.11084335e-01 9.77449985e-01 -5.91017942e-03 -1.72184496e+01] [-2.98207544e-02 -3.96075145e-04 9.99555184e-01 -3.31621462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934012739 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:105.29, Y:-17.22, Z:-3.32 [[ 9.77669910e-01 2.08048411e-01 2.96210239e-02 1.05292424e+02] [-2.07962485e-01 9.78118482e-01 -5.98667756e-03 -1.72241118e+01] [-3.02183897e-02 -3.07067223e-04 9.99543273e-01 -3.31708856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:105.32, Y:-17.23, Z:-3.32 [[ 9.78876557e-01 2.02484294e-01 2.82983504e-02 1.05319889e+02] [-2.02403601e-01 9.79285502e-01 -5.71739675e-03 -1.72306366e+01] [-2.88698473e-02 -1.31062383e-04 9.99583170e-01 -3.31859802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994012739 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:105.35, Y:-17.24, Z:-3.32 [[ 9.79378631e-01 2.00098151e-01 2.78967332e-02 1.05346863e+02] [-2.00018821e-01 9.79775855e-01 -5.63426789e-03 -1.72367820e+01] [-2.84599522e-02 -6.17901139e-05 9.99594932e-01 -3.32008890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:105.37, Y:-17.24, Z:-3.32 [[ 9.80067255e-01 1.96599587e-01 2.85793366e-02 1.05373278e+02] [-1.96514900e-01 9.80483861e-01 -5.76999415e-03 -1.72441931e+01] [-2.91559567e-02 3.87168494e-05 9.99574874e-01 -3.32067030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054012739 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:105.40, Y:-17.25, Z:-3.32 [[ 9.80354527e-01 1.95055535e-01 2.92974276e-02 1.05401058e+02] [-1.94965904e-01 9.80792196e-01 -5.91316931e-03 -1.72512005e+01] [-2.98880848e-02 8.50028518e-05 9.99553248e-01 -3.32028526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:105.43, Y:-17.26, Z:-3.32 [[ 9.80947277e-01 1.92018938e-01 2.95155305e-02 1.05428577e+02] [-1.91926633e-01 9.81391204e-01 -5.95577856e-03 -1.72610041e+01] [-3.01099043e-02 1.77488368e-04 9.99546578e-01 -3.32129651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114012739 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:105.46, Y:-17.27, Z:-3.32 [[ 9.81298615e-01 1.90241452e-01 2.93465277e-02 1.05455807e+02] [-1.90149448e-01 9.81737306e-01 -5.92030570e-03 -1.72690324e+01] [-2.99368686e-02 2.29361726e-04 9.99551765e-01 -3.32283151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:105.48, Y:-17.28, Z:-3.32 [[ 9.81845467e-01 1.87384166e-01 2.94389720e-02 1.05482126e+02] [-1.87290349e-01 9.82286656e-01 -5.93722471e-03 -1.72794208e+01] [-3.00300513e-02 3.15801821e-04 9.99548946e-01 -3.32424749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174012739 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:105.51, Y:-17.29, Z:-3.32 [[ 9.81883831e-01 1.87143037e-01 2.96921775e-02 1.05510126e+02] [-1.87047542e-01 9.82332621e-01 -5.98654173e-03 -1.72863575e+01] [-3.02879342e-02 3.24239721e-04 9.99541163e-01 -3.32442976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:105.54, Y:-17.29, Z:-3.33 [[ 9.81775074e-01 1.87765060e-01 2.93595965e-02 1.05539348e+02] [-1.87672011e-01 9.82213924e-01 -5.91812591e-03 -1.72931066e+01] [-2.99486217e-02 3.00293982e-04 9.99551394e-01 -3.32514436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234012739 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:105.57, Y:-17.30, Z:-3.33 [[ 9.81101775e-01 1.91312566e-01 2.89621905e-02 1.05567442e+02] [-1.91223584e-01 9.81529147e-01 -5.83734446e-03 -1.73006902e+01] [-2.95439915e-02 1.88775151e-04 9.99563463e-01 -3.32604275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:105.60, Y:-17.31, Z:-3.33 [[ 9.80643201e-01 1.93640849e-01 2.90195589e-02 1.05595266e+02] [-1.93552563e-01 9.81072478e-01 -5.84787037e-03 -1.73066998e+01] [-2.96026771e-02 1.17864302e-04 9.99561738e-01 -3.32715980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294012739 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:105.62, Y:-17.31, Z:-3.33 [[ 9.80018649e-01 1.96963721e-01 2.77261493e-02 1.05624033e+02] [-1.96884494e-01 9.80410777e-01 -5.58602099e-03 -1.73120716e+01] [-2.82832591e-02 1.55558536e-05 9.99599948e-01 -3.32873105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:105.65, Y:-17.32, Z:-3.33 [[ 9.80025536e-01 1.96929418e-01 2.77264145e-02 1.05652788e+02] [-1.96850214e-01 9.80417668e-01 -5.58470474e-03 -1.73177788e+01] [-2.82832593e-02 1.52026237e-05 9.99599948e-01 -3.32962834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:105.68, Y:-17.32, Z:-3.33 [[ 9.79988394e-01 1.97180291e-01 2.72521675e-02 1.05680267e+02] [-1.97103897e-01 9.80367244e-01 -5.48827345e-03 -1.73239950e+01] [-2.77993117e-02 6.93587405e-06 9.99613524e-01 -3.33099510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:105.71, Y:-17.33, Z:-3.33 [[ 9.80420695e-01 1.94911665e-01 2.80125597e-02 1.05706648e+02] [-1.94830070e-01 9.80820798e-01 -5.63965945e-03 -1.73318986e+01] [-2.85745366e-02 7.15498492e-05 9.99591662e-01 -3.33143355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414012739 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:105.73, Y:-17.34, Z:-3.33 [[ 9.80741499e-01 1.93173795e-01 2.88096742e-02 1.05733706e+02] [-1.93086790e-01 9.81164548e-01 -5.79845485e-03 -1.73380134e+01] [-2.93871405e-02 1.24017783e-04 9.99568097e-01 -3.33275279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:105.76, Y:-17.34, Z:-3.33 [[ 9.80985155e-01 1.91839278e-01 2.94247559e-02 1.05762120e+02] [-1.91747970e-01 9.81426342e-01 -5.92046210e-03 -1.73442822e+01] [-3.00140077e-02 1.65748207e-04 9.99549464e-01 -3.33330205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474012739 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:105.79, Y:-17.35, Z:-3.33 [[ 9.81053505e-01 1.91420272e-01 2.98713860e-02 1.05790075e+02] [-1.91326018e-01 9.81508149e-01 -6.00896690e-03 -1.73524441e+01] [-3.04692469e-02 1.79944701e-04 9.99535689e-01 -3.33442080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:105.82, Y:-17.36, Z:-3.33 [[ 9.80451979e-01 1.94611692e-01 2.89863137e-02 1.05818935e+02] [-1.94524374e-01 9.80880361e-01 -5.82965077e-03 -1.73613859e+01] [-2.95666241e-02 7.71481171e-05 9.99562809e-01 -3.33485955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:105.85, Y:-17.37, Z:-3.34 [[ 9.79950020e-01 1.97186970e-01 2.85527155e-02 1.05847218e+02] [-1.97103356e-01 9.80365900e-01 -5.74181052e-03 -1.73673985e+01] [-2.91243188e-02 -1.14869801e-06 9.99575797e-01 -3.33553968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:105.87, Y:-17.37, Z:-3.34 [[ 9.79367381e-01 2.00028289e-01 2.87787431e-02 1.05874939e+02] [-1.99944611e-01 9.79790118e-01 -5.78589600e-03 -1.73730647e+01] [-2.93544709e-02 -8.76367643e-05 9.99569061e-01 -3.33688341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594012739 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:105.90, Y:-17.38, Z:-3.34 [[ 9.78045043e-01 2.06336159e-01 2.92110106e-02 1.05903065e+02] [-2.06252809e-01 9.78481124e-01 -5.87103379e-03 -1.73797100e+01] [-2.97938290e-02 -2.82717487e-04 9.99556025e-01 -3.33792936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:105.93, Y:-17.39, Z:-3.34 [[ 9.77421901e-01 2.09209733e-01 2.96262741e-02 1.05930333e+02] [-2.09125357e-01 9.77870720e-01 -5.95308449e-03 -1.73852166e+01] [-3.02161092e-02 -3.76930000e-04 9.99543318e-01 -3.33823468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:105.96, Y:-17.39, Z:-3.34 [[ 9.76365966e-01 2.13912792e-01 3.08353522e-02 1.05959618e+02] [-2.13823788e-01 9.76852609e-01 -6.19415750e-03 -1.73878557e+01] [-3.14466038e-02 -5.45567259e-04 9.99505284e-01 -3.33814272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:105.99, Y:-17.39, Z:-3.34 [[ 9.75871378e-01 2.16086630e-01 3.13308499e-02 1.05987603e+02] [-2.15995911e-01 9.76373994e-01 -6.29216989e-03 -1.73915306e+01] [-3.19502809e-02 -6.26986968e-04 9.99489263e-01 -3.33843630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714012739 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:106.01, Y:-17.40, Z:-3.34 [[ 9.75475561e-01 2.17843084e-01 3.14931914e-02 1.06014118e+02] [-2.17752409e-01 9.75983562e-01 -6.32251734e-03 -1.73951408e+01] [-3.21141538e-02 -6.90257138e-04 9.99483969e-01 -3.33911373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:106.04, Y:-17.40, Z:-3.34 [[ 9.74836727e-01 2.20750717e-01 3.10238096e-02 1.06042650e+02] [-2.20664291e-01 9.75329953e-01 -6.22525790e-03 -1.73965376e+01] [-3.16326809e-02 -7.77236915e-04 9.99499259e-01 -3.33991710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774012739 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:106.07, Y:-17.40, Z:-3.34 [[ 9.74703609e-01 2.21451741e-01 3.01993394e-02 1.06070324e+02] [-2.21370247e-01 9.75171019e-01 -6.05779146e-03 -1.73987134e+01] [-3.07910290e-02 -7.80684023e-04 9.99525539e-01 -3.34116747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:106.10, Y:-17.40, Z:-3.34 [[ 9.74577336e-01 2.22145373e-01 2.91624494e-02 1.06098250e+02] [-2.22069748e-01 9.75013246e-01 -5.84787734e-03 -1.73990859e+01] [-2.97328533e-02 -7.76889041e-04 9.99557579e-01 -3.34247322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:106.13, Y:-17.40, Z:-3.34 [[ 9.74601459e-01 2.21999365e-01 2.94665513e-02 1.06125386e+02] [-2.21922158e-01 9.75046496e-01 -5.90648654e-03 -1.74022516e+01] [-3.00424939e-02 -7.82810277e-04 9.99548316e-01 -3.34374610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:106.15, Y:-17.40, Z:-3.34 [[ 9.74936479e-01 2.20451403e-01 3.00006906e-02 1.06154260e+02] [-2.20370713e-01 9.75397670e-01 -6.01113451e-03 -1.74026009e+01] [-3.05877668e-02 -7.50799271e-04 9.99531803e-01 -3.34403671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:106.18, Y:-17.41, Z:-3.35 [[ 9.75203533e-01 2.19220300e-01 3.03402356e-02 1.06181295e+02] [-2.19137247e-01 9.75675119e-01 -6.07691607e-03 -1.74052317e+01] [-3.09343963e-02 -7.22445683e-04 9.99521156e-01 -3.34520274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:106.21, Y:-17.41, Z:-3.35 [[ 9.75489917e-01 2.17976861e-01 3.00916773e-02 1.06208148e+02] [-2.17894672e-01 9.75953700e-01 -6.02390315e-03 -1.74080946e+01] [-3.06811553e-02 -6.80559351e-04 9.99528991e-01 -3.34634508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954012739 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:106.24, Y:-17.41, Z:-3.35 [[ 9.75944861e-01 2.15978865e-01 2.97449016e-02 1.06235233e+02] [-2.15897732e-01 9.76397846e-01 -5.95115754e-03 -1.74087871e+01] [-3.03281821e-02 -6.13855174e-04 9.99539806e-01 -3.34764989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:106.26, Y:-17.41, Z:-3.35 [[ 9.76372617e-01 2.14176450e-01 2.87221320e-02 1.06264139e+02] [-2.14100088e-01 9.76794838e-01 -5.74427178e-03 -1.74086754e+01] [-2.92859180e-02 -5.40861315e-04 9.99570929e-01 -3.34904225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014012739 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:106.29, Y:-17.41, Z:-3.35 [[ 9.76486394e-01 2.13630580e-01 2.89188038e-02 1.06290801e+02] [-2.13552990e-01 9.76914374e-01 -5.78153461e-03 -1.74114226e+01] [-2.94863077e-02 -5.30107124e-04 9.99565044e-01 -3.35007615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:106.32, Y:-17.41, Z:-3.35 [[ 9.76527360e-01 2.13352805e-01 2.95786278e-02 1.06318614e+02] [-2.13271582e-01 9.76975073e-01 -5.91092422e-03 -1.74144336e+01] [-3.01586943e-02 -5.36101516e-04 9.99544979e-01 -3.35053977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074012739 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:106.35, Y:-17.42, Z:-3.35 [[ 9.76616965e-01 2.12922909e-01 2.97176485e-02 1.06346827e+02] [-2.12840787e-01 9.77068860e-01 -5.93657208e-03 -1.74157404e+01] [-3.03002211e-02 -5.27370679e-04 9.99540704e-01 -3.35140072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:106.37, Y:-17.42, Z:-3.35 [[ 9.76662983e-01 2.12812366e-01 2.89881681e-02 1.06373730e+02] [-2.12734239e-01 9.77092950e-01 -5.78878697e-03 -1.74188770e+01] [-2.95560602e-02 -5.13081936e-04 9.99562993e-01 -3.35226065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:106.40, Y:-17.42, Z:-3.35 [[ 9.76837920e-01 2.12164049e-01 2.78225336e-02 1.06401824e+02] [-2.12091882e-01 9.77233948e-01 -5.55372078e-03 -1.74205427e+01] [-2.83674242e-02 -4.75848450e-04 9.99597450e-01 -3.35315641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:106.43, Y:-17.42, Z:-3.35 [[ 9.77005956e-01 2.11375568e-01 2.79236635e-02 1.06428328e+02] [-2.11302611e-01 9.77404809e-01 -5.57187494e-03 -1.74246784e+01] [-2.84704812e-02 -4.56587996e-04 9.99594529e-01 -3.35378532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194012739 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:106.46, Y:-17.43, Z:-3.35 [[ 9.77264949e-01 2.10097953e-01 2.84968293e-02 1.06456287e+02] [-2.10021499e-01 9.77680247e-01 -5.68374065e-03 -1.74293439e+01] [-2.90549293e-02 -4.30426295e-04 9.99577724e-01 -3.35487387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:106.48, Y:-17.43, Z:-3.36 [[ 9.77958675e-01 2.06612674e-01 3.01335901e-02 1.06483724e+02] [-2.06525597e-01 9.78422752e-01 -6.00798504e-03 -1.74328086e+01] [-3.07247160e-02 -3.47796593e-04 9.99527824e-01 -3.35500589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254012739 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:106.51, Y:-17.44, Z:-3.36 [[ 9.78254410e-01 2.05142649e-01 3.05745332e-02 1.06511753e+02] [-2.05052353e-01 9.78732036e-01 -6.09376360e-03 -1.74375695e+01] [-3.11743660e-02 -3.08128866e-04 9.99513914e-01 -3.35534458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:106.54, Y:-17.45, Z:-3.36 [[ 9.78583863e-01 2.03106528e-01 3.34867261e-02 1.06539426e+02] [-2.03246086e-01 9.79127375e-01 7.81758534e-04 -1.74468046e+01] [-3.26289900e-02 -7.57106231e-03 9.99438857e-01 -3.35784174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314012739 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:106.57, Y:-17.44, Z:-3.36 [[ 9.78809318e-01 2.02866443e-01 2.78841288e-02 1.06569700e+02] [-2.02580970e-01 9.79182677e-01 -1.27371906e-02 -1.74420975e+01] [-2.98876044e-02 6.81848697e-03 9.99530009e-01 -3.35702612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:106.60, Y:-17.45, Z:-3.36 [[ 9.79174824e-01 2.01082750e-01 2.79712828e-02 1.06595592e+02] [-2.01005641e-01 9.79574244e-01 -5.57071689e-03 -1.74495514e+01] [-2.85201233e-02 -1.67679898e-04 9.99593204e-01 -3.35877640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:106.62, Y:-17.45, Z:-3.36 [[ 9.79384818e-01 2.00080750e-01 2.78041535e-02 1.06623262e+02] [-2.00004251e-01 9.79779400e-01 -5.53408799e-03 -1.74537393e+01] [-2.83492013e-02 -1.40947137e-04 9.99598071e-01 -3.35972120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:106.65, Y:-17.46, Z:-3.36 [[ 9.79841166e-01 1.97726094e-01 2.85601438e-02 1.06649817e+02] [-1.97644437e-01 9.80257306e-01 -5.68249390e-03 -1.74576434e+01] [-2.91198670e-02 -7.68121027e-05 9.99575924e-01 -3.36023169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434012739 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:106.68, Y:-17.46, Z:-3.36 [[ 9.80051937e-01 1.96581649e-01 2.92208117e-02 1.06677108e+02] [-1.96495735e-01 9.80487457e-01 -5.81146308e-03 -1.74630232e+01] [-2.97930663e-02 -4.62292193e-05 9.99556087e-01 -3.36076721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:106.70, Y:-17.47, Z:-3.36 [[ 9.80478333e-01 1.94309655e-01 3.00997692e-02 1.06703663e+02] [-1.94217489e-01 9.80940242e-01 -5.98409191e-03 -1.74682446e+01] [-3.06888417e-02 2.13708561e-05 9.99528986e-01 -3.36097519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494012739 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:106.73, Y:-17.47, Z:-3.36 [[ 9.80655729e-01 1.93481380e-01 2.96529499e-02 1.06730665e+02] [-1.93391625e-01 9.81103946e-01 -5.89286867e-03 -1.74736146e+01] [-3.02327865e-02 4.42432612e-05 9.99542884e-01 -3.36216224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:106.76, Y:-17.48, Z:-3.36 [[ 9.80870598e-01 1.92495113e-01 2.89568811e-02 1.06758101e+02] [-1.92409151e-01 9.81297929e-01 -5.75257880e-03 -1.74787960e+01] [-2.95226708e-02 7.09664908e-05 9.99564108e-01 -3.36344568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554012739 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:106.79, Y:-17.48, Z:-3.37 [[ 9.81197791e-01 1.90954453e-01 2.80587306e-02 1.06785908e+02] [-1.90873166e-01 9.81598892e-01 -5.57227317e-03 -1.74837237e+01] [-2.86064692e-02 1.11843383e-04 9.99590745e-01 -3.36509130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:106.81, Y:-17.49, Z:-3.36 [[ 9.81439524e-01 1.89575525e-01 2.89409854e-02 1.06812137e+02] [-1.89488507e-01 9.81866130e-01 -5.74536788e-03 -1.74894906e+01] [-2.95053544e-02 1.54747004e-04 9.99564610e-01 -3.36412733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614012739 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:106.84, Y:-17.50, Z:-3.37 [[ 9.81587642e-01 1.88710868e-01 2.95619538e-02 1.06839603e+02] [-1.88619758e-01 9.82032675e-01 -5.86613799e-03 -1.74962470e+01] [-3.01378086e-02 1.82159973e-04 9.99545736e-01 -3.36546425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:106.87, Y:-17.50, Z:-3.37 [[ 9.81758591e-01 1.87798769e-01 2.96932940e-02 1.06866371e+02] [-1.87706496e-01 9.82207503e-01 -5.89005691e-03 -1.75031657e+01] [-3.02711216e-02 2.08989818e-04 9.99541703e-01 -3.36591480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674012739 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:106.89, Y:-17.51, Z:-3.37 [[ 9.82111969e-01 1.86037001e-01 2.90914810e-02 1.06894083e+02] [-1.85947720e-01 9.82542706e-01 -5.76860657e-03 -1.75106281e+01] [-2.96567967e-02 2.55922991e-04 9.99560108e-01 -3.36714570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:106.92, Y:-17.52, Z:-3.37 [[ 9.82235883e-01 1.85497106e-01 2.83459766e-02 1.06921498e+02] [-1.85412156e-01 9.82644775e-01 -5.61947346e-03 -1.75165294e+01] [-2.88964218e-02 2.63959844e-04 9.99582376e-01 -3.36849427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734012739 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:106.95, Y:-17.52, Z:-3.37 [[ 9.82236350e-01 1.85553084e-01 2.79607905e-02 1.06948628e+02] [-1.85470497e-01 9.82634208e-01 -5.54148401e-03 -1.75228938e+01] [-2.85034687e-02 2.57145318e-04 9.99593661e-01 -3.36919916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:106.98, Y:-17.53, Z:-3.37 [[ 9.81922288e-01 1.87128466e-01 2.84878516e-02 1.06976522e+02] [-1.87043457e-01 9.82335427e-01 -5.64390975e-03 -1.75301725e+01] [-2.90407621e-02 2.13414524e-04 9.99578205e-01 -3.36930661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794012739 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:107.00, Y:-17.54, Z:-3.37 [[ 9.81784869e-01 1.87877590e-01 2.82927858e-02 1.07003749e+02] [-1.87794091e-01 9.82192433e-01 -5.60390910e-03 -1.75357333e+01] [-2.88418090e-02 1.88615195e-04 9.99583971e-01 -3.37026923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:107.03, Y:-17.54, Z:-3.37 [[ 9.81828081e-01 1.87722637e-01 2.78178213e-02 1.07031458e+02] [-1.87641903e-01 9.82222061e-01 -5.50819675e-03 -1.75422064e+01] [-2.83572910e-02 1.88313331e-04 9.99597833e-01 -3.37180595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:107.06, Y:-17.55, Z:-3.37 [[ 9.81805845e-01 1.87914560e-01 2.73020365e-02 1.07059104e+02] [-1.87836922e-01 9.82185363e-01 -5.40407441e-03 -1.75497445e+01] [-2.78311649e-02 1.77421340e-04 9.99612622e-01 -3.37329776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:107.09, Y:-17.56, Z:-3.36 [[ 9.81893466e-01 1.87530227e-01 2.67887197e-02 1.07087176e+02] [-1.87455373e-01 9.82258815e-01 -5.30120717e-03 -1.75568497e+01] [-2.73075927e-02 1.83531242e-04 9.99627061e-01 -3.36353646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914012739 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:107.11, Y:-17.56, Z:-3.37 [[ 9.81906053e-01 1.87195729e-01 2.86052669e-02 1.07114378e+02] [-1.87110279e-01 9.82322614e-01 -5.65917475e-03 -1.75618340e+01] [-2.91589739e-02 2.04438457e-04 9.99574766e-01 -3.37349932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:107.14, Y:-17.57, Z:-3.37 [[ 9.81608540e-01 1.88422924e-01 3.06834700e-02 1.07141485e+02] [-1.88325267e-01 9.82087964e-01 -6.06828663e-03 -1.75661660e+01] [-3.12772709e-02 1.78209306e-04 9.99510731e-01 -3.37358670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974012739 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:107.17, Y:-17.57, Z:-3.37 [[ 9.81403836e-01 1.89582750e-01 3.00814209e-02 1.07169338e+02] [-1.89489488e-01 9.81864737e-01 -5.94742952e-03 -1.75712231e+01] [-3.06634164e-02 1.36717114e-04 9.99529758e-01 -3.37414641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:107.20, Y:-17.58, Z:-3.38 [[ 9.81210841e-01 1.90739780e-01 2.90451561e-02 1.07196387e+02] [-1.90653400e-01 9.81640630e-01 -5.74056813e-03 -1.75760063e+01] [-2.96068601e-02 9.51499277e-05 9.99561616e-01 -3.37609719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:107.22, Y:-17.58, Z:-3.38 [[ 9.80856715e-01 1.92669581e-01 2.82583961e-02 1.07224845e+02] [-1.92588675e-01 9.81263691e-01 -5.58307528e-03 -1.75803656e+01] [-2.88046268e-02 3.39498056e-05 9.99585060e-01 -3.37774326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:107.25, Y:-17.58, Z:-3.38 [[ 9.80707191e-01 1.93331863e-01 2.89170573e-02 1.07251091e+02] [-1.93247470e-01 9.81133421e-01 -5.71178022e-03 -1.75848628e+01] [-2.94757604e-02 1.34357691e-05 9.99565495e-01 -3.37825470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094012739 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:107.28, Y:-17.59, Z:-3.38 [[ 9.80904477e-01 1.92118679e-01 3.02790235e-02 1.07277345e+02] [-1.92025655e-01 9.81371699e-01 -5.97803986e-03 -1.75901447e+01] [-3.08634699e-02 4.95367210e-05 9.99523608e-01 -3.37837706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:107.30, Y:-17.60, Z:-3.38 [[ 9.81294497e-01 1.90160693e-01 3.00003469e-02 1.07303186e+02] [-1.90068535e-01 9.81752973e-01 -5.92056306e-03 -1.75959031e+01] [-3.05787881e-02 1.07693982e-04 9.99532354e-01 -3.37946004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154012739 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:107.33, Y:-17.60, Z:-3.38 [[ 9.81800601e-01 1.87609547e-01 2.94998001e-02 1.07331631e+02] [-1.87519376e-01 9.82243669e-01 -5.81878208e-03 -1.76022836e+01] [-3.00676510e-02 1.81099614e-04 9.99547850e-01 -3.38101327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:107.36, Y:-17.61, Z:-3.38 [[ 9.82875286e-01 1.82105887e-01 2.81712133e-02 1.07358173e+02] [-1.82021432e-01 9.83278870e-01 -5.55545322e-03 -1.76092923e+01] [-2.87118395e-02 3.32553086e-04 9.99587675e-01 -3.38213904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214012739 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:107.39, Y:-17.61, Z:-3.38 [[ 9.82881499e-01 1.82072299e-01 2.81715434e-02 1.07386950e+02] [-1.81987878e-01 9.83285090e-01 -5.55377886e-03 -1.76148823e+01] [-2.87118478e-02 3.31827081e-04 9.99587675e-01 -3.38304371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:107.41, Y:-17.62, Z:-3.38 [[ 9.83934317e-01 1.76478596e-01 2.69919523e-02 1.07413958e+02] [-1.76399015e-01 9.84304364e-01 -5.32039661e-03 -1.76227982e+01] [-2.75072325e-02 4.73567023e-04 9.99621492e-01 -3.38488523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274012739 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:107.44, Y:-17.63, Z:-3.39 [[ 9.84281907e-01 1.74483102e-01 2.72905746e-02 1.07440659e+02] [-1.74401028e-01 9.84660024e-01 -5.37763183e-03 -1.76299023e+01] [-2.78102437e-02 5.33601437e-04 9.99613078e-01 -3.38554351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:107.47, Y:-17.64, Z:-3.39 [[ 9.84504922e-01 1.73122640e-01 2.79036010e-02 1.07468127e+02] [-1.73036338e-01 9.84900102e-01 -5.49673753e-03 -1.76377786e+01] [-2.84338692e-02 5.83228207e-04 9.99595506e-01 -3.38608231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334012739 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:107.49, Y:-17.65, Z:-3.39 [[ 9.84642757e-01 1.71851331e-01 3.07532234e-02 1.07494940e+02] [-1.71745929e-01 9.85122660e-01 -6.05646793e-03 -1.76483004e+01] [-3.13365093e-02 6.81716373e-04 9.99508659e-01 -3.38595514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:107.52, Y:-17.66, Z:-3.39 [[ 9.84646430e-01 1.71756244e-01 3.11640938e-02 1.07523320e+02] [-1.71647994e-01 9.85139235e-01 -6.13626134e-03 -1.76553895e+01] [-3.17549127e-02 6.92793651e-04 9.99495445e-01 -3.38595910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394012739 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:107.55, Y:-17.66, Z:-3.39 [[ 9.84534184e-01 1.72517542e-01 3.04981694e-02 1.07550755e+02] [-1.72414257e-01 9.85006229e-01 -6.00441806e-03 -1.76622821e+01] [-3.10767543e-02 6.53235608e-04 9.99516788e-01 -3.38686982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:107.58, Y:-17.67, Z:-3.39 [[ 9.84348479e-01 1.73659592e-01 3.00069737e-02 1.07579210e+02] [-1.73560160e-01 9.84805553e-01 -5.90699184e-03 -1.76716634e+01] [-3.05768401e-02 6.06523265e-04 9.99532235e-01 -3.38850018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454012739 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:107.61, Y:-17.68, Z:-3.39 [[ 9.84348518e-01 1.73631368e-01 3.01685871e-02 1.07608396e+02] [-1.73530859e-01 9.84810528e-01 -5.93844659e-03 -1.76793622e+01] [-3.07414428e-02 6.10320250e-04 9.99527184e-01 -3.38849484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:107.64, Y:-17.69, Z:-3.39 [[ 9.84433779e-01 1.73020212e-01 3.08891804e-02 1.07636568e+02] [-1.72914566e-01 9.84918064e-01 -6.07953894e-03 -1.76901174e+01] [-3.14751948e-02 6.43714270e-04 9.99504326e-01 -3.39009700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514012739 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:107.67, Y:-17.70, Z:-3.39 [[ 9.84632751e-01 1.71910109e-01 3.07450777e-02 1.07666124e+02] [-1.71804917e-01 9.85112409e-01 -6.05081833e-03 -1.76991984e+01] [-3.13275544e-02 6.75678367e-04 9.99508943e-01 -3.39127890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:107.70, Y:-17.71, Z:-3.39 [[ 9.85144750e-01 1.69177712e-01 2.94741100e-02 1.07695401e+02] [-1.69079818e-01 9.85585292e-01 -5.80066553e-03 -1.77112712e+01] [-3.00305926e-02 7.31018043e-04 9.99548713e-01 -3.39360732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574012739 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:107.73, Y:-17.72, Z:-3.40 [[ 9.85327464e-01 1.68291860e-01 2.84189807e-02 1.07725688e+02] [-1.68200465e-01 9.85736940e-01 -5.59365667e-03 -1.77205460e+01] [-2.89550060e-02 7.31497781e-04 9.99580448e-01 -3.39567995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:107.76, Y:-17.73, Z:-3.40 [[ 9.85415788e-01 1.67927976e-01 2.74940106e-02 1.07755130e+02] [-1.67842278e-01 9.85799005e-01 -5.41213688e-03 -1.77300925e+01] [-2.80124175e-02 7.18547765e-04 9.99607317e-01 -3.39646297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634012739 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:107.78, Y:-17.74, Z:-3.40 [[ 9.85344017e-01 1.68306544e-01 2.77502371e-02 1.07784204e+02] [-1.68219345e-01 9.85734444e-01 -5.46418611e-03 -1.77441333e+01] [-2.82740228e-02 7.15976373e-04 9.99599953e-01 -3.39691930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:107.81, Y:-17.75, Z:-3.40 [[ 9.85187205e-01 1.69156530e-01 2.81467467e-02 1.07813682e+02] [-1.69067156e-01 9.85588949e-01 -5.54265705e-03 -1.77534279e+01] [-2.86786991e-02 7.01864399e-04 9.99588435e-01 -3.39724138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694012739 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:107.84, Y:-17.76, Z:-3.40 [[ 9.84614360e-01 1.72340140e-01 2.88693324e-02 1.07842414e+02] [-1.72247346e-01 9.85037299e-01 -5.68962175e-03 -1.77635608e+01] [-2.94179194e-02 6.29417393e-04 9.99567001e-01 -3.39816105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters Centerline goodness : 0.988511 Centerline is valid? [True, True] Translation: X:107.87, Y:-17.77, Z:-3.39 [[ 9.84247468e-01 1.74502780e-01 2.83848648e-02 1.07873457e+02] [-1.74413965e-01 9.84656524e-01 -5.59444213e-03 -1.77711450e+01] [-2.89255880e-02 5.55598686e-04 9.99581413e-01 -3.38600760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754012739 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:107.90, Y:-17.78, Z:-3.40 [[ 9.83358893e-01 1.79285594e-01 2.93592131e-02 1.07901870e+02] [-1.79192682e-01 9.83796976e-01 -5.78720459e-03 -1.77817741e+01] [-2.99210675e-02 4.29942939e-04 9.99552172e-01 -3.40030264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:107.93, Y:-17.79, Z:-3.40 [[ 9.82994249e-01 1.81308119e-01 2.91491591e-02 1.07931673e+02] [-1.81217421e-01 9.83426272e-01 -5.74578650e-03 -1.77895772e+01] [-2.97078066e-02 3.65739662e-04 9.99558559e-01 -3.40138551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814012739 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:107.96, Y:-17.80, Z:-3.40 [[ 9.82641763e-01 1.83207607e-01 2.91571171e-02 1.07961478e+02] [-1.83117685e-01 9.83074197e-01 -5.74770456e-03 -1.77964359e+01] [-2.97166327e-02 3.08750770e-04 9.99558316e-01 -3.40221863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:107.99, Y:-17.80, Z:-3.40 [[ 9.81768997e-01 1.87682727e-01 3.00803861e-02 1.07990461e+02] [-1.87589117e-01 9.82229689e-01 -5.92970944e-03 -1.78017249e+01] [-3.06587524e-02 1.78851826e-04 9.99529894e-01 -3.40233127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874012739 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:108.02, Y:-17.81, Z:-3.40 [[ 9.81250177e-01 1.90331933e-01 3.03619141e-02 1.08020482e+02] [-1.90237839e-01 9.81719790e-01 -5.98485791e-03 -1.78071410e+01] [-3.09460015e-02 9.66579474e-05 9.99521053e-01 -3.40230525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:108.05, Y:-17.81, Z:-3.40 [[ 9.80722386e-01 1.93090054e-01 2.99972149e-02 1.08049259e+02] [-1.92999497e-01 9.81181039e-01 -5.91296604e-03 -1.78122399e+01] [-3.05744334e-02 9.53078112e-06 9.99532493e-01 -3.40323657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934012739 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:108.08, Y:-17.81, Z:-3.41 [[ 9.79862053e-01 1.97558913e-01 2.89971069e-02 1.08078799e+02] [-1.97476238e-01 9.80291008e-01 -5.71622875e-03 -1.78142527e+01] [-2.95548951e-02 -1.25123945e-04 9.99563151e-01 -3.40502909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:108.11, Y:-17.82, Z:-3.41 [[ 9.79518648e-01 1.99234755e-01 2.91329885e-02 1.08106270e+02] [-1.99152063e-01 9.79951775e-01 -5.74237077e-03 -1.78171957e+01] [-2.96930036e-02 -1.77135508e-04 9.99559050e-01 -3.40604426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994012739 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:108.14, Y:-17.82, Z:-3.41 [[ 9.79045108e-01 2.01311931e-01 3.07275611e-02 1.08135021e+02] [-2.01221018e-01 9.79527152e-01 -6.05479964e-03 -1.78187205e+01] [-3.13173838e-02 -2.55109142e-04 9.99509458e-01 -3.40558763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:108.16, Y:-17.82, Z:-3.41 [[ 9.78876964e-01 2.02019996e-01 3.14294538e-02 1.08163331e+02] [-2.01925294e-01 9.79381356e-01 -6.19161906e-03 -1.78217197e+01] [-3.20322519e-02 -2.85568420e-04 9.99486795e-01 -3.40628106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054012739 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:108.19, Y:-17.82, Z:-3.41 [[ 9.78820101e-01 2.02278253e-01 3.15391515e-02 1.08191527e+02] [-2.02183069e-01 9.79328045e-01 -6.21175476e-03 -1.78240440e+01] [-3.21436785e-02 -2.96492039e-04 9.99483214e-01 -3.40731901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:108.22, Y:-17.82, Z:-3.41 [[ 9.78982072e-01 2.01630924e-01 3.06443033e-02 1.08221304e+02] [-2.01540805e-01 9.79461535e-01 -6.03372156e-03 -1.78241110e+01] [-3.12315012e-02 -2.69172309e-04 9.99512141e-01 -3.41023595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:108.25, Y:-17.83, Z:-3.41 [[ 9.79035469e-01 2.01474162e-01 2.99618382e-02 1.08248818e+02] [-2.01387980e-01 9.79493795e-01 -5.89805549e-03 -1.78277541e+01] [-3.05357404e-02 -2.59548545e-04 9.99533642e-01 -3.41209388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:108.28, Y:-17.83, Z:-3.41 [[ 9.78993410e-01 2.01656493e-01 3.01091532e-02 1.08277592e+02] [-2.01569599e-01 9.79456271e-01 -5.92538573e-03 -1.78285010e+01] [-3.06854914e-02 -2.68176348e-04 9.99529053e-01 -3.41127699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174012739 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:108.31, Y:-17.83, Z:-3.41 [[ 9.78849083e-01 2.02258770e-01 3.07548886e-02 1.08305659e+02] [-2.02168453e-01 9.79332070e-01 -6.05092484e-03 -1.78306261e+01] [-3.13431014e-02 -2.94726025e-04 9.99508641e-01 -3.41109929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:108.33, Y:-17.83, Z:-3.41 [[ 9.78657776e-01 2.03106876e-01 3.12498750e-02 1.08334973e+02] [-2.03014121e-01 9.79156519e-01 -6.14639531e-03 -1.78325331e+01] [-3.18468939e-02 -3.28948328e-04 9.99492705e-01 -3.41117756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234012739 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:108.36, Y:-17.83, Z:-3.41 [[ 9.78346746e-01 2.04763108e-01 3.01614845e-02 1.08363326e+02] [-2.04677534e-01 9.78811490e-01 -5.93085387e-03 -1.78327820e+01] [-3.07368276e-02 -3.70946681e-04 9.99527443e-01 -3.41351504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:108.39, Y:-17.84, Z:-3.42 [[ 9.78344641e-01 2.04858194e-01 2.95784326e-02 1.08390276e+02] [-2.04775995e-01 9.78791594e-01 -5.81439735e-03 -1.78353007e+01] [-3.01422481e-02 -3.68468465e-04 9.99545551e-01 -3.41537701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294012739 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:108.42, Y:-17.83, Z:-3.42 [[ 9.78331394e-01 2.04850496e-01 3.00658808e-02 1.08419294e+02] [-2.04765640e-01 9.78793202e-01 -5.90764482e-03 -1.78349774e+01] [-3.06384637e-02 -3.76824935e-04 9.99530461e-01 -3.41635265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:108.45, Y:-17.84, Z:-3.42 [[ 9.78376796e-01 2.04550021e-01 3.06289643e-02 1.08448060e+02] [-2.04461872e-01 9.78856040e-01 -6.01627384e-03 -1.78376890e+01] [-3.12119757e-02 -3.76272641e-04 9.99512717e-01 -3.41703724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354012739 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:108.48, Y:-17.84, Z:-3.42 [[ 9.78498782e-01 2.04039007e-01 3.01366450e-02 1.08475079e+02] [-2.03953473e-01 9.78962694e-01 -5.91809631e-03 -1.78402426e+01] [-3.07101737e-02 -3.55623368e-04 9.99528268e-01 -3.41755566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:108.50, Y:-17.84, Z:-3.42 [[ 9.78605764e-01 2.03795092e-01 2.82545341e-02 1.08503289e+02] [-2.03719875e-01 9.79013510e-01 -5.54616867e-03 -1.78409781e+01] [-2.87918526e-02 -3.28497529e-04 9.99585375e-01 -3.41909703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414012739 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:108.53, Y:-17.84, Z:-3.42 [[ 9.78622799e-01 2.03757023e-01 2.79373216e-02 1.08530147e+02] [-2.03683526e-01 9.79021435e-01 -5.48191963e-03 -1.78436745e+01] [-2.84682163e-02 -3.25640645e-04 9.99594645e-01 -3.41999668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:108.56, Y:-17.84, Z:-3.42 [[ 9.78660370e-01 2.03375382e-01 2.93655268e-02 1.08558521e+02] [-2.03294084e-01 9.79100783e-01 -5.75953877e-03 -1.78438920e+01] [-2.99231587e-02 -3.33205531e-04 9.99552146e-01 -3.42024913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:108.59, Y:-17.85, Z:-3.42 [[ 9.78807488e-01 2.02598214e-01 2.98305985e-02 1.08586207e+02] [-2.02514027e-01 9.79261897e-01 -5.84854957e-03 -1.78470576e+01] [-3.03968742e-02 -3.16510514e-04 9.99537858e-01 -3.42089897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:108.61, Y:-17.85, Z:-3.42 [[ 9.79137042e-01 2.00974062e-01 3.00013350e-02 1.08613250e+02] [-2.00888213e-01 9.79596526e-01 -5.87980775e-03 -1.78485922e+01] [-3.05708924e-02 -2.69777032e-04 9.99532565e-01 -3.42210716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534012739 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:108.64, Y:-17.85, Z:-3.42 [[ 9.79297718e-01 2.00141950e-01 3.03179596e-02 1.08641158e+02] [-2.00053962e-01 9.79766879e-01 -5.93925212e-03 -1.78526845e+01] [-3.08932262e-02 -2.48931885e-04 9.99522659e-01 -3.42310634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:108.67, Y:-17.86, Z:-3.42 [[ 9.79471485e-01 1.99254598e-01 3.05485609e-02 1.08668271e+02] [-1.99164903e-01 9.79947731e-01 -5.98220381e-03 -1.78572656e+01] [-3.11279745e-02 -2.24803107e-04 9.99515382e-01 -3.42341999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594012739 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:108.70, Y:-17.86, Z:-3.42 [[ 9.79718165e-01 1.97909766e-01 3.13694445e-02 1.08696064e+02] [-1.97814581e-01 9.80220225e-01 -6.14027514e-03 -1.78619329e+01] [-3.19641843e-02 -1.89594418e-04 9.99488997e-01 -3.42300571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:108.72, Y:-17.87, Z:-3.42 [[ 9.79782737e-01 1.97514286e-01 3.18417312e-02 1.08723014e+02] [-1.97416080e-01 9.80299992e-01 -6.23036805e-03 -1.78663492e+01] [-3.24450356e-02 -1.81662714e-04 9.99473505e-01 -3.42389485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654012739 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:108.75, Y:-17.87, Z:-3.42 [[ 9.79789504e-01 1.97527269e-01 3.15516332e-02 1.08749729e+02] [-1.97430936e-01 9.80297376e-01 -6.17097952e-03 -1.78698371e+01] [-3.21489199e-02 -1.83007500e-04 9.99483073e-01 -3.42432684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:108.78, Y:-17.87, Z:-3.43 [[ 9.79759059e-01 1.97766232e-01 3.09952099e-02 1.08776019e+02] [-1.97673467e-01 9.80249194e-01 -6.05962091e-03 -1.78748931e+01] [-3.15814179e-02 -1.89962124e-04 9.99501165e-01 -3.42542640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714012739 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:108.80, Y:-17.88, Z:-3.43 [[ 9.79668366e-01 1.98217233e-01 3.09809700e-02 1.08803166e+02] [-1.98124859e-01 9.80158092e-01 -6.05429372e-03 -1.78808082e+01] [-3.15663138e-02 -2.06900271e-04 9.99501638e-01 -3.42651406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:108.83, Y:-17.89, Z:-3.43 [[ 9.79443337e-01 1.99324705e-01 3.09905152e-02 1.08828957e+02] [-1.99232900e-01 9.79933468e-01 -6.05386674e-03 -1.78877537e+01] [-3.15753283e-02 -2.44910791e-04 9.99501345e-01 -3.42711878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774012739 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:108.86, Y:-17.89, Z:-3.43 [[ 9.79367797e-01 1.99755474e-01 3.06017814e-02 1.08855756e+02] [-1.99666250e-01 9.79845745e-01 -5.97533672e-03 -1.78930123e+01] [-3.11786315e-02 -2.58090572e-04 9.99513795e-01 -3.42825114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:108.88, Y:-17.90, Z:-3.43 [[ 9.78983805e-01 2.01808090e-01 2.93973434e-02 1.08883386e+02] [-2.01726748e-01 9.79425034e-01 -5.73778714e-03 -1.78980738e+01] [-2.99504259e-02 -3.13029794e-04 9.99551336e-01 -3.42972503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834012739 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:108.91, Y:-17.90, Z:-3.43 [[ 9.78571749e-01 2.03879396e-01 2.88188148e-02 1.08911113e+02] [-2.03802183e-01 9.78995942e-01 -5.62282738e-03 -1.79028669e+01] [-2.93598813e-02 -3.70997333e-04 9.99568837e-01 -3.43075274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:108.94, Y:-17.91, Z:-3.43 [[ 9.78040830e-01 2.06484457e-01 2.82896481e-02 1.08937572e+02] [-2.06411200e-01 9.78449781e-01 -5.51756049e-03 -1.79066679e+01] [-2.88192905e-02 -4.42900782e-04 9.99584540e-01 -3.43175459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894012739 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:108.96, Y:-17.91, Z:-3.43 [[ 9.76856168e-01 2.12022013e-01 2.82611634e-02 1.08964910e+02] [-2.11951287e-01 9.77264701e-01 -5.50958408e-03 -1.79071913e+01] [-2.87867905e-02 -6.07918771e-04 9.99585390e-01 -3.43177943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:108.99, Y:-17.91, Z:-3.43 [[ 9.76367697e-01 2.14202842e-01 2.86925649e-02 1.08992500e+02] [-2.14130953e-01 9.76788961e-01 -5.59118089e-03 -1.79102200e+01] [-2.92242274e-02 -6.84917851e-04 9.99572646e-01 -3.43267339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954012739 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:109.02, Y:-17.92, Z:-3.43 [[ 9.75959483e-01 2.16150099e-01 2.79682227e-02 1.09019256e+02] [-2.16505121e-01 9.76226917e-01 1.03217477e-02 -1.79224451e+01] [-2.50722850e-02 -1.61288710e-02 9.99555521e-01 -3.42647494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:109.05, Y:-17.91, Z:-3.43 [[ 9.75820869e-01 2.17064926e-01 2.56212532e-02 1.09051559e+02] [-2.16566144e-01 9.76044408e-01 -2.08906644e-02 -1.79051971e+01] [-2.95421114e-02 1.48368504e-02 9.99453416e-01 -3.43371307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:109.08, Y:-17.92, Z:-3.44 [[ 9.75949418e-01 2.16119453e-01 2.85502310e-02 1.09076450e+02] [-2.16049319e-01 9.76366645e-01 -5.55574335e-03 -1.79186225e+01] [-2.90761974e-02 -7.46133468e-04 9.99576920e-01 -3.43581570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:109.10, Y:-17.92, Z:-3.44 [[ 9.76294983e-01 2.14434298e-01 2.94285199e-02 1.09104211e+02] [-2.14359096e-01 9.76738150e-01 -5.72402544e-03 -1.79209836e+01] [-2.99713854e-02 -7.19933593e-04 9.99550498e-01 -3.43728224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:109.13, Y:-17.93, Z:-3.44 [[ 9.76390310e-01 2.14051831e-01 2.90478235e-02 1.09130770e+02] [-2.13978454e-01 9.76822052e-01 -5.64791471e-03 -1.79250309e+01] [-2.95835010e-02 -7.01039177e-04 9.99562067e-01 -3.43742302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:109.16, Y:-17.93, Z:-3.44 [[ 9.75948846e-01 2.16242842e-01 2.76203434e-02 1.09158529e+02] [-2.16177439e-01 9.76339335e-01 -5.36816139e-03 -1.79253143e+01] [-2.81276542e-02 -7.31844202e-04 9.99604071e-01 -3.43730748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134012739 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:109.19, Y:-17.93, Z:-3.44 [[ 9.75973356e-01 2.16132143e-01 2.76207532e-02 1.09186504e+02] [-2.16066755e-01 9.76363848e-01 -5.36605201e-03 -1.79305852e+01] [-2.81276812e-02 -7.30802738e-04 9.99604071e-01 -3.43818966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:109.21, Y:-17.93, Z:-3.44 [[ 9.75490144e-01 2.18324787e-01 2.74456803e-02 1.09214600e+02] [-2.18261176e-01 9.75875843e-01 -5.32904883e-03 -1.79312285e+01] [-2.79470398e-02 -7.91891851e-04 9.99609092e-01 -3.43929798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194012739 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:109.24, Y:-17.93, Z:-3.44 [[ 9.74887446e-01 2.20970259e-01 2.76877765e-02 1.09242563e+02] [-2.20906735e-01 9.75280149e-01 -5.37073673e-03 -1.79314357e+01] [-2.81901118e-02 -8.80552496e-04 9.99602192e-01 -3.43997349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:109.27, Y:-17.93, Z:-3.44 [[ 9.73864502e-01 2.25244120e-01 2.92064771e-02 1.09270115e+02] [-2.25175540e-01 9.74301776e-01 -5.65905579e-03 -1.79287054e+01] [-2.97305916e-02 -1.06543071e-03 9.99557380e-01 -3.44108452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:109.30, Y:-17.93, Z:-3.44 [[ 9.73828654e-01 2.25329218e-01 2.97404936e-02 1.09298412e+02] [-2.25258223e-01 9.74282072e-01 -5.75998240e-03 -1.79307711e+01] [-3.02735221e-02 -1.09005485e-03 9.99541058e-01 -3.44184033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:109.33, Y:-17.93, Z:-3.44 [[ 9.74486233e-01 2.22332600e-01 3.07375561e-02 1.09326812e+02] [-2.22255465e-01 9.74970328e-01 -5.94702741e-03 -1.79291290e+01] [-3.12904232e-02 -1.03629350e-03 9.99509798e-01 -3.44229885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:109.35, Y:-17.93, Z:-3.44 [[ 9.75031822e-01 2.19862841e-01 3.11973864e-02 1.09354169e+02] [-2.19782313e-01 9.75530305e-01 -6.02986347e-03 -1.79312844e+01] [-3.17597388e-02 -9.77324968e-04 9.99495054e-01 -3.44229602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:109.38, Y:-17.93, Z:-3.44 [[ 9.75620380e-01 2.17211887e-01 3.13667216e-02 1.09382588e+02] [-2.17129198e-01 9.76124064e-01 -6.05990673e-03 -1.79339154e+01] [-3.19340955e-02 -8.98462594e-04 9.99489573e-01 -3.44292835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:109.41, Y:-17.93, Z:-3.44 [[ 9.76622095e-01 2.12816228e-01 3.03073771e-02 1.09410615e+02] [-2.12736978e-01 9.77091970e-01 -5.85315809e-03 -1.79329841e+01] [-3.08587418e-02 -7.31176304e-04 9.99523488e-01 -3.44407201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:109.44, Y:-17.93, Z:-3.44 [[ 9.76928971e-01 2.11545106e-01 2.92993824e-02 1.09437741e+02] [-2.11470581e-01 9.77368005e-01 -5.65476121e-03 -1.79336810e+01] [-2.98325160e-02 -6.71657360e-04 9.99554686e-01 -3.44475498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434012739 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:109.47, Y:-17.93, Z:-3.45 [[ 9.77390402e-01 2.09513845e-01 2.84947331e-02 1.09466702e+02] [-2.09442553e-01 9.77805500e-01 -5.49745550e-03 -1.79308276e+01] [-2.90140998e-02 -5.94849412e-04 9.99578825e-01 -3.44550177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:109.49, Y:-17.93, Z:-3.45 [[ 9.77711024e-01 2.08010311e-01 2.85107805e-02 1.09493505e+02] [-2.07938469e-01 9.78126475e-01 -5.49473285e-03 -1.79339573e+01] [-2.90301103e-02 -5.56227156e-04 9.99578383e-01 -3.44627139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494012739 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:109.52, Y:-17.94, Z:-3.45 [[ 9.78941784e-01 2.01884246e-01 3.02611188e-02 1.09521785e+02] [-2.01800465e-01 9.79409307e-01 -5.82933803e-03 -1.79368915e+01] [-3.08148730e-02 -4.00125283e-04 9.99525029e-01 -3.44600552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:109.55, Y:-17.94, Z:-3.45 [[ 9.79775530e-01 1.97643009e-01 3.12594330e-02 1.09549638e+02] [-1.97551647e-01 9.80274024e-01 -6.01539480e-03 -1.79403951e+01] [-3.18317109e-02 -2.81615856e-04 9.99493203e-01 -3.44628651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:109.58, Y:-17.94, Z:-3.45 [[ 9.80587205e-01 1.93468265e-01 3.19180931e-02 1.09577236e+02] [-1.93370998e-01 9.81106521e-01 -6.13600706e-03 -1.79442939e+01] [-3.25021719e-02 -1.55143512e-04 9.99471653e-01 -3.44733813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:109.60, Y:-17.95, Z:-3.45 [[ 9.82218193e-01 1.85170272e-01 3.09740450e-02 1.09603510e+02] [-1.85074613e-01 9.82706445e-01 -5.95231539e-03 -1.79520904e+01] [-3.15405855e-02 1.13963060e-04 9.99502465e-01 -3.44906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614012739 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:109.63, Y:-17.96, Z:-3.45 [[ 9.82987987e-01 1.81228866e-01 2.98448734e-02 1.09630338e+02] [-1.81138313e-01 9.83440921e-01 -5.73288715e-03 -1.79592046e+01] [-3.03896344e-02 2.29309180e-04 9.99538102e-01 -3.45005795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:109.66, Y:-17.97, Z:-3.45 [[ 9.84049667e-01 1.75786349e-01 2.73022450e-02 1.09656520e+02] [-1.75708524e-01 9.84428275e-01 -5.24272756e-03 -1.79663353e+01] [-2.77987019e-02 3.61867153e-04 9.99613476e-01 -3.45100176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674012739 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:109.68, Y:-17.97, Z:-3.45 [[ 9.84294858e-01 1.74488059e-01 2.67871022e-02 1.09682333e+02] [-1.74412723e-01 9.84659213e-01 -5.14161749e-03 -1.79730423e+01] [-2.72733178e-02 3.88856232e-04 9.99627938e-01 -3.45236962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:109.71, Y:-17.98, Z:-3.45 [[ 9.84336458e-01 1.74233436e-01 2.69155560e-02 1.09708792e+02] [-1.74157341e-01 9.84704297e-01 -5.16404752e-03 -1.79811621e+01] [-2.74036134e-02 3.95618574e-04 9.99624372e-01 -3.45291709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734012739 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:109.73, Y:-17.99, Z:-3.45 [[ 9.84052305e-01 1.75608508e-01 2.83321983e-02 1.09734140e+02] [-1.75524824e-01 9.84460010e-01 -5.43362192e-03 -1.79928283e+01] [-2.88461065e-02 3.73964046e-04 9.99583795e-01 -3.45208821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:109.76, Y:-18.00, Z:-3.45 [[ 9.83792354e-01 1.76944746e-01 2.90372195e-02 1.09761146e+02] [-1.76857503e-01 9.84220728e-01 -5.56622106e-03 -1.80004313e+01] [-2.95639469e-02 3.40555589e-04 9.99562833e-01 -3.45221537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794012739 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:109.79, Y:-18.01, Z:-3.45 [[ 9.83168539e-01 1.80321050e-01 2.93928956e-02 1.09787786e+02] [-1.80233227e-01 9.83607778e-01 -5.63226755e-03 -1.80108351e+01] [-2.99266971e-02 2.39891826e-04 9.99552067e-01 -3.45360418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:109.81, Y:-18.02, Z:-3.46 [[ 9.82838437e-01 1.82174778e-01 2.89992620e-02 1.09813924e+02] [-1.82090159e-01 9.83266148e-01 -5.55479843e-03 -1.80191698e+01] [-2.95259369e-02 1.78989181e-04 9.99563998e-01 -3.45501775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854012739 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:109.84, Y:-18.03, Z:-3.46 [[ 9.82487927e-01 1.84079793e-01 2.88462018e-02 1.09841090e+02] [-1.83996957e-01 9.82911296e-01 -5.52305812e-03 -1.80275466e+01] [-2.93699410e-02 1.18724588e-04 9.99568603e-01 -3.45607009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:109.87, Y:-18.04, Z:-3.46 [[ 9.81822065e-01 1.87456227e-01 2.97589566e-02 1.09866576e+02] [-1.87369683e-01 9.82272957e-01 -5.69555712e-03 -1.80368189e+01] [-3.02990860e-02 1.60973941e-05 9.99540877e-01 -3.45569437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914012739 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:109.89, Y:-18.04, Z:-3.46 [[ 9.81551356e-01 1.88820366e-01 3.00633359e-02 1.09892763e+02] [-1.88732761e-01 9.82011644e-01 -5.75121107e-03 -1.80443657e+01] [-3.06084916e-02 -2.88273582e-05 9.99531450e-01 -3.45652024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:109.92, Y:-18.06, Z:-3.46 [[ 9.81247483e-01 1.90509210e-01 2.93192364e-02 1.09918894e+02] [-1.90426715e-01 9.81685405e-01 -5.60640916e-03 -1.80556660e+01] [-2.98503390e-02 -8.18909941e-05 9.99554376e-01 -3.45883381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974012739 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:109.95, Y:-18.06, Z:-3.46 [[ 9.81207898e-01 1.90774840e-01 2.89140386e-02 1.09946299e+02] [-1.90694787e-01 9.81633818e-01 -5.52685520e-03 -1.80633923e+01] [-2.94373830e-02 -9.07624531e-05 9.99566622e-01 -3.46067202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:109.97, Y:-18.07, Z:-3.46 [[ 9.81164123e-01 1.91052147e-01 2.85664281e-02 1.09973752e+02] [-1.90974186e-01 9.81579883e-01 -5.45831768e-03 -1.80704136e+01] [-2.90830544e-02 -9.99448615e-05 9.99576994e-01 -3.46084511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:110.00, Y:-18.08, Z:-3.46 [[ 9.81009709e-01 1.91783811e-01 2.89641301e-02 1.10000006e+02] [-1.91704044e-01 9.81437188e-01 -5.53220693e-03 -1.80791537e+01] [-2.94874621e-02 -1.25392168e-04 9.99565142e-01 -3.46092335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:110.03, Y:-18.09, Z:-3.46 [[ 9.80859154e-01 1.92500174e-01 2.93087672e-02 1.10026785e+02] [-1.92418929e-01 9.81296927e-01 -5.59426723e-03 -1.80867424e+01] [-2.98375007e-02 -1.52373387e-04 9.99554751e-01 -3.46136566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094012739 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:110.05, Y:-18.10, Z:-3.46 [[ 9.80553160e-01 1.93984063e-01 2.97604386e-02 1.10053561e+02] [-1.93901046e-01 9.81004660e-01 -5.67822435e-03 -1.80961666e+01] [-3.02966140e-02 -2.02779352e-04 9.99540932e-01 -3.46215847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:110.08, Y:-18.10, Z:-3.46 [[ 9.80465021e-01 1.94474323e-01 2.94632059e-02 1.10079573e+02] [-1.94393243e-01 9.80907585e-01 -5.61932732e-03 -1.81027937e+01] [-2.99934971e-02 -2.17894264e-04 9.99550070e-01 -3.46375696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154012739 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:110.11, Y:-18.11, Z:-3.46 [[ 9.80416036e-01 1.94761209e-01 2.91970610e-02 1.10106827e+02] [-1.94681790e-01 9.80850661e-01 -5.56602647e-03 -1.81097936e+01] [-2.97220026e-02 -2.27114490e-04 9.99558178e-01 -3.46458322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:110.13, Y:-18.12, Z:-3.47 [[ 9.80364674e-01 1.95119404e-01 2.85223292e-02 1.10133665e+02] [-1.95043825e-01 9.80779467e-01 -5.43535773e-03 -1.81182757e+01] [-2.90346586e-02 -2.34471488e-04 9.99578378e-01 -3.46526050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214012739 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:110.16, Y:-18.12, Z:-3.47 [[ 9.80349584e-01 1.95270789e-01 2.80002004e-02 1.10160808e+02] [-1.95198073e-01 9.80749337e-01 -5.33381414e-03 -1.81243375e+01] [-2.85027161e-02 -2.36582678e-04 9.99593687e-01 -3.46653290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:110.19, Y:-18.13, Z:-3.47 [[ 9.80307489e-01 1.95652298e-01 2.67844337e-02 1.10186922e+02] [-1.95585954e-01 9.80673300e-01 -5.10032355e-03 -1.81317683e+01] [-2.72646690e-02 -2.38773660e-04 9.99628221e-01 -3.46833813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:110.21, Y:-18.14, Z:-3.47 [[ 9.80258671e-01 1.95869987e-01 2.69793713e-02 1.10212891e+02] [-1.95802819e-01 9.80629842e-01 -5.13515742e-03 -1.81384393e+01] [-2.74625998e-02 -2.48854369e-04 9.99622801e-01 -3.46868316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:110.24, Y:-18.14, Z:-3.47 [[ 9.80174179e-01 1.96191264e-01 2.77049996e-02 1.10239972e+02] [-1.96120664e-01 9.80565610e-01 -5.26967415e-03 -1.81448343e+01] [-2.82004339e-02 -2.68324373e-04 9.99602253e-01 -3.46864249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334012739 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:110.27, Y:-18.15, Z:-3.47 [[ 9.80029811e-01 1.96682628e-01 2.92833365e-02 1.10266154e+02] [-1.96604041e-01 9.80467161e-01 -5.56756715e-03 -1.81520301e+01] [-2.98063936e-02 -3.00840503e-04 9.99555645e-01 -3.46916440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:110.29, Y:-18.16, Z:-3.47 [[ 9.80121144e-01 1.96166073e-01 2.96886393e-02 1.10291865e+02] [-1.96085137e-01 9.80570643e-01 -5.64199829e-03 -1.81587192e+01] [-3.02185768e-02 -2.91659093e-04 9.99543272e-01 -3.47044471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394012739 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:110.32, Y:-18.17, Z:-3.47 [[ 9.80467944e-01 1.94557162e-01 2.88118278e-02 1.10318768e+02] [-1.94480312e-01 9.80891153e-01 -5.47299890e-03 -1.81677488e+01] [-2.93260782e-02 -2.37233301e-04 9.99569870e-01 -3.47151374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:110.35, Y:-18.17, Z:-3.47 [[ 9.80674784e-01 1.93720053e-01 2.73771428e-02 1.10345864e+02] [-1.93650395e-01 9.81056828e-01 -5.19857097e-03 -1.81745573e+01] [-2.78656003e-02 -2.03487050e-04 9.99611658e-01 -3.47352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454012739 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:110.37, Y:-18.18, Z:-3.47 [[ 9.80913144e-01 1.92675909e-01 2.61801006e-02 1.10372640e+02] [-1.92611887e-01 9.81262435e-01 -4.96943565e-03 -1.81810762e+01] [-2.66470398e-02 -1.68013829e-04 9.99644890e-01 -3.47473106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:110.40, Y:-18.19, Z:-3.48 [[ 9.81275624e-01 1.90680862e-01 2.71837972e-02 1.10398889e+02] [-1.90611131e-01 9.81652074e-01 -5.15774377e-03 -1.81897042e+01] [-2.76685139e-02 -1.20366099e-04 9.99617146e-01 -3.47547634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514012739 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:110.43, Y:-18.20, Z:-3.48 [[ 9.81427784e-01 1.89803054e-01 2.78263593e-02 1.10426998e+02] [-1.89729687e-01 9.81822179e-01 -5.27781236e-03 -1.81974098e+01] [-2.83222816e-02 -9.96947543e-05 9.99598839e-01 -3.47554601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:110.45, Y:-18.21, Z:-3.48 [[ 9.81679406e-01 1.88422158e-01 2.83307871e-02 1.10454666e+02] [-1.88345572e-01 9.82088126e-01 -5.37205497e-03 -1.82078394e+01] [-2.88355437e-02 -6.23425625e-05 9.99584167e-01 -3.47627518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574012739 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:110.48, Y:-18.22, Z:-3.48 [[ 9.81787617e-01 1.87913534e-01 2.79567329e-02 1.10481120e+02] [-1.87838789e-01 9.82185574e-01 -5.29980706e-03 -1.82153095e+01] [-2.84546053e-02 -4.80739155e-05 9.99595085e-01 -3.47643429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:110.51, Y:-18.23, Z:-3.48 [[ 9.81851292e-01 1.87702674e-01 2.71246424e-02 1.10507773e+02] [-1.87632281e-01 9.82225893e-01 -5.14030884e-03 -1.82254671e+01] [-2.76073758e-02 -4.24396624e-05 9.99618843e-01 -3.47666791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:110.54, Y:-18.23, Z:-3.48 [[ 9.81778111e-01 1.88074122e-01 2.72004809e-02 1.10536124e+02] [-1.88003524e-01 9.82154836e-01 -5.15300175e-03 -1.82331127e+01] [-2.76842302e-02 -5.46819378e-05 9.99616717e-01 -3.47754113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:110.56, Y:-18.24, Z:-3.48 [[ 9.81493423e-01 1.89299168e-01 2.89220747e-02 1.10562910e+02] [-1.89219923e-01 9.81919455e-01 -5.47769569e-03 -1.82415608e+01] [-2.94360711e-02 -9.63104511e-05 9.99566660e-01 -3.47717911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694012739 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:110.59, Y:-18.25, Z:-3.48 [[ 9.81109941e-01 1.91090201e-01 3.01300218e-02 1.10590923e+02] [-1.91005098e-01 9.81572468e-01 -5.70460309e-03 -1.82483146e+01] [-3.06648936e-02 -1.58144964e-04 9.99529709e-01 -3.47773065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:110.62, Y:-18.25, Z:-3.48 [[ 9.80649600e-01 1.93363092e-01 3.06117124e-02 1.10618940e+02] [-1.93276397e-01 9.81127239e-01 -5.79433452e-03 -1.82542578e+01] [-3.11543953e-02 -2.34309667e-04 9.99514557e-01 -3.47872053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754012739 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:110.65, Y:-18.26, Z:-3.48 [[ 9.79496500e-01 1.99308036e-01 2.93753774e-02 1.10646848e+02] [-1.99230913e-01 9.79936804e-01 -5.55902385e-03 -1.82605394e+01] [-2.98939716e-02 -4.07438841e-04 9.99552992e-01 -3.47952882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:110.67, Y:-18.27, Z:-3.48 [[ 9.78953144e-01 2.02070898e-01 2.86023398e-02 1.10674041e+02] [-2.01999027e-01 9.79370778e-01 -5.41041000e-03 -1.82656428e+01] [-2.91055822e-02 -4.81106913e-04 9.99576227e-01 -3.48070225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814012739 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:110.70, Y:-18.27, Z:-3.48 [[ 9.78208929e-01 2.05594927e-01 2.89485101e-02 1.10701470e+02] [-2.05522903e-01 9.78636997e-01 -5.47398191e-03 -1.82692949e+01] [-2.94555059e-02 -5.94883853e-04 9.99565915e-01 -3.48196201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:110.73, Y:-18.27, Z:-3.48 [[ 9.78043345e-01 2.06357279e-01 2.91185320e-02 1.10728245e+02] [-2.06284805e-01 9.78476512e-01 -5.50403749e-03 -1.82733080e+01] [-2.96275979e-02 -6.23523483e-04 9.99560812e-01 -3.48336440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:110.76, Y:-18.28, Z:-3.49 [[ 9.78044337e-01 2.06591987e-01 2.73683321e-02 1.10755992e+02] [-2.06528118e-01 9.78427001e-01 -5.17103168e-03 -1.82773279e+01] [-2.78462088e-02 -5.94831875e-04 9.99612042e-01 -3.48512936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:110.78, Y:-18.28, Z:-3.49 [[ 9.78101905e-01 2.06442056e-01 2.64261396e-02 1.10782174e+02] [-2.06382498e-01 9.78458661e-01 -4.99138956e-03 -1.82812860e+01] [-2.68873179e-02 -5.71805067e-04 9.99638307e-01 -3.48677519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:110.81, Y:-18.28, Z:-3.49 [[ 9.78197688e-01 2.06051369e-01 2.59252001e-02 1.10809513e+02] [-2.05993982e-01 9.78541020e-01 -4.89404773e-03 -1.82849874e+01] [-2.63772969e-02 -5.53089027e-04 9.99651906e-01 -3.48774435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:110.84, Y:-18.29, Z:-3.49 [[ 9.78226947e-01 2.05775408e-01 2.69911395e-02 1.10837040e+02] [-2.05713158e-01 9.78599078e-01 -5.09317252e-03 -1.82876903e+01] [-2.74615539e-02 -5.70153932e-04 9.99622698e-01 -3.48756711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994012739 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:110.86, Y:-18.29, Z:-3.49 [[ 9.78226488e-01 2.05713805e-01 2.74730454e-02 1.10863619e+02] [-2.05649344e-01 9.78612024e-01 -5.18206624e-03 -1.82908118e+01] [-2.79514752e-02 -5.80579320e-04 9.99609113e-01 -3.48885790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:110.89, Y:-18.30, Z:-3.49 [[ 9.78238639e-01 2.05655957e-01 2.74734889e-02 1.10891628e+02] [-2.05591539e-01 9.78624182e-01 -5.17971417e-03 -1.82959641e+01] [-2.79514596e-02 -5.81320327e-04 9.99609113e-01 -3.48974036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054012739 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:110.92, Y:-18.30, Z:-3.49 [[ 9.78257564e-01 2.05574534e-01 2.74089148e-02 1.10918702e+02] [-2.05510432e-01 9.78641290e-01 -5.16593967e-03 -1.82988943e+01] [-2.78854814e-02 -5.79198369e-04 9.99610957e-01 -3.48994732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:110.95, Y:-18.30, Z:-3.49 [[ 9.78385713e-01 2.04971929e-01 2.73478596e-02 1.10946755e+02] [-2.04907942e-01 9.78767690e-01 -5.15206979e-03 -1.82998133e+01] [-2.78232310e-02 -5.63082153e-04 9.99612700e-01 -3.49143298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:110.97, Y:-18.30, Z:-3.49 [[ 9.79039025e-01 2.01805805e-01 2.75137180e-02 1.10974295e+02] [-2.01739846e-01 9.79425438e-01 -5.18129323e-03 -1.83025190e+01] [-2.79932503e-02 -4.77924949e-04 9.99607998e-01 -3.49282504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:111.00, Y:-18.31, Z:-3.49 [[ 9.79584403e-01 1.99132456e-01 2.75801034e-02 1.11001175e+02] [-1.99065175e-01 9.79972500e-01 -5.19177192e-03 -1.83062106e+01] [-2.80615932e-02 -4.04459331e-04 9.99606114e-01 -3.49324314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:111.03, Y:-18.31, Z:-3.49 [[ 9.80161054e-01 1.96288918e-01 2.74766933e-02 1.11029479e+02] [-1.96221091e-01 9.80546050e-01 -5.16989470e-03 -1.83090421e+01] [-2.79569561e-02 -3.24177279e-04 9.99609075e-01 -3.49423610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:111.06, Y:-18.31, Z:-3.50 [[ 9.80692922e-01 1.93683221e-01 2.69852344e-02 1.11056182e+02] [-1.93616865e-01 9.81064090e-01 -5.07552990e-03 -1.83112304e+01] [-2.74572894e-02 -2.47260231e-04 9.99622947e-01 -3.49546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:111.08, Y:-18.31, Z:-3.50 [[ 9.81427955e-01 1.89970980e-01 2.66495041e-02 1.11083694e+02] [-1.89904956e-01 9.81789695e-01 -5.01015526e-03 -1.83124196e+01] [-2.71159926e-02 -1.43766474e-04 9.99632284e-01 -3.49644262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:111.11, Y:-18.32, Z:-3.50 [[ 9.82054961e-01 1.86621717e-01 2.72100772e-02 1.11111554e+02] [-1.86551664e-01 9.82431846e-01 -5.11319660e-03 -1.83150406e+01] [-2.76862799e-02 -5.46450820e-05 9.99616660e-01 -3.49745970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294012739 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:111.14, Y:-18.32, Z:-3.50 [[ 9.82400135e-01 1.84727496e-01 2.76717792e-02 1.11138829e+02] [-1.84654352e-01 9.82789780e-01 -5.19791049e-03 -1.83187211e+01] [-2.81557388e-02 -3.28648303e-06 9.99603549e-01 -3.49846985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:111.17, Y:-18.32, Z:-3.50 [[ 9.82734734e-01 1.82895029e-01 2.79615878e-02 1.11166351e+02] [-1.82819662e-01 9.83132446e-01 -5.25026219e-03 -1.83226450e+01] [-2.84501910e-02 4.76869995e-05 9.99595210e-01 -3.49894467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:111.19, Y:-18.33, Z:-3.50 [[ 9.83069423e-01 1.81038569e-01 2.82762426e-02 1.11194820e+02] [-1.80960778e-01 9.83475992e-01 -5.30759935e-03 -1.83273735e+01] [-2.87698859e-02 1.00847783e-04 9.99586056e-01 -3.49990352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters Centerline goodness : 0.996549 Centerline is valid? [True, True] Translation: X:111.22, Y:-18.33, Z:-3.50 [[ 9.83820221e-01 1.76967536e-01 2.79332200e-02 1.11223413e+02] [-1.76890017e-01 9.84216665e-01 -5.24189601e-03 -1.83328032e+01] [-2.84199861e-02 2.15975524e-04 9.99596047e-01 -3.50075825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414012739 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:111.25, Y:-18.34, Z:-3.50 [[ 9.84775131e-01 1.71643818e-01 2.75016441e-02 1.11250456e+02] [-1.71566634e-01 9.85159007e-01 -5.15966115e-03 -1.83374035e+01] [-2.79791163e-02 3.62741484e-04 9.99608442e-01 -3.50087724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:111.28, Y:-18.34, Z:-3.50 [[ 9.85344385e-01 1.68380316e-01 2.72857530e-02 1.11277848e+02] [-1.68303136e-01 9.85722003e-01 -5.11740434e-03 -1.83431516e+01] [-2.77578373e-02 4.50127820e-04 9.99614576e-01 -3.50278611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:111.31, Y:-18.35, Z:-3.50 [[ 9.85920727e-01 1.64975209e-01 2.72671916e-02 1.11306208e+02] [-1.64896877e-01 9.86297564e-01 -5.11229255e-03 -1.83503866e+01] [-2.77369662e-02 5.44040457e-04 9.99615108e-01 -3.50424547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:111.33, Y:-18.36, Z:-3.49 [[ 9.86846866e-01 1.59151287e-01 2.83571954e-02 1.11333379e+02] [-1.59064204e-01 9.87253933e-01 -5.31516119e-03 -1.83601350e+01] [-2.88416674e-02 7.34635445e-04 9.99583723e-01 -3.49432507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534012739 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:111.36, Y:-18.37, Z:-3.50 [[ 9.87214979e-01 1.56633985e-01 2.95360638e-02 1.11360744e+02] [-1.56538417e-01 9.87656361e-01 -5.53498544e-03 -1.83672495e+01] [-3.00384482e-02 8.40691872e-04 9.99548390e-01 -3.50354933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:111.39, Y:-18.38, Z:-3.51 [[ 9.87716002e-01 1.53581841e-01 2.88048076e-02 1.11390387e+02] [-1.53489682e-01 9.88135512e-01 -5.39688602e-03 -1.83767008e+01] [-2.92919170e-02 9.09349917e-04 9.99570486e-01 -3.50529209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594012739 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:111.42, Y:-18.38, Z:-3.51 [[ 9.87898746e-01 1.52674686e-01 2.73222977e-02 1.11419448e+02] [-1.52591426e-01 9.88276101e-01 -5.11908473e-03 -1.83844766e+01] [-2.77835284e-02 8.87989026e-04 9.99613569e-01 -3.50685405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:111.45, Y:-18.39, Z:-3.51 [[ 9.88008030e-01 1.52145465e-01 2.63038062e-02 1.11448592e+02] [-1.52068100e-01 9.88357729e-01 -4.92866128e-03 -1.83913012e+01] [-2.67474436e-02 8.69587099e-04 9.99641845e-01 -3.50809426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654012739 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:111.48, Y:-18.40, Z:-3.51 [[ 9.87957668e-01 1.52515976e-01 2.60484964e-02 1.11477164e+02] [-1.52440241e-01 9.88300639e-01 -4.88056659e-03 -1.83986951e+01] [-2.64881100e-02 8.50954130e-04 9.99648766e-01 -3.50834802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:111.51, Y:-18.41, Z:-3.51 [[ 9.87874096e-01 1.52853480e-01 2.72136585e-02 1.11506863e+02] [-1.52770965e-01 9.88248471e-01 -5.09813387e-03 -1.84062160e+01] [-2.76731239e-02 8.78857519e-04 9.99616639e-01 -3.50893609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714012739 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:111.54, Y:-18.42, Z:-3.51 [[ 9.87941988e-01 1.52124924e-01 2.87860273e-02 1.11537064e+02] [-1.52032288e-01 9.88360816e-01 -5.39265790e-03 -1.84176514e+01] [-2.92713391e-02 9.51227569e-04 9.99571050e-01 -3.50954416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:111.57, Y:-18.43, Z:-3.50 [[ 9.88074959e-01 1.51396933e-01 2.80507529e-02 1.11568097e+02] [-1.51308659e-01 9.88472594e-01 -5.25556329e-03 -1.84260095e+01] [-2.85230767e-02 9.48568687e-04 9.99592684e-01 -3.49682488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774012739 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:111.60, Y:-18.44, Z:-3.51 [[ 9.88215524e-01 1.50287610e-01 2.90467295e-02 1.11598922e+02] [-1.50192459e-01 9.88641797e-01 -5.44269249e-03 -1.84350523e+01] [-2.95347801e-02 1.01595346e-03 9.99563237e-01 -3.51192221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:111.63, Y:-18.45, Z:-3.51 [[ 9.88250761e-01 1.50075979e-01 2.89419228e-02 1.11630052e+02] [-1.49981280e-01 9.88673937e-01 -5.42793261e-03 -1.84470761e+01] [-2.94287270e-02 1.02341190e-03 9.99566357e-01 -3.51230274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:111.66, Y:-18.46, Z:-3.51 [[ 9.88145205e-01 1.50817169e-01 2.86920889e-02 1.11660735e+02] [-1.50724248e-01 9.88561169e-01 -5.38665817e-03 -1.84557675e+01] [-2.91762855e-02 9.98206930e-04 9.99573783e-01 -3.51318718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:111.69, Y:-18.47, Z:-3.51 [[ 9.87569188e-01 1.54374091e-01 2.95929014e-02 1.11691503e+02] [-1.54276667e-01 9.88012035e-01 -5.56135053e-03 -1.84671669e+01] [-3.00966711e-02 9.26724227e-04 9.99546563e-01 -3.51292151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894012739 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:111.72, Y:-18.48, Z:-3.51 [[ 9.87115999e-01 1.57228517e-01 2.96849736e-02 1.11723190e+02] [-1.57131625e-01 9.87561885e-01 -5.58360983e-03 -1.84755437e+01] [-3.01936511e-02 8.47222468e-04 9.99543709e-01 -3.51311178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:111.75, Y:-18.48, Z:-3.51 [[ 9.85913522e-01 1.64618561e-01 2.95847445e-02 1.11753572e+02] [-1.64525470e-01 9.86357105e-01 -5.57050366e-03 -1.84844834e+01] [-3.00981313e-02 6.24590887e-04 9.99546753e-01 -3.51488096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95401273899999 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:111.78, Y:-18.49, Z:-3.52 [[ 9.85186397e-01 1.69004536e-01 2.90728420e-02 1.11783822e+02] [-1.68916410e-01 9.85615153e-01 -5.47874525e-03 -1.84908546e+01] [-2.95805664e-02 4.86705198e-04 9.99562281e-01 -3.51565098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:111.82, Y:-18.50, Z:-3.50 [[ 9.84450115e-01 1.73468174e-01 2.76904878e-02 1.11815236e+02] [-1.73389967e-01 9.84839418e-01 -5.21920941e-03 -1.84964664e+01] [-2.81760506e-02 3.36798548e-04 9.99602920e-01 -3.50313302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:111.84, Y:-18.50, Z:-3.52 [[ 9.82981120e-01 1.81616608e-01 2.76319832e-02 1.11843824e+02] [-1.81541922e-01 9.83369410e-01 -5.20898079e-03 -1.85005762e+01] [-2.81184844e-02 1.03966429e-04 9.99604592e-01 -3.51750486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:111.87, Y:-18.50, Z:-3.52 [[ 9.81820960e-01 1.87699794e-01 2.82203697e-02 1.11873064e+02] [-1.87624411e-01 9.82226441e-01 -5.31961787e-03 -1.85034827e+01] [-2.87172845e-02 -7.19179048e-05 9.99587571e-01 -3.51910188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:111.90, Y:-18.51, Z:-3.52 [[ 9.81519122e-01 1.89200746e-01 2.86930356e-02 1.11901688e+02] [-1.89123499e-01 9.81938421e-01 -5.40727890e-03 -1.85083015e+01] [-2.91978552e-02 -1.19179638e-04 9.99573645e-01 -3.51966629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:111.93, Y:-18.51, Z:-3.52 [[ 9.81328561e-01 1.90088456e-01 2.93365603e-02 1.11928955e+02] [-1.90008132e-01 9.81766956e-01 -5.52749203e-03 -1.85133372e+01] [-2.98523779e-02 -1.49899230e-04 9.99554307e-01 -3.52029281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:111.96, Y:-18.52, Z:-3.52 [[ 9.81131426e-01 1.91119677e-01 2.92300031e-02 1.11957218e+02] [-1.91040450e-01 9.81566725e-01 -5.50552910e-03 -1.85172143e+01] [-2.97434133e-02 -1.82465308e-04 9.99557550e-01 -3.52040987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:111.99, Y:-18.52, Z:-3.52 [[ 9.81098336e-01 1.91321432e-01 2.90200635e-02 1.11986771e+02] [-1.91243469e-01 9.81527419e-01 -5.46456041e-03 -1.85209650e+01] [-2.95294756e-02 -1.88626492e-04 9.99563892e-01 -3.52171398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194012739 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:112.02, Y:-18.52, Z:-3.52 [[ 9.80854704e-01 1.92694552e-01 2.81577449e-02 1.12015594e+02] [-1.92621738e-01 9.81258763e-01 -5.30155297e-03 -1.85227539e+01] [-2.86516143e-02 -2.23740605e-04 9.99589433e-01 -3.52262457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:112.04, Y:-18.53, Z:-3.52 [[ 9.80697517e-01 1.93499696e-01 2.81113343e-02 1.12043287e+02] [-1.93427492e-01 9.81100304e-01 -5.29142624e-03 -1.85260848e+01] [-2.86039280e-02 -2.48216316e-04 9.99590793e-01 -3.52407946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254012739 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:112.07, Y:-18.53, Z:-3.53 [[ 9.80578966e-01 1.94080979e-01 2.82394398e-02 1.12071563e+02] [-1.94008408e-01 9.80985475e-01 -5.31373082e-03 -1.85294942e+01] [-2.87337743e-02 -2.68156087e-04 9.99587064e-01 -3.52512082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:112.10, Y:-18.53, Z:-3.53 [[ 9.80575426e-01 1.94029815e-01 2.87100113e-02 1.12099470e+02] [-1.93954826e-01 9.80995595e-01 -5.40084627e-03 -1.85297915e+01] [-2.92123198e-02 -2.72508097e-04 9.99573192e-01 -3.52520736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314012739 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:112.13, Y:-18.53, Z:-3.53 [[ 9.80789589e-01 1.92926555e-01 2.88292724e-02 1.12128246e+02] [-1.92850518e-01 9.81213170e-01 -5.42146509e-03 -1.85324755e+01] [-2.93336063e-02 -2.42423585e-04 9.99569648e-01 -3.52694483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:112.16, Y:-18.53, Z:-3.53 [[ 9.81695799e-01 1.88318745e-01 2.84501156e-02 1.12155660e+02] [-1.88242798e-01 9.82107957e-01 -5.34880366e-03 -1.85348374e+01] [-2.89483649e-02 -1.04631273e-04 9.99580903e-01 -3.52847241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374012739 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:112.18, Y:-18.54, Z:-3.53 [[ 9.82242894e-01 1.85542448e-01 2.78010127e-02 1.12184016e+02] [-1.85422880e-01 9.82635004e-01 -6.84139919e-03 -1.85381077e+01] [-2.85876182e-02 1.56497189e-03 9.99590065e-01 -3.52930182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:112.21, Y:-18.54, Z:-3.53 [[ 9.82806700e-01 1.82320453e-01 2.91589279e-02 1.12211609e+02] [-1.82285865e-01 9.83237990e-01 -3.86249656e-03 -1.85442665e+01] [-2.93743777e-02 -1.51917289e-03 9.99567325e-01 -3.52995711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434012739 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:112.24, Y:-18.55, Z:-3.53 [[ 9.83799389e-01 1.76815152e-01 2.95831855e-02 1.12240503e+02] [-1.76727970e-01 9.84244047e-01 -5.55695626e-03 -1.85464079e+01] [-3.00996283e-02 2.38753856e-04 9.99546875e-01 -3.53037521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:112.27, Y:-18.55, Z:-3.53 [[ 9.84168280e-01 1.74796264e-01 2.93097888e-02 1.12269257e+02] [-1.74709830e-01 9.84604580e-01 -5.50426484e-03 -1.85517755e+01] [-2.98206772e-02 2.96414639e-04 9.99555221e-01 -3.53148094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:112.30, Y:-18.56, Z:-3.53 [[ 9.84507833e-01 1.72690211e-01 3.03713239e-02 1.12296632e+02] [-1.72596443e-01 9.84976118e-01 -5.70217762e-03 -1.85578361e+01] [-3.08997389e-02 3.71856048e-04 9.99522420e-01 -3.53215795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:112.32, Y:-18.56, Z:-3.53 [[ 9.84540426e-01 1.72402031e-01 3.09465631e-02 1.12324279e+02] [-1.72304591e-01 9.85026594e-01 -5.80838529e-03 -1.85627746e+01] [-3.14845651e-02 3.86355219e-04 9.99504164e-01 -3.53279576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554012739 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:112.35, Y:-18.57, Z:-3.53 [[ 9.84505075e-01 1.72530749e-01 3.13512094e-02 1.12353921e+02] [-1.72430869e-01 9.85004057e-01 -5.88244946e-03 -1.85679420e+01] [-3.18959719e-02 3.85385050e-04 9.99491120e-01 -3.53405631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:112.38, Y:-18.57, Z:-3.54 [[ 9.84629397e-01 1.72178821e-01 2.93156028e-02 1.12381567e+02] [-1.72091356e-01 9.85065641e-01 -5.49986760e-03 -1.85739347e+01] [-2.98247538e-02 3.70369465e-04 9.99555074e-01 -3.53626462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614012739 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:112.41, Y:-18.58, Z:-3.54 [[ 9.84825032e-01 1.71282352e-01 2.79644766e-02 1.12409607e+02] [-1.71202431e-01 9.85221910e-01 -5.24543466e-03 -1.85791855e+01] [-2.84496654e-02 3.78248975e-04 9.99595155e-01 -3.53737649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:112.44, Y:-18.58, Z:-3.54 [[ 9.85179134e-01 1.69157683e-01 2.84209780e-02 1.12438690e+02] [-1.69074278e-01 9.85588900e-01 -5.33002113e-03 -1.85837478e+01] [-2.89130144e-02 4.45769271e-04 9.99581832e-01 -3.53862822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674012739 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:112.47, Y:-18.59, Z:-3.54 [[ 9.85384344e-01 1.67816180e-01 2.92476350e-02 1.12466442e+02] [-1.67727281e-01 9.85818178e-01 -5.48436549e-03 -1.85892058e+01] [-2.97532155e-02 4.98581600e-04 9.99557151e-01 -3.53922938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:112.50, Y:-18.60, Z:-3.54 [[ 9.85915017e-01 1.64596292e-01 2.96587402e-02 1.12495130e+02] [-1.64503450e-01 9.86360835e-01 -5.56040073e-03 -1.85977206e+01] [-3.01694411e-02 6.03117494e-04 9.99544617e-01 -3.54010617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734012739 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:112.52, Y:-18.60, Z:-3.54 [[ 9.86233171e-01 1.62730356e-01 2.93762357e-02 1.12524784e+02] [-1.62638468e-01 9.86670363e-01 -5.50674416e-03 -1.86046884e+01] [-2.98807756e-02 6.53227783e-04 9.99553256e-01 -3.54124281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:112.55, Y:-18.61, Z:-3.54 [[ 9.86568734e-01 1.60747491e-01 2.90237323e-02 1.12554636e+02] [-1.60656938e-01 9.86995313e-01 -5.44066538e-03 -1.86117495e+01] [-2.95208611e-02 7.04726401e-04 9.99563916e-01 -3.54313560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794012739 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:112.58, Y:-18.62, Z:-3.54 [[ 9.87053247e-01 1.57728579e-01 2.91132797e-02 1.12582224e+02] [-1.57636153e-01 9.87482182e-01 -5.45746659e-03 -1.86220491e+01] [-2.96096434e-02 7.97504699e-04 9.99561220e-01 -3.54377349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:112.61, Y:-18.63, Z:-3.54 [[ 9.87202034e-01 1.56691151e-01 2.96652615e-02 1.12613011e+02] [-1.56594732e-01 9.87647291e-01 -5.56045590e-03 -1.86315792e+01] [-3.01700894e-02 8.43869696e-04 9.99544423e-01 -3.54451690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854012739 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:112.64, Y:-18.64, Z:-3.54 [[ 9.87359223e-01 1.55466523e-01 3.08532884e-02 1.12644216e+02] [-1.55361456e-01 9.87840731e-01 -5.78858884e-03 -1.86446054e+01] [-3.13780667e-02 9.22004761e-04 9.99507162e-01 -3.54496027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:112.68, Y:-18.65, Z:-3.55 [[ 9.87343731e-01 1.55503529e-01 3.11610145e-02 1.12675017e+02] [-1.55396181e-01 9.87834893e-01 -5.85241756e-03 -1.86543482e+01] [-3.16920090e-02 9.36045161e-04 9.99497244e-01 -3.54618187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:112.70, Y:-18.67, Z:-3.55 [[ 9.86886733e-01 1.58292189e-01 3.15936478e-02 1.12704734e+02] [-1.58183078e-01 9.87391937e-01 -5.93947319e-03 -1.86679491e+01] [-3.21354853e-02 8.64006826e-04 9.99483148e-01 -3.54832544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:112.74, Y:-18.67, Z:-3.55 [[ 9.86874106e-01 1.58371092e-01 3.15926464e-02 1.12737623e+02] [-1.58261852e-01 9.87379282e-01 -5.94479530e-03 -1.86742733e+01] [-3.21354082e-02 8.66853827e-04 9.99483148e-01 -3.54936312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974012739 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:112.77, Y:-18.68, Z:-3.55 [[ 9.86448492e-01 1.60984505e-01 3.16758805e-02 1.12769329e+02] [-1.60875944e-01 9.86956620e-01 -5.96322668e-03 -1.86838726e+01] [-3.22227070e-02 7.86528793e-04 9.99480404e-01 -3.55019943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:112.80, Y:-18.69, Z:-3.55 [[ 9.85855414e-01 1.64741974e-01 3.08088531e-02 1.12800283e+02] [-1.64640922e-01 9.86336483e-01 -5.80594064e-03 -1.86928820e+01] [-3.13443780e-02 6.51420017e-04 9.99508432e-01 -3.55116880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034012739 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:112.83, Y:-18.70, Z:-3.55 [[ 9.84377457e-01 1.73657862e-01 2.90511406e-02 1.12830220e+02] [-1.73571791e-01 9.84805983e-01 -5.47801804e-03 -1.87018611e+01] [-2.95610380e-02 3.49978953e-04 9.99562916e-01 -3.55275513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:112.86, Y:-18.71, Z:-3.55 [[ 9.83522915e-01 1.78478875e-01 2.87744210e-02 1.12861321e+02] [-1.78396351e-01 9.83943722e-01 -5.43087443e-03 -1.87083602e+01] [-2.92817073e-02 2.08137743e-04 9.99571177e-01 -3.55390960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094012739 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:112.89, Y:-18.71, Z:-3.55 [[ 9.81890428e-01 1.87099138e-01 2.97506346e-02 1.12891458e+02] [-1.87014844e-01 9.82341036e-01 -5.61587169e-03 -1.87121309e+01] [-3.02759940e-02 -4.96396462e-05 9.99541576e-01 -3.55404022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:112.92, Y:-18.72, Z:-3.55 [[ 9.81169159e-01 1.90715811e-01 3.05705992e-02 1.12920032e+02] [-1.90628559e-01 9.81645278e-01 -5.77064877e-03 -1.87163288e+01] [-3.11100383e-02 -1.65646681e-04 9.99515952e-01 -3.55490481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154012739 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:112.95, Y:-18.72, Z:-3.56 [[ 9.80009979e-01 1.96423682e-01 3.15939601e-02 1.12949812e+02] [-1.96333476e-01 9.80519050e-01 -5.96303941e-03 -1.87194695e+01] [-3.21497619e-02 -3.59113892e-04 9.99482998e-01 -3.55666939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:112.98, Y:-18.72, Z:-3.56 [[ 9.79555326e-01 1.98697970e-01 3.14719023e-02 1.12977924e+02] [-1.98609658e-01 9.80060676e-01 -5.93923583e-03 -1.87225563e+01] [-3.20244880e-02 -4.32813654e-04 9.99486991e-01 -3.55764824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214012739 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:113.01, Y:-18.72, Z:-3.56 [[ 9.79147830e-01 2.00651895e-01 3.17544405e-02 1.13007136e+02] [-2.00563042e-01 9.79662475e-01 -5.99174395e-03 -1.87248852e+01] [-3.23108885e-02 -5.01964098e-04 9.99477741e-01 -3.55819318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:113.04, Y:-18.72, Z:-3.56 [[ 9.78676785e-01 2.02972706e-01 3.15250719e-02 1.13037395e+02] [-2.02886383e-01 9.79184226e-01 -5.94697849e-03 -1.87232044e+01] [-3.20759275e-02 -5.75838019e-04 9.99485269e-01 -3.55977682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274012739 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:113.07, Y:-18.73, Z:-3.56 [[ 9.78690735e-01 2.03005038e-01 3.08771665e-02 1.13065062e+02] [-2.02922268e-01 9.79177530e-01 -5.82397817e-03 -1.87253667e+01] [-3.14165245e-02 -5.65791171e-04 9.99506219e-01 -3.56092723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:113.09, Y:-18.73, Z:-3.56 [[ 9.78890154e-01 2.02045200e-01 3.08513012e-02 1.13092874e+02] [-2.01962152e-01 9.79376051e-01 -5.81717595e-03 -1.87254630e+01] [-3.13903580e-02 -5.36418920e-04 9.99507057e-01 -3.56193245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334012739 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:113.12, Y:-18.73, Z:-3.56 [[ 9.79072337e-01 2.01112284e-01 3.11642038e-02 1.13121502e+02] [-2.01027134e-01 9.79568061e-01 -5.87417003e-03 -1.87274145e+01] [-3.17088264e-02 -5.13613193e-04 9.99497017e-01 -3.56196413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:113.15, Y:-18.73, Z:-3.56 [[ 9.79528312e-01 1.98828388e-01 3.14890152e-02 1.13150976e+02] [-1.98740322e-01 9.80034220e-01 -5.93388705e-03 -1.87274188e+01] [-3.20401376e-02 -4.45726655e-04 9.99486484e-01 -3.56277809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394012739 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:113.18, Y:-18.73, Z:-3.55 [[ 9.79854309e-01 1.97362431e-01 3.05549420e-02 1.13180430e+02] [-1.97278845e-01 9.80330516e-01 -5.75644285e-03 -1.87313822e+01] [-3.10900477e-02 -3.87368349e-04 9.99516513e-01 -3.55111857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:113.21, Y:-18.73, Z:-3.57 [[ 9.80366192e-01 1.94744900e-01 3.09282150e-02 1.13208123e+02] [-1.94658004e-01 9.80853877e-01 -5.82521133e-03 -1.87337773e+01] [-3.14704898e-02 -3.09584367e-04 9.99504634e-01 -3.56521028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45401273899999 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:113.24, Y:-18.74, Z:-3.57 [[ 9.80572032e-01 1.93620480e-01 3.14578969e-02 1.13237332e+02] [-1.93530067e-01 9.81076465e-01 -5.92302259e-03 -1.87365311e+01] [-3.20094208e-02 -2.80098593e-04 9.99487528e-01 -3.56637069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:113.27, Y:-18.74, Z:-3.57 [[ 9.80679195e-01 1.93035906e-01 3.17089230e-02 1.13265430e+02] [-1.92943789e-01 9.81191658e-01 -5.96869766e-03 -1.87389331e+01] [-3.22647037e-02 -2.64662130e-04 9.99479324e-01 -3.56650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514012739 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:113.29, Y:-18.74, Z:-3.57 [[ 9.80875044e-01 1.91927902e-01 3.23701845e-02 1.13294566e+02] [-1.91831369e-01 9.81409000e-01 -6.09102969e-03 -1.87405535e+01] [-3.29374290e-02 -2.35077801e-04 9.99457388e-01 -3.56704408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:113.32, Y:-18.74, Z:-3.57 [[ 9.81189535e-01 1.90274695e-01 3.25980992e-02 1.13323678e+02] [-1.90175938e-01 9.81730873e-01 -6.13231891e-03 -1.87443085e+01] [-3.31693855e-02 -1.82406970e-04 9.99449728e-01 -3.56799168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574012739 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:113.35, Y:-18.75, Z:-3.57 [[ 9.81978441e-01 1.86217297e-01 3.22716514e-02 1.13351474e+02] [-1.86118369e-01 9.82508583e-01 -6.06933589e-03 -1.87458669e+01] [-3.28373898e-02 -4.63901135e-05 9.99460706e-01 -3.56968221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:113.38, Y:-18.75, Z:-3.57 [[ 9.82333190e-01 1.84238064e-01 3.28304758e-02 1.13380225e+02] [-1.84134639e-01 9.82881649e-01 -6.17245612e-03 -1.87504099e+01] [-3.34056736e-02 1.81806918e-05 9.99441875e-01 -3.57056305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:113.41, Y:-18.76, Z:-3.57 [[ 9.82668029e-01 1.82324328e-01 3.34870732e-02 1.13409025e+02] [-1.82215668e-01 9.83238441e-01 -6.29426973e-03 -1.87553150e+01] [-3.40733762e-02 8.33082103e-05 9.99419330e-01 -3.57128146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:113.44, Y:-18.76, Z:-3.57 [[ 9.83370346e-01 1.78480205e-01 3.35794310e-02 1.13437824e+02] [-1.78368760e-01 9.83943479e-01 -6.30995453e-03 -1.87587020e+01] [-3.41664641e-02 2.15500708e-04 9.99416133e-01 -3.57171900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694012739 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:113.47, Y:-18.76, Z:-3.57 [[ 9.84023495e-01 1.74928657e-01 3.31319624e-02 1.13465635e+02] [-1.74818191e-01 9.84581055e-01 -6.22463664e-03 -1.87642030e+01] [-3.37099699e-02 3.33118957e-04 9.99431602e-01 -3.57331101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:113.49, Y:-18.77, Z:-3.57 [[ 9.84370510e-01 1.73058696e-01 3.26402775e-02 1.13494222e+02] [-1.72950495e-01 9.84911435e-01 -6.13112837e-03 -1.87710964e+01] [-3.32088276e-02 3.90149818e-04 9.99448359e-01 -3.57436979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754012739 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:113.52, Y:-18.78, Z:-3.58 [[ 9.84617311e-01 1.71774335e-01 3.19738698e-02 1.13522892e+02] [-1.71669855e-01 9.85136233e-01 -6.00522503e-03 -1.87786133e+01] [-3.25301612e-02 4.23898918e-04 9.99470664e-01 -3.57556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:113.55, Y:-18.79, Z:-3.58 [[ 9.84742221e-01 1.71314652e-01 3.05622159e-02 1.13552002e+02] [-1.71218996e-01 9.85216278e-01 -5.73941841e-03 -1.87860253e+01] [-3.10936391e-02 4.19015699e-04 9.99516388e-01 -3.57683259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814012739 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:113.58, Y:-18.79, Z:-3.58 [[ 9.84684507e-01 1.71820892e-01 2.95635532e-02 1.13580424e+02] [-1.71731636e-01 9.85128129e-01 -5.55118097e-03 -1.87925413e+01] [-3.00776967e-02 3.89164548e-04 9.99547488e-01 -3.57743819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:113.61, Y:-18.80, Z:-3.58 [[ 9.84404708e-01 1.73467501e-01 2.92642697e-02 1.13608168e+02] [-1.73380791e-01 9.84839537e-01 -5.49427945e-03 -1.88026807e+01] [-2.97736887e-02 3.34732317e-04 9.99556609e-01 -3.57883406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874012739 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:113.64, Y:-18.81, Z:-3.58 [[ 9.84185013e-01 1.74700907e-01 2.93164502e-02 1.13636969e+02] [-1.74614456e-01 9.84621503e-01 -5.50334972e-03 -1.88108051e+01] [-2.98270475e-02 2.97238304e-04 9.99555030e-01 -3.57920078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:113.67, Y:-18.82, Z:-3.58 [[ 9.83716075e-01 1.77323074e-01 2.93123039e-02 1.13665693e+02] [-1.77237833e-01 9.84152671e-01 -5.50185156e-03 -1.88196972e+01] [-2.98233875e-02 2.17010589e-04 9.99555160e-01 -3.58059440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:113.69, Y:-18.83, Z:-3.58 [[ 9.83589409e-01 1.77985449e-01 2.95475072e-02 1.13693797e+02] [-1.77899154e-01 9.84033100e-01 -5.54527071e-03 -1.88272277e+01] [-3.00627026e-02 1.97793007e-04 9.99547995e-01 -3.58209600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:113.72, Y:-18.84, Z:-3.57 [[ 9.83464073e-01 1.78637478e-01 2.97836909e-02 1.13722475e+02] [-1.78550119e-01 9.83914945e-01 -5.58885790e-03 -1.88390463e+01] [-3.03029980e-02 1.78559414e-04 9.99540743e-01 -3.57299794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994012739 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:113.75, Y:-18.85, Z:-3.58 [[ 9.83451380e-01 1.78570904e-01 3.05910943e-02 1.13750733e+02] [-1.78478735e-01 9.83927029e-01 -5.73957563e-03 -1.88472941e+01] [-3.11243257e-02 1.84733749e-04 9.99515504e-01 -3.58274581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:113.78, Y:-18.85, Z:-3.58 [[ 9.83459510e-01 1.78454608e-01 3.10055686e-02 1.13778808e+02] [-1.78359880e-01 9.83948127e-01 -5.81692741e-03 -1.88541795e+01] [-3.15459287e-02 1.90563082e-04 9.99502285e-01 -3.58320211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:113.81, Y:-18.86, Z:-3.59 [[ 9.83295318e-01 1.79428465e-01 3.05899146e-02 1.13807683e+02] [-1.79336773e-01 9.83771011e-01 -5.73761343e-03 -1.88634906e+01] [-3.11229623e-02 1.55871851e-04 9.99515551e-01 -3.58514763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:113.84, Y:-18.87, Z:-3.59 [[ 9.83151766e-01 1.80318287e-01 2.99653263e-02 1.13836679e+02] [-1.80230715e-01 9.83608306e-01 -5.62046782e-03 -1.88702015e+01] [-3.04876169e-02 1.25100681e-04 9.99535137e-01 -3.58600153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114012739 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:113.87, Y:-18.88, Z:-3.59 [[ 9.82533321e-01 1.83722688e-01 2.95676559e-02 1.13867012e+02] [-1.83638976e-01 9.82978115e-01 -5.54552168e-03 -1.88754545e+01] [-3.00831968e-02 1.88857898e-05 9.99547398e-01 -3.58676468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:113.90, Y:-18.88, Z:-3.59 [[ 9.82166898e-01 1.85623265e-01 2.98695112e-02 1.13895998e+02] [-1.85538714e-01 9.82620986e-01 -5.60212871e-03 -1.88805107e+01] [-3.03902939e-02 -3.97253157e-05 9.99538108e-01 -3.58699465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174012739 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:113.92, Y:-18.89, Z:-3.59 [[ 9.81508101e-01 1.88650480e-01 3.24475706e-02 1.13924822e+02] [-1.88552340e-01 9.82044284e-01 -6.08601301e-03 -1.88858523e+01] [-3.30130805e-02 -1.44594283e-04 9.99454909e-01 -3.58588503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:113.95, Y:-18.89, Z:-3.59 [[ 9.81234624e-01 1.89889388e-01 3.34758482e-02 1.13954102e+02] [-1.89785676e-01 9.81805471e-01 -6.27804797e-03 -1.88904559e+01] [-3.40589056e-02 -1.92998439e-04 9.99419809e-01 -3.58707945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:113.98, Y:-18.90, Z:-3.59 [[ 9.81083552e-01 1.90705196e-01 3.32654850e-02 1.13984128e+02] [-1.90603278e-01 9.81647330e-01 -6.23786180e-03 -1.88950657e+01] [-3.38445672e-02 -2.20646885e-04 9.99427084e-01 -3.58869337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:114.01, Y:-18.90, Z:-3.58 [[ 9.81250427e-01 1.90227189e-01 3.10034716e-02 1.14013913e+02] [-1.90138425e-01 9.81740078e-01 -5.81369462e-03 -1.89005456e+01] [-3.15432734e-02 -1.90260930e-04 9.99502369e-01 -3.58182291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294012739 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:114.04, Y:-18.91, Z:-3.59 [[ 9.81559594e-01 1.88640912e-01 3.09090659e-02 1.14042177e+02] [-1.88551901e-01 9.82046123e-01 -5.79598603e-03 -1.89070184e+01] [-3.14474884e-02 -1.38857440e-04 9.99505396e-01 -3.59247521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:114.07, Y:-18.91, Z:-3.59 [[ 9.82312194e-01 1.84665864e-01 3.10044041e-02 1.14071619e+02] [-1.84574334e-01 9.82801363e-01 -5.81348413e-03 -1.89145770e+01] [-3.15447227e-02 -1.19608821e-05 9.99502341e-01 -3.59217664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354012739 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:114.10, Y:-18.92, Z:-3.59 [[ 9.82774090e-01 1.82183246e-01 3.10540302e-02 1.14100987e+02] [-1.82090183e-01 9.83264593e-01 -5.82278170e-03 -1.89204418e+01] [-3.15951417e-02 6.78449354e-05 9.99500747e-01 -3.59284132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:114.13, Y:-18.93, Z:-3.59 [[ 9.83209802e-01 1.79819110e-01 3.10414618e-02 1.14130543e+02] [-1.79724957e-01 9.83699683e-01 -5.82004965e-03 -1.89265433e+01] [-3.15820322e-02 1.43404502e-04 9.99501153e-01 -3.59349198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414012739 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:114.16, Y:-18.94, Z:-3.60 [[ 9.83965068e-01 1.75664932e-01 3.08962354e-02 1.14160728e+02] [-1.75569608e-01 9.84449976e-01 -5.79283185e-03 -1.89360222e+01] [-3.14333956e-02 2.75504253e-04 9.99505811e-01 -3.59519343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:114.19, Y:-18.95, Z:-3.60 [[ 9.84579251e-01 1.72435201e-01 2.94923768e-02 1.14192046e+02] [-1.72346880e-01 9.85020797e-01 -5.53013140e-03 -1.89477953e+01] [-3.00041938e-02 3.61933506e-04 9.99549707e-01 -3.59687758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474012739 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:114.22, Y:-18.96, Z:-3.60 [[ 9.84744343e-01 1.71650026e-01 2.85455481e-02 1.14223169e+02] [-1.71566794e-01 9.85157919e-01 -5.35819271e-03 -1.89552763e+01] [-2.90416067e-02 3.78981793e-04 9.99578132e-01 -3.59813668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:114.26, Y:-18.96, Z:-3.60 [[ 9.84858561e-01 1.71122658e-01 2.77605794e-02 1.14255026e+02] [-1.71043588e-01 9.85249656e-01 -5.21596689e-03 -1.89622148e+01] [-2.82436714e-02 3.88720541e-04 9.99600992e-01 -3.60036671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534012739 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:114.29, Y:-18.97, Z:-3.60 [[ 9.84826670e-01 1.71388185e-01 2.72492019e-02 1.14285125e+02] [-1.71311976e-01 9.85203505e-01 -5.12448551e-03 -1.89727210e+01] [-2.77242855e-02 3.78615386e-04 9.99615536e-01 -3.60168974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:114.32, Y:-18.98, Z:-3.60 [[ 9.84738616e-01 1.71875852e-01 2.73596422e-02 1.14316554e+02] [-1.71799068e-01 9.85118548e-01 -5.15039143e-03 -1.89818594e+01] [-2.78377189e-02 3.71428278e-04 9.99612387e-01 -3.60182807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594012739 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:114.35, Y:-18.99, Z:-3.60 [[ 9.84792762e-01 1.71308695e-01 2.89231062e-02 1.14346866e+02] [-1.71222484e-01 9.85217316e-01 -5.44996177e-03 -1.89929817e+01] [-2.94291709e-02 4.14796806e-04 9.99566782e-01 -3.60131334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:114.38, Y:-19.00, Z:-3.60 [[ 9.84934140e-01 1.70350231e-01 2.97579945e-02 1.14378545e+02] [-1.70258363e-01 9.85383471e-01 -5.61288497e-03 -1.90013122e+01] [-3.02791921e-02 4.61774613e-04 9.99541373e-01 -3.60237194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654012739 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:114.41, Y:-19.01, Z:-3.60 [[ 9.85255708e-01 1.68256058e-01 3.10014346e-02 1.14408630e+02] [-1.68155113e-01 9.85743167e-01 -5.85374732e-03 -1.90143546e+01] [-3.15443808e-02 5.54388216e-04 9.99502198e-01 -3.60402142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:114.44, Y:-19.02, Z:-3.60 [[ 9.85368351e-01 1.67530118e-01 3.13508025e-02 1.14439816e+02] [-1.67426332e-01 9.85866782e-01 -5.92551275e-03 -1.90237378e+01] [-3.19004166e-02 5.89862865e-04 9.99490878e-01 -3.60497396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:114.47, Y:-19.03, Z:-3.61 [[ 9.85402611e-01 1.67326185e-01 3.13630710e-02 1.14470929e+02] [-1.67222035e-01 9.85901407e-01 -5.93343436e-03 -1.90326224e+01] [-3.19137147e-02 6.02225143e-04 9.99490446e-01 -3.60561426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:114.50, Y:-19.04, Z:-3.61 [[ 9.85352831e-01 1.67598442e-01 3.14731717e-02 1.14502142e+02] [-1.67493522e-01 9.85855162e-01 -5.95977637e-03 -1.90443380e+01] [-3.20268380e-02 6.00930132e-04 9.99486829e-01 -3.60591599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774012739 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:114.53, Y:-19.05, Z:-3.61 [[ 9.85237096e-01 1.68315693e-01 3.12680865e-02 1.14533959e+02] [-1.68212314e-01 9.85732972e-01 -5.92668087e-03 -1.90540471e+01] [-3.18195372e-02 5.79508656e-04 9.99493462e-01 -3.60665030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:114.57, Y:-19.07, Z:-3.61 [[ 9.84714478e-01 1.71508603e-01 3.03676818e-02 1.14565475e+02] [-1.71412444e-01 9.85182511e-01 -5.76143669e-03 -1.90670547e+01] [-3.09058450e-02 4.67971573e-04 9.99522191e-01 -3.60875285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834012739 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:114.60, Y:-19.07, Z:-3.61 [[ 9.84700044e-01 1.71591651e-01 3.03665751e-02 1.14598350e+02] [-1.71495351e-01 9.85168048e-01 -5.76726420e-03 -1.90734313e+01] [-3.09057939e-02 4.71298866e-04 9.99522191e-01 -3.60979068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:114.63, Y:-19.08, Z:-3.61 [[ 9.84324030e-01 1.73695911e-01 3.05930579e-02 1.14630251e+02] [-1.73599100e-01 9.84799249e-01 -5.81298564e-03 -1.90828062e+01] [-3.11377123e-02 4.10934132e-04 9.99515019e-01 -3.61155230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894012739 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:114.66, Y:-19.09, Z:-3.61 [[ 9.83944930e-01 1.75684389e-01 3.14224504e-02 1.14661555e+02] [-1.75583066e-01 9.84446476e-01 -5.97694644e-03 -1.90919363e+01] [-3.19837768e-02 3.63735976e-04 9.99488322e-01 -3.61283719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:114.69, Y:-19.10, Z:-3.61 [[ 9.83367489e-01 1.78849789e-01 3.16407216e-02 1.14693514e+02] [-1.78748559e-01 9.83876355e-01 -6.02252551e-03 -1.91033680e+01] [-3.22076852e-02 2.66622409e-04 9.99481162e-01 -3.61226267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95401273899999 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:114.73, Y:-19.11, Z:-3.61 [[ 9.82870053e-01 1.81760225e-01 3.04906511e-02 1.14725474e+02] [-1.81667442e-01 9.83342866e-01 -5.80939552e-03 -1.91143941e+01] [-3.10386813e-02 1.70722303e-04 9.99518169e-01 -3.61297459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:114.76, Y:-19.12, Z:-3.61 [[ 9.82653750e-01 1.82974071e-01 3.02009367e-02 1.14757554e+02] [-1.82883429e-01 9.83117730e-01 -5.76027870e-03 -1.91231323e+01] [-3.07450580e-02 1.37108610e-04 9.99527250e-01 -3.61426186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:114.79, Y:-19.13, Z:-3.62 [[ 9.82482584e-01 1.83896699e-01 3.01658103e-02 1.14788368e+02] [-1.83806514e-01 9.82945569e-01 -5.75973993e-03 -1.91317069e+01] [-3.07105467e-02 1.14171753e-04 9.99528313e-01 -3.61529819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:114.82, Y:-19.14, Z:-3.62 [[ 9.82214396e-01 1.85221412e-01 3.07881445e-02 1.14818826e+02] [-1.85127928e-01 9.82696811e-01 -5.88456762e-03 -1.91427387e+01] [-3.13453594e-02 8.01616382e-05 9.99508610e-01 -3.61577007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074012739 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:114.85, Y:-19.15, Z:-3.62 [[ 9.81955146e-01 1.86556793e-01 3.09944308e-02 1.14849453e+02] [-1.86462534e-01 9.82444177e-01 -5.92979233e-03 -1.91510458e+01] [-3.15565411e-02 4.34899687e-05 9.99501967e-01 -3.61669714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:114.88, Y:-19.16, Z:-3.60 [[ 9.81399428e-01 1.89728935e-01 2.92932248e-02 1.14881592e+02] [-1.89646054e-01 9.81836508e-01 -5.60765789e-03 -1.91589733e+01] [-2.98250925e-02 -5.19922338e-05 9.99555132e-01 -3.60486665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134012739 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:114.91, Y:-19.17, Z:-3.62 [[ 9.81079887e-01 1.91366987e-01 2.93416206e-02 1.14913600e+02] [-1.91284393e-01 9.81518552e-01 -5.62263215e-03 -1.91652577e+01] [-2.98753311e-02 -9.63427733e-05 9.99553628e-01 -3.61783016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:114.95, Y:-19.17, Z:-3.62 [[ 9.80833377e-01 1.92723232e-01 2.86991692e-02 1.14946497e+02] [-1.92644637e-01 9.81253147e-01 -5.50499225e-03 -1.91712717e+01] [-2.92220900e-02 -1.29260882e-04 9.99572935e-01 -3.61999290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194012739 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:114.98, Y:-19.18, Z:-3.62 [[ 9.80640444e-01 1.93697138e-01 2.87356620e-02 1.14977801e+02] [-1.93618595e-01 9.81061362e-01 -5.51761826e-03 -1.91780891e+01] [-2.92601946e-02 -1.52958891e-04 9.99571817e-01 -3.62111834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:115.01, Y:-19.18, Z:-3.62 [[ 9.80635522e-01 1.93577258e-01 2.96954337e-02 1.15009745e+02] [-1.93493156e-01 9.81085023e-01 -5.70749964e-03 -1.91849332e+01] [-3.02385874e-02 -1.48886280e-04 9.99542698e-01 -3.62136432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254012739 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:115.04, Y:-19.19, Z:-3.62 [[ 9.80929241e-01 1.91737686e-01 3.18509483e-02 1.15042121e+02] [-1.91639745e-01 9.81446204e-01 -6.12836634e-03 -1.91909730e+01] [-3.24350311e-02 -9.24138829e-05 9.99473842e-01 -3.62123932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:115.07, Y:-19.20, Z:-3.62 [[ 9.81137449e-01 1.90674821e-01 3.18185299e-02 1.15074528e+02] [-1.90576317e-01 9.81653254e-01 -6.12838178e-03 -1.91968133e+01] [-3.24032915e-02 -5.10733874e-05 9.99474874e-01 -3.62225992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314012739 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:115.11, Y:-19.20, Z:-3.62 [[ 9.81446996e-01 1.89155492e-01 3.13367967e-02 1.15106746e+02] [-1.89058982e-01 9.81947147e-01 -6.04165149e-03 -1.92032487e+01] [-3.19138897e-02 5.05782502e-06 9.99490622e-01 -3.62332215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:115.14, Y:-19.21, Z:-3.62 [[ 9.81497426e-01 1.88822392e-01 3.17632998e-02 1.15137895e+02] [-1.88722854e-01 9.82011254e-01 -6.13027659e-03 -1.92086902e+01] [-3.23494514e-02 2.23900820e-05 9.99476619e-01 -3.62354465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374012739 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:115.17, Y:-19.21, Z:-3.62 [[ 9.81469918e-01 1.88887633e-01 3.22220823e-02 1.15170996e+02] [-1.88785035e-01 9.81998707e-01 -6.22489273e-03 -1.92137346e+01] [-3.28178484e-02 2.64980154e-05 9.99461349e-01 -3.62394614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:115.20, Y:-19.22, Z:-3.63 [[ 9.81133379e-01 1.90645729e-01 3.21169575e-02 1.15204305e+02] [-1.90544534e-01 9.81658905e-01 -6.21091317e-03 -1.92175110e+01] [-3.27119814e-02 -2.59764619e-05 9.99464820e-01 -3.62520569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:115.24, Y:-19.22, Z:-3.63 [[ 9.80866918e-01 1.92179117e-01 3.11010505e-02 1.15235354e+02] [-1.92084804e-01 9.81359864e-01 -6.02044373e-03 -1.92232342e+01] [-3.16783262e-02 -6.87851102e-05 9.99498114e-01 -3.62642380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:115.27, Y:-19.23, Z:-3.63 [[ 9.80570209e-01 1.94064683e-01 2.86524601e-02 1.15268400e+02] [-1.93985301e-01 9.80988729e-01 -5.55133501e-03 -1.92268769e+01] [-2.91850585e-02 -1.14682377e-04 9.99574019e-01 -3.62861792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494012739 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:115.30, Y:-19.23, Z:-3.63 [[ 9.80494052e-01 1.94482440e-01 2.84252346e-02 1.15300069e+02] [-1.94404325e-01 9.80905993e-01 -5.51290711e-03 -1.92308839e+01] [-2.89546466e-02 -1.20615932e-04 9.99580719e-01 -3.62984479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:115.33, Y:-19.24, Z:-3.63 [[ 9.80415381e-01 1.94801467e-01 2.89494364e-02 1.15333103e+02] [-1.94720424e-01 9.80842685e-01 -5.61997851e-03 -1.92354233e+01] [-2.94896230e-02 -1.27133150e-04 9.99565078e-01 -3.63060251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554012739 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:115.37, Y:-19.24, Z:-3.63 [[ 9.80398822e-01 1.94526983e-01 3.12634415e-02 1.15365675e+02] [-1.94432113e-01 9.80897160e-01 -6.07579890e-03 -1.92384207e+01] [-3.18481278e-02 -1.21910921e-04 9.99492712e-01 -3.63034344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:115.40, Y:-19.24, Z:-3.63 [[ 9.80471722e-01 1.94079920e-01 3.17519635e-02 1.15398757e+02] [-1.93981624e-01 9.80985715e-01 -6.17702984e-03 -1.92432767e+01] [-3.23470600e-02 -1.02894352e-04 9.99476692e-01 -3.63084094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614012739 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:115.43, Y:-19.25, Z:-3.63 [[ 9.80725245e-01 1.92754284e-01 3.19965528e-02 1.15430990e+02] [-1.92653555e-01 9.81247055e-01 -6.23095629e-03 -1.92478304e+01] [-3.25975668e-02 -5.33935090e-05 9.99468557e-01 -3.63242049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:115.46, Y:-19.25, Z:-3.63 [[ 9.80948583e-01 1.91699645e-01 3.14821023e-02 1.15461888e+02] [-1.91601392e-01 9.81453639e-01 -6.13681676e-03 -1.92540729e+01] [-3.20746495e-02 -1.21129222e-05 9.99485476e-01 -3.63394433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:115.49, Y:-19.26, Z:-3.64 [[ 9.81430103e-01 1.89626847e-01 2.89242572e-02 1.15494159e+02] [-1.89542872e-01 9.81856230e-01 -5.64302939e-03 -1.92601856e+01] [-2.94695320e-02 5.58521279e-05 9.99565677e-01 -3.63652113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:115.53, Y:-19.27, Z:-3.64 [[ 9.81529152e-01 1.89227815e-01 2.81666167e-02 1.15525211e+02] [-1.89147861e-01 9.81933210e-01 -5.50073530e-03 -1.92665992e+01] [-2.86986285e-02 7.14767543e-05 9.99588107e-01 -3.63804870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:115.56, Y:-19.28, Z:-3.64 [[ 9.81630441e-01 1.88635297e-01 2.86077422e-02 1.15557253e+02] [-1.88552408e-01 9.82047206e-01 -5.59230508e-03 -1.92756609e+01] [-2.91490594e-02 9.55182260e-05 9.99575071e-01 -3.63769429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:115.59, Y:-19.28, Z:-3.64 [[ 9.81545748e-01 1.88988922e-01 2.91741505e-02 1.15588654e+02] [-1.88902696e-01 9.81979215e-01 -5.70899962e-03 -1.92831544e+01] [-2.97273471e-02 9.25686178e-05 9.99558040e-01 -3.63821631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794012739 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:115.62, Y:-19.29, Z:-3.64 [[ 9.81388538e-01 1.89787778e-01 2.92768884e-02 1.15620841e+02] [-1.89701193e-01 9.81825134e-01 -5.73263830e-03 -1.92901004e+01] [-2.98327695e-02 7.20848657e-05 9.99554901e-01 -3.63918133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:115.65, Y:-19.30, Z:-3.64 [[ 9.80919336e-01 1.92035453e-01 3.03255789e-02 1.15651417e+02] [-1.91943435e-01 9.81387989e-01 -5.94417792e-03 -1.92983053e+01] [-3.09026518e-02 9.96328208e-06 9.99522399e-01 -3.64082465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854012739 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:115.68, Y:-19.31, Z:-3.64 [[ 9.80743982e-01 1.92889699e-01 3.05745859e-02 1.15682824e+02] [-1.92796459e-01 9.81220446e-01 -5.99678016e-03 -1.93072986e+01] [-3.11571259e-02 -1.33658539e-05 9.99514499e-01 -3.64215928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:115.71, Y:-19.32, Z:-3.64 [[ 9.80631790e-01 1.93599959e-01 2.96706772e-02 1.15713128e+02] [-1.93512309e-01 9.81080555e-01 -5.82506400e-03 -1.93181812e+01] [-3.02370566e-02 -2.93983116e-05 9.99542755e-01 -3.64245487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:115.75, Y:-19.33, Z:-3.64 [[ 9.80547746e-01 1.94260710e-01 2.80872568e-02 1.15745328e+02] [-1.94182302e-01 9.80949935e-01 -5.51895796e-03 -1.93254392e+01] [-2.86243094e-02 -4.24463972e-05 9.99590240e-01 -3.63608765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:115.78, Y:-19.33, Z:-3.65 [[ 9.80497666e-01 1.94506811e-01 2.81323275e-02 1.15776397e+02] [-1.94428096e-01 9.80901167e-01 -5.53327169e-03 -1.93320599e+01] [-2.86712919e-02 -4.43548964e-05 9.99588893e-01 -3.64640988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974012739 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:115.81, Y:-19.34, Z:-3.65 [[ 9.80217941e-01 1.95896062e-01 2.82404110e-02 1.15806846e+02] [-1.95817170e-01 9.80624661e-01 -5.55963980e-03 -1.93414565e+01] [-2.87823550e-02 -8.02986732e-05 9.99585699e-01 -3.64684296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:115.84, Y:-19.35, Z:-3.65 [[ 9.79680755e-01 1.98338789e-01 2.97883100e-02 1.15837812e+02] [-1.98251967e-01 9.80133512e-01 -5.87000167e-03 -1.93501283e+01] [-3.03607699e-02 -1.54863370e-04 9.99538994e-01 -3.64595251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034012739 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:115.87, Y:-19.36, Z:-3.65 [[ 9.79218396e-01 2.00479376e-01 3.06488490e-02 1.15870320e+02] [-2.00388337e-01 9.79697898e-01 -6.04515844e-03 -1.93576264e+01] [-3.12385425e-02 -2.22141537e-04 9.99511933e-01 -3.64634617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:115.90, Y:-19.37, Z:-3.65 [[ 9.78665443e-01 2.03072764e-01 3.12314394e-02 1.15902352e+02] [-2.02979360e-01 9.79163602e-01 -6.16605041e-03 -1.93652958e+01] [-3.18328456e-02 -3.04837112e-04 9.99493160e-01 -3.64702505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094012739 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:115.93, Y:-19.37, Z:-3.65 [[ 9.77615851e-01 2.08181991e-01 3.04549932e-02 1.15934884e+02] [-2.08095478e-01 9.78090002e-01 -6.01829643e-03 -1.93709027e+01] [-3.10406253e-02 -4.53964363e-04 9.99518021e-01 -3.64926999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:115.97, Y:-19.38, Z:-3.65 [[ 9.77062808e-01 2.10823592e-01 3.00280271e-02 1.15966869e+02] [-2.10740566e-01 9.77523983e-01 -5.93941295e-03 -1.93763395e+01] [-3.06052850e-02 -5.24943917e-04 9.99531411e-01 -3.65086372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154012739 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:116.00, Y:-19.38, Z:-3.65 [[ 9.76255590e-01 2.14588836e-01 2.96083454e-02 1.15999228e+02] [-2.14509692e-01 9.76704272e-01 -5.86142428e-03 -1.93828324e+01] [-3.01763937e-02 -6.29028837e-04 9.99544391e-01 -3.65188592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:116.03, Y:-19.39, Z:-3.65 [[ 9.76071215e-01 2.15485275e-01 2.91732573e-02 1.16031583e+02] [-2.15408675e-01 9.76506879e-01 -5.78084549e-03 -1.93896537e+01] [-2.97335735e-02 -6.41655810e-04 9.99557654e-01 -3.65278466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214012739 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:116.06, Y:-19.40, Z:-3.65 [[ 9.76267531e-01 2.14787087e-01 2.77167130e-02 1.16063426e+02] [-2.14717518e-01 9.76660722e-01 -5.49740793e-03 -1.93953636e+01] [-2.82505971e-02 -5.84322948e-04 9.99600701e-01 -3.65483646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:116.09, Y:-19.40, Z:-3.66 [[ 9.76430366e-01 2.14068496e-01 2.75394183e-02 1.16094991e+02] [-2.13999383e-01 9.76818495e-01 -5.46741511e-03 -1.94016915e+01] [-2.80714145e-02 -5.54868410e-04 9.99605766e-01 -3.65641497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274012739 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:116.13, Y:-19.41, Z:-3.66 [[ 9.76669381e-01 2.12940919e-01 2.78044190e-02 1.16127005e+02] [-2.12869923e-01 9.77064936e-01 -5.52322814e-03 -1.94085327e+01] [-2.83428441e-02 -5.24356720e-04 9.99598123e-01 -3.65772594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:116.16, Y:-19.42, Z:-3.66 [[ 9.77332039e-01 2.09794548e-01 2.84311991e-02 1.16158897e+02] [-2.09718820e-01 9.77745394e-01 -5.65335217e-03 -1.94157170e+01] [-2.89845164e-02 -4.37355315e-04 9.99579765e-01 -3.65748522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334012739 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:116.19, Y:-19.42, Z:-3.66 [[ 9.77677405e-01 2.08166694e-01 2.85222602e-02 1.16190584e+02] [-2.08089621e-01 9.78093288e-01 -5.67716308e-03 -1.94219008e+01] [-2.90792276e-02 -3.84752261e-04 9.99577036e-01 -3.65844462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:116.22, Y:-19.43, Z:-3.66 [[ 9.78327350e-01 2.05097547e-01 2.84709103e-02 1.16222516e+02] [-2.05019354e-01 9.78741494e-01 -5.67027225e-03 -1.94295337e+01] [-2.90286202e-02 -2.89705217e-04 9.99578539e-01 -3.65939317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:116.25, Y:-19.44, Z:-3.66 [[ 9.78641581e-01 2.03608306e-01 2.83604265e-02 1.16254773e+02] [-2.03529941e-01 9.79052399e-01 -5.65355492e-03 -1.94372972e+01] [-2.89174544e-02 -2.39392022e-04 9.99581774e-01 -3.66020684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:116.29, Y:-19.45, Z:-3.66 [[ 9.79505949e-01 1.99282227e-01 2.92350877e-02 1.16286714e+02] [-1.99196853e-01 9.79942132e-01 -5.83367484e-03 -1.94463943e+01] [-2.98112419e-02 -1.09418256e-04 9.99555540e-01 -3.66198393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45401273899999 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:116.32, Y:-19.45, Z:-3.66 [[ 9.80046720e-01 1.96568763e-01 2.94813066e-02 1.16318066e+02] [-1.96480543e-01 9.80490041e-01 -5.88857254e-03 -1.94541965e+01] [-3.00636369e-02 -2.14269284e-05 9.99547986e-01 -3.66289873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:116.35, Y:-19.46, Z:-3.66 [[ 9.80582059e-01 1.93807887e-01 2.99554459e-02 1.16350122e+02] [-1.93715349e-01 9.81039499e-01 -5.98878317e-03 -1.94618280e+01] [-3.05481491e-02 6.96636604e-05 9.99533294e-01 -3.66392041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514012739 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:116.38, Y:-19.47, Z:-3.66 [[ 9.81408803e-01 1.89333823e-01 3.14557687e-02 1.16382139e+02] [-1.89229278e-01 9.81912752e-01 -6.29506691e-03 -1.94708369e+01] [-3.20786895e-02 2.25681679e-04 9.99485321e-01 -3.66356625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:116.41, Y:-19.48, Z:-3.66 [[ 9.81703280e-01 1.87713223e-01 3.19752390e-02 1.16413043e+02] [-1.87604133e-01 9.82223835e-01 -6.40523983e-03 -1.94793613e+01] [-3.26091901e-02 2.89357955e-04 9.99468137e-01 -3.66407239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574012739 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:116.44, Y:-19.49, Z:-3.67 [[ 9.82155249e-01 1.85302705e-01 3.21554664e-02 1.16443755e+02] [-1.85190957e-01 9.82681417e-01 -6.44539217e-03 -1.94927684e+01] [-3.27929279e-02 3.75474166e-04 9.99462097e-01 -3.66564782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:116.48, Y:-19.50, Z:-3.67 [[ 9.82349843e-01 1.84396142e-01 3.14141554e-02 1.16475508e+02] [-1.84288835e-01 9.82851922e-01 -6.30271281e-03 -1.95028488e+01] [-3.20376590e-02 4.02190828e-04 9.99486582e-01 -3.66754246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634012739 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:116.51, Y:-19.51, Z:-3.67 [[ 9.82557743e-01 1.83671181e-01 2.90719495e-02 1.16506017e+02] [-1.83578810e-01 9.82987659e-01 -5.83801528e-03 -1.95139663e+01] [-2.96496427e-02 3.99193236e-04 9.99560273e-01 -3.66911709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:116.54, Y:-19.52, Z:-3.67 [[ 9.82446779e-01 1.84385842e-01 2.82875985e-02 1.16537894e+02] [-1.84298543e-01 9.82853866e-01 -5.68545837e-03 -1.95227593e+01] [-2.88508936e-02 3.72297066e-04 9.99583657e-01 -3.67067462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694012739 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:116.57, Y:-19.53, Z:-3.67 [[ 9.82110851e-01 1.86289178e-01 2.74703241e-02 1.16568204e+02] [-1.86207443e-01 9.82494908e-01 -5.52661909e-03 -1.95334219e+01] [-2.80190029e-02 3.12573759e-04 9.99607342e-01 -3.67147959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:116.60, Y:-19.54, Z:-3.67 [[ 9.81952043e-01 1.87173083e-01 2.71370957e-02 1.16598810e+02] [-1.87093516e-01 9.82326908e-01 -5.46467649e-03 -1.95412666e+01] [-2.76803397e-02 2.88875576e-04 9.99616784e-01 -3.67228770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:116.63, Y:-19.55, Z:-3.67 [[ 9.81831830e-01 1.87849446e-01 2.68112568e-02 1.16631066e+02] [-1.87771899e-01 9.82197797e-01 -5.40387209e-03 -1.95490099e+01] [-2.73490717e-02 2.71293010e-04 9.99625907e-01 -3.67338146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:116.66, Y:-19.56, Z:-3.67 [[ 9.81816216e-01 1.87931192e-01 2.68101527e-02 1.16663860e+02] [-1.87853526e-01 9.82182158e-01 -5.40934387e-03 -1.95557649e+01] [-2.73490381e-02 2.74599810e-04 9.99625907e-01 -3.67441950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814012739 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:116.70, Y:-19.56, Z:-3.68 [[ 9.81630610e-01 1.88818560e-01 2.73659926e-02 1.16695244e+02] [-1.88737924e-01 9.82011958e-01 -5.52362311e-03 -1.95643290e+01] [-2.79166945e-02 2.57156882e-04 9.99610220e-01 -3.67592245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:116.73, Y:-19.57, Z:-3.68 [[ 9.81466478e-01 1.89536305e-01 2.82761563e-02 1.16727489e+02] [-1.89450359e-01 9.81873682e-01 -5.71269946e-03 -1.95720106e+01] [-2.88463777e-02 2.49895063e-04 9.99583825e-01 -3.67629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874012739 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:116.76, Y:-19.58, Z:-3.68 [[ 9.81080180e-01 1.91375235e-01 2.92779761e-02 1.16758463e+02] [-1.91283730e-01 9.81516926e-01 -5.92103247e-03 -1.95786573e+01] [-2.98699681e-02 2.08607124e-04 9.99553771e-01 -3.67661239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:116.79, Y:-19.58, Z:-3.68 [[ 9.80907453e-01 1.92381244e-01 2.84609357e-02 1.16790685e+02] [-1.92295055e-01 9.81320246e-01 -5.76079989e-03 -1.95842452e+01] [-2.90375622e-02 1.77914374e-04 9.99578305e-01 -3.67809793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934012739 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:116.82, Y:-19.59, Z:-3.68 [[ 9.80740986e-01 1.93421443e-01 2.71157414e-02 1.16823227e+02] [-1.93343470e-01 9.81115755e-01 -5.49347902e-03 -1.95896566e+01] [-2.76662377e-02 1.45028503e-04 9.99617206e-01 -3.67992897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:116.86, Y:-19.59, Z:-3.68 [[ 9.80438129e-01 1.95113099e-01 2.59220572e-02 1.16856240e+02] [-1.95042307e-01 9.80780745e-01 -5.25636115e-03 -1.95943989e+01] [-2.64494395e-02 9.76390457e-05 9.99650148e-01 -3.68120496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994012739 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:116.89, Y:-19.60, Z:-3.68 [[ 9.80124272e-01 1.96364780e-01 2.82362296e-02 1.16887455e+02] [-1.96281123e-01 9.80530911e-01 -5.73178238e-03 -1.95995593e+01] [-2.88120162e-02 7.56201700e-05 9.99584845e-01 -3.68037947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:116.92, Y:-19.61, Z:-3.68 [[ 9.80056676e-01 1.96527855e-01 2.94230298e-02 1.16919009e+02] [-1.96436919e-01 9.80498239e-01 -5.97838673e-03 -1.96051085e+01] [-3.00241484e-02 7.93885069e-05 9.99549170e-01 -3.68144250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054012739 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:116.95, Y:-19.61, Z:-3.68 [[ 9.80112983e-01 1.96141750e-01 3.01156845e-02 1.16950866e+02] [-1.96046127e-01 9.80575547e-01 -6.12467463e-03 -1.96109991e+01] [-3.07320082e-02 9.88098108e-05 9.99527655e-01 -3.68323269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:116.98, Y:-19.62, Z:-3.69 [[ 9.80308282e-01 1.95363959e-01 2.87853253e-02 1.16982671e+02] [-1.95276172e-01 9.80730804e-01 -5.85727492e-03 -1.96175351e+01] [-2.93749556e-02 1.20846985e-04 9.99568456e-01 -3.68541642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114012739 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:117.02, Y:-19.62, Z:-3.69 [[ 9.80378360e-01 1.95159438e-01 2.77680592e-02 1.17015153e+02] [-1.95077521e-01 9.80771522e-01 -5.65535470e-03 -1.96245991e+01] [-2.83378176e-02 1.27463201e-04 9.99598395e-01 -3.68675545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:117.05, Y:-19.63, Z:-3.69 [[ 9.80415394e-01 1.95039607e-01 2.72984855e-02 1.17046990e+02] [-1.94960242e-01 9.80795358e-01 -5.56511380e-03 -1.96302881e+01] [-2.78596455e-02 1.34003903e-04 9.99611836e-01 -3.68703423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174012739 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:117.08, Y:-19.64, Z:-3.69 [[ 9.80344844e-01 1.95418238e-01 2.71237933e-02 1.17079287e+02] [-1.95339891e-01 9.80719989e-01 -5.53450331e-03 -1.96364984e+01] [-2.76823891e-02 1.27362953e-04 9.99616761e-01 -3.68784191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:117.11, Y:-19.64, Z:-3.69 [[ 9.80378124e-01 1.95292568e-01 2.68243665e-02 1.17111433e+02] [-1.95215752e-01 9.80745020e-01 -5.47861949e-03 -1.96427312e+01] [-2.73777975e-02 1.34579826e-04 9.99625149e-01 -3.68922708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234012739 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:117.14, Y:-19.65, Z:-3.69 [[ 9.80370711e-01 1.95238110e-01 2.74836257e-02 1.17143250e+02] [-1.95157294e-01 9.80755861e-01 -5.61882555e-03 -1.96503886e+01] [-2.80517359e-02 1.44901979e-04 9.99606462e-01 -3.68959250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:117.18, Y:-19.66, Z:-3.69 [[ 9.80059834e-01 1.96455014e-01 2.98018241e-02 1.17175058e+02] [-1.96360354e-01 9.80512831e-01 -6.09916109e-03 -1.96567567e+01] [-3.04192817e-02 1.25646072e-04 9.99537219e-01 -3.68988617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:117.21, Y:-19.66, Z:-3.69 [[ 9.79749235e-01 1.97835671e-01 3.08623447e-02 1.17207773e+02] [-1.97734651e-01 9.80235196e-01 -6.32207895e-03 -1.96627678e+01] [-3.15030892e-02 9.14970529e-05 9.99503650e-01 -3.69146704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:117.24, Y:-19.67, Z:-3.69 [[ 9.79401491e-01 1.99511621e-01 3.11099939e-02 1.17239738e+02] [-1.99409624e-01 9.79895459e-01 -6.37891652e-03 -1.96686022e+01] [-3.17572098e-02 4.38881592e-05 9.99495612e-01 -3.69187236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354012739 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:117.27, Y:-19.67, Z:-3.69 [[ 9.78667989e-01 2.03378104e-01 2.90914697e-02 1.17270916e+02] [-2.03290526e-01 9.79100271e-01 -5.96827252e-03 -1.96737741e+01] [-2.96972818e-02 -7.30629165e-05 9.99558936e-01 -3.69329956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:117.30, Y:-19.68, Z:-3.70 [[ 9.77972512e-01 2.06961663e-01 2.71410231e-02 1.17304067e+02] [-2.06886691e-01 9.78349039e-01 -5.57262341e-03 -1.96781148e+01] [-2.77067133e-02 -1.65243955e-04 9.99616082e-01 -3.69544958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414012739 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:117.34, Y:-19.68, Z:-3.70 [[ 9.77620750e-01 2.08570716e-01 2.74941128e-02 1.17336435e+02] [-2.08494268e-01 9.78007266e-01 -5.65041919e-03 -1.96833071e+01] [-2.80679541e-02 -2.08397887e-04 9.99605996e-01 -3.69651686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:117.37, Y:-19.69, Z:-3.70 [[ 9.77236656e-01 2.10282356e-01 2.81042439e-02 1.17367935e+02] [-2.10203027e-01 9.77640662e-01 -5.78128776e-03 -1.96886178e+01] [-2.86915544e-02 -2.57910815e-04 9.99588279e-01 -3.69707346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474012739 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:117.40, Y:-19.69, Z:-3.70 [[ 9.76760529e-01 2.12467198e-01 2.82233733e-02 1.17400185e+02] [-2.12387961e-01 9.77168147e-01 -5.81083133e-03 -1.96924440e+01] [-2.88135925e-02 -3.18514027e-04 9.99584752e-01 -3.69823098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:117.43, Y:-19.70, Z:-3.70 [[ 9.76748679e-01 2.12634137e-01 2.73631561e-02 1.17433028e+02] [-2.12559594e-01 9.77131838e-01 -5.63833218e-03 -1.96974467e+01] [-2.79363129e-02 -3.09067832e-04 9.99609657e-01 -3.69922323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534012739 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:117.46, Y:-19.71, Z:-3.70 [[ 9.76873081e-01 2.11377964e-01 3.22232842e-02 1.17463818e+02] [-2.11585112e-01 9.77354592e-01 3.12125998e-03 -1.97059871e+01] [-3.08338092e-02 -9.86704206e-03 9.99475821e-01 -3.70103336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:117.50, Y:-19.70, Z:-3.70 [[ 9.77175526e-01 2.10695190e-01 2.71206226e-02 1.17498591e+02] [-2.10341210e-01 9.77507753e-01 -1.53351776e-02 -1.96977841e+01] [-2.97416670e-02 9.28057570e-03 9.99514534e-01 -3.70173392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594012739 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:117.53, Y:-19.71, Z:-3.69 [[ 9.77459202e-01 2.09105192e-01 2.91294862e-02 1.17530676e+02] [-2.09018789e-01 9.77893130e-01 -6.01427080e-03 -1.97081121e+01] [-2.97431397e-02 -2.09905583e-04 9.99557553e-01 -3.68938401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:117.56, Y:-19.71, Z:-3.70 [[ 9.77650910e-01 2.08181377e-01 2.93123229e-02 1.17562844e+02] [-2.08093295e-01 9.78090222e-01 -6.05784368e-03 -1.97127862e+01] [-2.99312266e-02 -1.77241469e-04 9.99551945e-01 -3.70327739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654012739 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:117.59, Y:-19.72, Z:-3.70 [[ 9.77906292e-01 2.07126119e-01 2.82498760e-02 1.17594841e+02] [-2.07043709e-01 9.78314240e-01 -5.84374959e-03 -1.97173431e+01] [-2.88476492e-02 -1.34319629e-04 9.99583811e-01 -3.70475241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:117.63, Y:-19.72, Z:-3.71 [[ 9.78753378e-01 2.03090825e-01 2.82124455e-02 1.17626737e+02] [-2.03006800e-01 9.79159904e-01 -5.84144149e-03 -1.97216544e+01] [-2.88108386e-02 -9.98769335e-06 9.99584882e-01 -3.70560612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714012739 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:117.66, Y:-19.73, Z:-3.71 [[ 9.79237856e-01 2.00604183e-01 2.91750562e-02 1.17659007e+02] [-2.00513120e-01 9.79672372e-01 -6.04412199e-03 -1.97286396e+01] [-2.97944726e-02 6.86515054e-05 9.99556044e-01 -3.70697605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:117.69, Y:-19.74, Z:-3.71 [[ 9.80248668e-01 1.95507637e-01 2.98213345e-02 1.17691029e+02] [-1.95409965e-01 9.80702151e-01 -6.18353435e-03 -1.97372139e+01] [-3.04547751e-02 2.34015371e-04 9.99536118e-01 -3.70690260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774012739 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:117.72, Y:-19.75, Z:-3.70 [[ 9.80601355e-01 1.93946581e-01 2.83849664e-02 1.17722782e+02] [-1.93857297e-01 9.81012053e-01 -5.89060803e-03 -1.97460190e+01] [-2.89884574e-02 2.73705344e-04 9.99579709e-01 -3.69660008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:117.75, Y:-19.75, Z:-3.71 [[ 9.81005678e-01 1.91873704e-01 2.85015980e-02 1.17753242e+02] [-1.91782646e-01 9.81419566e-01 -5.92044426e-03 -1.97549499e+01] [-2.91080035e-02 3.41877551e-04 9.99576214e-01 -3.70930842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834012739 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:117.78, Y:-19.77, Z:-3.71 [[ 9.81725703e-01 1.88035452e-01 2.92799101e-02 1.17782852e+02] [-1.87937480e-01 9.82162127e-01 -6.08762222e-03 -1.97686951e+01] [-2.99023076e-02 4.73582695e-04 9.99552714e-01 -3.71012627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:117.81, Y:-19.78, Z:-3.71 [[ 9.81972229e-01 1.86551886e-01 3.04784397e-02 1.17814376e+02] [-1.86444848e-01 9.82444959e-01 -6.34211032e-03 -1.97787523e+01] [-3.11265220e-02 5.45228172e-04 9.99515304e-01 -3.71066447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894012739 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:117.85, Y:-19.79, Z:-3.71 [[ 9.82099105e-01 1.85669265e-01 3.17532841e-02 1.17845469e+02] [-1.85552415e-01 9.82612111e-01 -6.61374106e-03 -1.97922786e+01] [-3.24291299e-02 6.03450640e-04 9.99473855e-01 -3.71148776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:117.88, Y:-19.80, Z:-3.71 [[ 9.82077622e-01 1.85868633e-01 3.12473383e-02 1.17876007e+02] [-1.85755392e-01 9.82574424e-01 -6.51420831e-03 -1.98028134e+01] [-3.19136224e-02 5.93096642e-04 9.99490455e-01 -3.71233896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95401273899999 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:117.91, Y:-19.82, Z:-3.71 [[ 9.82059197e-01 1.86313093e-01 2.91060842e-02 1.17906721e+02] [-1.86214946e-01 9.82490273e-01 -6.07095658e-03 -1.98175889e+01] [-2.97275433e-02 5.42050868e-04 9.99557892e-01 -3.71429182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:117.94, Y:-19.83, Z:-3.72 [[ 9.81933098e-01 1.87124451e-01 2.81394764e-02 1.17938670e+02] [-1.87032900e-01 9.82336085e-01 -5.87449472e-03 -1.98273175e+01] [-2.87416847e-02 5.05352930e-04 9.99586745e-01 -3.71580527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014012739 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:117.97, Y:-19.84, Z:-3.72 [[ 9.81373838e-01 1.89930470e-01 2.88410633e-02 1.17968785e+02] [-1.89835341e-01 9.81797445e-01 -6.02657260e-03 -1.98385014e+01] [-2.94607120e-02 4.39267589e-04 9.99565842e-01 -3.71552886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:118.00, Y:-19.85, Z:-3.72 [[ 9.80889819e-01 1.91422898e-01 3.48200634e-02 1.17999395e+02] [-1.91642554e-01 9.81460040e-01 3.05297942e-03 -1.98542916e+01] [-3.35900906e-02 -9.66764232e-03 9.99388935e-01 -3.71572222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074012739 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:118.03, Y:-19.85, Z:-3.72 [[ 9.80572896e-01 1.93998602e-01 2.90058155e-02 1.18032075e+02] [-1.93585409e-01 9.80945347e-01 -1.64594873e-02 -1.98494794e+01] [-3.16462373e-02 1.05246245e-02 9.99443719e-01 -3.71673851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:118.06, Y:-19.86, Z:-3.72 [[ 9.80182785e-01 1.95766272e-01 3.02865325e-02 1.18061970e+02] [-1.95663760e-01 9.80650541e-01 -6.34116394e-03 -1.98641134e+01] [-3.09418905e-02 2.89522922e-04 9.99521143e-01 -3.71790201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134012739 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:118.09, Y:-19.87, Z:-3.72 [[ 9.80104891e-01 1.96279358e-01 2.94756837e-02 1.18094129e+02] [-1.96182344e-01 9.80547980e-01 -6.17637892e-03 -1.98712396e+01] [-3.01146178e-02 2.70890495e-04 9.99546415e-01 -3.72010349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:118.12, Y:-19.88, Z:-3.72 [[ 9.79976654e-01 1.96822806e-01 3.01088240e-02 1.18124463e+02] [-1.96721659e-01 9.80439041e-01 -6.31475571e-03 -1.98802754e+01] [-3.07627544e-02 2.65255359e-04 9.99526679e-01 -3.72016980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194012739 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:118.16, Y:-19.89, Z:-3.72 [[ 9.79845165e-01 1.97363533e-01 3.08397220e-02 1.18156448e+02] [-1.97257510e-01 9.80330336e-01 -6.47349789e-03 -1.98879779e+01] [-3.15107474e-02 2.59658821e-04 9.99503379e-01 -3.72019764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:118.19, Y:-19.89, Z:-3.72 [[ 9.79223248e-01 2.00315570e-01 3.15515933e-02 1.18188251e+02] [-2.00205935e-01 9.79731413e-01 -6.62885124e-03 -1.98926677e+01] [-3.22399493e-02 1.74309007e-04 9.99480143e-01 -3.71999530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254012739 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:118.22, Y:-19.90, Z:-3.72 [[ 9.78633487e-01 2.03128663e-01 3.18629041e-02 1.18219746e+02] [-2.03018162e-01 9.79152051e-01 -6.69978603e-03 -1.98970722e+01] [-3.25595464e-02 8.78867357e-05 9.99469794e-01 -3.72116955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:118.25, Y:-19.90, Z:-3.72 [[ 9.77850306e-01 2.06838830e-01 3.20386843e-02 1.18251955e+02] [-2.06728915e-01 9.78375029e-01 -6.74228085e-03 -1.99018502e+01] [-3.27404141e-02 -3.03810375e-05 9.99463888e-01 -3.72293624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314012739 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:118.28, Y:-19.90, Z:-3.73 [[ 9.76217441e-01 2.14619987e-01 3.06230251e-02 1.18284375e+02] [-2.14523217e-01 9.76697592e-01 -6.45001779e-03 -1.99034827e+01] [-3.12937376e-02 -2.72729977e-04 9.99510194e-01 -3.72540124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:118.32, Y:-19.91, Z:-3.73 [[ 9.75532763e-01 2.17833900e-01 2.97358420e-02 1.18316820e+02] [-2.17744044e-01 9.75985789e-01 -6.26658925e-03 -1.99069020e+01] [-3.03868348e-02 -3.61539356e-04 9.99538148e-01 -3.72705922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374012739 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:118.35, Y:-19.91, Z:-3.73 [[ 9.74576798e-01 2.22031462e-01 3.00349076e-02 1.18350562e+02] [-2.21941614e-01 9.75039378e-01 -6.33500867e-03 -1.99076634e+01] [-3.06917888e-02 -4.92043386e-04 9.99528775e-01 -3.72826890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:118.38, Y:-19.91, Z:-3.73 [[ 9.74316729e-01 2.23117908e-01 3.04189194e-02 1.18383817e+02] [-2.23026093e-01 9.74791322e-01 -6.42186799e-03 -1.99121638e+01] [-3.10849324e-02 -5.27279340e-04 9.99516608e-01 -3.72890060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434012739 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:118.42, Y:-19.91, Z:-3.73 [[ 9.74502463e-01 2.22359415e-01 3.00206490e-02 1.18417180e+02] [-2.22269457e-01 9.74964640e-01 -6.34341648e-03 -1.99143581e+01] [-3.06795897e-02 -4.90998375e-04 9.99529150e-01 -3.73023114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:118.45, Y:-19.92, Z:-3.73 [[ 9.74843930e-01 2.20933848e-01 2.94541445e-02 1.18448531e+02] [-2.20846437e-01 9.75288700e-01 -6.22925048e-03 -1.99183485e+01] [-3.01025466e-02 -4.32295851e-04 9.99546722e-01 -3.73199576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494012739 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:118.48, Y:-19.92, Z:-3.73 [[ 9.75265014e-01 2.19169211e-01 2.86881394e-02 1.18480790e+02] [-2.19085378e-01 9.75686797e-01 -6.07221118e-03 -1.99227370e+01] [-2.93214806e-02 -3.63136756e-04 9.99569967e-01 -3.73371486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:118.51, Y:-19.93, Z:-3.74 [[ 9.75932246e-01 2.16156955e-01 2.88517224e-02 1.18513811e+02] [-2.16070684e-01 9.76358591e-01 -6.11235852e-03 -1.99269798e+01] [-2.94908558e-02 -2.68763621e-04 9.99565014e-01 -3.73506228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554012739 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:118.55, Y:-19.93, Z:-3.74 [[ 9.76160557e-01 2.15020525e-01 2.96098167e-02 1.18545500e+02] [-2.14928960e-01 9.76609502e-01 -6.27880976e-03 -1.99326734e+01] [-3.02673013e-02 -2.34880673e-04 9.99541813e-01 -3.73560436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:118.58, Y:-19.94, Z:-3.74 [[ 9.76470763e-01 2.13549986e-01 3.00208633e-02 1.18577615e+02] [-2.13455054e-01 9.76932120e-01 -6.36960305e-03 -1.99371019e+01] [-3.06885743e-02 -1.88373855e-04 9.99528977e-01 -3.73654315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614012739 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:118.61, Y:-19.94, Z:-3.74 [[ 9.76554997e-01 2.13194016e-01 2.98102102e-02 1.18610290e+02] [-2.13100141e-01 9.77009868e-01 -6.32836128e-03 -1.99432335e+01] [-3.04740383e-02 -1.72567179e-04 9.99535544e-01 -3.73808987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:118.64, Y:-19.95, Z:-3.74 [[ 9.76656181e-01 2.12591936e-01 3.07794047e-02 1.18641752e+02] [-2.12491372e-01 9.77141057e-01 -6.54000427e-03 -1.99477068e+01] [-3.14661722e-02 -1.53022325e-04 9.99504806e-01 -3.73857083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674012739 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:118.67, Y:-19.95, Z:-3.74 [[ 9.76640086e-01 2.12666025e-01 3.07783252e-02 1.18674475e+02] [-2.12565337e-01 9.77124935e-01 -6.54508070e-03 -1.99548133e+01] [-3.14661853e-02 -1.50216884e-04 9.99504806e-01 -3.73960919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:118.71, Y:-19.96, Z:-3.74 [[ 9.76540614e-01 2.13008451e-01 3.15567613e-02 1.18707455e+02] [-2.12902696e-01 9.77050343e-01 -6.71331844e-03 -1.99607231e+01] [-3.22625381e-02 -1.62691464e-04 9.99479416e-01 -3.74034346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734012739 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:118.74, Y:-19.97, Z:-3.74 [[ 9.76389777e-01 2.13612831e-01 3.21334933e-02 1.18739732e+02] [-2.13503297e-01 9.76918382e-01 -6.84222699e-03 -1.99653779e+01] [-3.28533878e-02 -1.79926289e-04 9.99460166e-01 -3.74168081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:118.77, Y:-19.97, Z:-3.74 [[ 9.76379223e-01 2.13728832e-01 3.16796327e-02 1.18770814e+02] [-2.13622291e-01 9.76893011e-01 -6.74993742e-03 -1.99711354e+01] [-3.23902680e-02 -1.76977055e-04 9.99475282e-01 -3.74269624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794012739 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:118.80, Y:-19.98, Z:-3.74 [[ 9.76453631e-01 2.13390920e-01 3.16641946e-02 1.18802351e+02] [-2.13284174e-01 9.76966882e-01 -6.75071574e-03 -1.99773358e+01] [-3.23754110e-02 -1.61710689e-04 9.99475766e-01 -3.74420351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:118.83, Y:-19.98, Z:-3.75 [[ 9.76752350e-01 2.12083678e-01 3.12307627e-02 1.18833105e+02] [-2.11978985e-01 9.77251504e-01 -6.66399707e-03 -1.99843920e+01] [-3.19336348e-02 -1.11190584e-04 9.99489985e-01 -3.74517825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854012739 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:118.86, Y:-19.99, Z:-3.75 [[ 9.77057633e-01 2.10677048e-01 3.12019925e-02 1.18864672e+02] [-2.10571660e-01 9.77555716e-01 -6.66317391e-03 -1.99909014e+01] [-3.19054639e-02 -5.99504358e-05 9.99490889e-01 -3.74628917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:118.90, Y:-20.00, Z:-3.75 [[ 9.77105766e-01 2.10363630e-01 3.18035267e-02 1.18897265e+02] [-2.10253807e-01 9.77623210e-01 -6.79674157e-03 -1.99973043e+01] [-3.25216531e-02 -4.56771893e-05 9.99471030e-01 -3.74734272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914012739 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:118.93, Y:-20.00, Z:-3.75 [[ 9.76846454e-01 2.11424653e-01 3.27203602e-02 1.18928648e+02] [-2.11308771e-01 9.77394296e-01 -6.99950028e-03 -2.00035218e+01] [-3.34605604e-02 -7.66620905e-05 9.99440036e-01 -3.74794063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:118.96, Y:-20.01, Z:-3.75 [[ 9.76540746e-01 2.12901895e-01 3.22638093e-02 1.18959986e+02] [-2.12789832e-01 9.77073574e-01 -6.90788460e-03 -2.00094320e+01] [-3.29948172e-02 -1.19579776e-04 9.99455516e-01 -3.74926319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974012739 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:118.99, Y:-20.01, Z:-3.75 [[ 9.75925122e-01 2.16109783e-01 2.94400660e-02 1.18992950e+02] [-2.16017792e-01 9.76369049e-01 -6.30817938e-03 -2.00122621e+01] [-3.01076285e-02 -2.03267308e-04 9.99546642e-01 -3.75220187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:119.03, Y:-20.02, Z:-3.75 [[ 9.75650364e-01 2.17530771e-01 2.80487246e-02 1.19025557e+02] [-2.17447710e-01 9.76053436e-01 -6.01520868e-03 -2.00173615e+01] [-2.86855470e-02 -2.30390412e-04 9.99588458e-01 -3.75398686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034012739 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:119.06, Y:-20.02, Z:-3.76 [[ 9.75538111e-01 2.18160939e-01 2.70406844e-02 1.19057522e+02] [-2.18083843e-01 9.75912778e-01 -5.80412729e-03 -2.00231019e+01] [-2.76555833e-02 -2.34989003e-04 9.99617484e-01 -3.75505147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:119.09, Y:-20.03, Z:-3.76 [[ 9.75672211e-01 2.17522924e-01 2.73407084e-02 1.19090444e+02] [-2.17443726e-01 9.76055189e-01 -5.87321448e-03 -2.00275139e+01] [-2.79635991e-02 -2.14733352e-04 9.99608919e-01 -3.75596310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094012739 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:119.12, Y:-20.03, Z:-3.76 [[ 9.75789064e-01 2.16977265e-01 2.75058198e-02 1.19122218e+02] [-2.16896732e-01 9.76176638e-01 -5.91430295e-03 -2.00317427e+01] [-2.81338080e-02 -1.94810293e-04 9.99604147e-01 -3.75655403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:119.15, Y:-20.03, Z:-3.76 [[ 9.75807559e-01 2.16835530e-01 2.79635548e-02 1.19153477e+02] [-2.16752071e-01 9.76208132e-01 -6.01849264e-03 -2.00312038e+01] [-2.86032726e-02 -1.88267793e-04 9.99590825e-01 -3.75710015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154012739 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:119.18, Y:-20.03, Z:-3.76 [[ 9.75668347e-01 2.17410149e-01 2.83567204e-02 1.19182292e+02] [-2.17324556e-01 9.76080316e-01 -6.10356965e-03 -2.00340853e+01] [-2.90054146e-02 -2.07551948e-04 9.99579233e-01 -3.75746829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:119.21, Y:-20.03, Z:-3.76 [[ 9.75361120e-01 2.18649652e-01 2.93771094e-02 1.19213796e+02] [-2.18558389e-01 9.75803395e-01 -6.32183730e-03 -2.00344370e+01] [-3.00485506e-02 -2.54539375e-04 9.99548408e-01 -3.75872241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214012739 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:119.24, Y:-20.04, Z:-3.76 [[ 9.75322309e-01 2.18756279e-01 2.98677674e-02 1.19243296e+02] [-2.18661992e-01 9.75779494e-01 -6.42743019e-03 -2.00370025e+01] [-3.05503957e-02 -2.62129453e-04 9.99533193e-01 -3.75962454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:119.27, Y:-20.04, Z:-3.76 [[ 9.75556990e-01 2.17516717e-01 3.12255949e-02 1.19272362e+02] [-2.17413038e-01 9.76056568e-01 -6.71920247e-03 -2.00377002e+01] [-3.19394858e-02 -2.33886512e-04 9.99489777e-01 -3.75987062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274012739 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:119.30, Y:-20.04, Z:-3.76 [[ 9.75960316e-01 2.15602525e-01 3.18906487e-02 1.19302622e+02] [-2.15493397e-01 9.76481193e-01 -6.86117754e-03 -2.00428324e+01] [-3.26199058e-02 -1.75987197e-04 9.99467814e-01 -3.76068494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:119.33, Y:-20.05, Z:-3.76 [[ 9.76504959e-01 2.13030735e-01 3.24957092e-02 1.19332668e+02] [-2.12915997e-01 9.77045494e-01 -6.99148083e-03 -2.00479029e+01] [-3.32391865e-02 -9.16406164e-05 9.99447421e-01 -3.76136835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334012739 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:119.36, Y:-20.05, Z:-3.76 [[ 9.77593474e-01 2.07731609e-01 3.40378925e-02 1.19363860e+02] [-2.07602437e-01 9.78185856e-01 -7.32519027e-03 -2.00513971e+01] [-3.48170586e-02 9.47087668e-05 9.99393698e-01 -3.76232564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:119.40, Y:-20.06, Z:-3.76 [[ 9.77961128e-01 2.05922064e-01 3.44693543e-02 1.19396108e+02] [-2.05788415e-01 9.78568381e-01 -7.41965245e-03 -2.00575792e+01] [-3.52584904e-02 1.62737888e-04 9.99378213e-01 -3.76318499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394012739 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:119.43, Y:-20.06, Z:-3.76 [[ 9.78361157e-01 2.04432951e-01 3.18844104e-02 1.19427853e+02] [-2.04317610e-01 9.78880547e-01 -6.86935506e-03 -2.00634848e+01] [-3.26153517e-02 2.06163616e-04 9.99467957e-01 -3.76408242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:119.46, Y:-20.07, Z:-3.77 [[ 9.78457127e-01 2.04245983e-01 3.00870203e-02 1.19458675e+02] [-2.04143024e-01 9.78919576e-01 -6.48765531e-03 -2.00685996e+01] [-3.07778507e-02 2.05837277e-04 9.99526229e-01 -3.76614259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45401273899999 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:119.49, Y:-20.07, Z:-3.77 [[ 9.78433025e-01 2.04520460e-01 2.89861401e-02 1.19488602e+02] [-2.04424999e-01 9.78862271e-01 -6.25098834e-03 -2.00734993e+01] [-2.96518939e-02 1.90681770e-04 9.99560268e-01 -3.76768429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:119.52, Y:-20.08, Z:-3.77 [[ 9.77996080e-01 2.06438190e-01 3.01154650e-02 1.19517655e+02] [-2.06336052e-01 9.78459634e-01 -6.49453642e-03 -2.00791892e+01] [-3.08074872e-02 1.37725012e-04 9.99525327e-01 -3.76893845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:119.55, Y:-20.08, Z:-3.77 [[ 9.77398578e-01 2.08918206e-01 3.23295855e-02 1.19545651e+02] [-2.08801877e-01 9.77933116e-01 -6.97114763e-03 -2.00846577e+01] [-3.30725720e-02 6.31116417e-05 9.99452951e-01 -3.76810928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:119.58, Y:-20.09, Z:-3.77 [[ 9.77225315e-01 2.09762266e-01 3.21010302e-02 1.19575292e+02] [-2.09648068e-01 9.77752418e-01 -6.92078455e-03 -2.00896648e+01] [-3.28385793e-02 3.32469084e-05 9.99460668e-01 -3.76906181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:119.60, Y:-20.09, Z:-3.77 [[ 9.77197677e-01 2.09994756e-01 3.14149873e-02 1.19604163e+02] [-2.09885496e-01 9.77702512e-01 -6.77323778e-03 -2.00946127e+01] [-3.21368564e-02 2.52420277e-05 9.99483478e-01 -3.77042815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:119.63, Y:-20.10, Z:-3.77 [[ 9.77326593e-01 2.09561706e-01 3.02757697e-02 1.19633293e+02] [-2.09460032e-01 9.77795423e-01 -6.52724777e-03 -2.01020485e+01] [-3.09713702e-02 3.76891275e-05 9.99520271e-01 -3.77232766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634012739 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:119.66, Y:-20.11, Z:-3.77 [[ 9.77410256e-01 2.09256900e-01 2.96772704e-02 1.19661878e+02] [-2.09159066e-01 9.77860700e-01 -6.39823066e-03 -2.01086415e+01] [-3.03591103e-02 4.64261134e-05 9.99539055e-01 -3.77273890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:119.69, Y:-20.11, Z:-3.77 [[ 9.77213776e-01 2.10258659e-01 2.90608309e-02 1.19690378e+02] [-2.10165312e-01 9.77645793e-01 -6.26463502e-03 -2.01123716e+01] [-2.97283928e-02 1.43090554e-05 9.99558014e-01 -3.77296129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694012739 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:119.72, Y:-20.12, Z:-3.77 [[ 9.76898994e-01 2.11714122e-01 2.90772386e-02 1.19718658e+02] [-2.11621346e-01 9.77331637e-01 -6.26710195e-03 -2.01166760e+01] [-2.97449392e-02 -3.10387663e-05 9.99557521e-01 -3.77299337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:119.75, Y:-20.12, Z:-3.77 [[ 9.75932006e-01 2.16097461e-01 2.93020069e-02 1.19747222e+02] [-2.16005262e-01 9.76371783e-01 -6.31408857e-03 -2.01201340e+01] [-2.99741112e-02 -1.67266546e-04 9.99550661e-01 -3.77377119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:119.78, Y:-20.12, Z:-3.77 [[ 9.75594760e-01 2.17564313e-01 2.96754930e-02 1.19775776e+02] [-2.17470470e-01 9.76045963e-01 -6.39309351e-03 -2.01240860e+01] [-3.03555542e-02 -2.16474910e-04 9.99539141e-01 -3.77454288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:119.80, Y:-20.13, Z:-3.78 [[ 9.75406414e-01 2.18320124e-01 3.03092520e-02 1.19803581e+02] [-2.18222641e-01 9.75877176e-01 -6.52810992e-03 -2.01273768e+01] [-3.10033251e-02 -2.46604739e-04 9.99519251e-01 -3.77547325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814012739 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:119.83, Y:-20.13, Z:-3.78 [[ 9.75783140e-01 2.16428547e-01 3.17166892e-02 1.19831795e+02] [-2.16320869e-01 9.76298441e-01 -6.82909521e-03 -2.01294381e+01] [-3.24429654e-02 -1.97265811e-04 9.99473569e-01 -3.77671004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:119.86, Y:-20.14, Z:-3.78 [[ 9.76930194e-01 2.11273835e-01 3.11570528e-02 1.19860186e+02] [-2.11167359e-01 9.77426911e-01 -6.70675234e-03 -2.01351496e+01] [-3.18707032e-02 -2.73236833e-05 9.99492000e-01 -3.77623913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874012739 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:119.89, Y:-20.14, Z:-3.78 [[ 9.77520510e-01 2.08575563e-01 3.08202423e-02 1.19888682e+02] [-2.08470082e-01 9.78006253e-01 -6.63279115e-03 -2.01414244e+01] [-3.15258278e-02 5.85909540e-05 9.99502936e-01 -3.77675721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:119.92, Y:-20.15, Z:-3.78 [[ 9.78016748e-01 2.06314176e-01 3.02935870e-02 1.19916395e+02] [-2.06211229e-01 9.78485792e-01 -6.51802925e-03 -2.01473030e+01] [-3.09866063e-02 1.27863952e-04 9.99519792e-01 -3.77746205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934012739 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:119.94, Y:-20.15, Z:-3.78 [[ 9.78438599e-01 2.04258053e-01 3.06032059e-02 1.19944244e+02] [-2.04152030e-01 9.78917060e-01 -6.58317500e-03 -2.01528918e+01] [-3.13026669e-02 1.93525903e-04 9.99509933e-01 -3.77867636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:119.97, Y:-20.16, Z:-3.78 [[ 9.78330076e-01 2.04758556e-01 3.07277803e-02 1.19971853e+02] [-2.04651962e-01 9.78812496e-01 -6.60847577e-03 -2.01585068e+01] [-3.14298773e-02 1.76770072e-04 9.99505944e-01 -3.77955427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:120.00, Y:-20.16, Z:-3.78 [[ 9.77547958e-01 2.08529192e-01 3.02583210e-02 1.19999133e+02] [-2.08427690e-01 9.78016142e-01 -6.50572311e-03 -2.01641871e+01] [-3.09497596e-02 5.29843726e-05 9.99520940e-01 -3.78069510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:120.03, Y:-20.17, Z:-3.78 [[ 9.77112234e-01 2.10663996e-01 2.95357888e-02 1.20027659e+02] [-2.10568311e-01 9.77558531e-01 -6.34868033e-03 -2.01701408e+01] [-3.02104007e-02 -1.59279487e-05 9.99543562e-01 -3.78191274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054012739 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:120.06, Y:-20.18, Z:-3.78 [[ 9.76743382e-01 2.12507535e-01 2.85116441e-02 1.20055609e+02] [-2.12419197e-01 9.77159425e-01 -6.12719353e-03 -2.01760216e+01] [-2.91624965e-02 -7.17247993e-05 9.99574681e-01 -3.78301195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:120.08, Y:-20.18, Z:-3.78 [[ 9.76414857e-01 2.14163397e-01 2.73507939e-02 1.20084122e+02] [-2.14082792e-01 9.76797843e-01 -5.87644400e-03 -2.01826699e+01] [-2.79747157e-02 -1.17487086e-04 9.99608624e-01 -3.78482800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114012739 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:120.11, Y:-20.19, Z:-3.79 [[ 9.76371796e-01 2.14239400e-01 2.82771267e-02 1.20111123e+02] [-2.14153316e-01 9.76781175e-01 -6.07402377e-03 -2.01911351e+01] [-2.89218603e-02 -1.25134947e-04 9.99581668e-01 -3.78580153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:120.14, Y:-20.20, Z:-3.79 [[ 9.76389190e-01 2.14048151e-01 2.91125189e-02 1.20139000e+02] [-2.13956875e-01 9.76823102e-01 -6.25157892e-03 -2.01985416e+01] [-2.97759200e-02 -1.24849504e-04 9.99556591e-01 -3.78677962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174012739 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:120.17, Y:-20.21, Z:-3.79 [[ 9.76340428e-01 2.14235956e-01 2.93653599e-02 1.20167427e+02] [-2.14143216e-01 9.76781929e-01 -6.30442006e-03 -2.02054537e+01] [-3.00341864e-02 -1.33132443e-04 9.99548863e-01 -3.78749039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:120.20, Y:-20.21, Z:-3.79 [[ 9.75738514e-01 2.17137224e-01 2.80317275e-02 1.20195762e+02] [-2.17053952e-01 9.76141066e-01 -6.01679102e-03 -2.02124347e+01] [-2.86693897e-02 -2.13582492e-04 9.99588926e-01 -3.78834786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234012739 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:120.22, Y:-20.22, Z:-3.79 [[ 9.75376873e-01 2.18839575e-01 2.73714433e-02 1.20223669e+02] [-2.18760887e-01 9.75760818e-01 -5.87373958e-03 -2.02190991e+01] [-2.79933886e-02 -2.58691478e-04 9.99608075e-01 -3.78962402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:120.25, Y:-20.23, Z:-3.79 [[ 9.74691333e-01 2.21915436e-01 2.70248875e-02 1.20250600e+02] [-2.21839946e-01 9.75065855e-01 -5.79804954e-03 -2.02260707e+01] [-2.76377217e-02 -3.43890964e-04 9.99617946e-01 -3.79015321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294012739 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:120.28, Y:-20.23, Z:-3.79 [[ 9.74472536e-01 2.22763805e-01 2.79206688e-02 1.20278223e+02] [-2.22683627e-01 9.74872372e-01 -5.98839374e-03 -2.02318877e+01] [-2.85530860e-02 -3.81950563e-04 9.99592205e-01 -3.79073423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:120.31, Y:-20.24, Z:-3.79 [[ 9.74245669e-01 2.23561054e-01 2.94250076e-02 1.20305062e+02] [-2.23472422e-01 9.74689833e-01 -6.30915801e-03 -2.02376186e+01] [-3.00907377e-02 -4.29007841e-04 9.99547079e-01 -3.79044714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354012739 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:120.33, Y:-20.24, Z:-3.79 [[ 9.73774163e-01 2.25416938e-01 3.08396349e-02 1.20332907e+02] [-2.25320573e-01 9.74262255e-01 -6.61038155e-03 -2.02433951e+01] [-3.15359842e-02 -5.11785450e-04 9.99502486e-01 -3.79037821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:120.36, Y:-20.25, Z:-3.79 [[ 9.73627889e-01 2.26061015e-01 3.07433249e-02 1.20361715e+02] [-2.25965620e-01 9.74112998e-01 -6.58823395e-03 -2.02486446e+01] [-3.14368152e-02 -5.32446157e-04 9.99505599e-01 -3.79219837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414012739 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:120.39, Y:-20.25, Z:-3.79 [[ 9.73741120e-01 2.25709554e-01 2.97225233e-02 1.20389017e+02] [-2.25620268e-01 9.74194509e-01 -6.36808657e-03 -2.02524549e+01] [-3.03928570e-02 -5.05135914e-04 9.99537903e-01 -3.79362123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:120.42, Y:-20.26, Z:-3.79 [[ 9.73913490e-01 2.24987873e-01 2.95460952e-02 1.20417406e+02] [-2.24899366e-01 9.74361445e-01 -6.32849924e-03 -2.02584451e+01] [-3.02124116e-02 -4.81487298e-04 9.99543385e-01 -3.79460734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474012739 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:120.45, Y:-20.26, Z:-3.79 [[ 9.74275272e-01 2.23447522e-01 2.93069753e-02 1.20445465e+02] [-2.23359787e-01 9.74715866e-01 -6.27588918e-03 -2.02644499e+01] [-2.99683057e-02 -4.31556110e-04 9.99550756e-01 -3.79459273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:120.47, Y:-20.27, Z:-3.80 [[ 9.74451143e-01 2.22667837e-01 2.93939387e-02 1.20472564e+02] [-2.22579269e-01 9.74894285e-01 -6.29308453e-03 -2.02694249e+01] [-3.00572504e-02 -4.10177969e-04 9.99548095e-01 -3.79532867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534012739 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:120.50, Y:-20.27, Z:-3.80 [[ 9.74560586e-01 2.22146181e-01 2.97109266e-02 1.20499830e+02] [-2.22055505e-01 9.75013289e-01 -6.35912242e-03 -2.02744854e+01] [-3.03812030e-02 -4.00124733e-04 9.99538305e-01 -3.79672644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:120.53, Y:-20.28, Z:-3.80 [[ 9.74687271e-01 2.21414266e-01 3.09910566e-02 1.20527884e+02] [-2.21315296e-01 9.75179761e-01 -6.63123641e-03 -2.02808542e+01] [-3.16901015e-02 -3.95413154e-04 9.99497664e-01 -3.79700283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594012739 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:120.56, Y:-20.29, Z:-3.80 [[ 9.74694879e-01 2.21380733e-01 3.09913574e-02 1.20556570e+02] [-2.21281791e-01 9.75187374e-01 -6.62983029e-03 -2.02869039e+01] [-3.16900971e-02 -3.95761437e-04 9.99497664e-01 -3.79791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:120.58, Y:-20.29, Z:-3.80 [[ 9.74627315e-01 2.21661783e-01 3.11070796e-02 1.20584952e+02] [-2.21562280e-01 9.75123524e-01 -6.65345392e-03 -2.02931509e+01] [-3.18080616e-02 -4.07517556e-04 9.99493913e-01 -3.79781505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654012739 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:120.61, Y:-20.30, Z:-3.80 [[ 9.74255839e-01 2.23399526e-01 3.03020238e-02 1.20613347e+02] [-2.23305991e-01 9.74726857e-01 -6.47983742e-03 -2.02957997e+01] [-3.09837890e-02 -4.53604020e-04 9.99519784e-01 -3.79888258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:120.64, Y:-20.30, Z:-3.80 [[ 9.73929251e-01 2.24878893e-01 2.98546182e-02 1.20640904e+02] [-2.24788838e-01 9.74386596e-01 -6.38275118e-03 -2.02996724e+01] [-3.05252858e-02 -4.94636851e-04 9.99533872e-01 -3.79969444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714012739 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:120.67, Y:-20.30, Z:-3.80 [[ 9.73645455e-01 2.26124167e-01 2.97050319e-02 1.20668809e+02] [-2.26035645e-01 9.74098341e-01 -6.34899548e-03 -2.03045333e+01] [-3.03712836e-02 -5.32725451e-04 9.99538544e-01 -3.80125574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:120.70, Y:-20.31, Z:-3.80 [[ 9.73353400e-01 2.27467872e-01 2.90090584e-02 1.20697047e+02] [-2.27384087e-01 9.73785423e-01 -6.19888961e-03 -2.03075964e+01] [-2.96586464e-02 -5.62487969e-04 9.99559927e-01 -3.80270494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774012739 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:120.72, Y:-20.31, Z:-3.80 [[ 9.73105603e-01 2.28452276e-01 2.95811381e-02 1.20721504e+02] [-2.28455285e-01 9.73548735e-01 -3.32328958e-03 -2.03105163e+01] [-2.95578926e-02 -3.52405562e-03 9.99556858e-01 -3.80359209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:120.75, Y:-20.31, Z:-3.80 [[ 9.73354961e-01 2.27578200e-01 2.80763719e-02 1.20753461e+02] [-2.27420682e-01 9.73757530e-01 -8.72393173e-03 -2.03108039e+01] [-2.93249553e-02 2.10633458e-03 9.99567712e-01 -3.80423801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834012739 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:120.78, Y:-20.32, Z:-3.80 [[ 9.73408617e-01 2.27226926e-01 2.90445855e-02 1.20780880e+02] [-2.27142759e-01 9.73841680e-01 -6.20881072e-03 -2.03160854e+01] [-2.96956369e-02 -5.53557423e-04 9.99558834e-01 -3.80479319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:120.81, Y:-20.31, Z:-3.81 [[ 9.73353600e-01 2.27454573e-01 2.91064786e-02 1.20809449e+02] [-2.27370213e-01 9.73788529e-01 -6.21988226e-03 -2.03148738e+01] [-2.97582956e-02 -5.63801450e-04 9.99556965e-01 -3.80523216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894012739 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:120.84, Y:-20.32, Z:-3.81 [[ 9.73382568e-01 2.27353616e-01 2.89259488e-02 1.20836998e+02] [-2.27270319e-01 9.73812107e-01 -6.17915252e-03 -2.03161063e+01] [-2.95732918e-02 -5.59330248e-04 9.99562458e-01 -3.80634239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:120.87, Y:-20.31, Z:-3.81 [[ 9.73538128e-01 2.26662422e-01 2.91146091e-02 1.20865689e+02] [-2.26577802e-01 9.73973229e-01 -6.21686647e-03 -2.03140040e+01] [-2.97659799e-02 -5.44367586e-04 9.99556747e-01 -3.80639669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95401273899999 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:120.89, Y:-20.32, Z:-3.81 [[ 9.73663352e-01 2.26096605e-01 2.93257889e-02 1.20892578e+02] [-2.26010561e-01 9.74104738e-01 -6.25978815e-03 -2.03155855e+01] [-2.99817067e-02 -5.33011691e-04 9.99550305e-01 -3.80659943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:120.92, Y:-20.32, Z:-3.81 [[ 9.73826649e-01 2.25369177e-01 2.95023959e-02 1.20920331e+02] [-2.25281871e-01 9.74273302e-01 -6.29382277e-03 -2.03175645e+01] [-3.01618303e-02 -5.17262605e-04 9.99544895e-01 -3.80745617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014012739 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:120.95, Y:-20.32, Z:-3.81 [[ 9.74497466e-01 2.22472691e-01 2.93358140e-02 1.20949217e+02] [-2.22385114e-01 9.74938829e-01 -6.25632859e-03 -2.03168540e+01] [-2.99924864e-02 -4.27071983e-04 9.99550033e-01 -3.80854651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:120.98, Y:-20.32, Z:-3.81 [[ 9.75123577e-01 2.19777010e-01 2.88457052e-02 1.20977258e+02] [-2.19691217e-01 9.75550076e-01 -6.14972047e-03 -2.03200865e+01] [-2.94919971e-02 -3.40410657e-04 9.99564958e-01 -3.80946830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074012739 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:121.00, Y:-20.32, Z:-3.81 [[ 9.76551907e-01 2.13364430e-01 2.86704217e-02 1.21004878e+02] [-2.13276971e-01 9.76972670e-01 -6.11024406e-03 -2.03203713e+01] [-2.93139272e-02 -1.47770225e-04 9.99570244e-01 -3.81005004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:121.03, Y:-20.32, Z:-3.81 [[ 9.77307649e-01 2.09843539e-01 2.89041286e-02 1.21033149e+02] [-2.09753184e-01 9.77734978e-01 -6.15751112e-03 -2.03239664e+01] [-2.95526915e-02 -4.49502953e-05 9.99563223e-01 -3.81107464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134012739 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:121.06, Y:-20.33, Z:-3.81 [[ 9.78789098e-01 2.02723665e-01 2.95806952e-02 1.21060782e+02] [-2.02625840e-01 9.79235971e-01 -6.29943852e-03 -2.03287381e+01] [-3.02435260e-02 1.72008547e-04 9.99542545e-01 -3.81205005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:121.09, Y:-20.33, Z:-3.81 [[ 9.79507516e-01 1.99190999e-01 2.97988586e-02 1.21088128e+02] [-1.99090156e-01 9.79960646e-01 -6.34371811e-03 -2.03348445e+01] [-3.04653203e-02 2.81060150e-04 9.99535785e-01 -3.81274255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194012739 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:121.12, Y:-20.34, Z:-3.81 [[ 9.80575233e-01 1.94030258e-01 2.87136193e-02 1.21115494e+02] [-1.93934476e-01 9.80995453e-01 -6.11059654e-03 -2.03415639e+01] [-2.93535706e-02 4.23338920e-04 9.99569001e-01 -3.81358932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:121.14, Y:-20.35, Z:-3.81 [[ 9.80961985e-01 1.92118582e-01 2.83555115e-02 1.21141744e+02] [-1.92024425e-01 9.81371605e-01 -6.03269969e-03 -2.03476829e+01] [-2.89862875e-02 4.72898283e-04 9.99579697e-01 -3.81455608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:121.17, Y:-20.36, Z:-3.81 [[ 9.81405495e-01 1.89715001e-01 2.91800148e-02 1.21168544e+02] [-1.89614301e-01 9.81839044e-01 -6.20556850e-03 -2.03563963e+01] [-2.98273672e-02 5.57230920e-04 9.99554910e-01 -3.81436741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:121.20, Y:-20.36, Z:-3.82 [[ 9.81551925e-01 1.88913891e-01 2.94509777e-02 1.21196099e+02] [-1.88811015e-01 9.81993483e-01 -6.26104093e-03 -2.03637550e+01] [-3.01034657e-02 5.84867779e-04 9.99546617e-01 -3.81532352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314012739 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:121.22, Y:-20.37, Z:-3.82 [[ 9.81706194e-01 1.88208424e-01 2.88190340e-02 1.21223640e+02] [-1.88109653e-01 9.82128932e-01 -6.12535163e-03 -2.03708510e+01] [-2.94568498e-02 5.92157153e-04 9.99565877e-01 -3.81591143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:121.25, Y:-20.38, Z:-3.82 [[ 9.81866770e-01 1.87548937e-01 2.76232185e-02 1.21249778e+02] [-1.87457970e-01 9.82255086e-01 -5.86992148e-03 -2.03796632e+01] [-2.82339444e-02 5.85288385e-04 9.99601171e-01 -3.81668945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374012739 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:121.28, Y:-20.39, Z:-3.82 [[ 9.81919873e-01 1.87251714e-01 2.77517292e-02 1.21278054e+02] [-1.87159828e-01 9.82311784e-01 -5.89549528e-03 -2.03871018e+01] [-2.83647922e-02 5.94895114e-04 9.99597461e-01 -3.81694490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:121.31, Y:-20.40, Z:-3.82 [[ 9.81917536e-01 1.87096916e-01 2.88564926e-02 1.21305829e+02] [-1.86997544e-01 9.82341263e-01 -6.12872453e-03 -2.03966582e+01] [-2.94935889e-02 6.21808834e-04 9.99564776e-01 -3.81702257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434012739 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:121.33, Y:-20.40, Z:-3.82 [[ 9.81857649e-01 1.87312052e-01 2.94915786e-02 1.21332961e+02] [-1.87208397e-01 9.82300260e-01 -6.26214720e-03 -2.04047864e+01] [-3.01425610e-02 6.27465972e-04 9.99545413e-01 -3.81832029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:121.36, Y:-20.41, Z:-3.82 [[ 9.81718885e-01 1.88026550e-01 2.95642813e-02 1.21361145e+02] [-1.87922767e-01 9.82163759e-01 -6.27561583e-03 -2.04131719e+01] [-3.02169480e-02 6.05089044e-04 9.99543181e-01 -3.81873036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494012739 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:121.39, Y:-20.42, Z:-3.82 [[ 9.81326826e-01 1.90098425e-01 2.93300027e-02 1.21387654e+02] [-1.89997247e-01 9.81764891e-01 -6.22448695e-03 -2.04212800e+01] [-2.99784321e-02 5.35636247e-04 9.99550402e-01 -3.81916044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:121.41, Y:-20.43, Z:-3.82 [[ 9.80584768e-01 1.93877593e-01 2.94107348e-02 1.21414960e+02] [-1.93777609e-01 9.81025638e-01 -6.23982869e-03 -2.04291795e+01] [-3.00624479e-02 4.19539084e-04 9.99547934e-01 -3.81952428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554012739 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:121.44, Y:-20.44, Z:-3.82 [[ 9.80237464e-01 1.95559274e-01 2.98510273e-02 1.21441560e+02] [-1.95457097e-01 9.80691813e-01 -6.33177127e-03 -2.04360461e+01] [-3.05128947e-02 3.72044266e-04 9.99534304e-01 -3.82056311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:121.47, Y:-20.44, Z:-3.82 [[ 9.79994364e-01 1.96714094e-01 3.02425557e-02 1.21468377e+02] [-1.96609826e-01 9.80460836e-01 -6.41295451e-03 -2.04430387e+01] [-3.09131600e-02 3.38675667e-04 9.99522017e-01 -3.82177075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:121.50, Y:-20.45, Z:-3.82 [[ 9.79956853e-01 1.96987450e-01 2.96733894e-02 1.21495839e+02] [-1.96887249e-01 9.80405957e-01 -6.29049781e-03 -2.04511406e+01] [-3.03311168e-02 3.22104436e-04 9.99539854e-01 -3.82325752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:121.52, Y:-20.46, Z:-3.82 [[ 9.80117041e-01 1.96267692e-01 2.91475364e-02 1.21523426e+02] [-1.96170724e-01 9.80550294e-01 -6.17798599e-03 -2.04587957e+01] [-2.97931644e-02 3.37256020e-04 9.99556028e-01 -3.82369374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674012739 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:121.55, Y:-20.47, Z:-3.82 [[ 9.80707921e-01 1.93227710e-01 2.95808374e-02 1.21551723e+02] [-1.93126500e-01 9.81153843e-01 -6.26831280e-03 -2.04683954e+01] [-3.02345640e-02 4.34540408e-04 9.99542737e-01 -3.82424463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:121.58, Y:-20.48, Z:-3.83 [[ 9.81011664e-01 1.91610654e-01 3.00245289e-02 1.21579846e+02] [-1.91505650e-01 9.81470894e-01 -6.36156662e-03 -2.04762194e+01] [-3.06871451e-02 4.90904128e-04 9.99528918e-01 -3.82510682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734012739 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:121.61, Y:-20.49, Z:-3.83 [[ 9.81509659e-01 1.89054471e-01 2.99532346e-02 1.21607976e+02] [-1.88948799e-01 9.81966437e-01 -6.34570835e-03 -2.04872266e+01] [-3.06127556e-02 5.68746332e-04 9.99531158e-01 -3.82622221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:121.64, Y:-20.50, Z:-3.83 [[ 9.81629311e-01 1.88470346e-01 2.97123681e-02 1.21636931e+02] [-1.88366121e-01 9.82078709e-01 -6.29396870e-03 -2.04957819e+01] [-3.03661105e-02 5.81540632e-04 9.99538674e-01 -3.82691609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794012739 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:121.67, Y:-20.51, Z:-3.82 [[ 9.81652876e-01 1.88486780e-01 2.88160637e-02 1.21666817e+02] [-1.88388778e-01 9.82075566e-01 -6.10338721e-03 -2.05052583e+01] [-2.94499599e-02 5.62784591e-04 9.99566097e-01 -3.81872770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:121.69, Y:-20.51, Z:-3.83 [[ 9.81708325e-01 1.88230687e-01 2.86002321e-02 1.21694667e+02] [-1.88134039e-01 9.82124680e-01 -6.05769595e-03 -2.05130633e+01] [-2.92292381e-02 5.66213368e-04 9.99572574e-01 -3.82885810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854012739 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:121.72, Y:-20.52, Z:-3.83 [[ 9.81289902e-01 1.90445510e-01 2.82955042e-02 1.21722863e+02] [-1.90351842e-01 9.81697644e-01 -5.99274936e-03 -2.05233103e+01] [-2.89189220e-02 4.94523095e-04 9.99581638e-01 -3.83033105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:121.75, Y:-20.53, Z:-3.83 [[ 9.81000034e-01 1.91906410e-01 2.84756500e-02 1.21750186e+02] [-1.91812149e-01 9.81413125e-01 -6.03131893e-03 -2.05301563e+01] [-2.91038254e-02 4.54748472e-04 9.99576291e-01 -3.83164451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914012739 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:121.78, Y:-20.54, Z:-3.83 [[ 9.80505531e-01 1.94372770e-01 2.87772616e-02 1.21779479e+02] [-1.94277582e-01 9.80927662e-01 -6.09450765e-03 -2.05366890e+01] [-2.94130182e-02 3.84921655e-04 9.99567269e-01 -3.83202537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:121.81, Y:-20.54, Z:-3.83 [[ 9.79459945e-01 1.99366570e-01 3.01858816e-02 1.21809003e+02] [-1.99264224e-01 9.79924951e-01 -6.39208127e-03 -2.05421234e+01] [-3.08542659e-02 2.45821275e-04 9.99523864e-01 -3.83246112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:121.84, Y:-20.55, Z:-3.83 [[ 9.79002773e-01 2.01487107e-01 3.09276095e-02 1.21837466e+02] [-2.01380750e-01 9.79491150e-01 -6.54836124e-03 -2.05477106e+01] [-3.16127301e-02 1.82638613e-04 9.99500176e-01 -3.83334573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:121.87, Y:-20.55, Z:-3.83 [[ 9.78523026e-01 2.03522432e-01 3.27308283e-02 1.21866633e+02] [-2.03404477e-01 9.79070276e-01 -6.92924259e-03 -2.05505248e+01] [-3.34560374e-02 1.22826426e-04 9.99440183e-01 -3.83323717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:121.89, Y:-20.55, Z:-3.83 [[ 9.78415453e-01 2.03961760e-01 3.32084615e-02 1.21894669e+02] [-2.03840643e-01 9.78978850e-01 -7.02875046e-03 -2.05543586e+01] [-3.39439778e-02 1.07803899e-04 9.99423731e-01 -3.83445333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:121.92, Y:-20.56, Z:-3.84 [[ 9.78500645e-01 2.03530207e-01 3.33458029e-02 1.21922045e+02] [-2.03407880e-01 9.79068659e-01 -7.05652989e-03 -2.05580879e+01] [-3.40840476e-02 1.22019978e-04 9.99418963e-01 -3.83603343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094012739 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:121.95, Y:-20.56, Z:-3.84 [[ 9.78894862e-01 2.01658500e-01 3.31466302e-02 1.21951274e+02] [-2.01536620e-01 9.79455877e-01 -7.01249055e-03 -2.05614675e+01] [-3.38797900e-02 1.84231151e-04 9.99425898e-01 -3.83790113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:121.98, Y:-20.57, Z:-3.84 [[ 9.79172523e-01 2.00343035e-01 3.29217115e-02 1.21980105e+02] [-2.00222089e-01 9.79725787e-01 -6.96407140e-03 -2.05658012e+01] [-3.36494529e-02 2.27373510e-04 9.99433671e-01 -3.83860380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:122.01, Y:-20.57, Z:-3.84 [[ 9.79929254e-01 1.96609025e-01 3.29173130e-02 1.22010421e+02] [-1.96486041e-01 9.80481905e-01 -6.96202798e-03 -2.05688188e+01] [-3.36436273e-02 3.54502360e-04 9.99433830e-01 -3.84019110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:122.04, Y:-20.58, Z:-3.84 [[ 9.80366275e-01 1.94545470e-01 3.21562868e-02 1.22039573e+02] [-1.94427000e-01 9.80893413e-01 -6.80104863e-03 -2.05753830e+01] [-3.28650031e-02 4.15468355e-04 9.99459714e-01 -3.84126297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214012739 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:122.07, Y:-20.58, Z:-3.84 [[ 9.81380203e-01 1.89465607e-01 3.15544265e-02 1.22068009e+02] [-1.89348917e-01 9.81887190e-01 -6.67336158e-03 -2.05838443e+01] [-3.22472596e-02 5.74308464e-04 9.99479757e-01 -3.84307748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:122.10, Y:-20.59, Z:-3.84 [[ 9.81845151e-01 1.86985327e-01 3.18839606e-02 1.22095677e+02] [-1.86864893e-01 9.82362483e-01 -6.74262484e-03 -2.05906325e+01] [-3.25823787e-02 6.62220611e-04 9.99468834e-01 -3.84403096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274012739 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:122.13, Y:-20.60, Z:-3.85 [[ 9.82224910e-01 1.84808746e-01 3.28626621e-02 1.22125510e+02] [-1.84679621e-01 9.82774214e-01 -6.94849092e-03 -2.05977774e+01] [-3.35807188e-02 7.55916894e-04 9.99435723e-01 -3.84531306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:122.15, Y:-20.61, Z:-3.85 [[ 9.82662992e-01 1.82259988e-01 3.39814935e-02 1.22154765e+02] [-1.82120375e-01 9.83249987e-01 -7.18562136e-03 -2.06083176e+01] [-3.47219543e-02 8.72321845e-04 9.99396630e-01 -3.84562683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334012739 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:122.19, Y:-20.62, Z:-3.85 [[ 9.82784826e-01 1.81626075e-01 3.38519636e-02 1.22186870e+02] [-1.81486959e-01 9.83367258e-01 -7.16372084e-03 -2.06180142e+01] [-3.45900311e-02 8.96706192e-04 9.99401184e-01 -3.84751171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:122.22, Y:-20.63, Z:-3.85 [[ 9.82784334e-01 1.81960825e-01 3.20189237e-02 1.22217034e+02] [-1.81836355e-01 9.83305420e-01 -6.78172919e-03 -2.06298276e+01] [-3.27183902e-02 8.42772825e-04 9.99464255e-01 -3.84908024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:122.25, Y:-20.64, Z:-3.85 [[ 9.82706691e-01 1.82300084e-01 3.24690463e-02 1.22247099e+02] [-1.82172080e-01 9.83242574e-01 -6.88290338e-03 -2.06381433e+01] [-3.31797025e-02 8.48921492e-04 9.99449042e-01 -3.85014920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:122.28, Y:-20.65, Z:-3.85 [[ 9.82624417e-01 1.82638914e-01 3.30496791e-02 1.22277638e+02] [-1.82506370e-01 9.83179686e-01 -7.00929839e-03 -2.06475061e+01] [-3.37739438e-02 8.55730795e-04 9.99429131e-01 -3.85096713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45401273899999 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:122.31, Y:-20.65, Z:-3.85 [[ 9.82613955e-01 1.82695387e-01 3.30486103e-02 1.22309564e+02] [-1.82562705e-01 9.83169191e-01 -7.01433446e-03 -2.06543720e+01] [-3.37738620e-02 8.58939242e-04 9.99429131e-01 -3.85198342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:122.34, Y:-20.67, Z:-3.85 [[ 9.82604203e-01 1.82682091e-01 3.34100836e-02 1.22340199e+02] [-1.82546399e-01 9.83171651e-01 -7.09349115e-03 -2.06686087e+01] [-3.41437008e-02 8.71203772e-04 9.99416554e-01 -3.85295106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514012739 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:122.37, Y:-20.68, Z:-3.85 [[ 9.82660217e-01 1.82428894e-01 3.31450865e-02 1.22370141e+02] [-1.82294983e-01 9.83218656e-01 -7.04373635e-03 -2.06819578e+01] [-3.38738484e-02 8.79416532e-04 9.99425730e-01 -3.85375995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:122.40, Y:-20.69, Z:-3.85 [[ 9.82650741e-01 1.82443376e-01 3.33457027e-02 1.22400929e+02] [-1.82307640e-01 9.83215959e-01 -7.09240609e-03 -2.06917675e+01] [-3.40799896e-02 8.90181732e-04 9.99418712e-01 -3.85453346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574012739 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:122.43, Y:-20.70, Z:-3.85 [[ 9.82516915e-01 1.83101947e-01 3.36777201e-02 1.22432896e+02] [-1.82963730e-01 9.83093537e-01 -7.16740140e-03 -2.07023559e+01] [-3.44207141e-02 8.80291842e-04 9.99407044e-01 -3.85486864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:122.46, Y:-20.72, Z:-3.86 [[ 9.82189868e-01 1.84457684e-01 3.57550754e-02 1.22463799e+02] [-1.84302511e-01 9.82840052e-01 -7.61685365e-03 -2.07154024e+01] [-3.65465073e-02 8.91446325e-04 9.99331556e-01 -3.85553171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634012739 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:122.49, Y:-20.73, Z:-3.86 [[ 9.81833144e-01 1.86306652e-01 3.59653927e-02 1.22494651e+02] [-1.86150628e-01 9.82491290e-01 -7.66866887e-03 -2.07250102e+01] [-3.67644091e-02 8.34372832e-04 9.99323612e-01 -3.85587552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:122.53, Y:-20.74, Z:-3.86 [[ 9.80901471e-01 1.91186031e-01 3.57799586e-02 1.22525353e+02] [-1.91034610e-01 9.81553602e-01 -7.63576299e-03 -2.07372294e+01] [-3.65797984e-02 6.54720732e-04 9.99330521e-01 -3.85720242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694012739 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:122.56, Y:-20.75, Z:-3.86 [[ 9.80341204e-01 1.94203515e-01 3.48728806e-02 1.22555855e+02] [-1.94061351e-01 9.80961115e-01 -7.44871012e-03 -2.07462453e+01] [-3.56555055e-02 5.34799142e-04 9.99363997e-01 -3.85854649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:122.59, Y:-20.76, Z:-3.86 [[ 9.78999324e-01 2.01062440e-01 3.36781689e-02 1.22587312e+02] [-2.00933761e-01 9.79578387e-01 -7.19766097e-03 -2.07565031e+01] [-3.44375857e-02 2.79424070e-04 9.99406811e-01 -3.86051518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:122.62, Y:-20.76, Z:-3.86 [[ 9.78318656e-01 2.04375484e-01 3.35151973e-02 1.22618809e+02] [-2.04249835e-01 9.78892555e-01 -7.16737939e-03 -2.07642706e+01] [-3.42726137e-02 1.66507465e-04 9.99412508e-01 -3.86099522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:122.65, Y:-20.77, Z:-3.86 [[ 9.77578855e-01 2.07892031e-01 3.34736608e-02 1.22651046e+02] [-2.07768603e-01 9.78151778e-01 -7.16286215e-03 -2.07714089e+01] [-3.42314228e-02 4.74868308e-05 9.99413932e-01 -3.86241025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814012739 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:122.68, Y:-20.78, Z:-3.86 [[ 9.76433594e-01 2.13309641e-01 3.28090543e-02 1.22682661e+02] [-2.13193911e-01 9.76984636e-01 -7.02690023e-03 -2.07772128e+01] [-3.35528475e-02 -1.33389146e-04 9.99436936e-01 -3.86428940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:122.71, Y:-20.78, Z:-3.87 [[ 9.75993123e-01 2.15302125e-01 3.29001355e-02 1.22713223e+02] [-2.15186693e-01 9.76547468e-01 -7.05199498e-03 -2.07828351e+01] [-3.36468535e-02 -1.96972760e-04 9.99433765e-01 -3.86561238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874012739 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:122.74, Y:-20.79, Z:-3.87 [[ 9.75140085e-01 2.19025827e-01 3.36080544e-02 1.22744324e+02] [-2.18907412e-01 9.75719007e-01 -7.20870607e-03 -2.07868033e+01] [-3.43709102e-02 -3.27553936e-04 9.99409092e-01 -3.86704691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:122.77, Y:-20.79, Z:-3.87 [[ 9.74837381e-01 2.20267409e-01 3.42687714e-02 1.22774786e+02] [-2.20145029e-01 9.75439453e-01 -7.35121946e-03 -2.07909342e+01] [-3.50463457e-02 -3.77856157e-04 9.99385617e-01 -3.86801734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934012739 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:122.80, Y:-20.79, Z:-3.87 [[ 9.74640776e-01 2.21071598e-01 3.46800637e-02 1.22804766e+02] [-2.20946758e-01 9.75257494e-01 -7.43981642e-03 -2.07943089e+01] [-3.54667241e-02 -4.11299187e-04 9.99370773e-01 -3.86874850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:122.84, Y:-20.79, Z:-3.87 [[ 9.74610484e-01 2.21340522e-01 3.38050035e-02 1.22835823e+02] [-2.21222065e-01 9.75196496e-01 -7.25209222e-03 -2.07941142e+01] [-3.45717028e-02 -4.10447584e-04 9.99402136e-01 -3.87064210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994012739 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:122.87, Y:-20.79, Z:-3.87 [[ 9.74740165e-01 2.20899878e-01 3.29371426e-02 1.22866160e+02] [-2.20787178e-01 9.75296414e-01 -7.06585144e-03 -2.07945847e+01] [-3.36843228e-02 -3.84729564e-04 9.99432448e-01 -3.87207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:122.89, Y:-20.80, Z:-3.87 [[ 9.74965238e-01 2.19906582e-01 3.29223245e-02 1.22894280e+02] [-2.19793445e-01 9.75520872e-01 -7.06184707e-03 -2.07986217e+01] [-3.36693614e-02 -3.51055699e-04 9.99432965e-01 -3.87319603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054012739 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:122.92, Y:-20.80, Z:-3.87 [[ 9.75295089e-01 2.18417560e-01 3.30644605e-02 1.22922976e+02] [-2.18302629e-01 9.75855357e-01 -7.09113760e-03 -2.08030167e+01] [-3.38149599e-02 -3.02106970e-04 9.99428065e-01 -3.87421483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:122.95, Y:-20.81, Z:-3.88 [[ 9.76019542e-01 2.14985925e-01 3.41599882e-02 1.22951652e+02] [-2.14861192e-01 9.76617129e-01 -7.32478927e-03 -2.08065091e+01] [-3.49359561e-02 -1.90518290e-04 9.99389535e-01 -3.87524331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114012739 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:122.98, Y:-20.81, Z:-3.88 [[ 9.76431214e-01 2.13069135e-01 3.44039006e-02 1.22981091e+02] [-2.12941476e-01 9.77037117e-01 -7.37558670e-03 -2.08122420e+01] [-3.51853977e-02 -1.24264303e-04 9.99380794e-01 -3.87593962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:123.01, Y:-20.82, Z:-3.88 [[ 9.77303359e-01 2.09074358e-01 3.41475826e-02 1.23010675e+02] [-2.08946180e-01 9.77899746e-01 -7.31992031e-03 -2.08176833e+01] [-3.49233200e-02 1.87757556e-05 9.99389995e-01 -3.87755707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174012739 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:123.04, Y:-20.82, Z:-3.88 [[ 9.77685177e-01 2.07477315e-01 3.29371801e-02 1.23040171e+02] [-2.07357158e-01 9.78239827e-01 -7.06048735e-03 -2.08241232e+01] [-3.36853523e-02 7.31737635e-05 9.99432485e-01 -3.87881715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:123.07, Y:-20.83, Z:-3.88 [[ 9.78325559e-01 2.04483032e-01 3.26464597e-02 1.23069234e+02] [-2.04363307e-01 9.78870093e-01 -6.99853248e-03 -2.08316895e+01] [-3.33877242e-02 1.75104709e-04 9.99442459e-01 -3.87989776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234012739 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:123.10, Y:-20.84, Z:-3.88 [[ 9.78514494e-01 2.03472753e-01 3.32899979e-02 1.23099482e+02] [-2.03347674e-01 9.79080586e-01 -7.13655943e-03 -2.08394632e+01] [-3.40456860e-02 2.13783195e-04 9.99420255e-01 -3.88029330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:123.13, Y:-20.85, Z:-3.88 [[ 9.78724938e-01 2.02358106e-01 3.38923785e-02 1.23128684e+02] [-2.02227762e-01 9.79311559e-01 -7.26648500e-03 -2.08466007e+01] [-3.46616302e-02 2.57910224e-04 9.99399072e-01 -3.88101015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294012739 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:123.16, Y:-20.86, Z:-3.88 [[ 9.79179995e-01 1.99880952e-01 3.54138840e-02 1.23159211e+02] [-1.99737000e-01 9.79820123e-01 -7.59318971e-03 -2.08554662e+01] [-3.62169701e-02 3.61636524e-04 9.99343885e-01 -3.88245952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:123.19, Y:-20.87, Z:-3.88 [[ 9.79807453e-01 1.96791646e-01 3.53610273e-02 1.23190252e+02] [-1.96646050e-01 9.80445216e-01 -7.58355573e-03 -2.08662432e+01] [-3.61619305e-02 4.76818085e-04 9.99345830e-01 -3.88310526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354012739 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:123.22, Y:-20.87, Z:-3.88 [[ 9.80093225e-01 1.95435939e-01 3.49580259e-02 1.23221617e+02] [-1.95292530e-01 9.80716328e-01 -7.50414441e-03 -2.08749235e+01] [-3.57504862e-02 5.27719777e-04 9.99360608e-01 -3.88478085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:123.25, Y:-20.88, Z:-3.89 [[ 9.80340128e-01 1.94312835e-01 3.42892811e-02 1.23253413e+02] [-1.94173939e-01 9.80939449e-01 -7.36737679e-03 -2.08833714e+01] [-3.50672844e-02 5.64450345e-04 9.99384794e-01 -3.88592300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:123.28, Y:-20.89, Z:-3.89 [[ 9.80726627e-01 1.92671534e-01 3.24493991e-02 1.23284123e+02] [-1.92546044e-01 9.81263127e-01 -6.97826533e-03 -2.08941821e+01] [-3.31859119e-02 5.95767207e-04 9.99449018e-01 -3.88812012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:123.31, Y:-20.90, Z:-3.89 [[ 9.80909470e-01 1.91817667e-01 3.19780153e-02 1.23314678e+02] [-1.91695139e-01 9.81430383e-01 -6.88314624e-03 -2.09042869e+01] [-3.27045049e-02 6.21713260e-04 9.99464871e-01 -3.89013419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474012739 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:123.34, Y:-20.92, Z:-3.89 [[ 9.81230203e-01 1.90153780e-01 3.20753497e-02 1.23344551e+02] [-1.90029449e-01 9.81754079e-01 -6.90917867e-03 -2.09182244e+01] [-3.28039119e-02 6.84233764e-04 9.99461573e-01 -3.89115791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:123.38, Y:-20.93, Z:-3.88 [[ 9.81322042e-01 1.89634192e-01 3.23407224e-02 1.23376609e+02] [-1.89507329e-01 9.81854554e-01 -6.97186716e-03 -2.09297427e+01] [-3.30759900e-02 7.12842985e-04 9.99452586e-01 -3.88250511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534012739 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:123.41, Y:-20.94, Z:-3.89 [[ 9.81486397e-01 1.88561842e-01 3.35988729e-02 1.23408142e+02] [-1.88424052e-01 9.82061004e-01 -7.24989596e-03 -2.09392601e+01] [-3.43631966e-02 7.84838500e-04 9.99409103e-01 -3.89218974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:123.44, Y:-20.96, Z:-3.89 [[ 9.82033138e-01 1.85707724e-01 3.35194903e-02 1.23437028e+02] [-1.85568697e-01 9.82604626e-01 -7.23932744e-03 -2.09551548e+01] [-3.42808052e-02 8.89091304e-04 9.99411845e-01 -3.89416567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594012739 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:123.47, Y:-20.97, Z:-3.90 [[ 9.82712739e-01 1.82274893e-01 3.24273966e-02 1.23467177e+02] [-1.82142727e-01 9.83247121e-01 -7.00905210e-03 -2.09726285e+01] [-3.31617185e-02 9.81470333e-04 9.99449517e-01 -3.89603743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:123.50, Y:-20.98, Z:-3.90 [[ 9.82927038e-01 1.81062030e-01 3.27258359e-02 1.23498115e+02] [-1.80926643e-01 9.83471134e-01 -7.07668564e-03 -2.09843492e+01] [-3.34662340e-02 1.03489003e-03 9.99439313e-01 -3.89699007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654012739 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:123.53, Y:-21.00, Z:-3.90 [[ 9.82997705e-01 1.80584654e-01 3.32369357e-02 1.23529094e+02] [-1.80444502e-01 9.83558859e-01 -7.19393225e-03 -2.09963944e+01] [-3.39895963e-02 1.07419657e-03 9.99421609e-01 -3.89775021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:123.56, Y:-21.01, Z:-3.90 [[ 9.82907349e-01 1.81011130e-01 3.35874106e-02 1.23558212e+02] [-1.80868032e-01 9.83480458e-01 -7.27628857e-03 -2.10128273e+01] [-3.43496512e-02 1.07702865e-03 9.99409296e-01 -3.89771250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714012739 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:123.59, Y:-21.02, Z:-3.90 [[ 9.82776415e-01 1.81818378e-01 3.30544310e-02 1.23589489e+02] [-1.81680099e-01 9.83331584e-01 -7.16506140e-03 -2.10239269e+01] [-3.38062058e-02 1.03632107e-03 9.99427870e-01 -3.89883326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:123.62, Y:-21.04, Z:-3.90 [[ 9.82417239e-01 1.83847567e-01 3.25029400e-02 1.23619390e+02] [-1.83714765e-01 9.82954301e-01 -7.05181902e-03 -2.10388212e+01] [-3.32453644e-02 9.56558596e-04 9.99446762e-01 -3.90022178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:123.65, Y:-21.05, Z:-3.90 [[ 9.82221501e-01 1.84711881e-01 3.35029060e-02 1.23650326e+02] [-1.84571049e-01 9.82792244e-01 -7.27551965e-03 -2.10497038e+01] [-3.42702711e-02 9.62505321e-04 9.99412138e-01 -3.90105058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:123.68, Y:-21.06, Z:-3.90 [[ 9.81602100e-01 1.87399447e-01 3.65891421e-02 1.23680675e+02] [-1.87233036e-01 9.82283326e-01 -7.95346640e-03 -2.10639967e+01] [-3.74313794e-02 9.56443146e-04 9.99298743e-01 -3.90099140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834012739 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:123.71, Y:-21.07, Z:-3.90 [[ 9.81052499e-01 1.90161403e-01 3.70760668e-02 1.23711932e+02] [-1.89992223e-01 9.81752456e-01 -8.06663226e-03 -2.10741697e+01] [-3.79334817e-02 8.69625390e-04 9.99279888e-01 -3.90168129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:123.74, Y:-21.08, Z:-3.90 [[ 9.80362938e-01 1.93780969e-01 3.65711181e-02 1.23742626e+02] [-1.93618621e-01 9.81044550e-01 -7.96374736e-03 -2.10835677e+01] [-3.74211188e-02 7.26513288e-04 9.99299321e-01 -3.90245795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894012739 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:123.77, Y:-21.09, Z:-3.90 [[ 9.79048981e-01 2.00880770e-01 3.33168033e-02 1.23772940e+02] [-2.00749950e-01 9.79615608e-01 -7.26070553e-03 -2.10927898e+01] [-3.40961967e-02 4.20239748e-04 9.99418467e-01 -3.90458957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:123.80, Y:-21.10, Z:-3.91 [[ 9.78474955e-01 2.03803955e-01 3.24146603e-02 1.23804671e+02] [-2.03681526e-01 9.79011669e-01 -7.07021449e-03 -2.10999679e+01] [-3.31752683e-02 3.15760346e-04 9.99449499e-01 -3.90642279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95401273899999 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:123.84, Y:-21.11, Z:-3.91 [[ 9.77318064e-01 2.09032288e-01 3.39838933e-02 1.23836571e+02] [-2.08900633e-01 9.77908728e-01 -7.41929219e-03 -2.11078490e+01] [-3.47840175e-02 1.51751435e-04 9.99394841e-01 -3.90754499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:123.87, Y:-21.12, Z:-3.91 [[ 9.76690177e-01 2.11763968e-01 3.51044250e-02 1.23867511e+02] [-2.11625012e-01 9.77320837e-01 -7.67047838e-03 -2.11152941e+01] [-3.59326169e-02 6.27065313e-05 9.99354213e-01 -3.90746409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01401273899998 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:123.90, Y:-21.12, Z:-3.91 [[ 9.76061440e-01 2.14549030e-01 3.56760220e-02 1.23899798e+02] [-2.14407200e-01 9.76713219e-01 -7.80002685e-03 -2.11219884e+01] [-3.65187305e-02 -3.58905317e-05 9.99332968e-01 -3.90764213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:123.93, Y:-21.13, Z:-3.91 [[ 9.74967282e-01 2.19671538e-01 3.43978777e-02 1.23931693e+02] [-2.19542655e-01 9.75573867e-01 -7.52681283e-03 -2.11257378e+01] [-3.52110971e-02 -2.13405139e-04 9.99379874e-01 -3.90902643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07401273899998 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:123.96, Y:-21.13, Z:-3.91 [[ 9.74237262e-01 2.23141491e-01 3.27052308e-02 1.23963074e+02] [-2.23026753e-01 9.74786015e-01 -7.16191131e-03 -2.11308495e+01] [-3.34787212e-02 -3.16740556e-04 9.99439380e-01 -3.91136043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:124.00, Y:-21.14, Z:-3.91 [[ 9.73974676e-01 2.24291914e-01 3.26568188e-02 1.23995744e+02] [-2.24177970e-01 9.74521942e-01 -7.15702856e-03 -2.11373718e+01] [-3.34300501e-02 -3.50174769e-04 9.99440998e-01 -3.91218550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13401273899999 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:124.03, Y:-21.14, Z:-3.91 [[ 9.73662182e-01 2.25635108e-01 3.27223767e-02 1.24028162e+02] [-2.25521260e-01 9.74211807e-01 -7.17748071e-03 -2.11429205e+01] [-3.34980173e-02 -3.91150095e-04 9.99438707e-01 -3.91286767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:124.06, Y:-21.14, Z:-3.91 [[ 9.73060839e-01 2.28263353e-01 3.23797190e-02 1.24060410e+02] [-2.28153135e-01 9.73599312e-01 -7.10823093e-03 -2.11445479e+01] [-3.31474208e-02 -4.70793257e-04 9.99450362e-01 -3.91388066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194012739 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:124.09, Y:-21.15, Z:-3.92 [[ 9.72754611e-01 2.29568994e-01 3.23503378e-02 1.24092972e+02] [-2.29459512e-01 9.73292257e-01 -7.10737386e-03 -2.11493551e+01] [-3.31179660e-02 -5.09362035e-04 9.99451320e-01 -3.91515468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:124.13, Y:-21.15, Z:-3.92 [[ 9.72091568e-01 2.32381456e-01 3.22000423e-02 1.24125515e+02] [-2.32274336e-01 9.72624544e-01 -7.08024171e-03 -2.11533963e+01] [-3.29638683e-02 -5.96600164e-04 9.99456366e-01 -3.91648295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254012739 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:124.16, Y:-21.16, Z:-3.92 [[ 9.71852539e-01 2.33388096e-01 3.21346893e-02 1.24157079e+02] [-2.33281750e-01 9.72383468e-01 -7.07226122e-03 -2.11583602e+01] [-3.28978222e-02 -6.23241538e-04 9.99458526e-01 -3.91725062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:124.19, Y:-21.16, Z:-3.92 [[ 9.71544470e-01 2.34497262e-01 3.33523197e-02 1.24190154e+02] [-2.34383135e-01 9.72116543e-01 -7.34666436e-03 -2.11606837e+01] [-3.41451144e-02 -6.79610130e-04 9.99416655e-01 -3.91775718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314012739 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:124.22, Y:-21.17, Z:-3.92 [[ 9.71531381e-01 2.34457064e-01 3.40097220e-02 1.24222362e+02] [-2.34338141e-01 9.72126234e-01 -7.49800154e-03 -2.11660535e+01] [-3.48197024e-02 -6.85231245e-04 9.99393375e-01 -3.91859280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:124.25, Y:-21.17, Z:-3.92 [[ 9.71612010e-01 2.34075104e-01 3.43358103e-02 1.24254707e+02] [-2.33953421e-01 9.72218286e-01 -7.57640446e-03 -2.11722489e+01] [-3.51553503e-02 -6.71654731e-04 9.99381634e-01 -3.91971063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374012739 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:124.29, Y:-21.18, Z:-3.92 [[ 9.71593295e-01 2.34152963e-01 3.43345156e-02 1.24287374e+02] [-2.34031122e-01 9.72199539e-01 -7.58226754e-03 -2.11795994e+01] [-3.51554106e-02 -6.68464892e-04 9.99381634e-01 -3.92075319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:124.32, Y:-21.18, Z:-3.92 [[ 9.71751187e-01 2.33478157e-01 3.44612934e-02 1.24319213e+02] [-2.33354875e-01 9.72361834e-01 -7.61355167e-03 -2.11841308e+01] [-3.52864444e-02 -6.43232914e-04 9.99377033e-01 -3.92146168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434012739 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:124.35, Y:-21.19, Z:-3.92 [[ 9.71605395e-01 2.34040808e-01 3.47542250e-02 1.24351978e+02] [-2.33915555e-01 9.72226548e-01 -7.68458346e-03 -2.11864087e+01] [-3.55874863e-02 -6.63171078e-04 9.99366345e-01 -3.92277895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:124.38, Y:-21.19, Z:-3.92 [[ 9.71516254e-01 2.34418603e-01 3.46999558e-02 1.24384694e+02] [-2.34293743e-01 9.72135521e-01 -7.67929449e-03 -2.11918200e+01] [-3.55332291e-02 -6.69423121e-04 9.99368271e-01 -3.92403123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494012739 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:124.42, Y:-21.20, Z:-3.93 [[ 9.71367909e-01 2.35061750e-01 3.45015921e-02 1.24416114e+02] [-2.34938481e-01 9.71980199e-01 -7.64211095e-03 -2.11975874e+01] [-3.53312324e-02 -6.82450328e-04 9.99375424e-01 -3.92522065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:124.45, Y:-21.20, Z:-3.93 [[ 9.71136877e-01 2.36184729e-01 3.33157615e-02 1.24449592e+02] [-2.36070248e-01 9.71707926e-01 -7.38539372e-03 -2.12012888e+01] [-3.41175067e-02 -6.92631860e-04 9.99417588e-01 -3.92615823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55401273899997 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:124.48, Y:-21.21, Z:-3.93 [[ 9.70988270e-01 2.36921825e-01 3.24010476e-02 1.24481494e+02] [-2.36813753e-01 9.71528470e-01 -7.18868621e-03 -2.12065264e+01] [-3.31816969e-02 -6.92883710e-04 9.99449096e-01 -3.92755322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:124.51, Y:-21.21, Z:-3.93 [[ 9.70813127e-01 2.37825535e-01 3.09981792e-02 1.24512254e+02] [-2.37726915e-01 9.71307646e-01 -6.88267474e-03 -2.12091201e+01] [-3.17456443e-02 -6.87310550e-04 9.99495744e-01 -3.92859452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61401273899997 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:124.54, Y:-21.21, Z:-3.93 [[ 9.70746630e-01 2.38091700e-01 3.10374315e-02 1.24544404e+02] [-2.37992951e-01 9.71242430e-01 -6.89186250e-03 -2.12138175e+01] [-3.17857656e-02 -6.96437620e-04 9.99494462e-01 -3.93001092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:124.58, Y:-21.22, Z:-3.93 [[ 9.71003044e-01 2.36921573e-01 3.19571219e-02 1.24575574e+02] [-2.36816070e-01 9.71528546e-01 -7.10160261e-03 -2.12167061e+01] [-3.27297791e-02 -6.72282269e-04 9.99464011e-01 -3.93033227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67401273899998 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:124.61, Y:-21.22, Z:-3.93 [[ 9.71321844e-01 2.35550450e-01 3.24015397e-02 1.24606074e+02] [-2.35441127e-01 9.71861917e-01 -7.20342855e-03 -2.12229760e+01] [-3.31865933e-02 -6.31807530e-04 9.99448974e-01 -3.93116976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:124.64, Y:-21.23, Z:-3.93 [[ 9.71784998e-01 2.33641253e-01 3.23370077e-02 1.24636600e+02] [-2.33531282e-01 9.72322707e-01 -7.18985819e-03 -2.12287258e+01] [-3.31218543e-02 -5.64706546e-04 9.99451161e-01 -3.93147172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73401273899998 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:124.67, Y:-21.23, Z:-3.93 [[ 9.72624956e-01 2.30190447e-01 3.18285017e-02 1.24667702e+02] [-2.30082030e-01 9.73145501e-01 -7.07774187e-03 -2.12326655e+01] [-3.26029918e-02 -4.39177893e-04 9.99468285e-01 -3.93203470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:124.70, Y:-21.24, Z:-3.93 [[ 9.73393115e-01 2.26792265e-01 3.27278524e-02 1.24698619e+02] [-2.26675541e-01 9.73943099e-01 -7.28282300e-03 -2.12380402e+01] [-3.35267539e-02 -3.29553870e-04 9.99437766e-01 -3.93277528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79401273899998 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:124.73, Y:-21.25, Z:-3.93 [[ 9.73668987e-01 2.25462086e-01 3.36979582e-02 1.24729468e+02] [-2.25337434e-01 9.74251900e-01 -7.50175845e-03 -2.12455391e+01] [-3.45216619e-02 -2.89181896e-04 9.99403908e-01 -3.93341243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:124.76, Y:-21.25, Z:-3.93 [[ 9.73787554e-01 2.24816230e-01 3.45754600e-02 1.24761193e+02] [-2.24684537e-01 9.74401144e-01 -7.69867691e-03 -2.12542214e+01] [-3.54211553e-02 -2.71695473e-04 9.99372437e-01 -3.93342889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85401273899998 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:124.79, Y:-21.26, Z:-3.93 [[ 9.73914332e-01 2.24253106e-01 3.46614835e-02 1.24792282e+02] [-2.24120157e-01 9.74530905e-01 -7.72469945e-03 -2.12646811e+01] [-3.55109748e-02 -2.45141615e-04 9.99369256e-01 -3.93064192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:124.82, Y:-21.27, Z:-3.94 [[ 9.73850526e-01 2.24517347e-01 3.47435552e-02 1.24823183e+02] [-2.24383689e-01 9.74470061e-01 -7.74989666e-03 -2.12723605e+01] [-3.55965405e-02 -2.48646157e-04 9.99366211e-01 -3.93568443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914012739 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:124.85, Y:-21.28, Z:-3.94 [[ 9.73571854e-01 2.25766465e-01 3.44579056e-02 1.24854986e+02] [-2.25635553e-01 9.74181411e-01 -7.69257305e-03 -2.12817467e+01] [-3.53049761e-02 -2.85655977e-04 9.99376544e-01 -3.93589481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:124.89, Y:-21.29, Z:-3.94 [[ 9.73308666e-01 2.26920058e-01 3.43151327e-02 1.24886053e+02] [-2.26790714e-01 9.73913336e-01 -7.66727617e-03 -2.12899872e+01] [-3.51598241e-02 -3.19727092e-04 9.99381651e-01 -3.93675507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974012739 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:124.92, Y:-21.30, Z:-3.94 [[ 9.72902656e-01 2.28731586e-01 3.37976872e-02 1.24918224e+02] [-2.28606995e-01 9.73489457e-01 -7.55773998e-03 -2.12975618e+01] [-3.46303860e-02 -3.73442413e-04 9.99400119e-01 -3.93763265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:124.95, Y:-21.30, Z:-3.94 [[ 9.71659326e-01 2.34086860e-01 3.28861103e-02 1.24950245e+02] [-2.33971757e-01 9.72215535e-01 -7.36002047e-03 -2.13021113e+01] [-3.36952714e-02 -5.42988485e-04 9.99432006e-01 -3.93912502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:124.98, Y:-21.31, Z:-3.94 [[ 9.70910435e-01 2.37192732e-01 3.27495923e-02 1.24979905e+02] [-2.37080172e-01 9.71462400e-01 -7.33467046e-03 -2.13073624e+01] [-3.35547280e-02 -6.42970888e-04 9.99436675e-01 -3.94016703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:125.01, Y:-21.31, Z:-3.94 [[ 9.69630684e-01 2.42436519e-01 3.22625242e-02 1.25008981e+02] [-2.42330169e-01 9.70166932e-01 -7.22590350e-03 -2.13115490e+01] [-3.30518570e-02 -8.11725190e-04 9.99453308e-01 -3.94038125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094012739 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:125.04, Y:-21.32, Z:-3.94 [[ 9.69245760e-01 2.44068309e-01 3.15169495e-02 1.25038040e+02] [-2.43967703e-01 9.69757672e-01 -7.05819509e-03 -2.13163925e+01] [-3.22864853e-02 -8.47992122e-04 9.99478296e-01 -3.94162347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:125.07, Y:-21.32, Z:-3.94 [[ 9.69164993e-01 2.44444472e-01 3.10824087e-02 1.25067485e+02] [-2.44346839e-01 9.69662920e-01 -6.96014532e-03 -2.13212123e+01] [-3.18408282e-02 -8.49359116e-04 9.99492591e-01 -3.94302725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154012739 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:125.10, Y:-21.33, Z:-3.94 [[ 9.69358004e-01 2.43638926e-01 3.13868528e-02 1.25097178e+02] [-2.43538972e-01 9.69865652e-01 -7.02758723e-03 -2.13262040e+01] [-3.21532243e-02 -8.31673948e-04 9.99482605e-01 -3.94389893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:125.13, Y:-21.33, Z:-3.94 [[ 9.69434286e-01 2.43276886e-01 3.18358611e-02 1.25126365e+02] [-2.43173856e-01 9.69956528e-01 -7.12812120e-03 -2.13314571e+01] [-3.26135084e-02 -8.31404034e-04 9.99467692e-01 -3.94424263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214012739 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:125.16, Y:-21.33, Z:-3.95 [[ 9.69537638e-01 2.42847469e-01 3.19667859e-02 1.25155672e+02] [-2.42743358e-01 9.70064139e-01 -7.15739627e-03 -2.13340998e+01] [-3.27479882e-02 -8.20359873e-04 9.99463304e-01 -3.94508860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:125.18, Y:-21.34, Z:-3.95 [[ 9.69627298e-01 2.42494769e-01 3.19247646e-02 1.25184674e+02] [-2.42390765e-01 9.70152377e-01 -7.14723036e-03 -2.13391178e+01] [-3.27050522e-02 -8.08118452e-04 9.99464720e-01 -3.94692503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27401273899997 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:125.21, Y:-21.34, Z:-3.95 [[ 9.69712323e-01 2.42334715e-01 3.05269831e-02 1.25213619e+02] [-2.42239553e-01 9.70192402e-01 -6.83394292e-03 -2.13427081e+01] [-3.12731487e-02 -7.67884070e-04 9.99510580e-01 -3.94788358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:125.24, Y:-21.35, Z:-3.95 [[ 9.69662606e-01 2.42555617e-01 3.03513124e-02 1.25240908e+02] [-2.42461689e-01 9.70137195e-01 -6.79352530e-03 -2.13470313e+01] [-3.10927448e-02 -7.71603032e-04 9.99516206e-01 -3.94860310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33401273899997 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:125.27, Y:-21.35, Z:-3.95 [[ 9.69503620e-01 2.43131131e-01 3.08218261e-02 1.25269459e+02] [-2.43034617e-01 9.69993096e-01 -6.89698080e-03 -2.13511811e+01] [-3.15738292e-02 -8.04122849e-04 9.99501099e-01 -3.94898067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:125.30, Y:-21.35, Z:-3.95 [[ 9.69021249e-01 2.44849575e-01 3.23497112e-02 1.25298726e+02] [-2.44744265e-01 9.69560657e-01 -7.23721694e-03 -2.13534392e+01] [-3.31370367e-02 -9.04389268e-04 9.99450408e-01 -3.94869949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39401273899998 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:125.33, Y:-21.36, Z:-3.95 [[ 9.68901826e-01 2.45237058e-01 3.29854028e-02 1.25326008e+02] [-2.45127849e-01 9.69462690e-01 -7.37773985e-03 -2.13570354e+01] [-3.37874126e-02 -9.37335225e-04 9.99428603e-01 -3.94973852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:125.35, Y:-21.36, Z:-3.95 [[ 9.68928255e-01 2.45107124e-01 3.31742919e-02 1.25354571e+02] [-2.44996654e-01 9.69495546e-01 -7.41791354e-03 -2.13597338e+01] [-3.39805117e-02 -9.40164499e-04 9.99422053e-01 -3.95146218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45401273899998 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:125.38, Y:-21.36, Z:-3.95 [[ 9.69066620e-01 2.44610669e-01 3.27949160e-02 1.25382411e+02] [-2.44502482e-01 9.69620950e-01 -7.33149199e-03 -2.13643900e+01] [-3.35919988e-02 -9.13734184e-04 9.99435212e-01 -3.95255667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:125.41, Y:-21.37, Z:-3.95 [[ 9.69090759e-01 2.44549145e-01 3.25394750e-02 1.25410974e+02] [-2.44442666e-01 9.69636475e-01 -7.27247161e-03 -2.13691449e+01] [-3.33299386e-02 -9.06350992e-04 9.99443992e-01 -3.95308001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51401273899998 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:125.44, Y:-21.37, Z:-3.95 [[ 9.69035322e-01 2.44712037e-01 3.29630575e-02 1.25438994e+02] [-2.44602916e-01 9.69595360e-01 -7.36551777e-03 -2.13703072e+01] [-3.37632585e-02 -9.25413117e-04 9.99429430e-01 -3.95431248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:125.47, Y:-21.37, Z:-3.96 [[ 9.68763349e-01 2.45906194e-01 3.20580346e-02 1.25467022e+02] [-2.45803702e-01 9.69293173e-01 -7.16129881e-03 -2.13718548e+01] [-3.28346418e-02 -9.42379770e-04 9.99460354e-01 -3.95575115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57401273899998 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:125.49, Y:-21.38, Z:-3.96 [[ 9.68678106e-01 2.46335437e-01 3.13301733e-02 1.25494714e+02] [-2.46237840e-01 9.69184180e-01 -6.99659872e-03 -2.13759688e+01] [-3.20882185e-02 -9.37222183e-04 9.99484601e-01 -3.95694313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:125.52, Y:-21.38, Z:-3.96 [[ 9.68694043e-01 2.46303229e-01 3.10897332e-02 1.25523027e+02] [-2.46207174e-01 9.69192371e-01 -6.94079191e-03 -2.13800196e+01] [-3.18414717e-02 -9.31011587e-04 9.99492498e-01 -3.95778241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63401273899999 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:125.55, Y:-21.38, Z:-3.96 [[ 9.68749846e-01 2.45990849e-01 3.18156906e-02 1.25550966e+02] [-2.45890141e-01 9.69271691e-01 -7.10123508e-03 -2.13817465e+01] [-3.25848871e-02 -9.43844245e-04 9.99468526e-01 -3.95838303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:125.58, Y:-21.39, Z:-3.96 [[ 9.68763580e-01 2.45818951e-01 3.27134561e-02 1.25578779e+02] [-2.45712449e-01 9.69315279e-01 -7.29953306e-03 -2.13859934e+01] [-3.35040164e-02 -9.66581648e-04 9.99438115e-01 -3.95903601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694012739 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:125.61, Y:-21.39, Z:-3.96 [[ 9.68933661e-01 2.44999480e-01 3.38055480e-02 1.25606370e+02] [-2.44885335e-01 9.69522723e-01 -7.54072064e-03 -2.13874415e+01] [-3.46227195e-02 -9.72024890e-04 9.99399981e-01 -3.96028613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:125.63, Y:-21.39, Z:-3.96 [[ 9.69063231e-01 2.44616600e-01 3.28507783e-02 1.25634855e+02] [-2.44508680e-01 9.69619434e-01 -7.32515935e-03 -2.13902155e+01] [-3.36446086e-02 -9.33757859e-04 9.99433424e-01 -3.96145442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754012739 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:125.66, Y:-21.39, Z:-3.96 [[ 9.69218336e-01 2.44163672e-01 3.16214825e-02 1.25663219e+02] [-2.44063507e-01 9.69733632e-01 -7.04892429e-03 -2.13931983e+01] [-3.23855063e-02 -8.85703270e-04 9.99475059e-01 -3.96332389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:125.69, Y:-21.39, Z:-3.96 [[ 9.69881314e-01 2.41735807e-01 2.99004433e-02 1.25691088e+02] [-2.41645158e-01 9.70341805e-01 -6.66330279e-03 -2.13944264e+01] [-3.06244090e-02 -7.62684480e-04 9.99530672e-01 -3.96473744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814012739 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:125.72, Y:-21.40, Z:-3.97 [[ 9.70768228e-01 2.38010552e-01 3.09842513e-02 1.25718012e+02] [-2.37911386e-01 9.71262337e-01 -6.90254476e-03 -2.13961681e+01] [-3.17367148e-02 -6.70735047e-04 9.99496039e-01 -3.96535653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:125.75, Y:-21.40, Z:-3.97 [[ 9.71308636e-01 2.35698641e-01 3.17125129e-02 1.25745466e+02] [-2.35593612e-01 9.71826001e-01 -7.06212579e-03 -2.14004692e+01] [-3.24835780e-02 -6.11761692e-04 9.99472082e-01 -3.96643767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:125.77, Y:-21.41, Z:-3.97 [[ 9.71735004e-01 2.33922660e-01 3.18005043e-02 1.25772498e+02] [-2.33816172e-01 9.72255049e-01 -7.07940143e-03 -2.14054062e+01] [-3.25742332e-02 -5.56169988e-04 9.99469164e-01 -3.96701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:125.80, Y:-21.41, Z:-3.97 [[ 9.72421767e-01 2.31047081e-01 3.18300748e-02 1.25799960e+02] [-2.30938940e-01 9.72942461e-01 -7.08332967e-03 -2.14087746e+01] [-3.26054140e-02 -4.62819797e-04 9.99468195e-01 -3.96705931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934012739 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:125.83, Y:-21.41, Z:-3.97 [[ 9.72490515e-01 2.30749009e-01 3.18919111e-02 1.25827664e+02] [-2.30640359e-01 9.73013200e-01 -7.09491586e-03 -2.14132885e+01] [-3.26683953e-02 -4.55823438e-04 9.99466142e-01 -3.96748974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:125.86, Y:-21.42, Z:-3.97 [[ 9.72328672e-01 2.31355826e-01 3.24258362e-02 1.25855150e+02] [-2.31243922e-01 9.72869079e-01 -7.21136513e-03 -2.14161121e+01] [-3.32144848e-02 -4.86460452e-04 9.99448128e-01 -3.96886123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994012739 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:125.88, Y:-21.42, Z:-3.97 [[ 9.72142186e-01 2.32006622e-01 3.33541131e-02 1.25882572e+02] [-2.31888693e-01 9.72714064e-01 -7.41504828e-03 -2.14210074e+01] [-3.41643552e-02 -5.25960468e-04 9.99416090e-01 -3.96952033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:125.91, Y:-21.43, Z:-3.97 [[ 9.72007225e-01 2.32423384e-01 3.43704180e-02 1.25909627e+02] [-2.32298512e-01 9.72614547e-01 -7.63834309e-03 -2.14255736e+01] [-3.52044980e-02 -5.59672272e-04 9.99379973e-01 -3.96997942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05401273899997 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:125.94, Y:-21.43, Z:-3.97 [[ 9.71899388e-01 2.32752211e-01 3.51850498e-02 1.25937374e+02] [-2.32621671e-01 9.72535893e-01 -7.81636414e-03 -2.14297892e+01] [-3.60379999e-02 -5.88085574e-04 9.99350247e-01 -3.96973990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:125.96, Y:-21.44, Z:-3.97 [[ 9.72021939e-01 2.32296860e-01 3.48068778e-02 1.25964118e+02] [-2.32168913e-01 9.72644769e-01 -7.72976610e-03 -2.14351163e+01] [-3.56503280e-02 -5.67572738e-04 9.99364164e-01 -3.97055544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11401273899997 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:125.99, Y:-21.44, Z:-3.97 [[ 9.72428590e-01 2.30649655e-01 3.44001968e-02 1.25990295e+02] [-2.30523756e-01 9.73036732e-01 -7.63646321e-03 -2.14413426e+01] [-3.52340027e-02 -5.04147402e-04 9.99378963e-01 -3.97320730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:126.02, Y:-21.45, Z:-3.97 [[ 9.72581329e-01 2.29956015e-01 3.47244683e-02 1.26017839e+02] [-2.29827417e-01 9.73200901e-01 -7.70485157e-03 -2.14473224e+01] [-3.55656608e-02 -4.87040070e-04 9.99367223e-01 -3.97361758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17401273899998 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:126.04, Y:-21.45, Z:-3.97 [[ 9.72664438e-01 2.29551685e-01 3.50701417e-02 1.26044954e+02] [-2.29420341e-01 9.73296355e-01 -7.77900479e-03 -2.14530870e+01] [-3.59193247e-02 -4.79442542e-04 9.99354578e-01 -3.97357030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:126.07, Y:-21.46, Z:-3.97 [[ 9.72409798e-01 2.30608907e-01 3.51954214e-02 1.26071302e+02] [-2.30477408e-01 9.73046381e-01 -7.80420900e-03 -2.14583149e+01] [-3.60464975e-02 -5.22860217e-04 9.99349977e-01 -3.97416355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23401273899998 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:126.10, Y:-21.46, Z:-3.98 [[ 9.72147228e-01 2.31850041e-01 3.42830075e-02 1.26099026e+02] [-2.31726141e-01 9.72751381e-01 -7.59914774e-03 -2.14644343e+01] [-3.51107056e-02 -5.56778630e-04 9.99383274e-01 -3.97592740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:126.13, Y:-21.47, Z:-3.98 [[ 9.72173301e-01 2.31740612e-01 3.42835608e-02 1.26126860e+02] [-2.31616732e-01 9.72777457e-01 -7.59665075e-03 -2.14704385e+01] [-3.51107276e-02 -5.55385279e-04 9.99383274e-01 -3.97681356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29401273899998 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:126.15, Y:-21.48, Z:-3.98 [[ 9.71872475e-01 2.33206934e-01 3.28392928e-02 1.26154496e+02] [-2.33094232e-01 9.72426955e-01 -7.27301690e-03 -2.14764198e+01] [-3.36299315e-02 -5.86204803e-04 9.99434182e-01 -3.97758007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:126.18, Y:-21.48, Z:-3.98 [[ 9.71348922e-01 2.35535535e-01 3.16904218e-02 1.26181070e+02] [-2.35431891e-01 9.71865523e-01 -7.01639401e-03 -2.14800480e+01] [-3.24514385e-02 -6.45569181e-04 9.99473105e-01 -3.97953685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35401273899998 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:126.21, Y:-21.48, Z:-3.98 [[ 9.71094631e-01 2.36532167e-01 3.20585802e-02 1.26208498e+02] [-2.36426729e-01 9.71623414e-01 -7.09525965e-03 -2.14841106e+01] [-3.28271243e-02 -6.89336725e-04 9.99460807e-01 -3.98034829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:126.24, Y:-21.49, Z:-3.98 [[ 9.70671019e-01 2.38254984e-01 3.21299810e-02 1.26237014e+02] [-2.38150096e-01 9.71202346e-01 -7.10874961e-03 -2.14856495e+01] [-3.28984080e-02 -7.51500820e-04 9.99458418e-01 -3.98103444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414012739 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:126.26, Y:-21.49, Z:-3.98 [[ 9.70587681e-01 2.38654771e-01 3.16773232e-02 1.26263946e+02] [-2.38553104e-01 9.71104180e-01 -7.00634296e-03 -2.14886981e+01] [-3.24340782e-02 -7.56453602e-04 9.99473591e-01 -3.98107648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:126.29, Y:-21.49, Z:-3.98 [[ 9.70616504e-01 2.38552839e-01 3.15617649e-02 1.26292429e+02] [-2.38451943e-01 9.71129227e-01 -6.97817864e-03 -2.14913377e+01] [-3.23152167e-02 -7.52828796e-04 9.99477443e-01 -3.98268109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:126.32, Y:-21.49, Z:-3.98 [[ 9.71060941e-01 2.36713574e-01 3.17385136e-02 1.26319917e+02] [-2.36610639e-01 9.71579228e-01 -7.01487250e-03 -2.14907773e+01] [-3.24969961e-02 -6.97801280e-04 9.99471590e-01 -3.98394742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:126.35, Y:-21.49, Z:-3.98 [[ 9.71573385e-01 2.34521347e-01 3.23248299e-02 1.26347758e+02] [-2.34413453e-01 9.72110760e-01 -7.14165490e-03 -2.14939500e+01] [-3.30981855e-02 -6.38733148e-04 9.99451901e-01 -3.98440102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534012739 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:126.37, Y:-21.50, Z:-3.99 [[ 9.72983280e-01 2.28465135e-01 3.32748919e-02 1.26374705e+02] [-2.28347343e-01 9.73551992e-01 -7.34909793e-03 -2.14958805e+01] [-3.40738499e-02 -4.47683745e-04 9.99419218e-01 -3.98523803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:126.40, Y:-21.50, Z:-3.99 [[ 9.73757474e-01 2.25100650e-01 3.35571171e-02 1.26401507e+02] [-2.24978948e-01 9.74335458e-01 -7.40864031e-03 -2.14999147e+01] [-3.43635788e-02 -3.35426031e-04 9.99409342e-01 -3.98561966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594012739 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:126.43, Y:-21.50, Z:-3.99 [[ 9.74426145e-01 2.22125025e-01 3.39729531e-02 1.26429398e+02] [-2.21998575e-01 9.75018163e-01 -7.49766822e-03 -2.15043943e+01] [-3.47896660e-02 -2.36023234e-04 9.99394628e-01 -3.98608200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:126.46, Y:-21.51, Z:-3.99 [[ 9.75246978e-01 2.18377832e-01 3.47052378e-02 1.26457409e+02] [-2.18243587e-01 9.75864289e-01 -7.65672850e-03 -2.15075975e+01] [-3.55396619e-02 -1.06994257e-04 9.99368261e-01 -3.98756845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654012739 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:126.48, Y:-21.51, Z:-3.99 [[ 9.75436403e-01 2.17582258e-01 3.43770902e-02 1.26484719e+02] [-2.17450133e-01 9.76041984e-01 -7.58187750e-03 -2.15121597e+01] [-3.52031654e-02 -7.96635310e-05 9.99380173e-01 -3.98892540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:126.51, Y:-21.52, Z:-3.99 [[ 9.75555426e-01 2.17150553e-01 3.37231046e-02 1.26511613e+02] [-2.17023234e-01 9.76138122e-01 -7.43523026e-03 -2.15163625e+01] [-3.45329723e-02 -6.52179871e-05 9.99403557e-01 -3.99020524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714012739 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:126.54, Y:-21.52, Z:-3.99 [[ 9.75676789e-01 2.16599053e-01 3.37587472e-02 1.26538538e+02] [-2.16471230e-01 9.76260646e-01 -7.44032156e-03 -2.15221474e+01] [-3.45689029e-02 -4.84484781e-05 9.99402316e-01 -3.99133701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:126.57, Y:-21.53, Z:-3.99 [[ 9.75874130e-01 2.15751852e-01 3.34786632e-02 1.26565219e+02] [-2.15625726e-01 9.76448226e-01 -7.37620461e-03 -2.15282492e+01] [-3.42816111e-02 -2.06138083e-05 9.99412213e-01 -3.99241890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77401273899997 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:126.59, Y:-21.53, Z:-3.99 [[ 9.76425329e-01 2.13091236e-01 3.44340313e-02 1.26591688e+02] [-2.12956253e-01 9.77032302e-01 -7.58380107e-03 -2.15341873e+01] [-3.52592024e-02 7.20731618e-05 9.99378198e-01 -3.99285142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:126.62, Y:-21.54, Z:-3.99 [[ 9.76638783e-01 2.12040899e-01 3.48618007e-02 1.26619191e+02] [-2.11901973e-01 9.77260787e-01 -7.67518418e-03 -2.15403141e+01] [-3.56965238e-02 1.08598175e-04 9.99362670e-01 -3.99389462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83401273899997 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:126.65, Y:-21.55, Z:-4.00 [[ 9.76883327e-01 2.11061325e-01 3.39423337e-02 1.26646222e+02] [-2.10929124e-01 9.77472812e-01 -7.47037418e-03 -2.15458756e+01] [-3.47544154e-02 1.38257255e-04 9.99395873e-01 -3.99584134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:126.67, Y:-21.55, Z:-4.00 [[ 9.76941698e-01 2.10946303e-01 3.29632518e-02 1.26673034e+02] [-2.10821639e-01 9.77497641e-01 -7.25245000e-03 -2.15513505e+01] [-3.37513784e-02 1.35854053e-04 9.99430251e-01 -3.99661718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89401273899998 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:126.70, Y:-21.56, Z:-4.00 [[ 9.76990513e-01 2.10780119e-01 3.25772625e-02 1.26699984e+02] [-2.10658358e-01 9.77533489e-01 -7.16474728e-03 -2.15571877e+01] [-3.33555514e-02 1.37217477e-04 9.99443539e-01 -3.99804512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:126.73, Y:-21.56, Z:-4.00 [[ 9.77284252e-01 2.09286859e-01 3.33841447e-02 1.26726879e+02] [-2.09158205e-01 9.77854270e-01 -7.33969413e-03 -2.15641103e+01] [-3.41809299e-02 1.90399723e-04 9.99415643e-01 -3.99852491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95401273899998 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:126.75, Y:-21.57, Z:-4.00 [[ 9.77503527e-01 2.08215204e-01 3.36642860e-02 1.26753425e+02] [-2.08083834e-01 9.78083011e-01 -7.39870129e-03 -2.15707815e+01] [-3.44669884e-02 2.27262904e-04 9.99405811e-01 -3.99902864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:126.78, Y:-21.58, Z:-4.00 [[ 9.77832737e-01 2.06621260e-01 3.39233521e-02 1.26779518e+02] [-2.06487005e-01 9.78420960e-01 -7.45261071e-03 -2.15787444e+01] [-3.47311866e-02 2.82675335e-04 9.99396650e-01 -4.00079915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01401273899998 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:126.81, Y:-21.59, Z:-3.99 [[ 9.78056136e-01 2.05705407e-01 3.30375513e-02 1.26806909e+02] [-2.05577662e-01 9.78613914e-01 -7.25475793e-03 -2.15861794e+01] [-3.38233504e-02 3.03777940e-04 9.99427781e-01 -3.99238984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:126.83, Y:-21.59, Z:-4.00 [[ 9.78174601e-01 2.04936614e-01 3.42845948e-02 1.26833623e+02] [-2.04798659e-01 9.78775188e-01 -7.52601358e-03 -2.15936369e+01] [-3.50992665e-02 3.40316303e-04 9.99383773e-01 -4.00184664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07401273899998 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:126.86, Y:-21.60, Z:-4.00 [[ 9.78257108e-01 2.04462642e-01 3.47571261e-02 1.26860743e+02] [-2.04320637e-01 9.78874302e-01 -7.62752683e-03 -2.15995255e+01] [-3.55824019e-02 3.60084196e-04 9.99366681e-01 -4.00213575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:126.89, Y:-21.61, Z:-4.00 [[ 9.78197792e-01 2.04721830e-01 3.49006003e-02 1.26886621e+02] [-2.04578906e-01 9.78820132e-01 -7.65644591e-03 -2.16057492e+01] [-3.57288518e-02 3.49591864e-04 9.99361460e-01 -4.00365883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13401273899999 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:126.91, Y:-21.61, Z:-4.01 [[ 9.77877605e-01 2.06523956e-01 3.32151208e-02 1.26913934e+02] [-2.06395635e-01 9.78441508e-01 -7.28407273e-03 -2.16132086e+01] [-3.40033884e-02 2.67475638e-04 9.99421682e-01 -4.00672572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:126.94, Y:-21.62, Z:-4.01 [[ 9.77684567e-01 2.07603597e-01 3.21501709e-02 1.26939988e+02] [-2.07484033e-01 9.78213013e-01 -7.04826948e-03 -2.16187565e+01] [-3.29129616e-02 2.20337186e-04 9.99458197e-01 -4.00756032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:126.97, Y:-21.62, Z:-4.01 [[ 9.77367865e-01 2.09042502e-01 3.24543968e-02 1.26967652e+02] [-2.08921547e-01 9.77906541e-01 -7.11224836e-03 -2.16244081e+01] [-3.32241291e-02 1.70860212e-04 9.99447912e-01 -4.00800244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:127.00, Y:-21.63, Z:-4.00 [[ 9.77416017e-01 2.08778725e-01 3.27012705e-02 1.26995141e+02] [-2.08655854e-01 9.77962889e-01 -7.16397998e-03 -2.16312211e+01] [-3.34763156e-02 1.78877256e-04 9.99439495e-01 -3.99989196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254012739 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:127.02, Y:-21.64, Z:-4.01 [[ 9.77387362e-01 2.08685229e-01 3.41236048e-02 1.27020702e+02] [-2.08551466e-01 9.77982842e-01 -7.47301501e-03 -2.16371432e+01] [-3.49318079e-02 1.87502620e-04 9.99389681e-01 -4.00898350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:127.05, Y:-21.64, Z:-4.00 [[ 9.77785229e-01 2.06778144e-01 3.43343152e-02 1.27047778e+02] [-2.06641634e-01 9.78387824e-01 -7.51667837e-03 -2.16437818e+01] [-3.51465607e-02 2.54798070e-04 9.99382136e-01 -4.00292255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314012739 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:127.07, Y:-21.65, Z:-4.01 [[ 9.77950477e-01 2.05930067e-01 3.47228014e-02 1.27074019e+02] [-2.05790003e-01 9.78566669e-01 -7.59925583e-03 -2.16507059e+01] [-3.55434914e-02 2.86090442e-04 9.99368090e-01 -4.01208450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:127.10, Y:-21.66, Z:-4.00 [[ 9.78788328e-01 2.02291594e-01 3.24271451e-02 1.27101267e+02] [-2.02167505e-01 9.79325258e-01 -7.09506399e-03 -2.16607636e+01] [-3.31919940e-02 3.88850803e-04 9.99448918e-01 -4.00297864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:127.13, Y:-21.67, Z:-4.01 [[ 9.79059513e-01 2.00915669e-01 3.27927329e-02 1.27128063e+02] [-2.00788047e-01 9.79608443e-01 -7.17346018e-03 -2.16688038e+01] [-3.35652985e-02 4.38855638e-04 9.99436430e-01 -4.01476919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:127.16, Y:-21.68, Z:-4.02 [[ 9.79352425e-01 1.99436247e-01 3.30758457e-02 1.27156341e+02] [-1.99305638e-01 9.79910680e-01 -7.23333404e-03 -2.16767810e+01] [-3.38539634e-02 4.91780711e-04 9.99426669e-01 -4.01516758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434012739 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:127.18, Y:-21.69, Z:-4.01 [[ 9.79640024e-01 1.97872206e-01 3.39413138e-02 1.27183368e+02] [-1.97733788e-01 9.80227666e-01 -7.42098773e-03 -2.16861334e+01] [-3.47386221e-02 5.58552053e-04 9.99396276e-01 -4.01433170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:127.21, Y:-21.69, Z:-4.01 [[ 9.79503066e-01 1.98474672e-01 3.43736539e-02 1.27211304e+02] [-1.98333132e-01 9.80105867e-01 -7.51390241e-03 -2.16948095e+01] [-3.51811391e-02 5.42456037e-04 9.99380805e-01 -4.01464251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494012739 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:127.24, Y:-21.71, Z:-4.01 [[ 9.78790925e-01 2.01786346e-01 3.53637715e-02 1.27238398e+02] [-2.01638753e-01 9.79429468e-01 -7.72860176e-03 -2.17052379e+01] [-3.61958462e-02 4.33978486e-04 9.99344621e-01 -4.01463038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:127.27, Y:-21.71, Z:-4.02 [[ 9.78263294e-01 2.04263144e-01 3.57420707e-02 1.27265478e+02] [-2.04114092e-01 9.78915956e-01 -7.80948494e-03 -2.17115648e+01] [-3.65836733e-02 3.44272151e-04 9.99330534e-01 -4.01514375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55401273899997 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:127.29, Y:-21.72, Z:-4.02 [[ 9.77656086e-01 2.07111965e-01 3.59612480e-02 1.27294224e+02] [-2.06963081e-01 9.78317217e-01 -7.85528271e-03 -2.17172463e+01] [-3.68084311e-02 2.37114273e-04 9.99322312e-01 -4.01625110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:127.32, Y:-21.72, Z:-4.02 [[ 9.76371102e-01 2.13186921e-01 3.53667591e-02 1.27321494e+02] [-2.13046962e-01 9.77011431e-01 -7.72369296e-03 -2.17213990e+01] [-3.62003182e-02 6.41001456e-06 9.99344554e-01 -4.01734986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61401273899997 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:127.35, Y:-21.73, Z:-4.02 [[ 9.75828866e-01 2.15706592e-01 3.50526889e-02 1.27347633e+02] [-2.15570818e-01 9.76458222e-01 -7.65271928e-03 -2.17264496e+01] [-3.58782282e-02 -8.85924349e-05 9.99356165e-01 -4.01854102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:127.38, Y:-21.73, Z:-4.02 [[ 9.75070783e-01 2.18921034e-01 3.62014988e-02 1.27376032e+02] [-2.18778558e-01 9.75742555e-01 -7.89992764e-03 -2.17288683e+01] [-3.70528032e-02 -2.17123077e-04 9.99313286e-01 -4.01832592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67401273899998 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:127.40, Y:-21.73, Z:-4.02 [[ 9.74858728e-01 2.19804087e-01 3.65598651e-02 1.27403101e+02] [-2.19659495e-01 9.75544001e-01 -7.97548077e-03 -2.17323956e+01] [-3.74188003e-02 -2.55754452e-04 9.99299639e-01 -4.01935376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:127.43, Y:-21.74, Z:-4.02 [[ 9.74767627e-01 2.20267725e-01 3.61967141e-02 1.27430460e+02] [-2.20126417e-01 9.75439416e-01 -7.89343215e-03 -2.17362394e+01] [-3.70463700e-02 -2.73590851e-04 9.99313510e-01 -4.02039412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73401273899998 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:127.46, Y:-21.74, Z:-4.02 [[ 9.74715450e-01 2.20638527e-01 3.53331457e-02 1.27457484e+02] [-2.20504212e-01 9.75355607e-01 -7.70273824e-03 -2.17392902e+01] [-3.61619026e-02 -2.83129491e-04 9.99345904e-01 -4.02332059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:127.49, Y:-21.74, Z:-4.02 [[ 9.74786767e-01 2.20351689e-01 3.51552467e-02 1.27485264e+02] [-2.20218634e-01 9.75420452e-01 -7.66126241e-03 -2.17438072e+01] [-3.59793188e-02 -2.73743201e-04 9.99352497e-01 -4.02456443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79401273899998 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:127.51, Y:-21.75, Z:-4.03 [[ 9.75079916e-01 2.19074821e-01 3.50054227e-02 1.27512256e+02] [-2.18942165e-01 9.75708036e-01 -7.62610428e-03 -2.17462935e+01] [-3.58257596e-02 -2.28101913e-04 9.99358025e-01 -4.02546844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:127.54, Y:-21.75, Z:-4.03 [[ 9.75256083e-01 2.18355000e-01 3.45928555e-02 1.27539924e+02] [-2.18225099e-01 9.75869383e-01 -7.53346928e-03 -2.17510102e+01] [-3.54030792e-02 -2.01967558e-04 9.99373094e-01 -4.02652353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85401273899998 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:127.57, Y:-21.76, Z:-4.03 [[ 9.75419692e-01 2.17777543e-01 3.36060499e-02 1.27566237e+02] [-2.17654687e-01 9.75998417e-01 -7.31621834e-03 -2.17555299e+01] [-3.43927596e-02 -1.78130853e-04 9.99408378e-01 -4.02784397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:127.59, Y:-21.76, Z:-4.03 [[ 9.75396989e-01 2.17998292e-01 3.28246646e-02 1.27593211e+02] [-2.17881301e-01 9.75949133e-01 -7.14338159e-03 -2.17581070e+01] [-3.35924480e-02 -1.84247726e-04 9.99435597e-01 -4.02930348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914012739 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:127.62, Y:-21.76, Z:-4.03 [[ 9.75249208e-01 2.18613706e-01 3.31214283e-02 1.27620940e+02] [-2.18495075e-01 9.75811459e-01 -7.20410365e-03 -2.17625027e+01] [-3.38951850e-02 -2.11072571e-04 9.99425371e-01 -4.03043235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:127.65, Y:-21.77, Z:-4.03 [[ 9.75049534e-01 2.19423634e-01 3.36403707e-02 1.27647845e+02] [-2.19301825e-01 9.75629647e-01 -7.31445324e-03 -2.17650764e+01] [-3.44255069e-02 -2.45440461e-04 9.99407236e-01 -4.03199582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974012739 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:127.68, Y:-21.77, Z:-4.03 [[ 9.75061978e-01 2.19352951e-01 3.37405133e-02 1.27675987e+02] [-2.19230470e-01 9.75645541e-01 -7.33339246e-03 -2.17689326e+01] [-3.45273827e-02 -2.46436447e-04 9.99403722e-01 -4.03286511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:127.70, Y:-21.77, Z:-4.03 [[ 9.75261155e-01 2.18539088e-01 3.32618003e-02 1.27703665e+02] [-2.18419673e-01 9.75828171e-01 -7.22679772e-03 -2.17700277e+01] [-3.40371396e-02 -2.17016459e-04 9.99420545e-01 -4.03371760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034012739 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:127.73, Y:-21.77, Z:-4.04 [[ 9.75419325e-01 2.17903878e-01 3.27878153e-02 1.27731878e+02] [-2.17787609e-01 9.75970215e-01 -7.12008958e-03 -2.17739153e+01] [-3.35514263e-02 -1.95706941e-04 9.99436973e-01 -4.03504218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:127.76, Y:-21.78, Z:-4.04 [[ 9.75589457e-01 2.17279430e-01 3.18568818e-02 1.27760129e+02] [-2.17169410e-01 9.76109430e-01 -6.91573910e-03 -2.17779815e+01] [-3.25984506e-02 -1.71418073e-04 9.99468515e-01 -4.03609938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094012739 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:127.79, Y:-21.78, Z:-4.04 [[ 9.75864067e-01 2.16040109e-01 3.18746532e-02 1.27787149e+02] [-2.15929382e-01 9.76384481e-01 -6.91723951e-03 -2.17806429e+01] [-3.26163179e-02 -1.32388675e-04 9.99467938e-01 -4.03754650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:127.82, Y:-21.78, Z:-4.04 [[ 9.75930801e-01 2.15578011e-01 3.29422544e-02 1.27815336e+02] [-2.15459573e-01 9.76486613e-01 -7.14606885e-03 -2.17846308e+01] [-3.37082057e-02 -1.23655362e-04 9.99431709e-01 -4.03810374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154012739 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:127.84, Y:-21.79, Z:-4.04 [[ 9.75861135e-01 2.15728270e-01 3.40052814e-02 1.27843101e+02] [-2.15602250e-01 9.76453427e-01 -7.37392186e-03 -2.17855426e+01] [-3.47953370e-02 -1.35691444e-04 9.99394450e-01 -4.03808660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:127.87, Y:-21.79, Z:-4.04 [[ 9.75885730e-01 2.15616841e-01 3.40061849e-02 1.27870955e+02] [-2.15490899e-01 9.76478038e-01 -7.36975298e-03 -2.17914226e+01] [-3.47953356e-02 -1.35986585e-04 9.99394450e-01 -4.03897281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214012739 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:127.90, Y:-21.79, Z:-4.04 [[ 9.75838574e-01 2.15874101e-01 3.37261075e-02 1.27898015e+02] [-2.15750518e-01 9.76421195e-01 -7.30502903e-03 -2.17947568e+01] [-3.45078527e-02 -1.47896025e-04 9.99404416e-01 -4.03923079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:127.93, Y:-21.80, Z:-4.04 [[ 9.75693713e-01 2.16462394e-01 3.41439695e-02 1.27926179e+02] [-2.16336235e-01 9.76290941e-01 -7.39133568e-03 -2.17960970e+01] [-3.49343943e-02 -1.74898053e-04 9.99389592e-01 -4.04121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27401273899997 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:127.95, Y:-21.80, Z:-4.04 [[ 9.75677175e-01 2.16436768e-01 3.47731987e-02 1.27954110e+02] [-2.16305992e-01 9.76296621e-01 -7.52496002e-03 -2.17996510e+01] [-3.55776344e-02 -1.79719492e-04 9.99366899e-01 -4.04135326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:127.98, Y:-21.80, Z:-4.04 [[ 9.75576292e-01 2.16781967e-01 3.54468242e-02 1.27981593e+02] [-2.16646397e-01 9.76220026e-01 -7.66809001e-03 -2.18034595e+01] [-3.62662033e-02 -1.98619921e-04 9.99342145e-01 -4.04185901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33401273899997 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:128.01, Y:-21.81, Z:-4.04 [[ 9.75280428e-01 2.18241751e-01 3.46211564e-02 1.28009279e+02] [-2.18113432e-01 9.75894705e-01 -7.48699263e-03 -2.18068493e+01] [-3.54205777e-02 -2.49421859e-04 9.99372463e-01 -4.04252146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:128.04, Y:-21.81, Z:-4.04 [[ 9.75149879e-01 2.18925804e-01 3.39736052e-02 1.28036572e+02] [-2.18802740e-01 9.75741471e-01 -7.34451975e-03 -2.18111634e+01] [-3.47573604e-02 -2.71510375e-04 9.99395744e-01 -4.04395463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39401273899998 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:128.06, Y:-21.81, Z:-4.04 [[ 9.75020795e-01 2.19489908e-01 3.40386445e-02 1.28064856e+02] [-2.19366804e-01 9.75614726e-01 -7.35607574e-03 -2.18119674e+01] [-3.48231872e-02 -2.94621823e-04 9.99393445e-01 -4.04485852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:128.09, Y:-21.81, Z:-4.05 [[ 9.75091322e-01 2.19078867e-01 3.46606925e-02 1.28091522e+02] [-2.18951057e-01 9.75707111e-01 -7.48781043e-03 -2.18149830e+01] [-3.54591052e-02 -2.87696313e-04 9.99371087e-01 -4.04567692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45401273899998 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:128.12, Y:-21.82, Z:-4.05 [[ 9.75551323e-01 2.16971588e-01 3.49706396e-02 1.28119176e+02] [-2.16840235e-01 9.76177895e-01 -7.55175731e-03 -2.18188193e+01] [-3.57760821e-02 -2.15914856e-04 9.99359808e-01 -4.04630241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:128.15, Y:-21.82, Z:-4.05 [[ 9.76007744e-01 2.14934149e-01 3.48165892e-02 1.28146908e+02] [-2.14802747e-01 9.76628533e-01 -7.51591158e-03 -2.18242448e+01] [-3.56183005e-02 -1.43111087e-04 9.99365457e-01 -4.04781069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51401273899998 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:128.17, Y:-21.83, Z:-4.05 [[ 9.76532671e-01 2.12586481e-01 3.45098612e-02 1.28173338e+02] [-2.12456017e-01 9.77142254e-01 -7.44688486e-03 -2.18292289e+01] [-3.53041506e-02 -5.97012936e-05 9.99376612e-01 -4.04823148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:128.20, Y:-21.83, Z:-4.05 [[ 9.77311304e-01 2.09153506e-01 3.34279320e-02 1.28200870e+02] [-2.09029231e-01 9.77882819e-01 -7.20921531e-03 -2.18345648e+01] [-3.41964331e-02 5.82326658e-05 9.99415129e-01 -4.04972640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57401273899998 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:128.23, Y:-21.84, Z:-4.05 [[ 9.77665425e-01 2.07564691e-01 3.29729651e-02 1.28228123e+02] [-2.07442954e-01 9.78221287e-01 -7.10871826e-03 -2.18397359e+01] [-3.37303753e-02 1.09938769e-04 9.99430963e-01 -4.05022533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:128.26, Y:-21.84, Z:-4.05 [[ 9.78077204e-01 2.05634180e-01 3.28567598e-02 1.28256127e+02] [-2.05512290e-01 9.78628915e-01 -7.08128162e-03 -2.18444339e+01] [-3.36107287e-02 1.73572186e-04 9.99434985e-01 -4.05082353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63401273899999 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:128.28, Y:-21.85, Z:-4.05 [[ 9.78100033e-01 2.05528105e-01 3.28408837e-02 1.28283049e+02] [-2.05406354e-01 9.78651198e-01 -7.07545758e-03 -2.18495899e+01] [-3.35939755e-02 1.74779121e-04 9.99435548e-01 -4.05213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:128.31, Y:-21.85, Z:-4.05 [[ 9.77956372e-01 2.06198262e-01 3.29182619e-02 1.28310725e+02] [-2.06076408e-01 9.78510222e-01 -7.08938888e-03 -2.18549088e+01] [-3.36726754e-02 1.49435868e-04 9.99432904e-01 -4.05310658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694012739 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:128.34, Y:-21.86, Z:-4.05 [[ 9.77791223e-01 2.06901863e-01 3.34057367e-02 1.28336962e+02] [-2.06776869e-01 9.78361694e-01 -7.19186670e-03 -2.18596061e+01] [-3.41709038e-02 1.24610485e-04 9.99415996e-01 -4.05379499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:128.36, Y:-21.86, Z:-4.05 [[ 9.77626469e-01 2.07644986e-01 3.36161774e-02 1.28364187e+02] [-2.07518948e-01 9.78204248e-01 -7.23434623e-03 -2.18643625e+01] [-3.43856633e-02 9.64945865e-05 9.99408634e-01 -4.05374018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754012739 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:128.39, Y:-21.87, Z:-4.05 [[ 9.77401769e-01 2.08654459e-01 3.38983622e-02 1.28391577e+02] [-2.08526988e-01 9.77989424e-01 -7.29260128e-03 -2.18701508e+01] [-3.46738735e-02 5.90780241e-05 9.99398679e-01 -4.05416758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:128.42, Y:-21.88, Z:-4.06 [[ 9.77443160e-01 2.08494160e-01 3.36905649e-02 1.28419265e+02] [-2.08368238e-01 9.78023610e-01 -7.24542644e-03 -2.18767021e+01] [-3.44607970e-02 6.19488834e-05 9.99406048e-01 -4.05529770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814012739 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:128.45, Y:-21.88, Z:-4.06 [[ 9.77699510e-01 2.07289089e-01 3.36882993e-02 1.28446213e+02] [-2.07162554e-01 9.78279726e-01 -7.24245161e-03 -2.18839387e+01] [-3.44578614e-02 1.01987280e-04 9.99406146e-01 -4.05571576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:128.47, Y:-21.89, Z:-4.06 [[ 9.77882887e-01 2.06231083e-01 3.48396291e-02 1.28472358e+02] [-2.06095181e-01 9.78503306e-01 -7.48705241e-03 -2.18894409e+01] [-3.56347552e-02 1.41180772e-04 9.99364870e-01 -4.05689189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874012739 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:128.50, Y:-21.90, Z:-4.06 [[ 9.78093045e-01 2.05089615e-01 3.56685366e-02 1.28498205e+02] [-2.04946576e-01 9.78743182e-01 -7.66058890e-03 -2.18958074e+01] [-3.64814442e-02 1.82624285e-04 9.99334314e-01 -4.05753817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:128.52, Y:-21.90, Z:-4.06 [[ 9.78716846e-01 2.01884292e-01 3.68248171e-02 1.28524515e+02] [-2.01729672e-01 9.79409331e-01 -7.90584130e-03 -2.19042133e+01] [-3.76626347e-02 3.08921787e-04 9.99290464e-01 -4.05845879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934012739 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:128.55, Y:-21.91, Z:-4.06 [[ 9.79079797e-01 2.00128171e-01 3.67623060e-02 1.28551863e+02] [-1.99972938e-01 9.79769655e-01 -7.88975058e-03 -2.19115098e+01] [-3.75975532e-02 3.73229066e-04 9.99292892e-01 -4.05984514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:128.58, Y:-21.92, Z:-4.06 [[ 9.79446990e-01 1.98365291e-01 3.65349736e-02 1.28577446e+02] [-1.98210849e-01 9.80128064e-01 -7.83822354e-03 -2.19186308e+01] [-3.73637844e-02 4.35496339e-04 9.99301635e-01 -4.06098382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994012739 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:128.60, Y:-21.93, Z:-4.06 [[ 9.80180989e-01 1.94685677e-01 3.66430753e-02 1.28604265e+02] [-1.94527862e-01 9.80865514e-01 -7.85836020e-03 -2.19292606e+01] [-3.74718391e-02 5.74516168e-04 9.99297519e-01 -4.06159790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:128.63, Y:-21.94, Z:-4.06 [[ 9.80606725e-01 1.92743032e-01 3.55045757e-02 1.28630509e+02] [-1.92593693e-01 9.81249067e-01 -7.61169115e-03 -2.19389634e+01] [-3.63059323e-02 6.26118161e-04 9.99340526e-01 -4.06381864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05401273899997 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:128.66, Y:-21.95, Z:-4.07 [[ 9.80710093e-01 1.92411192e-01 3.44332072e-02 1.28657036e+02] [-1.92270605e-01 9.81314197e-01 -7.37984031e-03 -2.19453623e+01] [-3.52097589e-02 6.16990300e-04 9.99379754e-01 -4.06563405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:128.68, Y:-21.95, Z:-4.07 [[ 9.80748361e-01 1.92388798e-01 3.34544954e-02 1.28684406e+02] [-1.92256172e-01 9.81318599e-01 -7.16733810e-03 -2.19513351e+01] [-3.42084342e-02 5.97521851e-04 9.99414542e-01 -4.06710255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11401273899997 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:128.71, Y:-21.96, Z:-4.07 [[ 9.80672677e-01 1.92893765e-01 3.27581314e-02 1.28710215e+02] [-1.92766967e-01 9.81219484e-01 -7.01573693e-03 -2.19572963e+01] [-3.34962087e-02 5.65455862e-04 9.99438685e-01 -4.06826650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:128.74, Y:-21.96, Z:-4.07 [[ 9.80312625e-01 1.94593272e-01 3.34755957e-02 1.28736771e+02] [-1.94461948e-01 9.80883883e-01 -7.16647531e-03 -2.19646885e+01] [-3.42302202e-02 5.15656673e-04 9.99413841e-01 -4.06811184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17401273899998 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:128.76, Y:-21.97, Z:-4.07 [[ 9.79840112e-01 1.96884298e-01 3.39105891e-02 1.28762685e+02] [-1.96751000e-01 9.80426632e-01 -7.25695133e-03 -2.19707164e+01] [-3.46756244e-02 4.38709705e-04 9.99398523e-01 -4.06853820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:128.79, Y:-21.98, Z:-4.07 [[ 9.79622741e-01 1.98046304e-01 3.34207509e-02 1.28790345e+02] [-1.97917604e-01 9.80192588e-01 -7.14925905e-03 -2.19772032e+01] [-3.41746566e-02 3.89021825e-04 9.99415800e-01 -4.07072519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23401273899998 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:128.82, Y:-21.98, Z:-4.07 [[ 9.79470456e-01 1.98893765e-01 3.28465533e-02 1.28817980e+02] [-1.98770008e-01 9.80020993e-01 -7.02401419e-03 -2.19837266e+01] [-3.35873445e-02 3.50904712e-04 9.99435724e-01 -4.07252230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:128.84, Y:-21.99, Z:-4.08 [[ 9.79326431e-01 1.99718928e-01 3.21261770e-02 1.28843573e+02] [-1.99601064e-01 9.79853179e-01 -6.86758854e-03 -2.19921784e+01] [-3.28505240e-02 3.13191881e-04 9.99460227e-01 -4.07504809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29401273899998 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:128.87, Y:-22.00, Z:-4.08 [[ 9.79314869e-01 1.99862339e-01 3.15821661e-02 1.28869631e+02] [-1.99748596e-01 9.79823941e-01 -6.74857385e-03 -2.20002776e+01] [-3.22937482e-02 3.00485366e-04 9.99478376e-01 -4.07548000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:128.90, Y:-22.01, Z:-4.08 [[ 9.79274601e-01 2.00142029e-01 3.10551909e-02 1.28896889e+02] [-2.00032293e-01 9.79766854e-01 -6.63279293e-03 -2.20070791e+01] [-3.17543473e-02 2.83284614e-04 9.99495663e-01 -4.07590350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35401273899998 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:128.92, Y:-22.01, Z:-4.08 [[ 9.79075707e-01 2.01125430e-01 3.09729084e-02 1.28923964e+02] [-2.01016838e-01 9.79565465e-01 -6.61293633e-03 -2.20140620e+01] [-3.16700211e-02 2.48489197e-04 9.99498348e-01 -4.07677556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:128.95, Y:-22.02, Z:-4.08 [[ 9.78356746e-01 2.04475773e-01 3.17448553e-02 1.28949997e+02] [-2.04363541e-01 9.78871615e-01 -6.77530511e-03 -2.20209435e+01] [-3.24595235e-02 1.41174440e-04 9.99473041e-01 -4.07706384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414012739 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:128.98, Y:-22.03, Z:-4.08 [[ 9.77868786e-01 2.06634546e-01 3.27841693e-02 1.28977390e+02] [-2.06516152e-01 9.78418193e-01 -6.99423108e-03 -2.20267853e+01] [-3.35218775e-02 6.89797456e-05 9.99437982e-01 -4.07777708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:129.00, Y:-22.03, Z:-4.08 [[ 9.77029634e-01 2.10577653e-01 3.27130993e-02 1.29004260e+02] [-2.10462061e-01 9.77577131e-01 -6.97662373e-03 -2.20318972e+01] [-3.34486988e-02 -6.84981849e-05 9.99440433e-01 -4.07847071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474012739 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:129.03, Y:-22.04, Z:-4.08 [[ 9.76831056e-01 2.11608276e-01 3.19847821e-02 1.29030574e+02] [-2.11498416e-01 9.77354555e-01 -6.81860320e-03 -2.20374247e+01] [-3.27033453e-02 -1.04107382e-04 9.99465097e-01 -4.07940590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:129.06, Y:-22.04, Z:-4.08 [[ 9.76580237e-01 2.12818268e-01 3.16137071e-02 1.29057691e+02] [-2.12711662e-01 9.77091789e-01 -6.73684132e-03 -2.20448234e+01] [-3.23232165e-02 -1.45538087e-04 9.99477458e-01 -4.08105304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534012739 meters Centerline goodness : 0.984656 Centerline is valid? [True, True] Translation: X:129.09, Y:-22.05, Z:-4.07 [[ 9.76517352e-01 2.13126851e-01 3.14770798e-02 1.29085519e+02] [-2.13021399e-01 9.77024524e-01 -6.70544258e-03 -2.20517690e+01] [-3.21829888e-02 -1.57310554e-04 9.99481981e-01 -4.06932144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:129.11, Y:-22.06, Z:-4.08 [[ 9.76387957e-01 2.13439033e-01 3.33217205e-02 1.29112315e+02] [-2.13321125e-01 9.76956369e-01 -7.09584361e-03 -2.20581882e+01] [-3.40683971e-02 -1.79930669e-04 9.99419487e-01 -4.08212150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594012739 meters Centerline goodness : 0.990965 Centerline is valid? [True, True] Translation: X:129.14, Y:-22.06, Z:-4.08 [[ 9.76371387e-01 2.13373739e-01 3.42134657e-02 1.29138500e+02] [-2.13249485e-01 9.76970631e-01 -7.28314199e-03 -2.20646427e+01] [-3.49795824e-02 -1.84952487e-04 9.99388010e-01 -4.08230164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:129.17, Y:-22.07, Z:-4.08 [[ 9.76245388e-01 2.13881150e-01 3.46380632e-02 1.29165576e+02] [-2.13754214e-01 9.76859668e-01 -7.37062191e-03 -2.20713277e+01] [-3.54129640e-02 -2.08496321e-04 9.99372743e-01 -4.08301260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654012739 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:129.19, Y:-22.08, Z:-4.08 [[ 9.75729428e-01 2.16189007e-01 3.48481922e-02 1.29192032e+02] [-2.16062087e-01 9.76351487e-01 -7.41277577e-03 -2.20784254e+01] [-3.56266449e-02 -2.96509651e-04 9.99365126e-01 -4.08316263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:129.22, Y:-22.08, Z:-4.08 [[ 9.75380005e-01 2.17727559e-01 3.50507516e-02 1.29218222e+02] [-2.17600256e-01 9.76009520e-01 -7.45292602e-03 -2.20840693e+01] [-3.58325746e-02 -3.57617512e-04 9.99357743e-01 -4.08450351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714012739 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:129.25, Y:-22.09, Z:-4.09 [[ 9.74578066e-01 2.21239458e-01 3.53651832e-02 1.29246077e+02] [-2.21112285e-01 9.75219390e-01 -7.51662288e-03 -2.20898286e+01] [-3.61517859e-02 -4.94140661e-04 9.99346188e-01 -4.08522905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:129.27, Y:-22.09, Z:-4.09 [[ 9.74232612e-01 2.22791860e-01 3.51369306e-02 1.29272738e+02] [-2.22667488e-01 9.74865879e-01 -7.46378701e-03 -2.20948092e+01] [-3.59166657e-02 -5.52387336e-04 9.99354636e-01 -4.08617089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77401273899997 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:129.30, Y:-22.10, Z:-4.09 [[ 9.73468062e-01 2.26360343e-01 3.34802601e-02 1.29299670e+02] [-2.26249663e-01 9.74043410e-01 -7.10806520e-03 -2.20979755e+01] [-3.42202108e-02 -6.55423111e-04 9.99414102e-01 -4.08769633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:129.33, Y:-22.10, Z:-4.09 [[ 9.73192703e-01 2.27647896e-01 3.27474820e-02 1.29327697e+02] [-2.27542827e-01 9.73743273e-01 -6.94977790e-03 -2.21021042e+01] [-3.34697427e-02 -6.87981508e-04 9.99439494e-01 -4.08919853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83401273899997 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:129.35, Y:-22.11, Z:-4.09 [[ 9.72985344e-01 2.28613522e-01 3.21772966e-02 1.29354886e+02] [-2.28512686e-01 9.73517001e-01 -6.82644293e-03 -2.21065840e+01] [-3.28857625e-02 -7.10891561e-04 9.99458864e-01 -4.08988747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:129.38, Y:-22.11, Z:-4.09 [[ 9.73234562e-01 2.27515014e-01 3.24253746e-02 1.29381508e+02] [-2.27412091e-01 9.73774334e-01 -6.87653520e-03 -2.21102570e+01] [-3.31395126e-02 -6.81440536e-04 9.99450503e-01 -4.09130319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89401273899998 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:129.41, Y:-22.12, Z:-4.09 [[ 9.73566406e-01 2.26077757e-01 3.25161560e-02 1.29409066e+02] [-2.25973598e-01 9.74109049e-01 -6.89152732e-03 -2.21153261e+01] [-3.32323028e-02 -6.38433266e-04 9.99447451e-01 -4.09237990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:129.44, Y:-22.12, Z:-4.09 [[ 9.74443711e-01 2.22220367e-01 3.28262380e-02 1.29436448e+02] [-2.22112101e-01 9.74996330e-01 -6.95486402e-03 -2.21213286e+01] [-3.35509740e-02 -5.13981179e-04 9.99436875e-01 -4.09433664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95401273899998 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:129.46, Y:-22.13, Z:-4.09 [[ 9.74901074e-01 2.20228870e-01 3.26671060e-02 1.29462988e+02] [-2.20120616e-01 9.75448126e-01 -6.91869642e-03 -2.21273413e+01] [-3.33887640e-02 -4.45658921e-04 9.99442340e-01 -4.09486697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:129.49, Y:-22.13, Z:-4.10 [[ 9.75574543e-01 2.17333324e-01 3.19458616e-02 1.29490308e+02] [-2.17228334e-01 9.76097387e-01 -6.76324973e-03 -2.21316141e+01] [-3.26521516e-02 -3.41492023e-04 9.99466718e-01 -4.09600745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01401273899998 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:129.52, Y:-22.14, Z:-4.10 [[ 9.75884856e-01 2.15992528e-01 3.15590924e-02 1.29517681e+02] [-2.15889438e-01 9.76394972e-01 -6.67904274e-03 -2.21360807e+01] [-3.22567625e-02 -2.95298071e-04 9.99479572e-01 -4.09712512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:129.54, Y:-22.14, Z:-4.10 [[ 9.76133302e-01 2.14890619e-01 3.13974270e-02 1.29544983e+02] [-2.14788088e-01 9.76638088e-01 -6.64251485e-03 -2.21409147e+01] [-3.20913372e-02 -2.59813368e-04 9.99484907e-01 -4.09797853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07401273899998 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:129.57, Y:-22.15, Z:-4.10 [[ 9.76146065e-01 2.14832568e-01 3.13978987e-02 1.29572869e+02] [-2.14730079e-01 9.76650859e-01 -6.64028437e-03 -2.21466857e+01] [-3.20913341e-02 -2.60185821e-04 9.99484907e-01 -4.09886492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:129.60, Y:-22.15, Z:-4.10 [[ 9.76450596e-01 2.13430196e-01 3.14926218e-02 1.29599793e+02] [-2.13326421e-01 9.76958292e-01 -6.65833042e-03 -2.21512400e+01] [-3.21880668e-02 -2.16677603e-04 9.99481806e-01 -4.09916352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13401273899999 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:129.63, Y:-22.16, Z:-4.10 [[ 9.76449519e-01 2.13274889e-01 3.25600760e-02 1.29626922e+02] [-2.13163969e-01 9.76992207e-01 -6.88111486e-03 -2.21556872e+01] [-3.32785095e-02 -2.21573726e-04 9.99446092e-01 -4.09924255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:129.65, Y:-22.16, Z:-4.10 [[ 9.76490315e-01 2.12986147e-01 3.32199626e-02 1.29654141e+02] [-2.12870614e-01 9.77055195e-01 -7.01772425e-03 -2.21602647e+01] [-3.39524151e-02 -2.18814071e-04 9.99423427e-01 -4.10068808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194012739 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:129.68, Y:-22.17, Z:-4.10 [[ 9.76546305e-01 2.12741152e-01 3.31438909e-02 1.29680800e+02] [-2.12626089e-01 9.77108570e-01 -6.99920268e-03 -2.21652159e+01] [-3.38741983e-02 -2.12210393e-04 9.99426082e-01 -4.10157059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:129.71, Y:-22.17, Z:-4.10 [[ 9.76913022e-01 2.11221839e-01 3.20356387e-02 1.29708080e+02] [-2.11113613e-01 9.77438136e-01 -6.76255778e-03 -2.21706079e+01] [-3.27412549e-02 -1.56728683e-04 9.99463849e-01 -4.10385261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254012739 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:129.73, Y:-22.18, Z:-4.10 [[ 9.77262882e-01 2.09693990e-01 3.13956876e-02 1.29734590e+02] [-2.09589329e-01 9.77767058e-01 -6.62523350e-03 -2.21763155e+01] [-3.20869408e-02 -1.05606318e-04 9.99485076e-01 -4.10498120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:129.76, Y:-22.18, Z:-4.11 [[ 9.77888281e-01 2.06933136e-01 3.02189977e-02 1.29761614e+02] [-2.06834932e-01 9.78355087e-01 -6.37448776e-03 -2.21814623e+01] [-3.08840028e-02 -1.68074587e-05 9.99522975e-01 -4.10538330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314012739 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:129.79, Y:-22.19, Z:-4.11 [[ 9.78164436e-01 2.05611454e-01 3.03028977e-02 1.29788654e+02] [-2.05512136e-01 9.78633705e-01 -6.39002057e-03 -2.21869805e+01] [-3.09692985e-02 2.28776308e-05 9.99520336e-01 -4.10688898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:129.82, Y:-22.19, Z:-4.11 [[ 9.78493372e-01 2.03801718e-01 3.18681665e-02 1.29816214e+02] [-2.03690989e-01 9.79012182e-01 -6.71772104e-03 -2.21936235e+01] [-3.25684063e-02 8.19871457e-05 9.99469505e-01 -4.10702437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374012739 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:129.84, Y:-22.20, Z:-4.10 [[ 9.78575364e-01 2.03292887e-01 3.25923021e-02 1.29843163e+02] [-2.03176864e-01 9.79117966e-01 -6.86802530e-03 -2.22002708e+01] [-3.33079293e-02 9.88786377e-05 9.99445132e-01 -4.10339413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:129.87, Y:-22.21, Z:-4.11 [[ 9.78550441e-01 2.03276891e-01 3.34296141e-02 1.29870719e+02] [-2.03154900e-01 9.79121288e-01 -7.04207547e-03 -2.22066822e+01] [-3.41631381e-02 9.96361303e-05 9.99416265e-01 -4.10778509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434012739 meters Centerline goodness : 0.985344 Centerline is valid? [True, True] Translation: X:129.90, Y:-22.21, Z:-4.10 [[ 9.78105336e-01 2.05403657e-01 3.34557667e-02 1.29897163e+02] [-2.05282800e-01 9.78677341e-01 -7.04521286e-03 -2.22123057e+01] [-3.41895133e-02 2.30668193e-05 9.99415367e-01 -4.09679638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:129.92, Y:-22.22, Z:-4.11 [[ 9.77470958e-01 2.08184274e-01 3.47826717e-02 1.29924450e+02] [-2.08055498e-01 9.78089618e-01 -7.32176709e-03 -2.22175932e+01] [-3.55448468e-02 -7.99113731e-05 9.99368079e-01 -4.11021119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494012739 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:129.95, Y:-22.22, Z:-4.11 [[ 9.77372833e-01 2.08639287e-01 3.48136971e-02 1.29951390e+02] [-2.08510663e-01 9.77992658e-01 -7.32566242e-03 -2.22226061e+01] [-3.55759611e-02 -9.91236363e-05 9.99366970e-01 -4.11069905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:129.98, Y:-22.23, Z:-4.11 [[ 9.77401102e-01 2.08545342e-01 3.45821572e-02 1.29978224e+02] [-2.08418505e-01 9.78012694e-01 -7.27296993e-03 -2.22274002e+01] [-3.53385327e-02 -9.89526816e-05 9.99375394e-01 -4.11150848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55401273899997 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:130.01, Y:-22.23, Z:-4.11 [[ 9.77541755e-01 2.08065254e-01 3.34808344e-02 1.30006298e+02] [-2.07946164e-01 9.78114944e-01 -7.03913538e-03 -2.22317541e+01] [-3.42127039e-02 -8.11623218e-05 9.99414571e-01 -4.11354221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:130.03, Y:-22.24, Z:-4.12 [[ 9.77612524e-01 2.07811514e-01 3.29867930e-02 1.30033741e+02] [-2.07695844e-01 9.78168886e-01 -6.93304996e-03 -2.22375965e+01] [-3.37074222e-02 -7.33833464e-05 9.99431741e-01 -4.11521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61401273899997 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:130.06, Y:-22.24, Z:-4.12 [[ 9.78137893e-01 2.05339684e-01 3.28918878e-02 1.30061123e+02] [-2.05223355e-01 9.78690765e-01 -6.91088591e-03 -2.22436890e+01] [-3.36100659e-02 9.61581399e-06 9.99435022e-01 -4.11666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:130.09, Y:-22.25, Z:-4.12 [[ 9.78719982e-01 2.02541398e-01 3.29268777e-02 1.30087569e+02] [-2.02423317e-01 9.79273696e-01 -6.91589491e-03 -2.22495855e+01] [-3.36451802e-02 1.03556744e-04 9.99433835e-01 -4.11755420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67401273899998 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:130.11, Y:-22.26, Z:-4.12 [[ 9.79866444e-01 1.96846368e-01 3.33655421e-02 1.30113895e+02] [-1.96721944e-01 9.80434301e-01 -7.00419377e-03 -2.22580857e+01] [-3.40914720e-02 2.99440134e-04 9.99418672e-01 -4.11767118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:130.14, Y:-22.27, Z:-4.12 [[ 9.80298087e-01 1.94561976e-01 3.40778295e-02 1.30141018e+02] [-1.94430882e-01 9.80890152e-01 -7.15139434e-03 -2.22655556e+01] [-3.48179967e-02 3.84715747e-04 9.99393596e-01 -4.11792472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73401273899998 meters Centerline goodness : 0.992399 Centerline is valid? [True, True] Translation: X:130.17, Y:-22.27, Z:-4.12 [[ 9.80954255e-01 1.91086952e-01 3.48500578e-02 1.30167332e+02] [-1.90947743e-01 9.81572977e-01 -7.31097199e-03 -2.22749071e+01] [-3.56049063e-02 5.17189204e-04 9.99365810e-01 -4.11871725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:130.19, Y:-22.28, Z:-4.12 [[ 9.81176193e-01 1.89950500e-01 3.48150154e-02 1.30194467e+02] [-1.89810932e-01 9.81793511e-01 -7.30145930e-03 -2.22832630e+01] [-3.55680720e-02 5.55747533e-04 9.99367101e-01 -4.12000481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79401273899998 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:130.22, Y:-22.29, Z:-4.12 [[ 9.81242253e-01 1.89644638e-01 3.46201055e-02 1.30221435e+02] [-1.89506509e-01 9.81852634e-01 -7.25859515e-03 -2.22922057e+01] [-3.53683954e-02 5.61704924e-04 9.99374185e-01 -4.12187065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:130.25, Y:-22.30, Z:-4.12 [[ 9.81076739e-01 1.90637057e-01 3.38518102e-02 1.30247996e+02] [-1.90505657e-01 9.81660456e-01 -7.09538519e-03 -2.23024950e+01] [-3.45836267e-02 5.12156035e-04 9.99401676e-01 -4.12328057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85401273899998 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:130.27, Y:-22.31, Z:-4.12 [[ 9.80815499e-01 1.92122266e-01 3.30150126e-02 1.30274923e+02] [-1.91998184e-01 9.81370896e-01 -6.91822262e-03 -2.23095843e+01] [-3.37291171e-02 4.46677516e-04 9.99430912e-01 -4.12403045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:130.30, Y:-22.32, Z:-4.12 [[ 9.79995163e-01 1.96306275e-01 3.27616546e-02 1.30302563e+02] [-1.96186494e-01 9.80542583e-01 -6.86310283e-03 -2.23195247e+01] [-3.34714676e-02 2.98413411e-04 9.99439629e-01 -4.12492612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914012739 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:130.33, Y:-22.33, Z:-4.13 [[ 9.79589413e-01 1.98224235e-01 3.33426763e-02 1.30329508e+02] [-1.98101321e-01 9.80156670e-01 -6.98353080e-03 -2.23271935e+01] [-3.40653516e-02 2.35764624e-04 9.99419580e-01 -4.12533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:130.36, Y:-22.33, Z:-4.13 [[ 9.78824321e-01 2.01709857e-01 3.48723583e-02 1.30356935e+02] [-2.01577687e-01 9.79445312e-01 -7.30179625e-03 -2.23344591e+01] [-3.56284122e-02 1.17686427e-04 9.99365100e-01 -4.12582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974012739 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:130.38, Y:-22.34, Z:-4.13 [[ 9.78461552e-01 2.03460287e-01 3.48841378e-02 1.30384855e+02] [-2.03329200e-01 9.79083198e-01 -7.30257570e-03 -2.23417764e+01] [-3.56402573e-02 5.23257185e-05 9.99364683e-01 -4.12794125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:130.41, Y:-22.35, Z:-4.13 [[ 9.77994034e-01 2.06147924e-01 3.21045565e-02 1.30410723e+02] [-2.06038395e-01 9.78520839e-01 -6.71923314e-03 -2.23538798e+01] [-3.28001335e-02 -4.34013840e-05 9.99461930e-01 -4.13016503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:130.44, Y:-22.36, Z:-4.13 [[ 9.77772599e-01 2.07313379e-01 3.13354106e-02 1.30436824e+02] [-2.07202915e-01 9.78274577e-01 -6.76791902e-03 -2.23613574e+01] [-3.20577157e-02 1.24697355e-04 9.99486012e-01 -4.13121198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:130.46, Y:-22.37, Z:-4.13 [[ 9.77427201e-01 2.08689627e-01 3.29348834e-02 1.30464113e+02] [-2.08638113e-01 9.77979971e-01 -5.03139519e-03 -2.23687257e+01] [-3.32596563e-02 -1.95364941e-03 9.99444835e-01 -4.13197910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094012739 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:130.49, Y:-22.37, Z:-4.13 [[ 9.77458753e-01 2.08550887e-01 3.28772393e-02 1.30492757e+02] [-2.08387401e-01 9.78010624e-01 -8.36122769e-03 -2.23730703e+01] [-3.38980308e-02 1.32155273e-03 9.99424423e-01 -4.13289434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:130.52, Y:-22.38, Z:-4.13 [[ 9.77521487e-01 2.08102356e-01 3.38400853e-02 1.30519375e+02] [-2.07982014e-01 9.78107047e-01 -7.07720843e-03 -2.23814932e+01] [-3.45720096e-02 -1.20005788e-04 9.99402202e-01 -4.13343520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154012739 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:130.55, Y:-22.39, Z:-4.13 [[ 9.77832019e-01 2.06692358e-01 3.35083955e-02 1.30545921e+02] [-2.06573610e-01 9.78405981e-01 -7.00567159e-03 -2.23900786e+01] [-3.42328334e-02 -7.15802446e-05 9.99413882e-01 -4.13473275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:130.57, Y:-22.40, Z:-4.14 [[ 9.77906360e-01 2.06357920e-01 3.33999980e-02 1.30574028e+02] [-2.06239817e-01 9.78476574e-01 -6.98090446e-03 -2.23969107e+01] [-3.41216805e-02 -6.17385930e-05 9.99417684e-01 -4.13590172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214012739 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:130.60, Y:-22.40, Z:-4.14 [[ 9.78068734e-01 2.05503132e-01 3.39118598e-02 1.30600867e+02] [-2.05380924e-01 9.78656457e-01 -7.08620216e-03 -2.24043989e+01] [-3.46442973e-02 -3.40563344e-05 9.99399706e-01 -4.13718367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:130.63, Y:-22.41, Z:-4.14 [[ 9.78204520e-01 2.04893338e-01 3.36843822e-02 1.30628079e+02] [-2.04772473e-01 9.78784307e-01 -7.03665113e-03 -2.24113770e+01] [-3.44115076e-02 -1.43502909e-05 9.99407749e-01 -4.13778136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27401273899997 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:130.66, Y:-22.42, Z:-4.14 [[ 9.78393039e-01 2.04208353e-01 3.23420646e-02 1.30655352e+02] [-2.04096625e-01 9.78927448e-01 -6.75419702e-03 -2.24204079e+01] [-3.30397982e-02 7.35310705e-06 9.99454037e-01 -4.13858782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:130.68, Y:-22.43, Z:-4.14 [[ 9.78284611e-01 2.04769525e-01 3.20727611e-02 1.30682530e+02] [-2.04660002e-01 9.78810217e-01 -6.69641137e-03 -2.24266556e+01] [-3.27643672e-02 -1.30151674e-05 9.99463104e-01 -4.13894993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33401273899997 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:130.71, Y:-22.43, Z:-4.14 [[ 9.77578105e-01 2.07968266e-01 3.30189154e-02 1.30711400e+02] [-2.07854080e-01 9.78135565e-01 -6.89182866e-03 -2.24310913e+01] [-3.37302572e-02 -1.25815471e-04 9.99430965e-01 -4.13935574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:130.74, Y:-22.44, Z:-4.14 [[ 9.77161502e-01 2.09808714e-01 3.37001837e-02 1.30740150e+02] [-2.09690916e-01 9.77742433e-01 -7.03236819e-03 -2.24361170e+01] [-3.44255517e-02 -1.94862907e-04 9.99407246e-01 -4.13985369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39401273899998 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:130.77, Y:-22.44, Z:-4.14 [[ 9.76173803e-01 2.14263735e-01 3.42893242e-02 1.30767181e+02] [-2.14144587e-01 9.76775779e-01 -7.15356548e-03 -2.24411145e+01] [-3.50257310e-02 -3.59749969e-04 9.99386346e-01 -4.14086524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:130.79, Y:-22.45, Z:-4.14 [[ 9.75821054e-01 2.15927548e-01 3.38904656e-02 1.30794911e+02] [-2.15812229e-01 9.76409300e-01 -7.06832030e-03 -2.24461581e+01] [-3.46172108e-02 -4.16561170e-04 9.99400558e-01 -4.14158657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45401273899998 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:130.82, Y:-22.45, Z:-4.14 [[ 9.75504907e-01 2.17380334e-01 3.37040914e-02 1.30822352e+02] [-2.17267217e-01 9.76086867e-01 -7.02742782e-03 -2.24506180e+01] [-3.44257456e-02 -4.67503815e-04 9.99407149e-01 -4.14258532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:130.85, Y:-22.45, Z:-4.14 [[ 9.75071437e-01 2.19242577e-01 3.41816534e-02 1.30849324e+02] [-2.19127448e-01 9.75670230e-01 -7.12485736e-03 -2.24527132e+01] [-3.49120938e-02 -5.42893589e-04 9.99390240e-01 -4.14324852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51401273899998 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:130.88, Y:-22.46, Z:-4.14 [[ 9.75050556e-01 2.19404328e-01 3.37365333e-02 1.30877281e+02] [-2.19292369e-01 9.75633868e-01 -7.02936287e-03 -2.24564468e+01] [-3.44567771e-02 -5.44180135e-04 9.99406041e-01 -4.14462051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:130.90, Y:-22.46, Z:-4.15 [[ 9.75182227e-01 2.19056906e-01 3.21511303e-02 1.30904435e+02] [-2.18955110e-01 9.75711952e-01 -6.69680348e-03 -2.24584378e+01] [-3.28372232e-02 -5.09050532e-04 9.99460583e-01 -4.14669177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57401273899998 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:130.93, Y:-22.46, Z:-4.15 [[ 9.75233331e-01 2.19012838e-01 3.08759969e-02 1.30932170e+02] [-2.18831669e-01 9.75719526e-01 -9.17103874e-03 -2.24607430e+01] [-3.21348883e-02 2.18725672e-03 9.99481148e-01 -4.14724164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:130.96, Y:-22.47, Z:-4.15 [[ 9.75355848e-01 2.18046093e-01 3.37175340e-02 1.30959214e+02] [-2.18028215e-01 9.75933209e-01 -4.25086913e-03 -2.24668146e+01] [-3.38329465e-02 -3.20526367e-03 9.99422362e-01 -4.14887540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63401273899999 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:130.99, Y:-22.47, Z:-4.15 [[ 9.75490047e-01 2.17533950e-01 3.31383189e-02 1.30986942e+02] [-2.17425277e-01 9.76052636e-01 -6.89204596e-03 -2.24689492e+01] [-3.38439975e-02 -4.81985938e-04 9.99427012e-01 -4.14959535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:131.01, Y:-22.47, Z:-4.15 [[ 9.75988993e-01 2.15531977e-01 3.14873312e-02 1.31014435e+02] [-2.15432891e-01 9.76496703e-01 -6.54659848e-03 -2.24722423e+01] [-3.21582764e-02 -3.93998724e-04 9.99482711e-01 -4.15216423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694012739 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:131.04, Y:-22.48, Z:-4.15 [[ 9.76345533e-01 2.13985836e-01 3.09751742e-02 1.31041794e+02] [-2.13889239e-01 9.76836704e-01 -6.43793501e-03 -2.24770281e+01] [-3.16353140e-02 -3.39607343e-04 9.99499420e-01 -4.15304506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters Centerline goodness : 0.992597 Centerline is valid? [True, True] Translation: X:131.07, Y:-22.48, Z:-4.15 [[ 9.76935823e-01 2.11159617e-01 3.17492212e-02 1.31068927e+02] [-2.11056713e-01 9.77451559e-01 -6.59648901e-03 -2.24820596e+01] [-3.24262378e-02 -2.56539845e-04 9.99474098e-01 -4.15343706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754012739 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:131.10, Y:-22.49, Z:-4.15 [[ 9.77167341e-01 2.09954023e-01 3.26082269e-02 1.31096374e+02] [-2.09844884e-01 9.77711234e-01 -6.77251195e-03 -2.24872343e+01] [-3.33033459e-02 -2.24792097e-04 9.99445264e-01 -4.15446784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:131.12, Y:-22.49, Z:-4.15 [[ 9.77393348e-01 2.08891130e-01 3.26609812e-02 1.31123533e+02] [-2.08781127e-01 9.77938883e-01 -6.78099207e-03 -2.24922566e+01] [-3.33569326e-02 -1.91299913e-04 9.99443484e-01 -4.15491521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:131.15, Y:-22.50, Z:-4.16 [[ 9.77943611e-01 2.06472307e-01 3.15512388e-02 1.31150304e+02] [-2.06368457e-01 9.78452439e-01 -6.54864703e-03 -2.24993076e+01] [-3.22235008e-02 -1.06972960e-04 9.99480682e-01 -4.15655735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:131.18, Y:-22.51, Z:-4.16 [[ 9.78591116e-01 2.03644000e-01 2.98085428e-02 1.31176873e+02] [-2.03550057e-01 9.79045005e-01 -6.18490624e-03 -2.25085961e+01] [-3.04434240e-02 -1.50363053e-05 9.99536491e-01 -4.15905453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874012739 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:131.20, Y:-22.52, Z:-4.16 [[ 9.78797086e-01 2.02729570e-01 2.92743139e-02 1.31204543e+02] [-2.02638607e-01 9.79234763e-01 -6.07236246e-03 -2.25153986e+01] [-2.98974732e-02 1.15044887e-05 9.99552971e-01 -4.16002593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters Centerline goodness : 0.988161 Centerline is valid? [True, True] Translation: X:131.23, Y:-22.52, Z:-4.15 [[ 9.78846407e-01 2.02483519e-01 2.93280774e-02 1.31231680e+02] [-2.02392175e-01 9.79285670e-01 -6.08139326e-03 -2.25212216e+01] [-2.99519478e-02 1.69765611e-05 9.99551340e-01 -4.15139215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934012739 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:131.26, Y:-22.53, Z:-4.16 [[ 9.78448053e-01 2.04161621e-01 3.09425377e-02 1.31258951e+02] [-2.04060866e-01 9.78937195e-01 -6.41342285e-03 -2.25294515e+01] [-3.16001758e-02 -3.89599493e-05 9.99500589e-01 -4.16053550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:131.29, Y:-22.54, Z:-4.16 [[ 9.78205978e-01 2.05282335e-01 3.11805589e-02 1.31286202e+02] [-2.05180642e-01 9.78702793e-01 -6.46119173e-03 -2.25356046e+01] [-3.18428686e-02 -7.72707262e-05 9.99492884e-01 -4.16148895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994012739 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:131.31, Y:-22.54, Z:-4.16 [[ 9.78213152e-01 2.05248089e-01 3.11809392e-02 1.31314924e+02] [-2.05146438e-01 9.78709975e-01 -6.45935583e-03 -2.25414716e+01] [-3.18428667e-02 -7.80317914e-05 9.99492884e-01 -4.16240520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:131.34, Y:-22.55, Z:-4.16 [[ 9.78063246e-01 2.05911135e-01 3.15101888e-02 1.31342731e+02] [-2.05807706e-01 9.78570689e-01 -6.52639010e-03 -2.25475551e+01] [-3.21788035e-02 -1.01817393e-04 9.99482123e-01 -4.16267108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05401273899997 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:131.37, Y:-22.56, Z:-4.17 [[ 9.78263158e-01 2.04854718e-01 3.21828880e-02 1.31370661e+02] [-2.04746306e-01 9.78792388e-01 -6.66411979e-03 -2.25551005e+01] [-3.28655422e-02 -7.00645610e-05 9.99459780e-01 -4.16500785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:131.40, Y:-22.56, Z:-4.17 [[ 9.78391136e-01 2.04186900e-01 3.25345214e-02 1.31398384e+02] [-2.04075789e-01 9.78931922e-01 -6.73535030e-03 -2.25621947e+01] [-3.32243519e-02 -4.97010927e-05 9.99447918e-01 -4.16576734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11401273899997 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:131.43, Y:-22.57, Z:-4.17 [[ 9.78534656e-01 2.03429745e-01 3.29585381e-02 1.31426930e+02] [-2.03315331e-01 9.79089545e-01 -6.82188298e-03 -2.25689723e+01] [-3.36571340e-02 -2.55271669e-05 9.99433438e-01 -4.16565861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:131.45, Y:-22.57, Z:-4.17 [[ 9.78528113e-01 2.03436468e-01 3.31109709e-02 1.31453775e+02] [-2.03321053e-01 9.79088149e-01 -6.85176801e-03 -2.25745040e+01] [-3.38124587e-02 -2.75098472e-05 9.99428195e-01 -4.16694547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17401273899998 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:131.48, Y:-22.58, Z:-4.17 [[ 9.78585564e-01 2.03061148e-01 3.37114738e-02 1.31482099e+02] [-2.02941356e-01 9.79166058e-01 -6.97397903e-03 -2.25808903e+01] [-3.44252752e-02 -1.68170019e-05 9.99407274e-01 -4.16808403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:131.51, Y:-22.59, Z:-4.17 [[ 9.79089164e-01 2.00403712e-01 3.49679938e-02 1.31509243e+02] [-2.00273190e-01 9.79713400e-01 -7.23209995e-03 -2.25883253e+01] [-3.57079518e-02 7.77190249e-05 9.99362265e-01 -4.16930136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23401273899998 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:131.54, Y:-22.60, Z:-4.17 [[ 9.79814768e-01 1.97109456e-01 3.33299057e-02 1.31537721e+02] [-1.96989035e-01 9.80381470e-01 -6.89147037e-03 -2.25960791e+01] [-3.40343959e-02 1.86738477e-04 9.99420645e-01 -4.17051218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:131.57, Y:-22.60, Z:-4.17 [[ 9.80045890e-01 1.96150470e-01 3.21721551e-02 1.31565156e+02] [-1.96037781e-01 9.80573785e-01 -6.65131153e-03 -2.26023262e+01] [-3.28518298e-02 2.11632636e-04 9.99460211e-01 -4.17249769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29401273899998 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:131.59, Y:-22.61, Z:-4.17 [[ 9.80172798e-01 1.95729049e-01 3.08451844e-02 1.31592251e+02] [-1.95625292e-01 9.80657990e-01 -6.37589171e-03 -2.26091300e+01] [-3.14965237e-02 2.15377407e-04 9.99503838e-01 -4.17416112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:131.62, Y:-22.62, Z:-4.17 [[ 9.79926291e-01 1.96983945e-01 3.06885945e-02 1.31619250e+02] [-1.96881912e-01 9.80406699e-01 -6.34169893e-03 -2.26175450e+01] [-3.13365166e-02 1.72368337e-04 9.99508876e-01 -4.17469145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35401273899998 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:131.65, Y:-22.62, Z:-4.17 [[ 9.79574626e-01 1.98651600e-01 3.11623863e-02 1.31646920e+02] [-1.98547282e-01 9.80070165e-01 -6.43810581e-03 -2.26243362e+01] [-3.18202651e-02 1.19397978e-04 9.99493600e-01 -4.17488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:131.67, Y:-22.63, Z:-4.18 [[ 9.78664296e-01 2.03111485e-01 3.10148450e-02 1.31674983e+02] [-2.03010436e-01 9.79155618e-01 -6.40615464e-03 -2.26296883e+01] [-3.16695233e-02 -2.68623978e-05 9.99498394e-01 -4.17565933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:131.70, Y:-22.63, Z:-4.18 [[ 9.78235702e-01 2.05227336e-01 3.06047563e-02 1.31703483e+02] [-2.05130022e-01 9.78714326e-01 -6.32002146e-03 -2.26345324e+01] [-3.12503546e-02 -9.54837119e-05 9.99511584e-01 -4.17818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:131.73, Y:-22.64, Z:-4.18 [[ 9.77903300e-01 2.06927341e-01 2.97692951e-02 1.31732311e+02] [-2.06836098e-01 9.78356302e-01 -6.14611962e-03 -2.26396711e+01] [-3.03967776e-02 -1.47054159e-04 9.99537900e-01 -4.17901568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474012739 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:131.76, Y:-22.64, Z:-4.18 [[ 9.77590425e-01 2.08450677e-01 2.94155942e-02 1.31759653e+02] [-2.08362319e-01 9.78032861e-01 -6.07173854e-03 -2.26447871e+01] [-3.00350758e-02 -1.93427981e-04 9.99548827e-01 -4.18086926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:131.79, Y:-22.65, Z:-4.18 [[ 9.77637987e-01 2.08060047e-01 3.05774917e-02 1.31787138e+02] [-2.07964442e-01 9.78116036e-01 -6.30954844e-03 -2.26498011e+01] [-3.12211000e-02 -1.90576766e-04 9.99512484e-01 -4.18100090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:131.81, Y:-22.66, Z:-4.18 [[ 9.77706112e-01 2.07674246e-01 3.10187918e-02 1.31814859e+02] [-2.07575725e-01 9.78198024e-01 -6.39876977e-03 -2.26553709e+01] [-3.16713805e-02 -1.82631893e-04 9.99498319e-01 -4.18186243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:131.84, Y:-22.66, Z:-4.18 [[ 9.77892201e-01 2.06793702e-01 3.10356067e-02 1.31843157e+02] [-2.06694698e-01 9.78384557e-01 -6.40008768e-03 -2.26607532e+01] [-3.16882562e-02 -1.56299549e-04 9.99497789e-01 -4.18294833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594012739 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:131.87, Y:-22.67, Z:-4.18 [[ 9.78542644e-01 2.03847401e-01 3.00088438e-02 1.31871074e+02] [-2.03753498e-01 9.79002673e-01 -6.18697070e-03 -2.26651290e+01] [-3.06399362e-02 -6.01922108e-05 9.99530485e-01 -4.18328038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:131.90, Y:-22.67, Z:-4.18 [[ 9.78775661e-01 2.02679520e-01 3.03185919e-02 1.31899672e+02] [-2.02583168e-01 9.79245123e-01 -6.24886904e-03 -2.26707359e+01] [-3.09558510e-02 -2.57954734e-05 9.99520752e-01 -4.18482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654012739 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:131.93, Y:-22.68, Z:-4.19 [[ 9.79058053e-01 2.01191022e-01 3.11046783e-02 1.31926673e+02] [-2.01088905e-01 9.79552026e-01 -6.40936471e-03 -2.26770586e+01] [-3.17581573e-02 2.03344282e-05 9.99495582e-01 -4.18534208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:131.95, Y:-22.68, Z:-4.19 [[ 9.79140802e-01 2.00834988e-01 3.07993189e-02 1.31953766e+02] [-2.00734748e-01 9.79625085e-01 -6.34464426e-03 -2.26818541e+01] [-3.14460120e-02 2.98065601e-05 9.99505451e-01 -4.18566419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714012739 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:131.98, Y:-22.68, Z:-4.19 [[ 9.79173385e-01 2.00860604e-01 2.95719461e-02 1.31982342e+02] [-2.00768256e-01 9.79619833e-01 -6.09019730e-03 -2.26837210e+01] [-3.01925456e-02 2.62510578e-05 9.99544101e-01 -4.18753511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:132.01, Y:-22.69, Z:-4.19 [[ 9.79121133e-01 2.01078323e-01 2.98213900e-02 1.32010282e+02] [-2.00984556e-01 9.79575167e-01 -6.14008185e-03 -2.26881597e+01] [-3.04469304e-02 1.82450679e-05 9.99536385e-01 -4.18892751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77401273899997 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:132.04, Y:-22.69, Z:-4.19 [[ 9.79128812e-01 2.00946354e-01 3.04521303e-02 1.32038585e+02] [-2.00848573e-01 9.79602247e-01 -6.26801750e-03 -2.26933473e+01] [-3.10905105e-02 2.09296020e-05 9.99516573e-01 -4.18951847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:132.07, Y:-22.70, Z:-4.19 [[ 9.79377520e-01 1.99556552e-01 3.15730404e-02 1.32066161e+02] [-1.99450769e-01 9.79886309e-01 -6.49711426e-03 -2.26976352e+01] [-3.22345318e-02 6.58604604e-05 9.99480330e-01 -4.18971959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83401273899997 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:132.09, Y:-22.70, Z:-4.19 [[ 9.79748225e-01 1.97570344e-01 3.25480423e-02 1.32093284e+02] [-1.97456898e-01 9.80288703e-01 -6.69568993e-03 -2.27031310e+01] [-3.32293479e-02 1.33254872e-04 9.99447744e-01 -4.18984740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:132.12, Y:-22.71, Z:-4.19 [[ 9.79975797e-01 1.96612048e-01 3.14823760e-02 1.32121692e+02] [-1.96624917e-01 9.80475017e-01 -2.71710266e-03 -2.27136367e+01] [-3.14018983e-02 -3.52752473e-03 9.99500614e-01 -4.18963004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89401273899998 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:132.15, Y:-22.72, Z:-4.19 [[ 9.80245823e-01 1.95172478e-01 3.20285801e-02 1.32150656e+02] [-1.94936359e-01 9.80761108e-01 -1.03664919e-02 -2.27168720e+01] [-3.34356396e-02 3.91817557e-03 9.99433192e-01 -4.19245007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:132.18, Y:-22.73, Z:-4.19 [[ 9.81059378e-01 1.90960904e-01 3.25027709e-02 1.32177936e+02] [-1.90844128e-01 9.81597578e-01 -6.68680637e-03 -2.27293085e+01] [-3.31815598e-02 3.57191136e-04 9.99449277e-01 -4.19369950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95401273899998 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:132.21, Y:-22.74, Z:-4.20 [[ 9.81428659e-01 1.89094307e-01 3.22665437e-02 1.32205163e+02] [-1.88978239e-01 9.81958843e-01 -6.63743810e-03 -2.27371317e+01] [-3.29395197e-02 4.16497344e-04 9.99457260e-01 -4.19530741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:132.23, Y:-22.75, Z:-4.20 [[ 9.81672718e-01 1.87940413e-01 3.15765125e-02 1.32233785e+02] [-1.87828684e-01 9.82180331e-01 -6.49477572e-03 -2.27500975e+01] [-3.22344603e-02 4.44769362e-04 9.99480236e-01 -4.19609069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01401273899998 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:132.26, Y:-22.76, Z:-4.20 [[ 9.81564029e-01 1.88471258e-01 3.17906041e-02 1.32263090e+02] [-1.88358286e-01 9.82078612e-01 -6.53881090e-03 -2.27594875e+01] [-3.24532503e-02 4.30237851e-04 9.99473162e-01 -4.19670989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:132.29, Y:-22.77, Z:-4.20 [[ 9.81013518e-01 1.91232567e-01 3.22890608e-02 1.32291243e+02] [-1.91117519e-01 9.81544694e-01 -6.64131582e-03 -2.27711200e+01] [-3.29631922e-02 3.44215395e-04 9.99456507e-01 -4.19788271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07401273899998 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:132.32, Y:-22.78, Z:-4.20 [[ 9.80715330e-01 1.92800573e-01 3.20215501e-02 1.32319060e+02] [-1.92688272e-01 9.81237920e-01 -6.58591732e-03 -2.27799932e+01] [-3.26905278e-02 2.88732936e-04 9.99465480e-01 -4.19879171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters Centerline goodness : 0.991818 Centerline is valid? [True, True] Translation: X:132.35, Y:-22.79, Z:-4.20 [[ 9.80418557e-01 1.94375610e-01 3.15844235e-02 1.32348243e+02] [-1.94267183e-01 9.80927147e-01 -6.49565780e-03 -2.27896314e+01] [-3.22446159e-02 2.32646482e-04 9.99479980e-01 -4.20030265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13401273899999 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:132.38, Y:-22.80, Z:-4.20 [[ 9.79703112e-01 1.97988410e-01 3.13433084e-02 1.32375675e+02] [-1.97883479e-01 9.80204355e-01 -6.44606182e-03 -2.28030078e+01] [-3.19990929e-02 1.12903917e-04 9.99487892e-01 -4.20140869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:132.40, Y:-22.81, Z:-4.20 [[ 9.78849098e-01 2.02198722e-01 3.11467616e-02 1.32403567e+02] [-2.02097244e-01 9.79344514e-01 -6.40527929e-03 -2.28146302e+01] [-3.17985494e-02 -2.48728273e-05 9.99494298e-01 -4.20300515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194012739 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:132.43, Y:-22.82, Z:-4.21 [[ 9.78540842e-01 2.03812418e-01 3.03037756e-02 1.32431714e+02] [-2.03717144e-01 9.79009955e-01 -6.23157883e-03 -2.28228152e+01] [-3.09377712e-02 -7.55442305e-05 9.99521310e-01 -4.20505634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:132.46, Y:-22.83, Z:-4.21 [[ 9.78232417e-01 2.05526667e-01 2.86378561e-02 1.32459093e+02] [-2.05442325e-01 9.78651508e-01 -5.88873762e-03 -2.28303525e+01] [-2.92367737e-02 -1.22873690e-04 9.99572507e-01 -4.20570917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254012739 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:132.49, Y:-22.84, Z:-4.21 [[ 9.77547989e-01 2.08997412e-01 2.68330146e-02 1.32487287e+02] [-2.08924696e-01 9.77916170e-01 -5.51679090e-03 -2.28386061e+01] [-2.73934339e-02 -2.13151557e-04 9.99624707e-01 -4.20627072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:132.51, Y:-22.85, Z:-4.21 [[ 9.77233458e-01 2.10394314e-01 2.73678798e-02 1.32514851e+02] [-2.10319253e-01 9.77616574e-01 -5.62546828e-03 -2.28451937e+01] [-2.79388594e-02 -2.58596218e-04 9.99609600e-01 -4.20744559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314012739 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:132.54, Y:-22.85, Z:-4.21 [[ 9.76769380e-01 2.12077198e-01 3.07382604e-02 1.32541361e+02] [-2.11983390e-01 9.77252855e-01 -6.31665467e-03 -2.28528993e+01] [-3.13786711e-02 -3.46085769e-04 9.99507508e-01 -4.20787732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:132.57, Y:-22.86, Z:-4.21 [[ 9.76563072e-01 2.12801938e-01 3.22475165e-02 1.32569468e+02] [-2.12699147e-01 9.77095279e-01 -6.62489516e-03 -2.28592853e+01] [-3.29186867e-02 -3.89391295e-04 9.99457957e-01 -4.20760252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374012739 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:132.60, Y:-22.86, Z:-4.21 [[ 9.76181730e-01 2.14601498e-01 3.18657756e-02 1.32598303e+02] [-2.14502131e-01 9.76701591e-01 -6.54503490e-03 -2.28629437e+01] [-3.25279280e-02 -4.46133300e-04 9.99470727e-01 -4.20748028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:132.63, Y:-22.87, Z:-4.21 [[ 9.76015988e-01 2.15480609e-01 3.09983501e-02 1.32627286e+02] [-2.15387066e-01 9.76508009e-01 -6.36550609e-03 -2.28666061e+01] [-3.16417803e-02 -4.63807961e-04 9.99499166e-01 -4.20905236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434012739 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:132.66, Y:-22.87, Z:-4.21 [[ 9.75852700e-01 2.16346470e-01 3.00950528e-02 1.32655712e+02] [-2.16258752e-01 9.76316535e-01 -6.17869855e-03 -2.28703566e+01] [-3.07190373e-02 -4.78818911e-04 9.99527944e-01 -4.21033999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:132.68, Y:-22.87, Z:-4.21 [[ 9.75911828e-01 2.16083726e-01 3.00653802e-02 1.32683856e+02] [-2.15996098e-01 9.76374724e-01 -6.17126121e-03 -2.28733388e+01] [-3.06885864e-02 -4.71398004e-04 9.99528883e-01 -4.21270252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494012739 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:132.71, Y:-22.88, Z:-4.21 [[ 9.76213067e-01 2.14692763e-01 3.02500552e-02 1.32711740e+02] [-2.14603440e-01 9.76681540e-01 -6.20746849e-03 -2.28770318e+01] [-3.08773690e-02 -4.31954041e-04 9.99523087e-01 -4.21372659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:132.74, Y:-22.88, Z:-4.21 [[ 9.77019709e-01 2.10949121e-01 3.05443533e-02 1.32740826e+02] [-2.10856275e-01 9.77496991e-01 -6.26612482e-03 -2.28789196e+01] [-3.11788469e-02 -3.18341111e-04 9.99513771e-01 -4.21432045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55401273899997 meters Centerline goodness : 0.990951 Centerline is valid? [True, True] Translation: X:132.77, Y:-22.88, Z:-4.21 [[ 9.77565372e-01 2.08359881e-01 3.08561848e-02 1.32767852e+02] [-2.08263883e-01 9.78052198e-01 -6.32872043e-03 -2.28833166e+01] [-3.14976108e-02 -2.39490914e-04 9.99503798e-01 -4.21499273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:132.80, Y:-22.89, Z:-4.22 [[ 9.78129060e-01 2.05636697e-01 3.12584438e-02 1.32795917e+02] [-2.05536842e-01 9.78628390e-01 -6.40949099e-03 -2.28887900e+01] [-3.19084270e-02 -1.55452425e-04 9.99490784e-01 -4.21605247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61401273899997 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:132.82, Y:-22.89, Z:-4.22 [[ 9.79338802e-01 1.99862659e-01 3.08290207e-02 1.32823631e+02] [-1.99762708e-01 9.79823921e-01 -6.32010072e-03 -2.28940475e+01] [-3.14701641e-02 3.10312066e-05 9.99504691e-01 -4.21732520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:132.85, Y:-22.90, Z:-4.22 [[ 9.80220349e-01 1.95663401e-01 2.97304594e-02 1.32854438e+02] [-1.95568546e-01 9.80671101e-01 -6.09389858e-03 -2.29009738e+01] [-3.03481553e-02 1.59020668e-04 9.99539376e-01 -4.21927459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67401273899998 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:132.89, Y:-22.91, Z:-4.22 [[ 9.80440426e-01 1.94516934e-01 2.99955656e-02 1.32885279e+02] [-1.94419821e-01 9.80899140e-01 -6.14896165e-03 -2.29088200e+01] [-3.06187017e-02 1.96958083e-04 9.99531118e-01 -4.22060419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:132.92, Y:-22.92, Z:-4.22 [[ 9.80514180e-01 1.94043736e-01 3.06426393e-02 1.32916073e+02] [-1.93942133e-01 9.80992855e-01 -6.28235228e-03 -2.29170873e+01] [-3.12792613e-02 2.17036682e-04 9.99510661e-01 -4.22102217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73401273899998 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:132.95, Y:-22.93, Z:-4.22 [[ 9.80269861e-01 1.95135582e-01 3.15135423e-02 1.32947197e+02] [-1.95028654e-01 9.80776258e-01 -6.46181122e-03 -2.29268473e+01] [-3.21686634e-02 1.88275051e-04 9.99482437e-01 -4.22014190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:132.98, Y:-22.93, Z:-4.22 [[ 9.80013565e-01 1.96455606e-01 3.12826909e-02 1.32977889e+02] [-1.96350739e-01 9.80512709e-01 -6.41984799e-03 -2.29346382e+01] [-3.19342912e-02 1.49158626e-04 9.99489959e-01 -4.22084022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79401273899998 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:133.01, Y:-22.94, Z:-4.22 [[ 9.79693702e-01 1.98097634e-01 3.09447487e-02 1.33008495e+02] [-1.97995685e-01 9.80182288e-01 -6.35540391e-03 -2.29443896e+01] [-3.15904851e-02 9.94224567e-05 9.99500891e-01 -4.22282045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:133.04, Y:-22.95, Z:-4.22 [[ 9.79547138e-01 1.98809909e-01 3.10165278e-02 1.33039188e+02] [-1.98707676e-01 9.80038067e-01 -6.37544582e-03 -2.29529351e+01] [-3.16648798e-02 8.18275447e-05 9.99498539e-01 -4.22468397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85401273899998 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:133.07, Y:-22.96, Z:-4.23 [[ 9.79308687e-01 2.00018492e-01 3.07749493e-02 1.33069880e+02] [-1.99918277e-01 9.79792121e-01 -6.33103687e-03 -2.29628317e+01] [-3.14193773e-02 4.75645755e-05 9.99506288e-01 -4.22618764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:133.10, Y:-22.97, Z:-4.23 [[ 9.79301997e-01 2.00051362e-01 3.07742061e-02 1.33101037e+02] [-1.99951050e-01 9.79785410e-01 -6.33464734e-03 -2.29692954e+01] [-3.14193730e-02 5.01979702e-05 9.99506288e-01 -4.22718359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914012739 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:133.13, Y:-22.98, Z:-4.23 [[ 9.79119932e-01 2.01021743e-01 3.02393443e-02 1.33132535e+02] [-2.00925320e-01 9.79586779e-01 -6.22553170e-03 -2.29781284e+01] [-3.08735291e-02 1.96922473e-05 9.99523299e-01 -4.22873119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:133.16, Y:-22.99, Z:-4.23 [[ 9.78993909e-01 2.01729008e-01 2.96029214e-02 1.33163381e+02] [-2.01636776e-01 9.79441375e-01 -6.09945736e-03 -2.29873377e+01] [-3.02247635e-02 2.29399025e-06 9.99543127e-01 -4.22988997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974012739 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:133.19, Y:-23.00, Z:-4.23 [[ 9.78909228e-01 2.01882285e-01 3.13092065e-02 1.33192846e+02] [-2.01911657e-01 9.79401146e-01 -2.25352864e-03 -2.30007165e+01] [-3.11192203e-02 -4.11569381e-03 9.99507206e-01 -4.23115362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:133.22, Y:-23.00, Z:-4.23 [[ 9.78683182e-01 2.03316897e-01 2.90080765e-02 1.33223078e+02] [-2.03096186e-01 9.79103630e-01 -1.03932999e-02 -2.30031181e+01] [-3.05150465e-02 4.28031811e-03 9.99525143e-01 -4.23088247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034012739 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:133.25, Y:-23.01, Z:-4.23 [[ 9.78163050e-01 2.05512140e-01 3.10130284e-02 1.33251048e+02] [-2.05412398e-01 9.78654560e-01 -6.40296328e-03 -2.30149562e+01] [-3.16669283e-02 -1.07318447e-04 9.99498471e-01 -4.23102067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:133.28, Y:-23.02, Z:-4.23 [[ 9.77818097e-01 2.07173896e-01 3.08341693e-02 1.33281967e+02] [-2.07076125e-01 9.78304120e-01 -6.36609391e-03 -2.30233554e+01] [-3.14840834e-02 -1.60138476e-04 9.99504241e-01 -4.23263444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094012739 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:133.31, Y:-23.03, Z:-4.23 [[ 9.77508696e-01 2.08671477e-01 3.05444546e-02 1.33313859e+02] [-2.08576106e-01 9.77985774e-01 -6.31141233e-03 -2.30321963e+01] [-3.11890538e-02 -2.01382965e-04 9.99513483e-01 -4.23415125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:133.34, Y:-23.04, Z:-4.24 [[ 9.76892798e-01 2.11508257e-01 3.07362863e-02 1.33344046e+02] [-2.11412891e-01 9.77376168e-01 -6.35727629e-03 -2.30427453e+01] [-3.13855302e-02 -2.87669730e-04 9.99507312e-01 -4.23510850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154012739 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:133.38, Y:-23.05, Z:-4.24 [[ 9.76489293e-01 2.13307322e-01 3.11230792e-02 1.33375286e+02] [-2.13210266e-01 9.76985091e-01 -6.44317896e-03 -2.30502852e+01] [-3.17811616e-02 -3.44064713e-04 9.99494792e-01 -4.23594101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:133.41, Y:-23.06, Z:-4.24 [[ 9.75650034e-01 2.17195332e-01 3.05483222e-02 1.33406563e+02] [-2.17103573e-01 9.76128055e-01 -6.32925584e-03 -2.30562152e+01] [-3.11937591e-02 -4.57011231e-04 9.99513252e-01 -4.23731108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214012739 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:133.44, Y:-23.06, Z:-4.24 [[ 9.75269803e-01 2.18975645e-01 2.99746228e-02 1.33437032e+02] [-2.18887987e-01 9.75730197e-01 -6.21546131e-03 -2.30622643e+01] [-3.06081792e-02 -4.99333092e-04 9.99531335e-01 -4.23872225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:133.47, Y:-23.07, Z:-4.24 [[ 9.74946740e-01 2.20454309e-01 2.96437349e-02 1.33468348e+02] [-2.20369114e-01 9.75397156e-01 -6.15160700e-03 -2.30679385e+01] [-3.02705630e-02 -5.35074391e-04 9.99541598e-01 -4.23969643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27401273899997 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:133.50, Y:-23.07, Z:-4.24 [[ 9.74579443e-01 2.22047228e-01 2.98318125e-02 1.33498618e+02] [-2.21961671e-01 9.75035734e-01 -6.19138085e-03 -2.30722223e+01] [-3.04618621e-02 -5.87526447e-04 9.99535757e-01 -4.24081832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:133.53, Y:-23.08, Z:-4.24 [[ 9.74659281e-01 2.21809236e-01 2.89818811e-02 1.33529320e+02] [-2.21728371e-01 9.75089917e-01 -6.01530761e-03 -2.30789848e+01] [-2.95941909e-02 -5.63229902e-04 9.99561837e-01 -4.24236626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33401273899997 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:133.56, Y:-23.09, Z:-4.24 [[ 9.74951131e-01 2.20573409e-01 2.85948139e-02 1.33560083e+02] [-2.20494138e-01 9.75370239e-01 -5.93565671e-03 -2.30853009e+01] [-2.91997785e-02 -5.18013625e-04 9.99573461e-01 -4.24339167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:133.59, Y:-23.09, Z:-4.24 [[ 9.75174125e-01 2.19495565e-01 2.92766622e-02 1.33590396e+02] [-2.19411961e-01 9.75613371e-01 -6.07788908e-03 -2.30908603e+01] [-2.98967728e-02 -4.96649713e-04 9.99552868e-01 -4.24470555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39401273899998 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:133.62, Y:-23.10, Z:-4.25 [[ 9.75462987e-01 2.17929955e-01 3.12809198e-02 1.33620598e+02] [-2.17833646e-01 9.75964296e-01 -6.49583373e-03 -2.30950188e+01] [-3.19446976e-02 -4.77591446e-04 9.99489524e-01 -4.24542860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:133.65, Y:-23.10, Z:-4.25 [[ 9.75698774e-01 2.16888094e-01 3.11682110e-02 1.33652590e+02] [-2.16791943e-01 9.76196373e-01 -6.47254546e-03 -2.31007115e+01] [-3.18301126e-02 -4.41762368e-04 9.99493196e-01 -4.24695759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45401273899998 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:133.68, Y:-23.11, Z:-4.25 [[ 9.76560963e-01 2.13296780e-01 2.88646835e-02 1.33683389e+02] [-2.13212615e-01 9.76987408e-01 -5.99876246e-03 -2.31062138e+01] [-2.94799490e-02 -2.96157390e-04 9.99565328e-01 -4.24954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:133.71, Y:-23.11, Z:-4.25 [[ 9.77076364e-01 2.10919680e-01 2.88906218e-02 1.33713934e+02] [-2.10834183e-01 9.77503371e-01 -6.00892827e-03 -2.31128372e+01] [-2.95080815e-02 -2.19948855e-04 9.99564518e-01 -4.24987884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51401273899998 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:133.75, Y:-23.12, Z:-4.25 [[ 9.77467862e-01 2.08993786e-01 2.96340470e-02 1.33745026e+02] [-2.08902915e-01 9.77916955e-01 -6.16454000e-03 -2.31205612e+01] [-3.02679875e-02 -1.64999085e-04 9.99541806e-01 -4.25078320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:133.78, Y:-23.13, Z:-4.25 [[ 9.78161267e-01 2.05541442e-01 3.08747651e-02 1.33776742e+02] [-2.05440907e-01 9.78648411e-01 -6.42813809e-03 -2.31302819e+01] [-3.15367886e-02 -5.51840540e-05 9.99502590e-01 -4.25063994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57401273899998 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:133.81, Y:-23.14, Z:-4.25 [[ 9.78482136e-01 2.03814328e-01 3.21314489e-02 1.33807123e+02] [-2.03704295e-01 9.79009561e-01 -6.69629884e-03 -2.31395281e+01] [-3.28217973e-02 6.89464171e-06 9.99461220e-01 -4.25036591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:133.84, Y:-23.15, Z:-4.25 [[ 9.78402843e-01 2.04136061e-01 3.25014714e-02 1.33838984e+02] [-2.04023456e-01 9.78942526e-01 -6.77945513e-03 -2.31474585e+01] [-3.32010037e-02 1.97565443e-06 9.99448695e-01 -4.25114888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63401273899999 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:133.87, Y:-23.16, Z:-4.25 [[ 9.78153412e-01 2.05372939e-01 3.22158274e-02 1.33871158e+02] [-2.05262769e-01 9.78683787e-01 -6.72611091e-03 -2.31551950e+01] [-3.29104691e-02 -3.35416081e-05 9.99458303e-01 -4.25180482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:133.90, Y:-23.16, Z:-4.25 [[ 9.77171485e-01 2.10201610e-01 3.08410909e-02 1.33902708e+02] [-2.10102865e-01 9.77658043e-01 -6.44484920e-03 -2.31616341e+01] [-3.15067582e-02 -1.82078700e-04 9.99503522e-01 -4.25281875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694012739 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:133.93, Y:-23.17, Z:-4.26 [[ 9.76681495e-01 2.12028912e-01 3.37194064e-02 1.33933448e+02] [-2.12135324e-01 9.77240205e-01 -4.30971814e-04 -2.31730326e+01] [-3.30433381e-02 -6.73215500e-03 9.99431246e-01 -4.25512241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:133.97, Y:-23.17, Z:-4.26 [[ 9.76259200e-01 2.14639605e-01 2.91172431e-02 1.33965611e+02] [-2.14348601e-01 9.76673234e-01 -1.28090055e-02 -2.31732340e+01] [-3.11873518e-02 6.26366912e-03 9.99493930e-01 -4.25594968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754012739 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:134.00, Y:-23.19, Z:-4.26 [[ 9.76195728e-01 2.14771491e-01 3.02507510e-02 1.33996556e+02] [-2.14678333e-01 9.76664277e-01 -6.33278721e-03 -2.31865168e+01] [-3.09049300e-02 -3.12140973e-04 9.99522280e-01 -4.25660472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:134.03, Y:-23.19, Z:-4.26 [[ 9.76266308e-01 2.14526396e-01 2.97072488e-02 1.34027104e+02] [-2.14436272e-01 9.76718147e-01 -6.22464715e-03 -2.31946724e+01] [-3.03509602e-02 -2.93398387e-04 9.99539260e-01 -4.25822362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814012739 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:134.06, Y:-23.20, Z:-4.26 [[ 9.76400179e-01 2.14045334e-01 2.87625747e-02 1.34057263e+02] [-2.13960492e-01 9.76823692e-01 -6.03181584e-03 -2.32043557e+01] [-2.93870464e-02 -2.64588562e-04 9.99568072e-01 -4.25967863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:134.09, Y:-23.21, Z:-4.26 [[ 9.76116339e-01 2.15337291e-01 2.87531659e-02 1.34088643e+02] [-2.15252967e-01 9.76539687e-01 -6.03320192e-03 -2.32117172e+01] [-2.93777810e-02 -3.00097287e-04 9.99568335e-01 -4.26035032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874012739 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:134.12, Y:-23.22, Z:-4.26 [[ 9.74955297e-01 2.20389444e-01 2.98439451e-02 1.34119634e+02] [-2.20300801e-01 9.75411850e-01 -6.26734098e-03 -2.32163689e+01] [-3.04913935e-02 -4.64267726e-04 9.99534922e-01 -4.25923417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:134.15, Y:-23.22, Z:-4.26 [[ 9.74170603e-01 2.23729469e-01 3.06065603e-02 1.34149502e+02] [-2.23637861e-01 9.74651109e-01 -6.42823462e-03 -2.32209017e+01] [-3.12689034e-02 -5.82588458e-04 9.99510838e-01 -4.25940745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934012739 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:134.18, Y:-23.22, Z:-4.26 [[ 9.72875737e-01 2.29199232e-01 3.13131512e-02 1.34179219e+02] [-2.29106160e-01 9.73379223e-01 -6.57698617e-03 -2.32232037e+01] [-3.19870109e-02 -7.75445548e-04 9.99487984e-01 -4.26052947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:134.21, Y:-23.23, Z:-4.26 [[ 9.72425674e-01 2.31133187e-01 3.10766508e-02 1.34209857e+02] [-2.31042524e-01 9.72921762e-01 -6.52660721e-03 -2.32273856e+01] [-3.17436654e-02 -8.33387431e-04 9.99495695e-01 -4.26185570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99401273899997 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:134.24, Y:-23.23, Z:-4.26 [[ 9.72120527e-01 2.32465559e-01 3.06829707e-02 1.34238958e+02] [-2.32377842e-01 9.72604243e-01 -6.44392596e-03 -2.32304983e+01] [-3.13403783e-02 -8.65769814e-04 9.99508395e-01 -4.26415300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:134.27, Y:-23.24, Z:-4.27 [[ 9.72313194e-01 2.31663972e-01 3.06407775e-02 1.34268611e+02] [-2.31576110e-01 9.72795508e-01 -6.43470197e-03 -2.32358862e+01] [-3.12978993e-02 -8.39126439e-04 9.99509749e-01 -4.26529778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05401273899997 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:134.30, Y:-23.24, Z:-4.27 [[ 9.72728570e-01 2.29942196e-01 3.04255636e-02 1.34299069e+02] [-2.29854745e-01 9.73203976e-01 -6.38878404e-03 -2.32418293e+01] [-3.10793305e-02 -7.78907396e-04 9.99516617e-01 -4.26651202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:134.33, Y:-23.25, Z:-4.27 [[ 9.73860411e-01 2.25260399e-01 2.92173243e-02 1.34330621e+02] [-2.25177633e-01 9.74298408e-01 -6.13560189e-03 -2.32452906e+01] [-2.98485006e-02 -6.03868148e-04 9.99554252e-01 -4.26804920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11401273899997 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:134.36, Y:-23.25, Z:-4.27 [[ 9.74394789e-01 2.22974015e-01 2.89375785e-02 1.34360144e+02] [-2.22891672e-01 9.74824248e-01 -6.08179382e-03 -2.32496282e+01] [-2.95651352e-02 -5.23877056e-04 9.99562719e-01 -4.26928177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:134.39, Y:-23.26, Z:-4.27 [[ 9.75116125e-01 2.19870044e-01 2.83849552e-02 1.34389152e+02] [-2.19789511e-01 9.75529080e-01 -5.96531114e-03 -2.32550871e+01] [-2.90019424e-02 -4.21844345e-04 9.99579266e-01 -4.27059388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17401273899998 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:134.42, Y:-23.26, Z:-4.27 [[ 9.75468770e-01 2.18341103e-01 2.80685039e-02 1.34418694e+02] [-2.18261734e-01 9.75872443e-01 -5.89844362e-03 -2.32609819e+01] [-2.86791521e-02 -3.72532767e-04 9.99588599e-01 -4.27275259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:134.45, Y:-23.27, Z:-4.27 [[ 9.75963498e-01 2.16165923e-01 2.77045778e-02 1.34448509e+02] [-2.16087722e-01 9.76356595e-01 -5.82196653e-03 -2.32662069e+01] [-2.83080580e-02 -3.04592285e-04 9.99599200e-01 -4.27351860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23401273899998 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:134.48, Y:-23.27, Z:-4.27 [[ 9.76167610e-01 2.15107417e-01 2.87332055e-02 1.34478024e+02] [-2.15022841e-01 9.76590354e-01 -6.03812705e-03 -2.32723877e+01] [-2.93594172e-02 -2.84071435e-04 9.99568879e-01 -4.27434670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:134.51, Y:-23.28, Z:-4.27 [[ 9.76358113e-01 2.14064528e-01 3.00202127e-02 1.34508529e+02] [-2.13971712e-01 9.76819486e-01 -6.30857238e-03 -2.32797083e+01] [-3.06747703e-02 -2.64050489e-04 9.99529384e-01 -4.27444151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29401273899998 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:134.54, Y:-23.29, Z:-4.28 [[ 9.76645654e-01 2.12728794e-01 3.01616589e-02 1.34538966e+02] [-2.12634443e-01 9.77111258e-01 -6.33899578e-03 -2.32871641e+01] [-3.08197834e-02 -2.22454882e-04 9.99524933e-01 -4.27500476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:134.57, Y:-23.29, Z:-4.28 [[ 9.76837571e-01 2.11916029e-01 2.96640801e-02 1.34569990e+02] [-2.11824246e-01 9.77287860e-01 -6.23919642e-03 -2.32938010e+01] [-3.03125311e-02 -1.88889934e-04 9.99540452e-01 -4.27652288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35401273899998 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:134.60, Y:-23.30, Z:-4.28 [[ 9.77221686e-01 2.10153260e-01 2.95530780e-02 1.34600196e+02] [-2.10061338e-01 9.77668446e-01 -6.21649844e-03 -2.33013490e+01] [-3.01995292e-02 -1.33062018e-04 9.99543881e-01 -4.27769794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:134.63, Y:-23.31, Z:-4.28 [[ 9.77455654e-01 2.09023869e-01 2.98239188e-02 1.34630198e+02] [-2.08929639e-01 9.77910534e-01 -6.27636599e-03 -2.33085611e+01] [-3.04770347e-02 -9.62311767e-05 9.99535463e-01 -4.27878622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414012739 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:134.66, Y:-23.32, Z:-4.28 [[ 9.77966951e-01 2.06688656e-01 2.93332841e-02 1.34660916e+02] [-2.06596317e-01 9.78406766e-01 -6.17761184e-03 -2.33175216e+01] [-2.99767259e-02 -1.86482316e-05 9.99550597e-01 -4.27949200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:134.69, Y:-23.33, Z:-4.28 [[ 9.78105192e-01 2.05944319e-01 2.99528135e-02 1.34692469e+02] [-2.05847529e-01 9.78563712e-01 -6.31325812e-03 -2.33255477e+01] [-3.06109160e-02 9.31789420e-06 9.99531376e-01 -4.28131635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474012739 meters Centerline goodness : 0.986311 Centerline is valid? [True, True] Translation: X:134.72, Y:-23.33, Z:-4.27 [[ 9.78154365e-01 2.05712083e-01 2.99429019e-02 1.34724442e+02] [-2.05615064e-01 9.78612558e-01 -6.31717801e-03 -2.33337100e+01] [-3.06020197e-02 2.24635485e-05 9.99531648e-01 -4.27127724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:134.75, Y:-23.34, Z:-4.28 [[ 9.78341199e-01 2.04727788e-01 3.05782861e-02 1.34754391e+02] [-2.04625925e-01 9.78818946e-01 -6.45766434e-03 -2.33439800e+01] [-3.12526691e-02 6.06889767e-05 9.99511514e-01 -4.28279437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534012739 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:134.79, Y:-23.35, Z:-4.28 [[ 9.78390011e-01 2.04651053e-01 2.95115646e-02 1.34786640e+02] [-2.04555976e-01 9.78834992e-01 -6.23784277e-03 -2.33526315e+01] [-3.01635332e-02 6.62761543e-05 9.99544975e-01 -4.28390126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:134.82, Y:-23.36, Z:-4.29 [[ 9.78315114e-01 2.05072109e-01 2.90683347e-02 1.34818424e+02] [-2.04979885e-01 9.78746866e-01 -6.14979787e-03 -2.33625411e+01] [-2.97116935e-02 5.80162962e-05 9.99558508e-01 -4.28517091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594012739 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:134.85, Y:-23.37, Z:-4.29 [[ 9.78107550e-01 2.05993024e-01 2.95380068e-02 1.34849663e+02] [-2.05898030e-01 9.78553459e-01 -6.25527091e-03 -2.33712308e+01] [-3.01930609e-02 3.65102718e-05 9.99544085e-01 -4.28584938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:134.88, Y:-23.38, Z:-4.29 [[ 9.77674984e-01 2.07756635e-01 3.14452913e-02 1.34881463e+02] [-2.07649681e-01 9.78180546e-01 -6.66553738e-03 -2.33814749e+01] [-3.21439818e-02 -1.28755567e-05 9.99483249e-01 -4.28678568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654012739 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:134.91, Y:-23.39, Z:-4.29 [[ 9.77494964e-01 2.08610530e-01 3.13885601e-02 1.34913507e+02] [-2.08504206e-01 9.77998796e-01 -6.65963498e-03 -2.33901052e+01] [-3.20872440e-02 -3.48871361e-05 9.99485071e-01 -4.28783938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:134.94, Y:-23.40, Z:-4.29 [[ 9.77172465e-01 2.10332828e-01 2.99010923e-02 1.34943942e+02] [-2.10236976e-01 9.77629835e-01 -6.34974607e-03 -2.33985965e+01] [-3.05677600e-02 -8.15181903e-05 9.99532694e-01 -4.28905336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714012739 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:134.98, Y:-23.41, Z:-4.29 [[ 9.77008991e-01 2.11165807e-01 2.93672312e-02 1.34976250e+02] [-2.11073562e-01 9.77450250e-01 -6.24175841e-03 -2.34063055e+01] [-3.00230535e-02 -1.00392023e-04 9.99549201e-01 -4.28995277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:135.01, Y:-23.41, Z:-4.29 [[ 9.76935858e-01 2.11467827e-01 2.96258079e-02 1.35008814e+02] [-2.11373910e-01 9.77384953e-01 -6.30260701e-03 -2.34141946e+01] [-3.02886175e-02 -1.04880074e-04 9.99541189e-01 -4.29070202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77401273899997 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:135.04, Y:-23.42, Z:-4.29 [[ 9.76978102e-01 2.11070403e-01 3.10334277e-02 1.35040767e+02] [-2.10966943e-01 9.77470857e-01 -6.60851507e-03 -2.34233646e+01] [-3.17291331e-02 -9.06528628e-05 9.99496500e-01 -4.29032402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:135.07, Y:-23.43, Z:-4.29 [[ 9.76960661e-01 2.11151295e-01 3.10321934e-02 1.35073489e+02] [-2.11047691e-01 9.77453387e-01 -6.61430581e-03 -2.34304763e+01] [-3.17291418e-02 -8.73561936e-05 9.99496500e-01 -4.29136911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83401273899997 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:135.10, Y:-23.44, Z:-4.29 [[ 9.76831190e-01 2.11373783e-01 3.34955292e-02 1.35103747e+02] [-2.11364967e-01 9.77399648e-01 -3.84435867e-03 -2.34401045e+01] [-3.35511150e-02 -3.32449196e-03 9.99431474e-01 -4.29207873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:135.14, Y:-23.44, Z:-4.29 [[ 9.76842774e-01 2.11477171e-01 3.24900081e-02 1.35135689e+02] [-2.11254337e-01 9.77378070e-01 -1.01839601e-02 -2.34430734e+01] [-3.39086965e-02 3.08447270e-03 9.99420175e-01 -4.29350041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89401273899998 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:135.17, Y:-23.45, Z:-4.29 [[ 9.76782701e-01 2.11726452e-01 3.26720900e-02 1.35167269e+02] [-2.11611552e-01 9.77328962e-01 -6.97507744e-03 -2.34533716e+01] [-3.34081882e-02 -1.00656681e-04 9.99441786e-01 -4.29457611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:135.20, Y:-23.46, Z:-4.30 [[ 9.76817116e-01 2.11680578e-01 3.19320482e-02 1.35198124e+02] [-2.11570601e-01 9.77338900e-01 -6.82319093e-03 -2.34617470e+01] [-3.26527699e-02 -9.08729619e-05 9.99466752e-01 -4.29606266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95401273899998 meters Centerline goodness : 0.984670 Centerline is valid? [True, True] Translation: X:135.23, Y:-23.47, Z:-4.29 [[ 9.76993615e-01 2.11268299e-01 2.91407395e-02 1.35229240e+02] [-2.11176383e-01 9.77428106e-01 -6.23166416e-03 -2.34701174e+01] [-2.97995309e-02 -6.55398645e-05 9.99555893e-01 -4.28573625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:135.26, Y:-23.48, Z:-4.30 [[ 9.76957737e-01 2.10765850e-01 3.36353361e-02 1.35257523e+02] [-2.10954994e-01 9.77493439e-01 2.13697254e-03 -2.34836045e+01] [-3.24279195e-02 -9.18327398e-03 9.99431887e-01 -4.29965487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01401273899998 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:135.29, Y:-23.48, Z:-4.30 [[ 9.77254976e-01 2.10112364e-01 2.87316134e-02 1.35291664e+02] [-2.09738742e-01 9.77634823e-01 -1.54858721e-02 -2.34792643e+01] [-3.13427990e-02 9.10751317e-03 9.99467199e-01 -4.30073003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:135.32, Y:-23.49, Z:-4.30 [[ 9.77404427e-01 2.09122634e-01 3.07946377e-02 1.35320991e+02] [-2.09018596e-01 9.77889423e-01 -6.59567312e-03 -2.34931183e+01] [-3.14930551e-02 9.98817401e-06 9.99503971e-01 -4.29993561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07401273899998 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:135.35, Y:-23.50, Z:-4.30 [[ 9.77768049e-01 2.07517587e-01 3.01013710e-02 1.35352868e+02] [-2.07417260e-01 9.78231285e-01 -6.45241235e-03 -2.35007531e+01] [-3.07850919e-02 6.54187513e-05 9.99526025e-01 -4.30223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:135.38, Y:-23.51, Z:-4.30 [[ 9.77736241e-01 2.07739787e-01 2.95977162e-02 1.35384132e+02] [-2.07642710e-01 9.78184122e-01 -6.35044357e-03 -2.35081285e+01] [-3.02712559e-02 6.33088229e-05 9.99541719e-01 -4.30408446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13401273899999 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:135.42, Y:-23.52, Z:-4.31 [[ 9.77410030e-01 2.09388842e-01 2.87392816e-02 1.35415282e+02] [-2.09297871e-01 9.77832456e-01 -6.17160062e-03 -2.35177135e+01] [-2.93944666e-02 1.71138871e-05 9.99567889e-01 -4.30576729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:135.45, Y:-23.53, Z:-4.31 [[ 9.77145948e-01 2.10603497e-01 2.88437919e-02 1.35446082e+02] [-2.10512217e-01 9.77571566e-01 -6.19996596e-03 -2.35251891e+01] [-2.95026053e-02 -1.36989578e-05 9.99564703e-01 -4.30673190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194012739 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:135.48, Y:-23.53, Z:-4.31 [[ 9.76918691e-01 2.11774420e-01 2.79547345e-02 1.35478294e+02] [-2.11689015e-01 9.77318573e-01 -6.01396739e-03 -2.35315684e+01] [-2.85942856e-02 -4.25530461e-05 9.99591099e-01 -4.30784497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:135.51, Y:-23.54, Z:-4.31 [[ 9.76831147e-01 2.12267259e-01 2.72675958e-02 1.35509629e+02] [-2.12186044e-01 9.77211650e-01 -5.87147543e-03 -2.35377488e+01] [-2.78925343e-02 -5.03632223e-05 9.99610926e-01 -4.30876886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254012739 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:135.54, Y:-23.54, Z:-4.31 [[ 9.76693155e-01 2.12945086e-01 2.69234402e-02 1.35541745e+02] [-2.12866032e-01 9.77064167e-01 -5.80225132e-03 -2.35443706e+01] [-2.75414896e-02 -6.40667274e-05 9.99620659e-01 -4.30960574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:135.57, Y:-23.55, Z:-4.31 [[ 9.76299669e-01 2.14576216e-01 2.82135287e-02 1.35574248e+02] [-2.14489914e-01 9.76707241e-01 -6.08615550e-03 -2.35506852e+01] [-2.88623020e-02 -1.09605742e-04 9.99583391e-01 -4.30979002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314012739 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:135.61, Y:-23.56, Z:-4.31 [[ 9.75934879e-01 2.16093987e-01 2.92318511e-02 1.35606597e+02] [-2.16001842e-01 9.76372554e-01 -6.31185248e-03 -2.35572155e+01] [-2.99051305e-02 -1.54176678e-04 9.99552730e-01 -4.30980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:135.64, Y:-23.56, Z:-4.31 [[ 9.75081364e-01 2.19761153e-01 3.03540756e-02 1.35639383e+02] [-2.19663375e-01 9.75553670e-01 -6.56041958e-03 -2.35618568e+01] [-3.10537552e-02 -2.70735819e-04 9.99517679e-01 -4.31187159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374012739 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:135.67, Y:-23.57, Z:-4.31 [[ 9.74674744e-01 2.21620238e-01 2.98933834e-02 1.35670990e+02] [-2.21526100e-01 9.75133000e-01 -6.46676485e-03 -2.35665769e+01] [-3.05831906e-02 -3.19172254e-04 9.99532174e-01 -4.31262779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:135.70, Y:-23.57, Z:-4.31 [[ 9.74346948e-01 2.23130288e-01 2.93410984e-02 1.35702564e+02] [-2.23040119e-01 9.74788566e-01 -6.35267062e-03 -2.35710675e+01] [-3.00188404e-02 -3.54536841e-04 9.99549270e-01 -4.31336054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434012739 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:135.73, Y:-23.57, Z:-4.31 [[ 9.74252782e-01 2.23490996e-01 2.97202055e-02 1.35734891e+02] [-2.23398482e-01 9.74705926e-01 -6.44025221e-03 -2.35731235e+01] [-3.04077988e-02 -3.65015168e-04 9.99537509e-01 -4.31422362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:135.77, Y:-23.57, Z:-4.31 [[ 9.74175518e-01 2.23511966e-01 3.20072172e-02 1.35766530e+02] [-2.23404486e-01 9.74701108e-01 -6.94156167e-03 -2.35745649e+01] [-3.27489922e-02 -3.88256491e-04 9.99463532e-01 -4.31394880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49401273899997 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:135.80, Y:-23.58, Z:-4.31 [[ 9.74246371e-01 2.23147604e-01 3.23906586e-02 1.35799341e+02] [-2.23037220e-01 9.74784594e-01 -7.02807306e-03 -2.35792265e+01] [-3.31422126e-02 -3.77247762e-04 9.99450575e-01 -4.31492295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:135.83, Y:-23.58, Z:-4.32 [[ 9.74529610e-01 2.21948656e-01 3.21066054e-02 1.35830754e+02] [-2.21839344e-01 9.75058299e-01 -6.97269975e-03 -2.35842722e+01] [-3.28533934e-02 -3.27405901e-04 9.99460128e-01 -4.31698600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55401273899997 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:135.86, Y:-23.59, Z:-4.32 [[ 9.75761683e-01 2.16776095e-01 2.99543262e-02 1.35863779e+02] [-2.16678353e-01 9.76221340e-01 -6.51045322e-03 -2.35884246e+01] [-3.06533631e-02 -1.37803256e-04 9.99530066e-01 -4.31957258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:135.90, Y:-23.59, Z:-4.32 [[ 9.77146182e-01 2.10423733e-01 3.01196366e-02 1.35896875e+02] [-2.10321761e-01 9.77610274e-01 -6.55046541e-03 -2.35929111e+01] [-3.08236396e-02 6.59472646e-05 9.99524837e-01 -4.31986652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61401273899997 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:135.93, Y:-23.60, Z:-4.32 [[ 9.77563973e-01 2.08390310e-01 3.06945842e-02 1.35928054e+02] [-2.08283208e-01 9.78045735e-01 -6.68174963e-03 -2.35996794e+01] [-3.14131190e-02 1.38671233e-04 9.99506477e-01 -4.32048973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:135.96, Y:-23.61, Z:-4.32 [[ 9.77838138e-01 2.07072310e-01 3.08809617e-02 1.35959175e+02] [-2.06963123e-01 9.78325623e-01 -6.72619535e-03 -2.36069117e+01] [-3.16044449e-02 1.85910053e-04 9.99500437e-01 -4.32180642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67401273899998 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:135.99, Y:-23.61, Z:-4.32 [[ 9.78216362e-01 2.05486308e-01 2.94639879e-02 1.35990963e+02] [-2.05386043e-01 9.78659963e-01 -6.42259421e-03 -2.36142231e+01] [-3.01549804e-02 2.31194882e-04 9.99545208e-01 -4.32379132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:136.02, Y:-23.62, Z:-4.32 [[ 9.78282365e-01 2.05227053e-01 2.90769991e-02 1.36022531e+02] [-2.05129120e-01 9.78714360e-01 -6.34397254e-03 -2.36206377e+01] [-2.97600313e-02 2.41657234e-04 9.99557043e-01 -4.32468745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73401273899998 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:136.05, Y:-23.63, Z:-4.32 [[ 9.78128531e-01 2.05889036e-01 2.95682646e-02 1.36053716e+02] [-2.05787958e-01 9.78575318e-01 -6.45476214e-03 -2.36271786e+01] [-3.02637386e-02 2.28794223e-04 9.99541922e-01 -4.32407718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters Centerline goodness : 0.984221 Centerline is valid? [True, True] Translation: X:136.09, Y:-23.63, Z:-4.31 [[ 9.77775540e-01 2.07563004e-01 2.95396852e-02 1.36086341e+02] [-2.07462713e-01 9.78221634e-01 -6.45420433e-03 -2.36347285e+01] [-3.02360132e-02 1.82379903e-04 9.99542771e-01 -4.31117622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79401273899998 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:136.12, Y:-23.64, Z:-4.32 [[ 9.77158751e-01 2.10138299e-01 3.16649800e-02 1.36117781e+02] [-2.10024184e-01 9.77671664e-01 -6.92534231e-03 -2.36400922e+01] [-3.24132334e-02 1.16747244e-04 9.99474546e-01 -4.32495292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:136.15, Y:-23.65, Z:-4.33 [[ 9.76872598e-01 2.11409219e-01 3.20323322e-02 1.36150586e+02] [-2.11292924e-01 9.77397634e-01 -7.01176269e-03 -2.36460026e+01] [-3.27906770e-02 8.13937085e-05 9.99462238e-01 -4.32572750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85401273899998 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:136.18, Y:-23.65, Z:-4.33 [[ 9.76557039e-01 2.12865573e-01 3.20093314e-02 1.36182514e+02] [-2.12750014e-01 9.77081494e-01 -7.01320969e-03 -2.36515019e+01] [-3.27685963e-02 3.88135697e-05 9.99462965e-01 -4.32653901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:136.21, Y:-23.65, Z:-4.33 [[ 9.75943256e-01 2.15847560e-01 3.07342042e-02 1.36212785e+02] [-2.15742330e-01 9.76427072e-01 -6.73939200e-03 -2.36530517e+01] [-3.14643904e-02 -5.34046527e-05 9.99504872e-01 -4.32781642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914012739 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:136.24, Y:-23.66, Z:-4.33 [[ 9.75480072e-01 2.17951972e-01 3.05870539e-02 1.36243588e+02] [-2.17848769e-01 9.75959489e-01 -6.70749601e-03 -2.36573014e+01] [-3.13136375e-02 -1.20323339e-04 9.99509601e-01 -4.32882142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:136.27, Y:-23.66, Z:-4.33 [[ 9.74667845e-01 2.21507481e-01 3.09358754e-02 1.36273611e+02] [-2.21403674e-01 9.75158643e-01 -6.78476895e-03 -2.36586705e+01] [-3.16702634e-02 -2.36420363e-04 9.99498343e-01 -4.32995929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974012739 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:136.30, Y:-23.66, Z:-4.33 [[ 9.74360657e-01 2.22862997e-01 3.08770933e-02 1.36303045e+02] [-2.22760251e-01 9.74849735e-01 -6.77228560e-03 -2.36624568e+01] [-3.16098181e-02 -2.79540419e-04 9.99500246e-01 -4.33209080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:136.33, Y:-23.67, Z:-4.33 [[ 9.74235508e-01 2.23569475e-01 2.96962010e-02 1.36332419e+02] [-2.23474790e-01 9.74687953e-01 -6.51257273e-03 -2.36666697e+01] [-3.04005418e-02 -2.91572674e-04 9.99537754e-01 -4.33293007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034012739 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:136.36, Y:-23.67, Z:-4.34 [[ 9.74320465e-01 2.23417204e-01 2.80068669e-02 1.36361291e+02] [-2.23332942e-01 9.74722873e-01 -6.14145159e-03 -2.36698895e+01] [-2.86710397e-02 -2.71114015e-04 9.99588864e-01 -4.33575541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:136.39, Y:-23.67, Z:-4.34 [[ 9.74469075e-01 2.22771693e-01 2.79784762e-02 1.36389886e+02] [-2.22687357e-01 9.74870611e-01 -6.13448594e-03 -2.36741235e+01] [-2.86419841e-02 -2.52586094e-04 9.99589702e-01 -4.33665575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094012739 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:136.42, Y:-23.68, Z:-4.34 [[ 9.74900093e-01 2.20788178e-01 2.86773346e-02 1.36418650e+02] [-2.20698761e-01 9.75321762e-01 -6.28623300e-03 -2.36762469e+01] [-2.93575544e-02 -2.00603067e-04 9.99568954e-01 -4.33677741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:136.45, Y:-23.68, Z:-4.34 [[ 9.75158892e-01 2.19633146e-01 2.87474577e-02 1.36445901e+02] [-2.19542831e-01 9.75582520e-01 -6.30017749e-03 -2.36800842e+01] [-2.94292450e-02 -1.67624150e-04 9.99566852e-01 -4.33772932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154012739 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:136.47, Y:-23.68, Z:-4.34 [[ 9.75287946e-01 2.19121321e-01 2.82713378e-02 1.36474504e+02] [-2.19033810e-01 9.75697609e-01 -6.19406584e-03 -2.36831532e+01] [-2.89415286e-02 -1.51381066e-04 9.99581095e-01 -4.33821457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:136.50, Y:-23.69, Z:-4.34 [[ 9.75252468e-01 2.19299381e-01 2.81141581e-02 1.36502258e+02] [-2.19212952e-01 9.75657602e-01 -6.15830858e-03 -2.36874849e+01] [-2.87803054e-02 -1.57081960e-04 9.99585749e-01 -4.33924224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214012739 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:136.53, Y:-23.69, Z:-4.34 [[ 9.75165073e-01 2.19481964e-01 2.96773991e-02 1.36530719e+02] [-2.19491433e-01 9.75609881e-01 -2.97847160e-03 -2.36933990e+01] [-2.96072846e-02 -3.60943340e-03 9.99555091e-01 -4.34060980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:136.56, Y:-23.69, Z:-4.34 [[ 9.75331527e-01 2.19039560e-01 2.73876417e-02 1.36559110e+02] [-2.18857666e-01 9.75710466e-01 -9.50829579e-03 -2.36931272e+01] [-2.88051016e-02 3.27974532e-03 9.99579666e-01 -4.34167190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27401273899997 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:136.59, Y:-23.70, Z:-4.34 [[ 9.75454148e-01 2.18337758e-01 2.85977077e-02 1.36586757e+02] [-2.18248051e-01 9.75873253e-01 -6.25965411e-03 -2.37007611e+01] [-2.92744569e-02 -1.35388391e-04 9.99571402e-01 -4.34258707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:136.62, Y:-23.70, Z:-4.34 [[ 9.75546982e-01 2.17789741e-01 2.95924791e-02 1.36615775e+02] [-2.17693475e-01 9.75995703e-01 -6.47595131e-03 -2.37044153e+01] [-3.02925283e-02 -1.24494851e-04 9.99541068e-01 -4.34295736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33401273899997 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:136.64, Y:-23.71, Z:-4.34 [[ 9.75628167e-01 2.17195029e-01 3.12409770e-02 1.36643963e+02] [-2.17184390e-01 9.76123298e-01 -3.77451048e-03 -2.37109824e+01] [-3.13148504e-02 -3.10253379e-03 9.99504755e-01 -4.34396265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:136.67, Y:-23.71, Z:-4.34 [[ 9.75605472e-01 2.17468540e-01 3.00232627e-02 1.36672547e+02] [-2.17273063e-01 9.76063002e-01 -9.66606376e-03 -2.37082450e+01] [-3.14066606e-02 2.90701847e-03 9.99502462e-01 -4.34407942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39401273899998 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:136.70, Y:-23.71, Z:-4.34 [[ 9.75541046e-01 2.17626391e-01 3.09583825e-02 1.36699860e+02] [-2.17521111e-01 9.76032139e-01 -6.76972754e-03 -2.37139124e+01] [-3.16896477e-02 -1.29954660e-04 9.99497749e-01 -4.34482863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters Centerline goodness : 0.992363 Centerline is valid? [True, True] Translation: X:136.73, Y:-23.72, Z:-4.35 [[ 9.75441620e-01 2.17969596e-01 3.16686165e-02 1.36728363e+02] [-2.17859674e-01 9.75955549e-01 -6.92306223e-03 -2.37164998e+01] [-3.24161791e-02 -1.46271433e-04 9.99474447e-01 -4.34515728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45401273899998 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:136.76, Y:-23.72, Z:-4.35 [[ 9.75370273e-01 2.18337500e-01 3.13299555e-02 1.36756034e+02] [-2.18230155e-01 9.75873307e-01 -6.84750621e-03 -2.37206344e+01] [-3.20691347e-02 -1.58287054e-04 9.99485640e-01 -4.34557558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:136.78, Y:-23.72, Z:-4.35 [[ 9.75306866e-01 2.18667837e-01 3.09983052e-02 1.36784652e+02] [-2.18562979e-01 9.75799338e-01 -6.77316505e-03 -2.37239900e+01] [-3.17291990e-02 -1.69167534e-04 9.99496488e-01 -4.34764165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51401273899998 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:136.81, Y:-23.72, Z:-4.35 [[ 9.75234087e-01 2.19247191e-01 2.91400877e-02 1.36813053e+02] [-2.19154830e-01 9.75669328e-01 -6.36577556e-03 -2.37242897e+01] [-2.98267682e-02 -1.78069627e-04 9.99555067e-01 -4.34905423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:136.84, Y:-23.72, Z:-4.35 [[ 9.75001398e-01 2.20241202e-01 2.94293471e-02 1.36841774e+02] [-2.20147506e-01 9.75445420e-01 -6.42710299e-03 -2.37240417e+01] [-3.01222347e-02 -2.12362949e-04 9.99546200e-01 -4.34916513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57401273899998 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:136.87, Y:-23.73, Z:-4.35 [[ 9.74869579e-01 2.20813803e-01 2.95054012e-02 1.36869829e+02] [-2.20719948e-01 9.75315954e-01 -6.44158593e-03 -2.37260267e+01] [-3.01994797e-02 -2.32724471e-04 9.99543865e-01 -4.34944191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:136.90, Y:-23.73, Z:-4.35 [[ 9.74656314e-01 2.21717943e-01 2.97695033e-02 1.36897253e+02] [-2.21622888e-01 9.75110806e-01 -6.49708589e-03 -2.37281507e+01] [-3.04690849e-02 -2.65177508e-04 9.99535674e-01 -4.34996811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63401273899999 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:136.93, Y:-23.73, Z:-4.35 [[ 9.74455355e-01 2.22597232e-01 2.97864702e-02 1.36926456e+02] [-2.22502555e-01 9.74910450e-01 -6.49828832e-03 -2.37275695e+01] [-3.04856420e-02 -2.95273875e-04 9.99535161e-01 -4.35067626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:136.95, Y:-23.73, Z:-4.35 [[ 9.74432180e-01 2.22720774e-01 2.96206658e-02 1.36954056e+02] [-2.22627268e-01 9.74882233e-01 -6.46003896e-03 -2.37300918e+01] [-3.03154457e-02 -2.99498063e-04 9.99540336e-01 -4.35131250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694012739 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:136.98, Y:-23.74, Z:-4.35 [[ 9.74444687e-01 2.22665990e-01 2.96211033e-02 1.36981909e+02] [-2.22572520e-01 9.74894747e-01 -6.45803224e-03 -2.37360323e+01] [-3.03154421e-02 -2.99848421e-04 9.99540336e-01 -4.35220286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:137.01, Y:-23.74, Z:-4.35 [[ 9.74751344e-01 2.21404909e-01 2.89772822e-02 1.37009901e+02] [-2.21314951e-01 9.75181932e-01 -6.31603507e-03 -2.37361148e+01] [-2.96565232e-02 -2.56542102e-04 9.99560116e-01 -4.35424774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754012739 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:137.04, Y:-23.74, Z:-4.36 [[ 9.74933703e-01 2.20597964e-01 2.89967823e-02 1.37037680e+02] [-2.20507599e-01 9.75364795e-01 -6.31788891e-03 -2.37395377e+01] [-2.96761541e-02 -2.34488022e-04 9.99559538e-01 -4.35511721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:137.07, Y:-23.74, Z:-4.36 [[ 9.75383121e-01 2.18593920e-01 2.90596816e-02 1.37065167e+02] [-2.18502334e-01 9.75815898e-01 -6.32954665e-03 -2.37387148e+01] [-2.97404997e-02 -1.75875272e-04 9.99557638e-01 -4.35507393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814012739 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:137.09, Y:-23.74, Z:-4.36 [[ 9.75551411e-01 2.17865779e-01 2.88781353e-02 1.37092341e+02] [-2.17775084e-01 9.75978728e-01 -6.28764622e-03 -2.37413171e+01] [-2.95543087e-02 -1.55016197e-04 9.99563164e-01 -4.35628053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:137.12, Y:-23.75, Z:-4.36 [[ 9.75731994e-01 2.17082659e-01 2.86739477e-02 1.37120119e+02] [-2.16992971e-01 9.76153216e-01 -6.24090028e-03 -2.37458480e+01] [-2.93449575e-02 -1.32599029e-04 9.99569335e-01 -4.35734904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874012739 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:137.15, Y:-23.75, Z:-4.36 [[ 9.76161393e-01 2.15188157e-01 2.83371039e-02 1.37147299e+02] [-2.15099826e-01 9.76572604e-01 -6.16554392e-03 -2.37483749e+01] [-2.89999914e-02 -7.67401747e-05 9.99579409e-01 -4.35927854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:137.17, Y:-23.75, Z:-4.36 [[ 9.76303166e-01 2.14627800e-01 2.76954030e-02 1.37174930e+02] [-2.14543266e-01 9.76695912e-01 -6.02355827e-03 -2.37522461e+01] [-2.83428100e-02 -6.10432162e-05 9.99598260e-01 -4.36027524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934012739 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:137.20, Y:-23.75, Z:-4.36 [[ 9.76463071e-01 2.13960679e-01 2.72157959e-02 1.37202132e+02] [-2.13878834e-01 9.76842273e-01 -5.91762145e-03 -2.37545898e+01] [-2.78516782e-02 -4.25438891e-05 9.99612066e-01 -4.36151920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:137.23, Y:-23.76, Z:-4.36 [[ 9.76719530e-01 2.12846922e-01 2.67422531e-02 1.37229938e+02] [-2.12767578e-01 9.77085558e-01 -5.81121545e-03 -2.37590419e+01] [-2.73663686e-02 -1.39567860e-05 9.99625471e-01 -4.36249096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99401273899997 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:137.26, Y:-23.76, Z:-4.36 [[ 9.77593593e-01 2.08852872e-01 2.62915210e-02 1.37258255e+02] [-2.08774783e-01 9.77947069e-01 -5.71146850e-03 -2.37608553e+01] [-2.69045725e-02 9.44884248e-05 9.99638002e-01 -4.36340383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:137.29, Y:-23.76, Z:-4.36 [[ 9.78075168e-01 2.06539265e-01 2.66551510e-02 1.37285859e+02] [-2.06458193e-01 9.78438300e-01 -5.78859869e-03 -2.37644911e+01] [-2.72759935e-02 1.58510336e-04 9.99627928e-01 -4.36420955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05401273899997 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:137.31, Y:-23.77, Z:-4.36 [[ 9.79141715e-01 2.01262088e-01 2.78401573e-02 1.37313074e+02] [-2.01171570e-01 9.79537376e-01 -6.04387924e-03 -2.37677048e+01] [-2.84868783e-02 3.17166150e-04 9.99594116e-01 -4.36430121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters Centerline goodness : 0.991844 Centerline is valid? [True, True] Translation: X:137.34, Y:-23.77, Z:-4.37 [[ 9.79770844e-01 1.98072499e-01 2.85723476e-02 1.37340872e+02] [-1.97975871e-01 9.80187283e-01 -6.20036921e-03 -2.37731326e+01] [-2.92343744e-02 4.18305567e-04 9.99572497e-01 -4.36500482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11401273899997 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:137.37, Y:-23.78, Z:-4.37 [[ 9.81053413e-01 1.91390363e-01 3.00654119e-02 1.37367814e+02] [-1.91280300e-01 9.81513785e-01 -6.52204172e-03 -2.37789816e+01] [-3.07578721e-02 6.47550276e-04 9.99526655e-01 -4.36522058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:137.39, Y:-23.79, Z:-4.37 [[ 9.81759616e-01 1.87619830e-01 3.07710295e-02 1.37394514e+02] [-1.87502760e-01 9.82241411e-01 -6.67278978e-03 -2.37850627e+01] [-3.14765271e-02 7.81422566e-04 9.99504186e-01 -4.36524557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17401273899998 meters Centerline goodness : 0.983334 Centerline is valid? [True, True] Translation: X:137.42, Y:-23.79, Z:-4.35 [[ 9.82972232e-01 1.81421292e-01 2.91874364e-02 1.37423295e+02] [-1.81313322e-01 9.83405032e-01 -6.32636525e-03 -2.37911428e+01] [-2.98508092e-02 9.26570326e-04 9.99553936e-01 -4.35184986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters Centerline goodness : 0.982063 Centerline is valid? [True, True] Translation: X:137.45, Y:-23.80, Z:-4.35 [[ 9.83457220e-01 1.78851196e-01 2.87079317e-02 1.37450131e+02] [-1.78745692e-01 9.83875641e-01 -6.22104270e-03 -2.37977847e+01] [-2.93576756e-02 9.86710240e-04 9.99568484e-01 -4.35245649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23401273899998 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:137.48, Y:-23.81, Z:-4.37 [[ 9.83938433e-01 1.76018321e-01 2.97104414e-02 1.37477438e+02] [-1.75904087e-01 9.84386268e-01 -6.43636334e-03 -2.38056126e+01] [-3.03794684e-02 1.10679720e-03 9.99537825e-01 -4.36845430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:137.50, Y:-23.82, Z:-4.37 [[ 9.84782526e-01 1.71064801e-01 3.06628368e-02 1.37504589e+02] [-1.70940772e-01 9.85258924e-01 -6.64116645e-03 -2.38174605e+01] [-3.13469034e-02 1.29857569e-03 9.99507722e-01 -4.36926628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29401273899998 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:137.53, Y:-23.83, Z:-4.37 [[ 9.85160238e-01 1.68860117e-01 3.07500686e-02 1.37531015e+02] [-1.68734356e-01 9.85639072e-01 -6.65854702e-03 -2.38258441e+01] [-3.14328321e-02 1.37114275e-03 9.99504926e-01 -4.36986579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:137.56, Y:-23.84, Z:-4.37 [[ 9.85768616e-01 1.65251105e-01 3.08594723e-02 1.37558902e+02] [-1.65122741e-01 9.86250401e-01 -6.68036748e-03 -2.38391432e+01] [-3.15391050e-02 1.48969596e-03 9.99501409e-01 -4.37068569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35401273899998 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:137.59, Y:-23.85, Z:-4.37 [[ 9.86000615e-01 1.63867679e-01 3.08248405e-02 1.37586714e+02] [-1.63738953e-01 9.86481139e-01 -6.67212166e-03 -2.38497133e+01] [-3.15014689e-02 1.53148896e-03 9.99502532e-01 -4.37138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:137.61, Y:-23.86, Z:-4.37 [[ 9.86042800e-01 1.63650168e-01 3.06303770e-02 1.37614158e+02] [-1.63522968e-01 9.86517251e-01 -6.62965932e-03 -2.38637295e+01] [-3.13023402e-02 1.52835768e-03 9.99508793e-01 -4.37186548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414012739 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:137.64, Y:-23.87, Z:-4.37 [[ 9.85761394e-01 1.65352329e-01 3.05463975e-02 1.37642023e+02] [-1.65226651e-01 9.86233465e-01 -6.61112391e-03 -2.38731345e+01] [-3.12190442e-02 1.46991174e-03 9.99511486e-01 -4.37229610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:137.67, Y:-23.88, Z:-4.37 [[ 9.85361480e-01 1.67686286e-01 3.07256044e-02 1.37670988e+02] [-1.67560282e-01 9.85839409e-01 -6.64920082e-03 -2.38822475e+01] [-3.14054915e-02 1.40347541e-03 9.99505741e-01 -4.37294759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474012739 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:137.70, Y:-23.89, Z:-4.37 [[ 9.84224630e-01 1.74137740e-01 3.12717839e-02 1.37699323e+02] [-1.74010462e-01 9.84720550e-01 -6.76737991e-03 -2.38933029e+01] [-3.19724245e-02 1.21900442e-03 9.99488008e-01 -4.37367636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:137.73, Y:-23.90, Z:-4.38 [[ 9.83664060e-01 1.77312974e-01 3.10664903e-02 1.37727556e+02] [-1.77188966e-01 9.84153891e-01 -6.72222301e-03 -2.39022749e+01] [-3.17661447e-02 1.10776988e-03 9.99494715e-01 -4.37554672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534012739 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:137.75, Y:-23.91, Z:-4.38 [[ 9.82466754e-01 1.84027622e-01 2.98816304e-02 1.37754009e+02] [-1.83916013e-01 9.82920700e-01 -6.46516997e-03 -2.39136458e+01] [-3.05610429e-02 8.56104218e-04 9.99532536e-01 -4.37669424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:137.78, Y:-23.92, Z:-4.38 [[ 9.81953178e-01 1.86820281e-01 2.94302346e-02 1.37782780e+02] [-1.86713304e-01 9.82393816e-01 -6.36647002e-03 -2.39209201e+01] [-3.01014662e-02 7.56559149e-04 9.99546562e-01 -4.37816539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594012739 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:137.81, Y:-23.93, Z:-4.38 [[ 9.80805238e-01 1.92803377e-01 2.91194651e-02 1.37810151e+02] [-1.92701300e-01 9.81237248e-01 -6.29857931e-03 -2.39258673e+01] [-2.97874912e-02 5.66320810e-04 9.99556094e-01 -4.37837435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:137.84, Y:-23.93, Z:-4.38 [[ 9.80280688e-01 1.95548201e-01 2.84723329e-02 1.37837313e+02] [-1.95451818e-01 9.80693979e-01 -6.15687522e-03 -2.39312491e+01] [-2.91266113e-02 4.70496659e-04 9.99575620e-01 -4.37939359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654012739 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:137.86, Y:-23.94, Z:-4.38 [[ 9.79516764e-01 1.99558427e-01 2.68950543e-02 1.37863491e+02] [-1.99473981e-01 9.79885873e-01 -5.81427689e-03 -2.39362919e+01] [-2.75143717e-02 3.30318134e-04 9.99621353e-01 -4.38017576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:137.89, Y:-23.94, Z:-4.38 [[ 9.79166270e-01 2.01308027e-01 2.66175445e-02 1.37890514e+02] [-2.01226019e-01 9.79527948e-01 -5.75214875e-03 -2.39416614e+01] [-2.72305825e-02 2.76167506e-04 9.99629141e-01 -4.38148128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714012739 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:137.92, Y:-23.95, Z:-4.38 [[ 9.78655809e-01 2.03647876e-01 2.75744418e-02 1.37917484e+02] [-2.03560849e-01 9.79044174e-01 -5.95695246e-03 -2.39460250e+01] [-2.82097173e-02 2.16729346e-04 9.99602003e-01 -4.38208053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:137.94, Y:-23.95, Z:-4.38 [[ 9.78406042e-01 2.04733997e-01 2.83832235e-02 1.37944783e+02] [-2.04642316e-01 9.78817631e-01 -6.12924388e-03 -2.39512952e+01] [-2.90368641e-02 1.88480674e-04 9.99578324e-01 -4.38175183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77401273899997 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:137.97, Y:-23.96, Z:-4.38 [[ 9.78093552e-01 2.06086964e-01 2.93456521e-02 1.37972478e+02] [-2.05989631e-01 9.78533669e-01 -6.33493348e-03 -2.39561179e+01] [-3.00212558e-02 1.51257537e-04 9.99549249e-01 -4.38226321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:138.00, Y:-23.96, Z:-4.38 [[ 9.77548910e-01 2.08519486e-01 3.02944429e-02 1.38000935e+02] [-2.08416979e-01 9.78018209e-01 -6.53794005e-03 -2.39580033e+01] [-3.09918047e-02 7.72798719e-05 9.99519636e-01 -4.38216770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83401273899997 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:138.03, Y:-23.96, Z:-4.38 [[ 9.77189920e-01 2.10200870e-01 3.02564813e-02 1.38029011e+02] [-2.10099491e-01 9.77658219e-01 -6.52765690e-03 -2.39608832e+01] [-3.09526168e-02 2.18892110e-05 9.99520853e-01 -4.38344122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:138.06, Y:-23.97, Z:-4.38 [[ 9.77176514e-01 2.10297221e-01 3.00189903e-02 1.38055728e+02] [-2.10197539e-01 9.77637499e-01 -6.47426698e-03 -2.39661159e+01] [-3.07092110e-02 1.65837479e-05 9.99528361e-01 -4.38424789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89401273899998 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:138.08, Y:-23.97, Z:-4.38 [[ 9.77402430e-01 2.09290125e-01 2.97007462e-02 1.38082653e+02] [-2.09192175e-01 9.77853589e-01 -6.40252274e-03 -2.39719613e+01] [-3.03829661e-02 4.46775839e-05 9.99538330e-01 -4.38410507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:138.11, Y:-23.98, Z:-4.39 [[ 9.78340806e-01 2.04741903e-01 3.04962225e-02 1.38108638e+02] [-2.04636494e-01 9.78815977e-01 -6.57173502e-03 -2.39794877e+01] [-3.11956994e-02 1.88756479e-04 9.99513278e-01 -4.38505931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95401273899998 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:138.14, Y:-23.99, Z:-4.39 [[ 9.79002355e-01 2.01458364e-01 3.11274216e-02 1.38136380e+02] [-2.01346989e-01 9.79497034e-01 -6.70448811e-03 -2.39869700e+01] [-3.18398923e-02 2.96297024e-04 9.99492938e-01 -4.38638371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:138.16, Y:-24.00, Z:-4.39 [[ 9.80123687e-01 1.96006152e-01 3.06454923e-02 1.38162499e+02] [-1.95895579e-01 9.80602556e-01 -6.59923571e-03 -2.39962158e+01] [-3.13445389e-02 4.64750774e-04 9.99508531e-01 -4.38722063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01401273899998 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:138.19, Y:-24.00, Z:-4.39 [[ 9.80453754e-01 1.94444128e-01 3.00319477e-02 1.38190273e+02] [-1.94337261e-01 9.80913466e-01 -6.46536300e-03 -2.40035967e+01] [-3.07158938e-02 5.02662990e-04 9.99528029e-01 -4.38778728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:138.22, Y:-24.01, Z:-4.39 [[ 9.80531519e-01 1.94262866e-01 2.86335183e-02 1.38217387e+02] [-1.94165681e-01 9.80949390e-01 -6.16302258e-03 -2.40111250e+01] [-2.92852787e-02 4.83391311e-04 9.99570977e-01 -4.38826562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07401273899998 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:138.25, Y:-24.02, Z:-4.39 [[ 9.80455317e-01 1.94665024e-01 2.85113836e-02 1.38245872e+02] [-1.94568891e-01 9.80869670e-01 -6.13486801e-03 -2.40174997e+01] [-2.91601957e-02 4.67535664e-04 9.99574642e-01 -4.38895941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:138.27, Y:-24.02, Z:-4.39 [[ 9.79882808e-01 1.97288213e-01 3.01171677e-02 1.38273083e+02] [-1.97182230e-01 9.80345446e-01 -6.47883470e-03 -2.40235318e+01] [-3.08034259e-02 4.09928439e-04 9.99525378e-01 -4.38923462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13401273899999 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:138.30, Y:-24.03, Z:-4.39 [[ 9.79658662e-01 1.98316759e-01 3.06491452e-02 1.38301398e+02] [-1.98207560e-01 9.80137907e-01 -6.59137630e-03 -2.40296071e+01] [-3.13475694e-02 3.82406599e-04 9.99508471e-01 -4.38968997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:138.33, Y:-24.04, Z:-4.39 [[ 9.79510874e-01 1.99051265e-01 3.06111254e-02 1.38328345e+02] [-1.98942742e-01 9.79989013e-01 -6.58171939e-03 -2.40351354e+01] [-3.13086661e-02 3.57004491e-04 9.99509700e-01 -4.39107966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194012739 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:138.36, Y:-24.04, Z:-4.39 [[ 9.79246841e-01 2.00639814e-01 2.86232241e-02 1.38356684e+02] [-2.00545657e-01 9.79665037e-01 -6.15267666e-03 -2.40399705e+01] [-2.92756438e-02 2.84725895e-04 9.99571336e-01 -4.39172445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:138.39, Y:-24.05, Z:-4.39 [[ 9.79178972e-01 2.01057183e-01 2.80098257e-02 1.38385067e+02] [-2.00967227e-01 9.79579470e-01 -6.01951524e-03 -2.40450340e+01] [-2.86481170e-02 2.65125725e-04 9.99589523e-01 -4.39306346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254012739 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:138.41, Y:-24.05, Z:-4.39 [[ 9.79276261e-01 2.00456358e-01 2.89007581e-02 1.38412700e+02] [-2.00360367e-01 9.79702590e-01 -6.20959051e-03 -2.40487372e+01] [-2.95588994e-02 2.90338083e-04 9.99562998e-01 -4.39386444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:138.44, Y:-24.05, Z:-4.39 [[ 9.79262520e-01 2.00425283e-01 2.95740225e-02 1.38440827e+02] [-2.00324819e-01 9.79708946e-01 -6.35204817e-03 -2.40547022e+01] [-3.02470455e-02 2.95912004e-04 9.99542410e-01 -4.39446090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314012739 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:138.47, Y:-24.06, Z:-4.39 [[ 9.79224853e-01 2.00799457e-01 2.82535710e-02 1.38468885e+02] [-2.00707960e-01 9.79632331e-01 -6.06711331e-03 -2.40601046e+01] [-2.88963847e-02 2.70351535e-04 9.99582376e-01 -4.39485023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:138.50, Y:-24.07, Z:-4.40 [[ 9.79183656e-01 2.01059749e-01 2.78270602e-02 1.38496330e+02] [-2.00971136e-01 9.79578946e-01 -5.97420926e-03 -2.40650122e+01] [-2.84599753e-02 2.57412166e-04 9.99594900e-01 -4.39596037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374012739 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:138.52, Y:-24.07, Z:-4.40 [[ 9.78976502e-01 2.01983953e-01 2.84163829e-02 1.38523727e+02] [-2.01891986e-01 9.79388803e-01 -6.09900272e-03 -2.40683234e+01] [-2.90625879e-02 2.33740366e-04 9.99577566e-01 -4.39587395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:138.55, Y:-24.07, Z:-4.40 [[ 9.78809156e-01 2.02680568e-01 2.92099744e-02 1.38550767e+02] [-2.02583777e-01 9.79244883e-01 -6.26682276e-03 -2.40741477e+01] [-2.98738811e-02 2.16556574e-04 9.99553653e-01 -4.39703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434012739 meters Centerline goodness : 0.990493 Centerline is valid? [True, True] Translation: X:138.58, Y:-24.08, Z:-4.40 [[ 9.78744811e-01 2.02920220e-01 2.96981389e-02 1.38577222e+02] [-2.02820329e-01 9.79195251e-01 -6.36981172e-03 -2.40818203e+01] [-3.03728402e-02 2.11033861e-04 9.99538617e-01 -4.39880349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:138.60, Y:-24.09, Z:-4.40 [[ 9.78823775e-01 2.02603315e-01 2.92560130e-02 1.38604442e+02] [-2.02506295e-01 9.79260869e-01 -6.27298654e-03 -2.40878470e+01] [-2.99201966e-02 2.15621569e-04 9.99552267e-01 -4.39890054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49401273899997 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:138.63, Y:-24.09, Z:-4.40 [[ 9.78852759e-01 2.02505886e-01 2.89593392e-02 1.38631463e+02] [-2.02410840e-01 9.79281022e-01 -6.20737209e-03 -2.40937774e+01] [-2.96163607e-02 2.14419115e-04 9.99561316e-01 -4.40026311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:138.66, Y:-24.10, Z:-4.40 [[ 9.78873072e-01 2.02475591e-01 2.84806002e-02 1.38658097e+02] [-2.02383696e-01 9.79287287e-01 -6.10318218e-03 -2.41008213e+01] [-2.91264351e-02 2.10231556e-04 9.99575713e-01 -4.40030408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55401273899997 meters Centerline goodness : 0.986952 Centerline is valid? [True, True] Translation: X:138.69, Y:-24.11, Z:-4.39 [[ 9.78592509e-01 2.03777540e-01 2.88342674e-02 1.38685234e+02] [-2.03683974e-01 9.79017203e-01 -6.17691701e-03 -2.41091715e+01] [-2.94879608e-02 1.71606555e-04 9.99565121e-01 -4.38963147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:138.71, Y:-24.12, Z:-4.40 [[ 9.78442603e-01 2.04391504e-01 2.95666236e-02 1.38710903e+02] [-2.04293468e-01 9.78889212e-01 -6.33165635e-03 -2.41150571e+01] [-3.02365857e-02 1.54894245e-04 9.99542758e-01 -4.40022759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61401273899997 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:138.74, Y:-24.12, Z:-4.40 [[ 9.78464256e-01 2.04287752e-01 2.95671197e-02 1.38738778e+02] [-2.04189739e-01 9.78910869e-01 -6.32933884e-03 -2.41208642e+01] [-3.02365813e-02 1.55729362e-04 9.99542758e-01 -4.40111776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:138.77, Y:-24.13, Z:-4.40 [[ 9.78344801e-01 2.04925260e-01 2.91047667e-02 1.38766190e+02] [-2.04830667e-01 9.78777616e-01 -6.22713204e-03 -2.41262822e+01] [-2.97631908e-02 1.30733492e-04 9.99556970e-01 -4.40195067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67401273899998 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:138.79, Y:-24.13, Z:-4.40 [[ 9.78080813e-01 2.06472219e-01 2.69656599e-02 1.38792972e+02] [-2.06391659e-01 9.78452460e-01 -5.76767288e-03 -2.41315731e+01] [-2.75754805e-02 7.57628971e-05 9.99619721e-01 -4.40374755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:138.82, Y:-24.14, Z:-4.40 [[ 9.77974313e-01 2.06988070e-01 2.68734364e-02 1.38820731e+02] [-2.06908297e-01 9.78343465e-01 -5.74642715e-03 -2.41374783e+01] [-2.74808928e-02 5.95211870e-05 9.99622327e-01 -4.40482312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73401273899998 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:138.85, Y:-24.14, Z:-4.40 [[ 9.77817630e-01 2.07534592e-01 2.83209224e-02 1.38848230e+02] [-2.07446281e-01 9.78227679e-01 -6.05387004e-03 -2.41447409e+01] [-2.89606976e-02 4.45108310e-05 9.99580550e-01 -4.40477282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:138.87, Y:-24.15, Z:-4.41 [[ 9.77960040e-01 2.06811075e-01 2.86938795e-02 1.38874009e+02] [-2.06720172e-01 9.78380895e-01 -6.13151010e-03 -2.41511833e+01] [-2.93416077e-02 6.47681667e-05 9.99569440e-01 -4.40542877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79401273899998 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:138.90, Y:-24.16, Z:-4.41 [[ 9.78380982e-01 2.04922290e-01 2.78838583e-02 1.38901114e+02] [-2.04835766e-01 9.78778239e-01 -5.95543028e-03 -2.41585015e+01] [-2.85125142e-02 1.15068239e-04 9.99593429e-01 -4.40714077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:138.93, Y:-24.16, Z:-4.41 [[ 9.78550690e-01 2.04198185e-01 2.72332067e-02 1.38928124e+02] [-2.04115416e-01 9.78929560e-01 -5.81487547e-03 -2.41645350e+01] [-2.78467781e-02 1.31433090e-04 9.99612195e-01 -4.40860484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85401273899998 meters Centerline goodness : 0.988754 Centerline is valid? [True, True] Translation: X:138.96, Y:-24.17, Z:-4.40 [[ 9.78749391e-01 2.03328821e-01 2.65898471e-02 1.38955280e+02] [-2.03249635e-01 9.79110498e-01 -5.67610697e-03 -2.41714550e+01] [-2.71885145e-02 1.51109523e-04 9.99630313e-01 -4.40093377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:138.98, Y:-24.18, Z:-4.41 [[ 9.78723340e-01 2.03434283e-01 2.67416716e-02 1.38982670e+02] [-2.03354285e-01 9.79088592e-01 -5.70646642e-03 -2.41783200e+01] [-2.73433565e-02 1.47018362e-04 9.99626090e-01 -4.40906478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914012739 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:139.01, Y:-24.19, Z:-4.41 [[ 9.78532149e-01 2.04386384e-01 2.64771398e-02 1.39009888e+02] [-2.04308343e-01 9.78890286e-01 -5.64878740e-03 -2.41855788e+01] [-2.70727502e-02 1.18019511e-04 9.99633459e-01 -4.40966568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:139.04, Y:-24.19, Z:-4.41 [[ 9.78500149e-01 2.04527346e-01 2.65710952e-02 1.39037995e+02] [-2.04448848e-01 9.78860844e-01 -5.66716747e-03 -2.41927567e+01] [-2.71684954e-02 1.12894421e-04 9.99630862e-01 -4.41115500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974012739 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:139.07, Y:-24.20, Z:-4.41 [[ 9.78502909e-01 2.04522996e-01 2.65028351e-02 1.39065644e+02] [-2.04444934e-01 9.78861753e-01 -5.65130864e-03 -2.41999477e+01] [-2.70984342e-02 1.11451571e-04 9.99632764e-01 -4.41211156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:139.09, Y:-24.21, Z:-4.41 [[ 9.78331277e-01 2.05205811e-01 2.75406685e-02 1.39093585e+02] [-2.05121824e-01 9.78718839e-01 -5.87119765e-03 -2.42080123e+01] [-2.81593750e-02 9.47841292e-05 9.99603442e-01 -4.41225183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:139.12, Y:-24.21, Z:-4.41 [[ 9.77769028e-01 2.07767638e-01 2.82902112e-02 1.39121583e+02] [-2.07680129e-01 9.78178209e-01 -6.02957984e-03 -2.42126963e+01] [-2.89256197e-02 2.02217105e-05 9.99581567e-01 -4.41080701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:139.15, Y:-24.22, Z:-4.41 [[ 9.77356902e-01 2.09767331e-01 2.77696351e-02 1.39149646e+02] [-2.09683871e-01 9.77751331e-01 -5.91683125e-03 -2.42168122e+01] [-2.83929555e-02 -3.99887253e-05 9.99596838e-01 -4.41105473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094012739 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:139.18, Y:-24.22, Z:-4.41 [[ 9.76849234e-01 2.12167274e-01 2.73974891e-02 1.39177018e+02] [-2.12087035e-01 9.77233358e-01 -5.83556427e-03 -2.42211788e+01] [-2.80118560e-02 -1.10185739e-04 9.99607585e-01 -4.41261913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:139.20, Y:-24.22, Z:-4.41 [[ 9.76026436e-01 2.15909132e-01 2.74889750e-02 1.39204352e+02] [-2.15829897e-01 9.76413436e-01 -5.85297258e-03 -2.42240868e+01] [-2.81043148e-02 -2.20286700e-04 9.99604971e-01 -4.41378606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154012739 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:139.23, Y:-24.23, Z:-4.41 [[ 9.75783436e-01 2.16889505e-01 2.83836090e-02 1.39232506e+02] [-2.16805507e-01 9.76196126e-01 -6.04125454e-03 -2.42275720e+01] [-2.90182538e-02 -2.58766621e-04 9.99578848e-01 -4.41419249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:139.26, Y:-24.23, Z:-4.41 [[ 9.75654565e-01 2.17313097e-01 2.95497558e-02 1.39260342e+02] [-2.17222314e-01 9.76101909e-01 -6.28724435e-03 -2.42309966e+01] [-3.02098736e-02 -2.84687691e-04 9.99543537e-01 -4.41419933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214012739 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:139.29, Y:-24.24, Z:-4.42 [[ 9.75795067e-01 2.16768606e-01 2.89025693e-02 1.39286811e+02] [-2.16681580e-01 9.76222977e-01 -6.14745523e-03 -2.42366173e+01] [-2.95479276e-02 -2.63997906e-04 9.99563330e-01 -4.41518511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:139.31, Y:-24.24, Z:-4.42 [[ 9.76273057e-01 2.14818898e-01 2.72719452e-02 1.39314520e+02] [-2.14740719e-01 9.76653881e-01 -5.79835983e-03 -2.42422227e+01] [-2.78808484e-02 -1.95614648e-04 9.99611234e-01 -4.41631488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27401273899997 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:139.34, Y:-24.25, Z:-4.42 [[ 9.76463057e-01 2.13956311e-01 2.72506148e-02 1.39340902e+02] [-2.13877971e-01 9.76843215e-01 -5.79194313e-03 -2.42464137e+01] [-2.78588009e-02 -1.72687694e-04 9.99611853e-01 -4.41748355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:139.37, Y:-24.25, Z:-4.42 [[ 9.76436951e-01 2.14024097e-01 2.76508176e-02 1.39368348e+02] [-2.13943531e-01 9.76828365e-01 -5.87467431e-03 -2.42498935e+01] [-2.82674248e-02 -1.79464482e-04 9.99600380e-01 -4.41864588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33401273899997 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:139.39, Y:-24.25, Z:-4.42 [[ 9.76174936e-01 2.15169069e-01 2.80136569e-02 1.39394954e+02] [-2.15086902e-01 9.76576789e-01 -5.94980665e-03 -2.42548870e+01] [-2.86377014e-02 -2.17318543e-04 9.99589833e-01 -4.41926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:139.42, Y:-24.26, Z:-4.42 [[ 9.75522798e-01 2.18056780e-01 2.83991389e-02 1.39423414e+02] [-2.17973626e-01 9.75936036e-01 -6.02931976e-03 -2.42578250e+01] [-2.90304771e-02 -3.08524402e-04 9.99578479e-01 -4.41824622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39401273899998 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:139.45, Y:-24.26, Z:-4.42 [[ 9.75253458e-01 2.19193806e-01 2.88923530e-02 1.39451090e+02] [-2.19108300e-01 9.75681276e-01 -6.13190965e-03 -2.42614208e+01] [-2.95338045e-02 -3.50388267e-04 9.99563721e-01 -4.41852615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:139.48, Y:-24.26, Z:-4.42 [[ 9.75282659e-01 2.19213850e-01 2.77312567e-02 1.39479504e+02] [-2.19135141e-01 9.75676777e-01 -5.88357464e-03 -2.42639972e+01] [-2.83465042e-02 -3.38744526e-04 9.99598100e-01 -4.42033831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45401273899998 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:139.51, Y:-24.27, Z:-4.42 [[ 9.75465171e-01 2.18393459e-01 2.77848283e-02 1.39506448e+02] [-2.18314168e-01 9.75860746e-01 -5.89302607e-03 -2.42683451e+01] [-2.84011216e-02 -3.17379975e-04 9.99596556e-01 -4.42228088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:139.53, Y:-24.27, Z:-4.42 [[ 9.75750013e-01 2.17143865e-01 2.75763442e-02 1.39533940e+02] [-2.17065356e-01 9.76139571e-01 -5.84541484e-03 -2.42726396e+01] [-2.81876568e-02 -2.82205370e-04 9.99602609e-01 -4.42389270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51401273899998 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:139.56, Y:-24.28, Z:-4.43 [[ 9.76837422e-01 2.11796893e-01 3.05078321e-02 1.39564488e+02] [-2.11958310e-01 9.77276408e-01 2.12082649e-03 -2.42818867e+01] [-2.93654001e-02 -8.53809120e-03 9.99532278e-01 -4.42621616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:139.59, Y:-24.28, Z:-4.43 [[ 9.77505273e-01 2.09611620e-01 2.33753972e-02 1.39592301e+02] [-2.09343359e-01 9.77750181e-01 -1.34142192e-02 -2.42761362e+01] [-2.56670751e-02 8.21898587e-03 9.99636759e-01 -4.42557527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57401273899998 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:139.62, Y:-24.29, Z:-4.43 [[ 9.77774859e-01 2.08324582e-01 2.36049422e-02 1.39617597e+02] [-2.08264712e-01 9.78059746e-01 -4.99425505e-03 -2.42874765e+01] [-2.41274699e-02 -3.28194589e-05 9.99708890e-01 -4.42710758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:139.64, Y:-24.29, Z:-4.43 [[ 9.78001852e-01 2.07423620e-01 2.20866440e-02 1.39644656e+02] [-2.07371038e-01 9.78251216e-01 -4.67025637e-03 -2.42927202e+01] [-2.25750078e-02 -1.26108915e-05 9.99745152e-01 -4.42935700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63401273899999 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:139.67, Y:-24.30, Z:-4.43 [[ 9.78021513e-01 2.07311935e-01 2.22639335e-02 1.39670938e+02] [-2.07258511e-01 9.78274891e-01 -4.70615949e-03 -2.42977022e+01] [-2.27558901e-02 -1.16644882e-05 9.99741051e-01 -4.42945000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:139.70, Y:-24.30, Z:-4.43 [[ 9.78007580e-01 2.07219275e-01 2.36927311e-02 1.39696976e+02] [-2.07158795e-01 9.78294522e-01 -5.00617037e-03 -2.43031841e+01] [-2.42158441e-02 -1.20850631e-05 9.99706753e-01 -4.43021645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694012739 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:139.72, Y:-24.31, Z:-4.43 [[ 9.77868590e-01 2.07613144e-01 2.58805387e-02 1.39724445e+02] [-2.07541212e-01 9.78211011e-01 -5.46475673e-03 -2.43092756e+01] [-2.64511832e-02 -2.74644117e-05 9.99650106e-01 -4.43012091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:139.75, Y:-24.31, Z:-4.43 [[ 9.77777503e-01 2.08013951e-01 2.61026802e-02 1.39750652e+02] [-2.07940973e-01 9.78125858e-01 -5.50975757e-03 -2.43146019e+01] [-2.66778130e-02 -4.04997178e-05 9.99644083e-01 -4.43024200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754012739 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:139.78, Y:-24.32, Z:-4.43 [[ 9.77580442e-01 2.09028803e-01 2.53661044e-02 1.39778507e+02] [-2.08960283e-01 9.77909482e-01 -5.35210048e-03 -2.43195183e+01] [-2.59244971e-02 -6.83996078e-05 9.99663901e-01 -4.43155906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:139.80, Y:-24.33, Z:-4.43 [[ 9.77505995e-01 2.09434286e-01 2.48859168e-02 1.39804815e+02] [-2.09368511e-01 9.77822721e-01 -5.24907042e-03 -2.43251253e+01] [-2.54333501e-02 -7.93295442e-05 9.99676517e-01 -4.43254224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:139.83, Y:-24.33, Z:-4.43 [[ 9.77381913e-01 2.10128413e-01 2.38881881e-02 1.39832704e+02] [-2.10068064e-01 9.77673791e-01 -5.03660808e-03 -2.43307965e+01] [-2.44131899e-02 -9.54557977e-05 9.99701949e-01 -4.43347390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:139.86, Y:-24.34, Z:-4.43 [[ 9.77319588e-01 2.10326437e-01 2.46822159e-02 1.39859501e+02] [-2.10262119e-01 9.77631208e-01 -5.20219940e-03 -2.43354882e+01] [-2.52242647e-02 -1.05523647e-04 9.99681812e-01 -4.43365445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874012739 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:139.89, Y:-24.34, Z:-4.43 [[ 9.77042952e-01 2.11549368e-01 2.51780725e-02 1.39886953e+02] [-2.11482895e-01 9.77367303e-01 -5.30474183e-03 -2.43383264e+01] [-2.57304396e-02 -1.41771051e-04 9.99668907e-01 -4.43384305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:139.92, Y:-24.34, Z:-4.43 [[ 9.76945566e-01 2.11909571e-01 2.59170668e-02 1.39915210e+02] [-2.11839365e-01 9.77289265e-01 -5.45668385e-03 -2.43422369e+01] [-2.64847947e-02 -1.59371869e-04 9.99649204e-01 -4.43482358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934012739 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:139.94, Y:-24.34, Z:-4.44 [[ 9.76738933e-01 2.12676807e-01 2.73794312e-02 1.39942222e+02] [-2.12598812e-01 9.77122581e-01 -5.76248623e-03 -2.43446544e+01] [-2.79786077e-02 -1.92389898e-04 9.99608504e-01 -4.43580033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:139.97, Y:-24.35, Z:-4.44 [[ 9.76616312e-01 2.13216564e-01 2.75549754e-02 1.39969159e+02] [-2.13137847e-01 9.77004940e-01 -5.79707209e-03 -2.43495258e+01] [-2.81573789e-02 -2.11492959e-04 9.99603480e-01 -4.43641105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99401273899997 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:140.00, Y:-24.35, Z:-4.44 [[ 9.76322461e-01 2.14712852e-01 2.63219042e-02 1.39997344e+02] [-2.14641625e-01 9.76677189e-01 -5.53552287e-03 -2.43536349e+01] [-2.68965513e-02 -2.45320983e-04 9.99638192e-01 -4.43729697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:140.03, Y:-24.36, Z:-4.44 [[ 9.76356342e-01 2.14450393e-01 2.71904905e-02 1.40026491e+02] [-2.14443126e-01 9.76731179e-01 -3.21726860e-03 -2.43594763e+01] [-2.72477443e-02 -2.68961317e-03 9.99625093e-01 -4.43859641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05401273899997 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:140.05, Y:-24.36, Z:-4.44 [[ 9.76061674e-01 2.15943839e-01 2.59203781e-02 1.40053747e+02] [-2.15807449e-01 9.76403313e-01 -7.98212477e-03 -2.43590518e+01] [-2.70324337e-02 2.19723538e-03 9.99632142e-01 -4.43854335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:140.08, Y:-24.36, Z:-4.44 [[ 9.76026587e-01 2.15960381e-01 2.70779376e-02 1.40081526e+02] [-2.15885639e-01 9.76402083e-01 -5.68885495e-03 -2.43646637e+01] [-2.76675219e-02 -2.93264171e-04 9.99617138e-01 -4.43923707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11401273899997 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:140.11, Y:-24.37, Z:-4.44 [[ 9.75894775e-01 2.16616246e-01 2.65855080e-02 1.40108560e+02] [-2.16544494e-01 9.76256783e-01 -5.58348930e-03 -2.43666879e+01] [-2.71637570e-02 -3.08047322e-04 9.99630950e-01 -4.44068959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:140.14, Y:-24.37, Z:-4.44 [[ 9.75756632e-01 2.17344503e-01 2.56974971e-02 1.40136384e+02] [-2.17277776e-01 9.76094906e-01 -5.39474916e-03 -2.43701961e+01] [-2.62557151e-02 -3.19532745e-04 9.99655208e-01 -4.44171917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17401273899998 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:140.17, Y:-24.37, Z:-4.44 [[ 9.75674115e-01 2.17813829e-01 2.48426404e-02 1.40165213e+02] [-2.17751662e-01 9.75990283e-01 -5.21362116e-03 -2.43710253e+01] [-2.53817744e-02 -3.22731026e-04 9.99677779e-01 -4.44371493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:140.19, Y:-24.37, Z:-4.44 [[ 9.75788513e-01 2.17255646e-01 2.52341314e-02 1.40192276e+02] [-2.17191364e-01 9.76114689e-01 -5.29396689e-03 -2.43743992e+01] [-2.57815505e-02 -3.14843330e-04 9.99667551e-01 -4.44494007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23401273899998 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:140.22, Y:-24.38, Z:-4.45 [[ 9.76028288e-01 2.16115425e-01 2.57469403e-02 1.40220255e+02] [-2.16048168e-01 9.76367778e-01 -5.39924158e-03 -2.43782930e+01] [-2.63053422e-02 -2.92766764e-04 9.99653912e-01 -4.44559799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:140.25, Y:-24.38, Z:-4.45 [[ 9.76986620e-01 2.11649905e-01 2.64851397e-02 1.40247137e+02] [-2.11577145e-01 9.77345530e-01 -5.55214613e-03 -2.43808672e+01] [-2.70602441e-02 -1.79277748e-04 9.99633788e-01 -4.44511831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29401273899998 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:140.27, Y:-24.38, Z:-4.45 [[ 9.77946974e-01 2.07268894e-01 2.56772510e-02 1.40274952e+02] [-2.07199049e-01 9.78284009e-01 -5.38069317e-03 -2.43842084e+01] [-2.62348944e-02 -5.82693804e-05 9.99655804e-01 -4.44697100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:140.30, Y:-24.39, Z:-4.45 [[ 9.78235951e-01 2.06012711e-01 2.47626020e-02 1.40301977e+02] [-2.05947395e-01 9.78549315e-01 -5.18733970e-03 -2.43893337e+01] [-2.53000851e-02 -2.53511769e-05 9.99679901e-01 -4.44846602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35401273899998 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:140.33, Y:-24.39, Z:-4.45 [[ 9.78518187e-01 2.04683526e-01 2.46335647e-02 1.40327941e+02] [-2.04618504e-01 9.78828205e-01 -5.15882903e-03 -2.43948099e+01] [-2.51679552e-02 7.52486982e-06 9.99683237e-01 -4.45010721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:140.35, Y:-24.40, Z:-4.45 [[ 9.78902118e-01 2.02744479e-01 2.54031588e-02 1.40353790e+02] [-2.02674779e-01 9.79231675e-01 -5.31608741e-03 -2.44010055e+01] [-2.59533851e-02 5.53496306e-05 9.99663153e-01 -4.45007073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414012739 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:140.38, Y:-24.41, Z:-4.45 [[ 9.79053732e-01 2.02053692e-01 2.50618234e-02 1.40380985e+02] [-2.01985681e-01 9.79374444e-01 -5.24252046e-03 -2.44066499e+01] [-2.56041799e-02 7.05797619e-05 9.99672157e-01 -4.45110936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:140.41, Y:-24.41, Z:-4.45 [[ 9.79132289e-01 2.01917729e-01 2.30041589e-02 1.40408253e+02] [-2.01860426e-01 9.79402484e-01 -4.81064101e-03 -2.44135094e+01] [-2.35016841e-02 6.66246243e-05 9.99723795e-01 -4.45271499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474012739 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:140.43, Y:-24.42, Z:-4.45 [[ 9.79799649e-01 1.98734495e-01 2.22990893e-02 1.40433613e+02] [-1.98679860e-01 9.80053357e-01 -4.66171017e-03 -2.44237144e+01] [-2.27807400e-02 1.37162044e-04 9.99740476e-01 -4.45458323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:140.46, Y:-24.43, Z:-4.46 [[ 9.79811075e-01 1.98678104e-01 2.22995227e-02 1.40461513e+02] [-1.98623501e-01 9.80064790e-01 -4.65963585e-03 -2.44294167e+01] [-2.27807447e-02 1.36353534e-04 9.99740476e-01 -4.45548114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534012739 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:140.49, Y:-24.44, Z:-4.46 [[ 9.80164180e-01 1.96882337e-01 2.27051868e-02 1.40486785e+02] [-1.96825276e-01 9.80427107e-01 -4.74319764e-03 -2.44381555e+01] [-2.31946325e-02 1.80157761e-04 9.99730952e-01 -4.45723818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:140.51, Y:-24.45, Z:-4.46 [[ 9.80445116e-01 1.95412451e-01 2.32668987e-02 1.40512304e+02] [-1.95352165e-01 9.80721126e-01 -4.85852885e-03 -2.44462323e+01] [-2.37677561e-02 2.18281851e-04 9.99717483e-01 -4.45716110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594012739 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:140.54, Y:-24.46, Z:-4.46 [[ 9.80630133e-01 1.94307763e-01 2.46786340e-02 1.40538557e+02] [-1.94239645e-01 9.80940583e-01 -5.15105453e-03 -2.44564903e+01] [-2.52091635e-02 2.57710180e-04 9.99682165e-01 -4.45789458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:140.56, Y:-24.46, Z:-4.46 [[ 9.80632433e-01 1.94331410e-01 2.43994654e-02 1.40564453e+02] [-1.94264875e-01 9.80935900e-01 -5.09109128e-03 -2.44644687e+01] [-2.49236705e-02 2.52530136e-04 9.99689325e-01 -4.45878407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654012739 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:140.59, Y:-24.47, Z:-4.46 [[ 9.80200043e-01 1.96650799e-01 2.31589949e-02 1.40590593e+02] [-1.96591551e-01 9.80473574e-01 -4.83032064e-03 -2.44737228e+01] [-2.36566689e-02 1.81817783e-04 9.99720125e-01 -4.46006479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:140.62, Y:-24.48, Z:-4.46 [[ 9.79807752e-01 1.98551945e-01 2.35349362e-02 1.40616929e+02] [-1.98491345e-01 9.80090356e-01 -4.90709601e-03 -2.44795340e+01] [-2.40406775e-02 1.36529570e-04 9.99710972e-01 -4.46045573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714012739 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:140.64, Y:-24.49, Z:-4.46 [[ 9.78890193e-01 2.02779230e-01 2.55846367e-02 1.40644102e+02] [-2.02709118e-01 9.79224480e-01 -5.33204989e-03 -2.44868068e+01] [-2.61343315e-02 3.32522232e-05 9.99658439e-01 -4.46124357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:140.67, Y:-24.49, Z:-4.46 [[ 9.78554037e-01 2.04380664e-01 2.57009714e-02 1.40671007e+02] [-2.04310506e-01 9.78891487e-01 -5.35471645e-03 -2.44937074e+01] [-2.62528626e-02 -1.10990746e-05 9.99655334e-01 -4.46236307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77401273899997 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:140.70, Y:-24.50, Z:-4.46 [[ 9.78472050e-01 2.04860749e-01 2.49904069e-02 1.40697776e+02] [-2.04794658e-01 9.78791128e-01 -5.20338577e-03 -2.45011155e+01] [-2.55263581e-02 -2.65343025e-05 9.99674149e-01 -4.46361003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:140.72, Y:-24.51, Z:-4.46 [[ 9.78936939e-01 2.02694472e-01 2.44422042e-02 1.40723821e+02] [-2.02630616e-01 9.79242028e-01 -5.08754738e-03 -2.45092410e+01] [-2.49660514e-02 2.76491442e-05 9.99688299e-01 -4.46496931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83401273899997 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:140.75, Y:-24.52, Z:-4.47 [[ 9.79253117e-01 2.01142036e-01 2.46010829e-02 1.40750137e+02] [-2.01076912e-01 9.79562084e-01 -5.11846025e-03 -2.45170727e+01] [-2.51278256e-02 6.55583804e-05 9.99684244e-01 -4.46574975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:140.78, Y:-24.52, Z:-4.47 [[ 9.79646136e-01 1.99148566e-01 2.51653996e-02 1.40776708e+02] [-1.99079820e-01 9.79969303e-01 -5.23359865e-03 -2.45245435e+01] [-2.57035828e-02 1.17151482e-04 9.99669601e-01 -4.46671774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89401273899998 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:140.80, Y:-24.53, Z:-4.47 [[ 9.80244611e-01 1.96102208e-01 2.57764627e-02 1.40802378e+02] [-1.96029075e-01 9.80583441e-01 -5.35889425e-03 -2.45328164e+01] [-2.63268634e-02 2.00091068e-04 9.99653368e-01 -4.46843971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:140.83, Y:-24.54, Z:-4.47 [[ 9.80437930e-01 1.95131698e-01 2.57892667e-02 1.40829593e+02] [-1.95058233e-01 9.80777024e-01 -5.35867972e-03 -2.45399208e+01] [-2.63391685e-02 2.23444080e-04 9.99653039e-01 -4.46961142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95401273899998 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:140.86, Y:-24.55, Z:-4.47 [[ 9.80556870e-01 1.94473575e-01 2.62345708e-02 1.40855810e+02] [-1.94397365e-01 9.80907727e-01 -5.44931192e-03 -2.45485888e+01] [-2.67934404e-02 2.43428799e-04 9.99640962e-01 -4.47018932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:140.88, Y:-24.56, Z:-4.47 [[ 9.80576637e-01 1.94378608e-01 2.61995423e-02 1.40882408e+02] [-1.94302627e-01 9.80926551e-01 -5.43981351e-03 -2.45550302e+01] [-2.67572100e-02 2.43514136e-04 9.99641932e-01 -4.47132677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01401273899998 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:140.91, Y:-24.56, Z:-4.47 [[ 9.80399049e-01 1.95385223e-01 2.53440099e-02 1.40909939e+02] [-1.95314515e-01 9.80726553e-01 -5.26009693e-03 -2.45613791e+01] [-2.58832887e-02 2.06941032e-04 9.99664950e-01 -4.47251860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:140.94, Y:-24.57, Z:-4.47 [[ 9.80289737e-01 1.95924115e-01 2.54120648e-02 1.40936737e+02] [-1.95853254e-01 9.80619042e-01 -5.27241760e-03 -2.45675367e+01] [-2.59525483e-02 1.91461295e-04 9.99663158e-01 -4.47376682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07401273899998 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:140.96, Y:-24.57, Z:-4.47 [[ 9.80048941e-01 1.97157658e-01 2.51581320e-02 1.40964134e+02] [-1.97088658e-01 9.80371783e-01 -5.21795658e-03 -2.45743657e+01] [-2.56930828e-02 1.55470350e-04 9.99669866e-01 -4.47469227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:140.99, Y:-24.58, Z:-4.48 [[ 9.79952483e-01 1.97673906e-01 2.48627819e-02 1.40990701e+02] [-1.97606724e-01 9.80267824e-01 -5.15511838e-03 -2.45793893e+01] [-2.53912175e-02 1.38718174e-04 9.99677581e-01 -4.47543082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13401273899999 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:141.02, Y:-24.58, Z:-4.48 [[ 9.79825179e-01 1.98292280e-01 2.49557515e-02 1.41018209e+02] [-1.98224866e-01 9.80142927e-01 -5.17158749e-03 -2.45847848e+01] [-2.54856892e-02 1.20401160e-04 9.99675180e-01 -4.47707102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:141.04, Y:-24.59, Z:-4.48 [[ 9.79908776e-01 1.97886271e-01 2.48960524e-02 1.41044255e+02] [-1.97819093e-01 9.80224978e-01 -5.15746727e-03 -2.45904540e+01] [-2.54243244e-02 1.28932939e-04 9.99676741e-01 -4.47831693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194012739 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:141.07, Y:-24.60, Z:-4.48 [[ 9.80366991e-01 1.95621260e-01 2.47565392e-02 1.41071796e+02] [-1.95554164e-01 9.80679504e-01 -5.12640569e-03 -2.45971373e+01] [-2.52810645e-02 1.84514573e-04 9.99680366e-01 -4.47903197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:141.10, Y:-24.60, Z:-4.48 [[ 9.80623012e-01 1.94369584e-01 2.44739300e-02 1.41098525e+02] [-1.94303669e-01 9.80928346e-01 -5.06604479e-03 -2.46034373e+01] [-2.49918567e-02 2.12505706e-04 9.99687632e-01 -4.48048441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254012739 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:141.13, Y:-24.61, Z:-4.48 [[ 9.80888573e-01 1.93245071e-01 2.26704768e-02 1.41126447e+02] [-1.93188244e-01 9.81150495e-01 -4.69140602e-03 -2.46126218e+01] [-2.31497406e-02 2.22076954e-04 9.99731984e-01 -4.48330589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:141.15, Y:-24.62, Z:-4.48 [[ 9.80930055e-01 1.93062684e-01 2.24282908e-02 1.41152869e+02] [-1.93007039e-01 9.81186399e-01 -4.64031450e-03 -2.46205458e+01] [-2.29022054e-02 2.23005963e-04 9.99737685e-01 -4.48444734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314012739 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:141.18, Y:-24.63, Z:-4.48 [[ 9.80640492e-01 1.94310833e-01 2.42389257e-02 1.41178592e+02] [-1.94246258e-01 9.80939986e-01 -5.01345123e-03 -2.46307856e+01] [-2.47510993e-02 2.08072678e-04 9.99693623e-01 -4.48497682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:141.21, Y:-24.64, Z:-4.49 [[ 9.80402016e-01 1.95469658e-01 2.45662490e-02 1.41206993e+02] [-1.95403746e-01 9.80709733e-01 -5.07889846e-03 -2.46380062e+01] [-2.50851300e-02 1.79025212e-04 9.99685303e-01 -4.48502094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:141.23, Y:-24.65, Z:-4.49 [[ 9.79531347e-01 1.99769200e-01 2.47104551e-02 1.41233785e+02] [-1.99703909e-01 9.79842978e-01 -5.10751427e-03 -2.46450709e+01] [-2.52326900e-02 6.81958479e-05 9.99681603e-01 -4.48573491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:141.26, Y:-24.65, Z:-4.49 [[ 9.78896686e-01 2.02787031e-01 2.52724964e-02 1.41260827e+02] [-2.02719769e-01 9.79222865e-01 -5.22256826e-03 -2.46512765e+01] [-2.58064755e-02 -1.08798822e-05 9.99666957e-01 -4.48588420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434012739 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:141.29, Y:-24.66, Z:-4.49 [[ 9.77275027e-01 2.10180844e-01 2.75233333e-02 1.41287646e+02] [-2.10104053e-01 9.77662499e-01 -5.68553487e-03 -2.46573769e+01] [-2.81035213e-02 -2.26432636e-04 9.99604992e-01 -4.48651891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:141.31, Y:-24.66, Z:-4.49 [[ 9.76502874e-01 2.13690855e-01 2.78990219e-02 1.41313999e+02] [-2.13613432e-01 9.76901278e-01 -5.76147158e-03 -2.46622683e+01] [-2.84857639e-02 -3.33512250e-04 9.99594143e-01 -4.48739790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49401273899997 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:141.34, Y:-24.67, Z:-4.49 [[ 9.75080890e-01 2.20191217e-01 2.70755472e-02 1.41341609e+02] [-2.20120862e-01 9.75456595e-01 -5.58911161e-03 -2.46656955e+01] [-2.76416943e-02 -5.10056866e-04 9.99617765e-01 -4.48967133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:141.37, Y:-24.67, Z:-4.49 [[ 9.74591228e-01 2.22377402e-01 2.68370973e-02 1.41369579e+02] [-2.22309163e-01 9.74960495e-01 -5.53793671e-03 -2.46695502e+01] [-2.73966217e-02 -5.68908108e-04 9.99624480e-01 -4.49082336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55401273899997 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:141.40, Y:-24.67, Z:-4.49 [[ 9.74403896e-01 2.23231696e-01 2.65453852e-02 1.41396591e+02] [-2.23165296e-01 9.74765235e-01 -5.47600483e-03 -2.46723261e+01] [-2.70979365e-02 -5.88168309e-04 9.99632610e-01 -4.49200605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:141.42, Y:-24.68, Z:-4.49 [[ 9.74789910e-01 2.21563324e-01 2.63500627e-02 1.41422921e+02] [-2.21497375e-01 9.75145836e-01 -5.43247267e-03 -2.46772471e+01] [-2.68987906e-02 -5.40950186e-04 9.99638016e-01 -4.49234677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61401273899997 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:141.45, Y:-24.68, Z:-4.49 [[ 9.75813065e-01 2.17065178e-01 2.59146981e-02 1.41450116e+02] [-2.16999862e-01 9.76157026e-01 -5.34051113e-03 -2.46828055e+01] [-2.64560536e-02 -4.12145373e-04 9.99649892e-01 -4.49377426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:141.48, Y:-24.69, Z:-4.49 [[ 9.76260067e-01 2.15107597e-01 2.53969067e-02 1.41476392e+02] [-2.15044248e-01 9.76590291e-01 -5.23208754e-03 -2.46886281e+01] [-2.59278343e-02 -3.53580586e-04 9.99663755e-01 -4.49476187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67401273899998 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:141.50, Y:-24.70, Z:-4.50 [[ 9.76580858e-01 2.13682749e-01 2.50900565e-02 1.41503776e+02] [-2.13620507e-01 9.76903058e-01 -5.16673320e-03 -2.46950475e+01] [-2.56145947e-02 -3.14017846e-04 9.99671843e-01 -4.49567269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:141.53, Y:-24.70, Z:-4.50 [[ 9.76841507e-01 2.12430939e-01 2.55688506e-02 1.41531035e+02] [-2.12365918e-01 9.77176040e-01 -5.26345786e-03 -2.47002227e+01] [-2.61033894e-02 -2.88388304e-04 9.99659207e-01 -4.49647906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73401273899998 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:141.56, Y:-24.70, Z:-4.50 [[ 9.76683695e-01 2.13008897e-01 2.67613345e-02 1.41558122e+02] [-2.12937938e-01 9.77050207e-01 -5.50697870e-03 -2.47035742e+01] [-2.73202029e-02 -3.19927098e-04 9.99626682e-01 -4.49702640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:141.59, Y:-24.71, Z:-4.50 [[ 9.76527282e-01 2.13682087e-01 2.71004358e-02 1.41585322e+02] [-2.13609642e-01 9.76903192e-01 -5.57444914e-03 -2.47086459e+01] [-2.76656622e-02 -3.45312717e-04 9.99617173e-01 -4.49760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79401273899998 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:141.61, Y:-24.71, Z:-4.50 [[ 9.76324088e-01 2.14807009e-01 2.54798939e-02 1.41611640e+02] [-2.14743395e-01 9.76656450e-01 -5.23950886e-03 -2.47133437e+01] [-2.60105859e-02 -3.56180198e-04 9.99661604e-01 -4.49898496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:141.64, Y:-24.72, Z:-4.50 [[ 9.76271471e-01 2.15242207e-01 2.37656952e-02 1.41639389e+02] [-2.15187039e-01 9.76560635e-01 -4.88516313e-03 -2.47179861e+01] [-2.42601357e-02 -3.44824175e-04 9.99705620e-01 -4.50056712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85401273899998 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:141.67, Y:-24.72, Z:-4.50 [[ 9.76184652e-01 2.15807146e-01 2.21540113e-02 1.41667131e+02] [-2.15759385e-01 9.76435949e-01 -4.55244868e-03 -2.47212551e+01] [-2.26144240e-02 -3.35905332e-04 9.99744205e-01 -4.50304351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:141.69, Y:-24.73, Z:-4.50 [[ 9.76160181e-01 2.15879602e-01 2.25232692e-02 1.41694296e+02] [-2.15830294e-01 9.76419929e-01 -4.62663042e-03 -2.47262188e+01] [-2.29909640e-02 -3.44871426e-04 9.99735613e-01 -4.50351129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914012739 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:141.72, Y:-24.73, Z:-4.50 [[ 9.75659769e-01 2.17887387e-01 2.47608687e-02 1.41720580e+02] [-2.17828490e-01 9.75973821e-01 -5.08428925e-03 -2.47310651e+01] [-2.52737621e-02 -4.33086162e-04 9.99680474e-01 -4.50326902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:141.75, Y:-24.74, Z:-4.50 [[ 9.75447246e-01 2.18689949e-01 2.60264647e-02 1.41748183e+02] [-2.18625226e-01 9.75794280e-01 -5.34174984e-03 -2.47359295e+01] [-2.65646624e-02 -4.79446574e-04 9.99646982e-01 -4.50385953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:141.78, Y:-24.74, Z:-4.50 [[ 9.75123237e-01 2.20041813e-01 2.67632856e-02 1.41775031e+02] [-2.19973936e-01 9.75490296e-01 -5.49098335e-03 -2.47382350e+01] [-2.73155713e-02 -5.32839804e-04 9.99626718e-01 -4.50466592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:141.80, Y:-24.74, Z:-4.51 [[ 9.74937214e-01 2.20920602e-01 2.62966909e-02 1.41803214e+02] [-2.20855451e-01 9.75291641e-01 -5.39299911e-03 -2.47421801e+01] [-2.68383675e-02 -5.49932008e-04 9.99639635e-01 -4.50613830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034012739 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:141.83, Y:-24.75, Z:-4.51 [[ 9.74806122e-01 2.21578705e-01 2.56105815e-02 1.41830544e+02] [-2.21517185e-01 9.75142333e-01 -5.25047156e-03 -2.47456422e+01] [-2.61373548e-02 -5.54992082e-04 9.99658207e-01 -4.50777712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:141.86, Y:-24.75, Z:-4.51 [[ 9.74650337e-01 2.22475616e-01 2.36922039e-02 1.41857733e+02] [-2.22423261e-01 9.74938107e-01 -4.85601734e-03 -2.47480946e+01] [-2.41787779e-02 -5.36778311e-04 9.99707507e-01 -4.50889506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094012739 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:141.89, Y:-24.75, Z:-4.51 [[ 9.74678457e-01 2.22347175e-01 2.37410977e-02 1.41885726e+02] [-2.22294651e-01 9.74967407e-01 -4.86252694e-03 -2.47518014e+01] [-2.42279656e-02 -5.38118771e-04 9.99706315e-01 -4.50965865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:141.91, Y:-24.75, Z:-4.51 [[ 9.74791279e-01 2.21698506e-01 2.51343528e-02 1.41913750e+02] [-2.21639470e-01 9.75115103e-01 -5.14591983e-03 -2.47522026e+01] [-2.56497298e-02 -5.54566865e-04 9.99670838e-01 -4.51018878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:141.94, Y:-24.76, Z:-4.51 [[ 9.75061810e-01 2.20458525e-01 2.55441644e-02 1.41941095e+02] [-2.20397165e-01 9.75396204e-01 -5.22819864e-03 -2.47555775e+01] [-2.60682819e-02 -5.32044577e-04 9.99660023e-01 -4.51088379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:141.97, Y:-24.76, Z:-4.51 [[ 9.75623812e-01 2.17931092e-01 2.57723792e-02 1.41968854e+02] [-2.17867848e-01 9.75964044e-01 -5.27116080e-03 -2.47581525e+01] [-2.63016653e-02 -4.72302794e-04 9.99653940e-01 -4.51163117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214012739 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:142.00, Y:-24.76, Z:-4.51 [[ 9.75934418e-01 2.16572749e-01 2.54608917e-02 1.41996490e+02] [-2.16510610e-01 9.76266387e-01 -5.20560329e-03 -2.47617800e+01] [-2.59840046e-02 -4.32225765e-04 9.99662265e-01 -4.51263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:142.02, Y:-24.76, Z:-4.51 [[ 9.76449889e-01 2.14189901e-01 2.58515030e-02 1.42023874e+02] [-2.14125049e-01 9.76791966e-01 -5.28378435e-03 -2.47637021e+01] [-2.63832737e-02 -3.76103717e-04 9.99651830e-01 -4.51330107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27401273899997 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:142.05, Y:-24.77, Z:-4.51 [[ 9.76583404e-01 2.13572889e-01 2.59128714e-02 1.42050308e+02] [-2.13507610e-01 9.76927064e-01 -5.29261693e-03 -2.47678997e+01] [-2.64453449e-02 -3.63913405e-04 9.99650194e-01 -4.51435626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:142.08, Y:-24.77, Z:-4.52 [[ 9.76894978e-01 2.12164905e-01 2.57343277e-02 1.42077966e+02] [-2.12100094e-01 9.77233824e-01 -5.25388854e-03 -2.47704329e+01] [-2.62631462e-02 -3.25755985e-04 9.99655011e-01 -4.51590495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33401273899997 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:142.11, Y:-24.77, Z:-4.52 [[ 9.77000630e-01 2.11627968e-01 2.61414070e-02 1.42105589e+02] [-2.11560949e-01 9.77350245e-01 -5.33506335e-03 -2.47748502e+01] [-2.66783592e-02 -3.18140616e-04 9.99644019e-01 -4.51708475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:142.13, Y:-24.78, Z:-4.52 [[ 9.77080522e-01 2.11190636e-01 2.66865024e-02 1.42131880e+02] [-2.11120683e-01 9.77444841e-01 -5.44435223e-03 -2.47795556e+01] [-2.72343803e-02 -3.14502103e-04 9.99629026e-01 -4.51640330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39401273899998 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:142.16, Y:-24.78, Z:-4.52 [[ 9.76923953e-01 2.11851496e-01 2.71759885e-02 1.42159052e+02] [-2.11779275e-01 9.77301810e-01 -5.54180049e-03 -2.47847178e+01] [-2.77331814e-02 -3.41393488e-04 9.99615303e-01 -4.51744856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:142.19, Y:-24.79, Z:-4.52 [[ 9.76936579e-01 2.11793209e-01 2.71763941e-02 1.42186980e+02] [-2.11721021e-01 9.77314443e-01 -5.53981028e-03 -2.47902830e+01] [-2.77331767e-02 -3.41770609e-04 9.99615303e-01 -4.51834643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45401273899998 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:142.21, Y:-24.79, Z:-4.52 [[ 9.76677749e-01 2.12833817e-01 2.83256221e-02 1.42214238e+02] [-2.12755883e-01 9.77088335e-01 -5.77229824e-03 -2.47934751e+01] [-2.89051752e-02 -3.88767476e-04 9.99582083e-01 -4.51944934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:142.24, Y:-24.80, Z:-4.52 [[ 9.76818324e-01 2.12181076e-01 2.83752290e-02 1.42240339e+02] [-2.12102664e-01 9.77230296e-01 -5.77994566e-03 -2.47989716e+01] [-2.89555285e-02 -3.72504823e-04 9.99580631e-01 -4.52057853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51401273899998 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:142.27, Y:-24.80, Z:-4.52 [[ 9.77068809e-01 2.11146233e-01 2.74556316e-02 1.42266518e+02] [-2.11072477e-01 9.77454427e-01 -5.59036135e-03 -2.48041987e+01] [-2.80170124e-02 -3.32960456e-04 9.99607391e-01 -4.52193611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:142.29, Y:-24.81, Z:-4.52 [[ 9.77371580e-01 2.09924906e-01 2.60063225e-02 1.42293656e+02] [-2.09858357e-01 9.77717471e-01 -5.29312978e-03 -2.48092444e+01] [-2.65379957e-02 -2.84289488e-04 9.99647765e-01 -4.52322601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57401273899998 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:142.32, Y:-24.81, Z:-4.52 [[ 9.77813638e-01 2.07946043e-01 2.52770979e-02 1.42321647e+02] [-2.07882559e-01 9.78140272e-01 -5.14293601e-03 -2.48137334e+01] [-2.57940007e-02 -2.25834815e-04 9.99667254e-01 -4.52418850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:142.35, Y:-24.82, Z:-4.52 [[ 9.77840491e-01 2.07756797e-01 2.57893084e-02 1.42348587e+02] [-2.07690696e-01 9.78180485e-01 -5.24530139e-03 -2.48182615e+01] [-2.63163453e-02 -2.27131327e-04 9.99653639e-01 -4.52489566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63401273899999 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:142.38, Y:-24.82, Z:-4.53 [[ 9.77608005e-01 2.08821915e-01 2.59999170e-02 1.42376033e+02] [-2.08755165e-01 9.77953649e-01 -5.28593347e-03 -2.48206637e+01] [-2.65305325e-02 -2.60046084e-04 9.99647970e-01 -4.52515936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:142.40, Y:-24.82, Z:-4.53 [[ 9.77306574e-01 2.10205522e-01 2.61820390e-02 1.42403719e+02] [-2.10138389e-01 9.77657173e-01 -5.32071390e-03 -2.48233239e+01] [-2.67155017e-02 -3.01882834e-04 9.99643032e-01 -4.52550417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694012739 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:142.43, Y:-24.82, Z:-4.53 [[ 9.76605410e-01 2.13330073e-01 2.70583473e-02 1.42432152e+02] [-2.13259623e-01 9.76980101e-01 -5.49682565e-03 -2.48226699e+01] [-2.76081051e-02 -4.02223265e-04 9.99618743e-01 -4.52595831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:142.46, Y:-24.83, Z:-4.53 [[ 9.76280184e-01 2.14746756e-01 2.75831938e-02 1.42458691e+02] [-2.14674168e-01 9.76669661e-01 -5.60139467e-03 -2.48255403e+01] [-2.81425499e-02 -4.52868566e-04 9.99603817e-01 -4.52659609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754012739 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:142.49, Y:-24.83, Z:-4.53 [[ 9.76444630e-01 2.13824032e-01 2.88992699e-02 1.42485916e+02] [-2.13744025e-01 9.76872091e-01 -5.86602307e-03 -2.48279611e+01] [-2.94851869e-02 -4.49199562e-04 9.99565116e-01 -4.52687875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:142.51, Y:-24.83, Z:-4.53 [[ 9.76925238e-01 2.11439037e-01 3.01763689e-02 1.42513307e+02] [-2.11350744e-01 9.77391107e-01 -6.12263538e-03 -2.48330135e+01] [-3.07886788e-02 -3.96440992e-04 9.99525838e-01 -4.52784037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:142.54, Y:-24.84, Z:-4.53 [[ 9.77563309e-01 2.08384126e-01 3.07576581e-02 1.42539198e+02] [-2.08290957e-01 9.78047014e-01 -6.23828482e-03 -2.48385942e+01] [-3.13823951e-02 -3.08223685e-04 9.99507404e-01 -4.52873412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:142.57, Y:-24.85, Z:-4.53 [[ 9.78934135e-01 2.01928202e-01 3.02152410e-02 1.42565959e+02] [-2.01835290e-01 9.79400322e-01 -6.12575469e-03 -2.48458310e+01] [-3.08297794e-02 -1.01791548e-04 9.99524644e-01 -4.53066793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874012739 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:142.59, Y:-24.85, Z:-4.53 [[ 9.79863101e-01 1.97717111e-01 2.78612290e-02 1.42592021e+02] [-1.97636463e-01 9.80259120e-01 -5.64669449e-03 -2.48536677e+01] [-2.84276719e-02 2.65928214e-05 9.99595852e-01 -4.53190649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:142.62, Y:-24.86, Z:-4.53 [[ 9.79945237e-01 1.97419226e-01 2.70736520e-02 1.42618299e+02] [-1.97343021e-01 9.80319156e-01 -5.48487241e-03 -2.48597189e+01] [-2.76236390e-02 3.20783070e-05 9.99618394e-01 -4.53297102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934012739 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:142.65, Y:-24.87, Z:-4.53 [[ 9.79591358e-01 1.99026239e-01 2.80949661e-02 1.42645808e+02] [-1.98944906e-01 9.79994161e-01 -5.68930427e-03 -2.48664085e+01] [-2.86652235e-02 -1.61570844e-05 9.99589068e-01 -4.53358977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:142.67, Y:-24.87, Z:-4.53 [[ 9.79364220e-01 2.00010180e-01 2.90112425e-02 1.42672809e+02] [-1.99923950e-01 9.79793818e-01 -5.87271214e-03 -2.48737195e+01] [-2.95996382e-02 -4.85180411e-05 9.99561834e-01 -4.53385851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99401273899997 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:142.70, Y:-24.88, Z:-4.54 [[ 9.78979474e-01 2.01861426e-01 2.91745510e-02 1.42697823e+02] [-2.01775105e-01 9.79414087e-01 -5.90370825e-03 -2.48835744e+01] [-2.97656972e-02 -1.07088888e-04 9.99556898e-01 -4.53525936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:142.72, Y:-24.89, Z:-4.54 [[ 9.78837026e-01 2.02654148e-01 2.84494929e-02 1.42724861e+02] [-2.02572467e-01 9.79250366e-01 -5.75467711e-03 -2.48905827e+01] [-2.90253855e-02 -1.30192925e-04 9.99578666e-01 -4.53649147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05401273899997 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:142.75, Y:-24.90, Z:-4.54 [[ 9.78488068e-01 2.04462414e-01 2.74994971e-02 1.42750551e+02] [-2.04386858e-01 9.78874399e-01 -5.56085500e-03 -2.48979341e+01] [-2.80555396e-02 -1.79305553e-04 9.99606350e-01 -4.53855849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:142.78, Y:-24.91, Z:-4.54 [[ 9.78262111e-01 2.05598061e-01 2.70680456e-02 1.42777300e+02] [-2.05525389e-01 9.78636497e-01 -5.47011629e-03 -2.49051898e+01] [-2.76144226e-02 -2.11963088e-04 9.99618627e-01 -4.53942082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11401273899997 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:142.80, Y:-24.91, Z:-4.54 [[ 9.77741453e-01 2.08194378e-01 2.60144404e-02 1.42802933e+02] [-2.08128220e-01 9.78087432e-01 -5.25541267e-03 -2.49123697e+01] [-2.65385446e-02 -2.75904353e-04 9.99647753e-01 -4.54043393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:142.83, Y:-24.92, Z:-4.54 [[ 9.77309894e-01 2.10228245e-01 2.58738548e-02 1.42829741e+02] [-2.10163565e-01 9.77652277e-01 -5.22501163e-03 -2.49163003e+01] [-2.63940781e-02 -3.31286000e-04 9.99651561e-01 -4.54061312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17401273899998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:142.86, Y:-24.92, Z:-4.54 [[ 9.76770592e-01 2.12585088e-01 2.69590627e-02 1.42856904e+02] [-2.12515874e-01 9.77142471e-01 -5.44019162e-03 -2.49207944e+01] [-2.74993487e-02 -4.15409565e-04 9.99621735e-01 -4.54161495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:142.88, Y:-24.93, Z:-4.54 [[ 9.75843124e-01 2.16760376e-01 2.72972004e-02 1.42884477e+02] [-2.16691097e-01 9.76224690e-01 -5.50657463e-03 -2.49260128e+01] [-2.78418082e-02 -5.41507302e-04 9.99612195e-01 -4.54228783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23401273899998 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:142.91, Y:-24.93, Z:-4.54 [[ 9.75607900e-01 2.17978276e-01 2.59749365e-02 1.42911403e+02] [-2.17916017e-01 9.75953467e-01 -5.23837091e-03 -2.49291011e+01] [-2.64921804e-02 -5.49758654e-04 9.99648869e-01 -4.54411096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:142.94, Y:-24.93, Z:-4.54 [[ 9.75872731e-01 2.16866053e-01 2.53284037e-02 1.42939491e+02] [-2.16806573e-01 9.76201237e-01 -5.10442023e-03 -2.49330409e+01] [-2.58325945e-02 -5.10099891e-04 9.99666153e-01 -4.54499105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29401273899998 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:142.97, Y:-24.94, Z:-4.55 [[ 9.76922982e-01 2.11991616e-01 2.60967792e-02 1.42966618e+02] [-2.11926782e-01 9.77271405e-01 -5.25736655e-03 -2.49391101e+01] [-2.66181537e-02 -3.94564218e-04 9.99645596e-01 -4.54600660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:142.99, Y:-24.95, Z:-4.55 [[ 9.77570915e-01 2.08886062e-01 2.68648190e-02 1.42993934e+02] [-2.08816237e-01 9.77939932e-01 -5.41011173e-03 -2.49452383e+01] [-2.74022762e-02 -3.21042529e-04 9.99624436e-01 -4.54751303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35401273899998 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:143.02, Y:-24.95, Z:-4.55 [[ 9.78958489e-01 2.02225394e-01 2.72977342e-02 1.43019937e+02] [-2.02150762e-01 9.79338997e-01 -5.49532571e-03 -2.49503960e+01] [-2.78450300e-02 -1.38562004e-04 9.99612242e-01 -4.54808530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:143.05, Y:-24.96, Z:-4.55 [[ 9.79567950e-01 1.99187177e-01 2.77686905e-02 1.43047294e+02] [-1.99108794e-01 9.79961461e-01 -5.58772117e-03 -2.49570628e+01] [-2.83252489e-02 -5.54379161e-05 9.99598758e-01 -4.54890715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:143.07, Y:-24.97, Z:-4.55 [[ 9.80345161e-01 1.95243194e-01 2.83453679e-02 1.43074395e+02] [-1.95159931e-01 9.80754858e-01 -5.70172078e-03 -2.49659191e+01] [-2.89130794e-02 5.77743373e-05 9.99581928e-01 -4.54949849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:143.10, Y:-24.97, Z:-4.55 [[ 9.80551129e-01 1.94197586e-01 2.84038912e-02 1.43100203e+02] [-1.94113599e-01 9.80962431e-01 -5.71144364e-03 -2.49721746e+01] [-2.89722987e-02 8.67809612e-05 9.99580211e-01 -4.55020772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474012739 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:143.13, Y:-24.98, Z:-4.55 [[ 9.80712073e-01 1.93533275e-01 2.73624010e-02 1.43127001e+02] [-1.93455140e-01 9.81093707e-01 -5.49975807e-03 -2.49804939e+01] [-2.79094657e-02 1.00282016e-04 9.99610450e-01 -4.55131465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:143.15, Y:-24.99, Z:-4.55 [[ 9.80664101e-01 1.93813152e-01 2.70994993e-02 1.43153274e+02] [-1.93736670e-01 9.81038457e-01 -5.44504865e-03 -2.49878850e+01] [-2.76409730e-02 8.95969955e-05 9.99617911e-01 -4.55229141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534012739 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:143.18, Y:-25.00, Z:-4.55 [[ 9.80648048e-01 1.93793586e-01 2.78109891e-02 1.43179912e+02] [-1.93713095e-01 9.81042322e-01 -5.58560999e-03 -2.49950137e+01] [-2.83662127e-02 9.01647711e-05 9.99597594e-01 -4.55290687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:143.21, Y:-25.00, Z:-4.55 [[ 9.80510002e-01 1.94223489e-01 2.96204759e-02 1.43206005e+02] [-1.94132445e-01 9.80957303e-01 -5.94676371e-03 -2.50019719e+01] [-3.02114233e-02 8.05658942e-05 9.99543528e-01 -4.55202847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594012739 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:143.23, Y:-25.01, Z:-4.55 [[ 9.80671459e-01 1.93406046e-01 2.96241446e-02 1.43234436e+02] [-1.93314683e-01 9.81118795e-01 -5.94498515e-03 -2.50088248e+01] [-3.02146011e-02 1.03295155e-04 9.99543429e-01 -4.55286032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:143.26, Y:-25.02, Z:-4.55 [[ 9.80946567e-01 1.91962131e-01 2.99060824e-02 1.43262384e+02] [-1.91868394e-01 9.81402322e-01 -6.00007651e-03 -2.50159618e+01] [-3.05016862e-02 1.47722456e-04 9.99534704e-01 -4.55443470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:143.29, Y:-25.02, Z:-4.56 [[ 9.81436615e-01 1.89372467e-01 3.03354434e-02 1.43290260e+02] [-1.89274828e-01 9.81905299e-01 -6.08471015e-03 -2.50239576e+01] [-3.09388092e-02 2.30021501e-04 9.99521254e-01 -4.55637510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:143.32, Y:-25.03, Z:-4.56 [[ 9.81567931e-01 1.88785875e-01 2.97370149e-02 1.43317348e+02] [-1.88691826e-01 9.82018246e-01 -5.96323174e-03 -2.50300616e+01] [-3.03280651e-02 2.42185415e-04 9.99539969e-01 -4.55753956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714012739 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:143.34, Y:-25.04, Z:-4.56 [[ 9.81601053e-01 1.88764343e-01 2.87644902e-02 1.43344263e+02] [-1.88676388e-01 9.82022387e-01 -5.76649090e-03 -2.50361342e+01] [-2.93358812e-02 2.33213427e-04 9.99569583e-01 -4.55908203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:143.37, Y:-25.04, Z:-4.55 [[ 9.81674860e-01 1.88508903e-01 2.79081238e-02 1.43372480e+02] [-1.88426056e-01 9.82071454e-01 -5.59298102e-03 -2.50415043e+01] [-2.84620984e-02 2.31871153e-04 9.99594846e-01 -4.55168466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77401273899997 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:143.40, Y:-25.05, Z:-4.56 [[ 9.81707680e-01 1.88265675e-01 2.83913255e-02 1.43399128e+02] [-1.88179873e-01 9.82118108e-01 -5.68843269e-03 -2.50490731e+01] [-2.89545715e-02 2.41702028e-04 9.99580699e-01 -4.55960267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:143.43, Y:-25.06, Z:-4.56 [[ 9.81670487e-01 1.88421772e-01 2.86407228e-02 1.43426237e+02] [-1.88334573e-01 9.82088173e-01 -5.73664747e-03 -2.50558151e+01] [-2.92086244e-02 2.37459217e-04 9.99573309e-01 -4.56049112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83401273899997 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:143.45, Y:-25.07, Z:-4.56 [[ 9.81557095e-01 1.88945743e-01 2.90719030e-02 1.43452159e+02] [-1.88856186e-01 9.81987503e-01 -5.82105685e-03 -2.50660774e+01] [-2.96481093e-02 2.23290927e-04 9.99560373e-01 -4.56169820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:143.48, Y:-25.07, Z:-4.56 [[ 9.81542297e-01 1.88924688e-01 2.97015399e-02 1.43480135e+02] [-1.88831243e-01 9.81991553e-01 -5.94567765e-03 -2.50742651e+01] [-3.02899466e-02 2.27355397e-04 9.99541128e-01 -4.56287721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89401273899998 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:143.51, Y:-25.08, Z:-4.56 [[ 9.81456086e-01 1.89339814e-01 2.99062917e-02 1.43507379e+02] [-1.89245313e-01 9.81911599e-01 -5.98522172e-03 -2.50835205e+01] [-3.04985755e-02 2.14606742e-04 9.99534787e-01 -4.56255883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:143.53, Y:-25.09, Z:-4.56 [[ 9.81388921e-01 1.89788939e-01 2.92565187e-02 1.43534662e+02] [-1.89698741e-01 9.81824893e-01 -5.85381025e-03 -2.50906651e+01] [-2.98357667e-02 1.94939765e-04 9.99554795e-01 -4.56410224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95401273899998 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:143.56, Y:-25.10, Z:-4.57 [[ 9.81039482e-01 1.91933118e-01 2.68926328e-02 1.43561520e+02] [-1.91857755e-01 9.81408001e-01 -5.37935619e-03 -2.50989314e+01] [-2.74251216e-02 1.17800653e-04 9.99623854e-01 -4.56616494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:143.59, Y:-25.11, Z:-4.57 [[ 9.80822774e-01 1.93042775e-01 2.68546566e-02 1.43589203e+02] [-1.92968086e-01 9.81190338e-01 -5.37011160e-03 -2.51050067e+01] [-2.73861909e-02 8.50360744e-05 9.99624924e-01 -4.56650594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01401273899998 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:143.62, Y:-25.11, Z:-4.57 [[ 9.80179431e-01 1.96112568e-01 2.80738863e-02 1.43616214e+02] [-1.96032238e-01 9.80581389e-01 -5.61258034e-03 -2.51121999e+01] [-2.86294280e-02 -2.05094469e-06 9.99590094e-01 -4.56620934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:143.64, Y:-25.12, Z:-4.57 [[ 9.79813958e-01 1.97878395e-01 2.84384946e-02 1.43643384e+02] [-1.97796760e-01 9.80226575e-01 -5.68366929e-03 -2.51181788e+01] [-2.90008435e-02 -5.61035975e-05 9.99579386e-01 -4.56617463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07401273899998 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:143.67, Y:-25.12, Z:-4.57 [[ 9.79449529e-01 1.99668681e-01 2.84787415e-02 1.43671876e+02] [-1.99587628e-01 9.79863463e-01 -5.68974414e-03 -2.51240690e+01] [-2.90413420e-02 -1.11187257e-04 9.99578205e-01 -4.56745540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:143.70, Y:-25.13, Z:-4.57 [[ 9.78755589e-01 2.03082165e-01 2.81980532e-02 1.43699590e+02] [-2.03004156e-01 9.79161677e-01 -5.63233341e-03 -2.51295447e+01] [-2.87542795e-02 -2.11644192e-04 9.99586488e-01 -4.56900815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13401273899999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:143.73, Y:-25.13, Z:-4.57 [[ 9.78427444e-01 2.04666423e-01 2.81317109e-02 1.43727513e+02] [-2.04589483e-01 9.78831747e-01 -5.61739412e-03 -2.51347644e+01] [-2.86859037e-02 -2.59239633e-04 9.99588441e-01 -4.56994694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:143.76, Y:-25.14, Z:-4.57 [[ 9.77949287e-01 2.06921269e-01 2.82626962e-02 1.43755599e+02] [-2.06844607e-01 9.78357542e-01 -5.64165496e-03 -2.51388133e+01] [-2.88184004e-02 -3.28733849e-04 9.99584610e-01 -4.57053809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194012739 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:143.78, Y:-25.14, Z:-4.57 [[ 9.77815687e-01 2.07510872e-01 2.85608139e-02 1.43783613e+02] [-2.07432893e-01 9.78232648e-01 -5.69919471e-03 -2.51425442e+01] [-2.91217654e-02 -3.51690253e-04 9.99575810e-01 -4.57075468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:143.81, Y:-25.14, Z:-4.57 [[ 9.78154673e-01 2.05848447e-01 2.89802175e-02 1.43811608e+02] [-2.05767490e-01 9.78583835e-01 -5.78087646e-03 -2.51445182e+01] [-2.95495568e-02 -3.08595291e-04 9.99563269e-01 -4.57243810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254012739 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:143.84, Y:-25.15, Z:-4.57 [[ 9.78550336e-01 2.03889188e-01 2.94692841e-02 1.43839513e+02] [-2.03804653e-01 9.78993939e-01 -5.87621208e-03 -2.51488158e+01] [-3.00483466e-02 -2.55807919e-04 9.99548414e-01 -4.57362374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:143.87, Y:-25.15, Z:-4.57 [[ 9.79195847e-01 2.00655526e-01 3.02134637e-02 1.43867424e+02] [-2.00565190e-01 9.79661847e-01 -6.02255161e-03 -2.51527426e+01] [-3.08074359e-02 -1.62511556e-04 9.99525325e-01 -4.57416672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314012739 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:143.90, Y:-25.16, Z:-4.58 [[ 9.79216625e-01 2.00554052e-01 3.02137878e-02 1.43895380e+02] [-2.00463718e-01 9.79682625e-01 -6.02092497e-03 -2.51581473e+01] [-3.08074439e-02 -1.60978407e-04 9.99525325e-01 -4.57506436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:143.92, Y:-25.16, Z:-4.58 [[ 9.79433596e-01 1.99544738e-01 2.98618218e-02 1.43924276e+02] [-1.99456127e-01 9.79888708e-01 -5.94754605e-03 -2.51627927e+01] [-3.04480635e-02 -1.30896893e-04 9.99536342e-01 -4.57559045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374012739 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:143.95, Y:-25.17, Z:-4.58 [[ 9.79664115e-01 1.98592421e-01 2.86229309e-02 1.43952828e+02] [-1.98510643e-01 9.80082160e-01 -5.69947098e-03 -2.51669768e+01] [-2.91846956e-02 -9.83892105e-05 9.99574031e-01 -4.57780339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:143.98, Y:-25.17, Z:-4.58 [[ 9.79581723e-01 1.99075256e-01 2.80836496e-02 1.43980670e+02] [-1.98996766e-01 9.79984199e-01 -5.59078939e-03 -2.51711123e+01] [-2.86345207e-02 -1.11920362e-04 9.99589942e-01 -4.57924189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434012739 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:144.01, Y:-25.17, Z:-4.58 [[ 9.79230847e-01 2.00646280e-01 2.91207624e-02 1.44007309e+02] [-2.00562638e-01 9.79663740e-01 -5.79530584e-03 -2.51733251e+01] [-2.96913615e-02 -1.65594675e-04 9.99559101e-01 -4.57942396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:144.03, Y:-25.18, Z:-4.58 [[ 9.79136863e-01 2.01084241e-01 2.92597250e-02 1.44033720e+02] [-2.01000067e-01 9.79573935e-01 -5.82049307e-03 -2.51783967e+01] [-2.98324734e-02 -1.82147359e-04 9.99554896e-01 -4.57981250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49401273899997 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:144.06, Y:-25.18, Z:-4.58 [[ 9.79213948e-01 2.00691945e-01 2.93732452e-02 1.44061284e+02] [-2.00607014e-01 9.79654385e-01 -5.84061187e-03 -2.51835405e+01] [-2.99477922e-02 -1.73270401e-04 9.99551449e-01 -4.57995866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:144.09, Y:-25.19, Z:-4.58 [[ 9.79333634e-01 2.00170439e-01 2.89383532e-02 1.44088157e+02] [-2.00087837e-01 9.79761078e-01 -5.75211612e-03 -2.51885375e+01] [-2.95040758e-02 -1.56971705e-04 9.99564648e-01 -4.58007845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55401273899997 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:144.11, Y:-25.19, Z:-4.58 [[ 9.79408235e-01 1.99733157e-01 2.94308465e-02 1.44114752e+02] [-1.99647595e-01 9.79850317e-01 -5.84754824e-03 -2.51932166e+01] [-3.00057736e-02 -1.48660823e-04 9.99549714e-01 -4.58246348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:144.14, Y:-25.20, Z:-4.58 [[ 9.79341848e-01 2.00027125e-01 2.96427791e-02 1.44141979e+02] [-1.99940554e-01 9.79790346e-01 -5.88658689e-03 -2.51988862e+01] [-3.02211858e-02 -1.61812794e-04 9.99543223e-01 -4.58335145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61401273899997 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:144.17, Y:-25.20, Z:-4.58 [[ 9.79202775e-01 2.00714571e-01 2.95902927e-02 1.44170068e+02] [-2.00628683e-01 9.79649747e-01 -5.87408957e-03 -2.52032784e+01] [-3.01671382e-02 -1.84736649e-04 9.99544851e-01 -4.58366423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:144.20, Y:-25.21, Z:-4.58 [[ 9.79130848e-01 2.01195435e-01 2.86911055e-02 1.44197908e+02] [-2.01114952e-01 9.79551101e-01 -5.69362263e-03 -2.52068104e+01] [-2.92499349e-02 -1.95408770e-04 9.99572110e-01 -4.58473809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67401273899998 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:144.23, Y:-25.21, Z:-4.59 [[ 9.78903174e-01 2.02501528e-01 2.72343143e-02 1.44225580e+02] [-2.02429567e-01 9.79281921e-01 -5.40271033e-03 -2.52081400e+01] [-2.77641288e-02 -2.24300179e-04 9.99614477e-01 -4.58556599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:144.25, Y:-25.21, Z:-4.59 [[ 9.78894515e-01 2.02473910e-01 2.77460803e-02 1.44251967e+02] [-2.02399276e-01 9.79287630e-01 -5.50185301e-03 -2.52119396e+01] [-2.82853749e-02 -2.30052825e-04 9.99599862e-01 -4.58593004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73401273899998 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:144.28, Y:-25.22, Z:-4.59 [[ 9.78930272e-01 2.01859961e-01 3.07908910e-02 1.44279494e+02] [-2.01767829e-01 9.79414366e-01 -6.10276385e-03 -2.52160498e+01] [-3.13889446e-02 -2.38430960e-04 9.99507217e-01 -4.58568411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:144.31, Y:-25.22, Z:-4.59 [[ 9.79056077e-01 2.01125698e-01 3.15856130e-02 1.44306830e+02] [-2.01028441e-01 9.79565416e-01 -6.25793062e-03 -2.52204574e+01] [-3.21988048e-02 -2.22741554e-04 9.99481459e-01 -4.58570751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79401273899998 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:144.34, Y:-25.22, Z:-4.59 [[ 9.79530394e-01 1.98827786e-01 3.14279815e-02 1.44335054e+02] [-1.98730389e-01 9.80034433e-01 -6.22438420e-03 -2.52229634e+01] [-3.20380845e-02 -1.48721465e-04 9.99486638e-01 -4.58702113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:144.36, Y:-25.23, Z:-4.59 [[ 9.79861473e-01 1.97288144e-01 3.08039287e-02 1.44362006e+02] [-1.97193875e-01 9.80345540e-01 -6.09893534e-03 -2.52270570e+01] [-3.14017418e-02 -9.82343130e-05 9.99506839e-01 -4.58780684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85401273899998 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:144.39, Y:-25.23, Z:-4.59 [[ 9.80250902e-01 1.95430058e-01 3.02533012e-02 1.44388974e+02] [-1.95338338e-01 9.80717641e-01 -5.98689934e-03 -2.52315565e+01] [-3.08399662e-02 -4.09661070e-05 9.99524334e-01 -4.58935425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:144.42, Y:-25.24, Z:-4.59 [[ 9.81068292e-01 1.91421776e-01 2.93719202e-02 1.44416258e+02] [-1.91333594e-01 9.81507869e-01 -5.81022823e-03 -2.52359453e+01] [-2.99409751e-02 8.03956212e-05 9.99551665e-01 -4.59018703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914012739 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:144.44, Y:-25.24, Z:-4.59 [[ 9.81794287e-01 1.87848915e-01 2.81560603e-02 1.44444095e+02] [-1.87766468e-01 9.82197919e-01 -5.56781568e-03 -2.52408141e+01] [-2.87007319e-02 1.79685637e-04 9.99588033e-01 -4.59232882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:144.47, Y:-25.25, Z:-4.59 [[ 9.81960204e-01 1.87047818e-01 2.76996760e-02 1.44470984e+02] [-1.86967751e-01 9.82350790e-01 -5.47593152e-03 -2.52463189e+01] [-2.82350596e-02 1.98200718e-04 9.99601292e-01 -4.59301231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:144.50, Y:-25.25, Z:-4.59 [[ 9.82128273e-01 1.86113871e-01 2.80300180e-02 1.44498452e+02] [-1.86031567e-01 9.82528155e-01 -5.53894283e-03 -2.52525575e+01] [-2.85711560e-02 2.25484193e-04 9.99591736e-01 -4.59444326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:144.53, Y:-25.26, Z:-4.59 [[ 9.82540678e-01 1.83843450e-01 2.85552431e-02 1.44526164e+02] [-1.83757132e-01 9.82955492e-01 -5.64068257e-03 -2.52587678e+01] [-2.91055356e-02 2.94970491e-04 9.99576301e-01 -4.59404827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034012739 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:144.55, Y:-25.26, Z:-4.58 [[ 9.82931257e-01 1.81792575e-01 2.82418880e-02 1.44554754e+02] [-1.81707335e-01 9.83336838e-01 -5.57742258e-03 -2.52646220e+01] [-2.87852228e-02 3.50464791e-04 9.99585558e-01 -4.58464153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:144.58, Y:-25.27, Z:-4.60 [[ 9.83129204e-01 1.80748190e-01 2.80545823e-02 1.44580933e+02] [-1.80663691e-01 9.83529333e-01 -5.53906121e-03 -2.52727787e+01] [-2.85936799e-02 3.77168468e-04 9.99591046e-01 -4.59679385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:144.61, Y:-25.28, Z:-4.60 [[ 9.83237543e-01 1.80242793e-01 2.75039839e-02 1.44607797e+02] [-1.80161431e-01 9.83622076e-01 -5.42858341e-03 -2.52831058e+01] [-2.80319888e-02 3.82429927e-04 9.99606953e-01 -4.59725214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:144.63, Y:-25.29, Z:-4.60 [[ 9.83094810e-01 1.81053258e-01 2.72820910e-02 1.44634745e+02] [-1.80973540e-01 9.83473229e-01 -5.38389496e-03 -2.52889195e+01] [-2.78059778e-02 3.55542605e-04 9.99613276e-01 -4.59726740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154012739 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:144.66, Y:-25.29, Z:-4.60 [[ 9.82857185e-01 1.82319409e-01 2.74114399e-02 1.44661615e+02] [-1.82239472e-01 9.83239305e-01 -5.40776465e-03 -2.52947641e+01] [-2.79379455e-02 3.19614022e-04 9.99609608e-01 -4.59753356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:144.69, Y:-25.30, Z:-4.60 [[ 9.82160931e-01 1.85960635e-01 2.79024628e-02 1.44688951e+02] [-1.85879328e-01 9.82557171e-01 -5.50278265e-03 -2.53032226e+01] [-2.84390659e-02 2.18127089e-04 9.99595504e-01 -4.59833067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214012739 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:144.72, Y:-25.31, Z:-4.60 [[ 9.81912154e-01 1.87189130e-01 2.84385397e-02 1.44715855e+02] [-1.87105222e-01 9.82323875e-01 -5.60717440e-03 -2.53102098e+01] [-2.89854586e-02 1.84753408e-04 9.99579816e-01 -4.59936001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:144.74, Y:-25.32, Z:-4.60 [[ 9.81757099e-01 1.88014537e-01 2.83466336e-02 1.44743971e+02] [-1.87931563e-01 9.82166233e-01 -5.58738397e-03 -2.53180012e+01] [-2.88916157e-02 1.58226713e-04 9.99582538e-01 -4.60050596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27401273899997 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:144.77, Y:-25.33, Z:-4.60 [[ 9.81764006e-01 1.88061848e-01 2.77880928e-02 1.44770094e+02] [-1.87982166e-01 9.82157176e-01 -5.47602567e-03 -2.53273369e+01] [-2.83221063e-02 1.52499010e-04 9.99598837e-01 -4.60200260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:144.80, Y:-25.34, Z:-4.60 [[ 9.81791035e-01 1.88008635e-01 2.71867107e-02 1.44796705e+02] [-1.87932389e-01 9.82167364e-01 -5.35592807e-03 -2.53351666e+01] [-2.77088607e-02 1.49138652e-04 9.99616025e-01 -4.60262680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33401273899997 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:144.82, Y:-25.34, Z:-4.60 [[ 9.81775139e-01 1.88089015e-01 2.72047743e-02 1.44824850e+02] [-1.88012744e-01 9.82151975e-01 -5.35786985e-03 -2.53428932e+01] [-2.77269792e-02 1.45379162e-04 9.99615523e-01 -4.60230417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:144.85, Y:-25.35, Z:-4.60 [[ 9.81763423e-01 1.88194873e-01 2.68936838e-02 1.44852407e+02] [-1.88120411e-01 9.82131697e-01 -5.29533363e-03 -2.53493428e+01] [-2.74096939e-02 1.39514027e-04 9.99624274e-01 -4.60288659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39401273899998 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:144.88, Y:-25.36, Z:-4.60 [[ 9.81722591e-01 1.88448872e-01 2.66040843e-02 1.44880107e+02] [-1.88376146e-01 9.82082993e-01 -5.23658063e-03 -2.53569107e+01] [-2.71142464e-02 1.29294656e-04 9.99632333e-01 -4.60372162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:144.91, Y:-25.37, Z:-4.60 [[ 9.81491122e-01 1.89649062e-01 2.66159900e-02 1.44906909e+02] [-1.89576735e-01 9.81851936e-01 -5.23806914e-03 -2.53654473e+01] [-2.71263562e-02 9.53458719e-05 9.99632008e-01 -4.60398980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45401273899998 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:144.94, Y:-25.37, Z:-4.60 [[ 9.81003522e-01 1.91972943e-01 2.79012522e-02 1.44935291e+02] [-1.91894451e-01 9.81400218e-01 -5.48921059e-03 -2.53707084e+01] [-2.84360749e-02 3.08394375e-05 9.99595613e-01 -4.60460506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters Centerline goodness : 0.988618 Centerline is valid? [True, True] Translation: X:144.96, Y:-25.38, Z:-4.60 [[ 9.80648365e-01 1.93769880e-01 2.79645833e-02 1.44963599e+02] [-1.93691800e-01 9.81047009e-01 -5.50033501e-03 -2.53763334e+01] [-2.85003700e-02 -2.26159386e-05 9.99593782e-01 -4.59657541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51401273899998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:144.99, Y:-25.38, Z:-4.61 [[ 9.79775958e-01 1.98169182e-01 2.77136514e-02 1.44989957e+02] [-1.98094292e-01 9.80167819e-01 -5.44966745e-03 -2.53841812e+01] [-2.82439854e-02 -1.50463009e-04 9.99601048e-01 -4.60595999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:145.02, Y:-25.39, Z:-4.61 [[ 9.79200490e-01 2.01007348e-01 2.76124246e-02 1.45018639e+02] [-2.00934180e-01 9.79589706e-01 -5.42802799e-03 -2.53893287e+01] [-2.81399204e-02 -2.33152222e-04 9.99603967e-01 -4.60616841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57401273899998 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:145.05, Y:-25.39, Z:-4.61 [[ 9.78485729e-01 2.04421883e-01 2.78813942e-02 1.45046372e+02] [-2.04348705e-01 9.78882823e-01 -5.47956839e-03 -2.53942035e+01] [-2.84127616e-02 -3.35847332e-04 9.99596220e-01 -4.60717934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:145.08, Y:-25.40, Z:-4.61 [[ 9.77216305e-01 2.10310078e-01 2.86000901e-02 1.45075049e+02] [-2.10235649e-01 9.77634594e-01 -5.61900898e-03 -2.53991217e+01] [-2.91421717e-02 -5.21771294e-04 9.99575141e-01 -4.60842289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63401273899999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:145.10, Y:-25.40, Z:-4.61 [[ 9.76347726e-01 2.14447875e-01 2.75177731e-02 1.45102963e+02] [-2.14380650e-01 9.76735236e-01 -5.40505996e-03 -2.54034960e+01] [-2.80366823e-02 -6.22060095e-04 9.99606701e-01 -4.60937380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:145.13, Y:-25.41, Z:-4.61 [[ 9.75927070e-01 2.16373159e-01 2.73680595e-02 1.45129552e+02] [-2.16307466e-01 9.76310504e-01 -5.37399470e-03 -2.54062578e+01] [-2.78825122e-02 -6.75288712e-04 9.99610979e-01 -4.60963096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694012739 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:145.16, Y:-25.41, Z:-4.61 [[ 9.75428910e-01 2.18586173e-01 2.75413584e-02 1.45156902e+02] [-2.18520593e-01 9.75817365e-01 -5.40566873e-03 -2.54086277e+01] [-2.80569402e-02 -7.45508428e-04 9.99606049e-01 -4.60949406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:145.19, Y:-25.41, Z:-4.61 [[ 9.74174389e-01 2.24045046e-01 2.80727075e-02 1.45185960e+02] [-2.23979242e-01 9.74578353e-01 -5.50750574e-03 -2.54082928e+01] [-2.85929825e-02 -9.22432723e-04 9.99590711e-01 -4.61019543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754012739 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:145.21, Y:-25.41, Z:-4.61 [[ 9.73604211e-01 2.26537547e-01 2.78492544e-02 1.45212757e+02] [-2.26473860e-01 9.74001930e-01 -5.46170880e-03 -2.54099113e+01] [-2.83625096e-02 -9.89585455e-04 9.99597213e-01 -4.61213120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:145.24, Y:-25.41, Z:-4.61 [[ 9.73008173e-01 2.29237626e-01 2.65557285e-02 1.45242149e+02] [-2.29180780e-01 9.73369955e-01 -5.20587321e-03 -2.54070249e+01] [-2.70419303e-02 -1.02070539e-03 9.99633779e-01 -4.61412109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814012739 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:145.27, Y:-25.41, Z:-4.62 [[ 9.73038876e-01 2.29149222e-01 2.61912205e-02 1.45269264e+02] [-2.29093942e-01 9.73390786e-01 -5.13260762e-03 -2.54079574e+01] [-2.66704258e-02 -1.00602322e-03 9.99643775e-01 -4.61509359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:145.30, Y:-25.41, Z:-4.61 [[ 9.73708239e-01 2.26212622e-01 2.68349494e-02 1.45297129e+02] [-2.26153540e-01 9.74077485e-01 -5.25643114e-03 -2.54070417e+01] [-2.73283911e-02 -9.50588509e-04 9.99626058e-01 -4.61493892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874012739 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:145.32, Y:-25.41, Z:-4.62 [[ 9.74228292e-01 2.23892109e-01 2.74145679e-02 1.45324749e+02] [-2.23829596e-01 9.74613514e-01 -5.36758968e-03 -2.54093937e+01] [-2.79203693e-02 -9.06933934e-04 9.99609739e-01 -4.61564390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:145.35, Y:-25.41, Z:-4.62 [[ 9.75429798e-01 2.18485782e-01 2.82961533e-02 1.45352160e+02] [-2.18416965e-01 9.75839822e-01 -5.53823025e-03 -2.54080442e+01] [-2.88225378e-02 -7.78205106e-04 9.99584241e-01 -4.61541751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934012739 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:145.38, Y:-25.41, Z:-4.61 [[ 9.76068675e-01 2.15632945e-01 2.81491451e-02 1.45380663e+02] [-2.15563762e-01 9.76474245e-01 -5.50570513e-03 -2.54100165e+01] [-2.86741266e-02 -6.93989319e-04 9.99588572e-01 -4.61224010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:145.41, Y:-25.41, Z:-4.62 [[ 9.76725587e-01 2.12689110e-01 2.77573552e-02 1.45407355e+02] [-2.12620707e-01 9.77119737e-01 -5.42712566e-03 -2.54136099e+01] [-2.82765501e-02 -6.00975991e-04 9.99599958e-01 -4.61731033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99401273899997 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:145.44, Y:-25.42, Z:-4.62 [[ 9.77913709e-01 2.07323710e-01 2.64888072e-02 1.45435595e+02] [-2.07259507e-01 9.78272302e-01 -5.17691600e-03 -2.54158072e+01] [-2.69865638e-02 -4.27479995e-04 9.99635705e-01 -4.61858298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:145.46, Y:-25.42, Z:-4.62 [[ 9.78645415e-01 2.04046119e-01 2.48663074e-02 1.45464273e+02] [-2.03988524e-01 9.78961225e-01 -4.85818679e-03 -2.54169148e+01] [-2.53344449e-02 -3.17999104e-04 9.99678981e-01 -4.61942493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05401273899997 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:145.49, Y:-25.42, Z:-4.62 [[ 9.78800317e-01 2.03377819e-01 2.42363926e-02 1.45492321e+02] [-2.03322941e-01 9.79100289e-01 -4.73347407e-03 -2.54204735e+01] [-2.46925427e-02 -2.94688701e-04 9.99695049e-01 -4.62006898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:145.52, Y:-25.42, Z:-4.62 [[ 9.78946951e-01 2.02647004e-01 2.44347949e-02 1.45520587e+02] [-2.02591040e-01 9.79251813e-01 -4.77046340e-03 -2.54222258e+01] [-2.48945373e-02 -2.80239910e-04 9.99690044e-01 -4.62112182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11401273899997 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:145.55, Y:-25.43, Z:-4.62 [[ 9.79018888e-01 2.02196463e-01 2.52706928e-02 1.45548919e+02] [-2.02136502e-01 9.79344940e-01 -4.93176931e-03 -2.54251920e+01] [-2.57459115e-02 -2.79834151e-04 9.99668480e-01 -4.62186558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:145.58, Y:-25.43, Z:-4.62 [[ 9.79218047e-01 2.01069889e-01 2.65125732e-02 1.45575893e+02] [-2.01003530e-01 9.79576863e-01 -5.17212857e-03 -2.54265368e+01] [-2.70110626e-02 -2.64479163e-04 9.99635100e-01 -4.62225104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17401273899998 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:145.60, Y:-25.43, Z:-4.62 [[ 9.79322303e-01 2.00616130e-01 2.60959029e-02 1.45603551e+02] [-2.00551740e-01 9.79669896e-01 -5.08859575e-03 -2.54302272e+01] [-2.65862248e-02 -2.50203414e-04 9.99646493e-01 -4.62369518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:145.63, Y:-25.43, Z:-4.63 [[ 9.79910083e-01 1.97782088e-01 2.56607532e-02 1.45631668e+02] [-1.97718903e-01 9.80245998e-01 -5.00196230e-03 -2.54321212e+01] [-2.61431492e-02 -1.72142679e-04 9.99658195e-01 -4.62541661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23401273899998 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:145.66, Y:-25.44, Z:-4.63 [[ 9.79921602e-01 1.97724963e-01 2.56611153e-02 1.45659642e+02] [-1.97661806e-01 9.80257522e-01 -5.00010409e-03 -2.54374425e+01] [-2.61431467e-02 -1.72512376e-04 9.99658195e-01 -4.62631450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters Centerline goodness : 0.991566 Centerline is valid? [True, True] Translation: X:145.69, Y:-25.44, Z:-4.63 [[ 9.80382926e-01 1.95280768e-01 2.67346279e-02 1.45686973e+02] [-1.95211351e-01 9.80747373e-01 -5.20763835e-03 -2.54417695e+01] [-2.72368677e-02 -1.13423119e-04 9.99629001e-01 -4.62686913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29401273899998 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:145.71, Y:-25.45, Z:-4.63 [[ 9.81535804e-01 1.89042425e-01 2.91620927e-02 1.45714849e+02] [-1.88957141e-01 9.81968919e-01 -5.67814057e-03 -2.54473751e+01] [-2.97096781e-02 6.29126137e-05 9.99558568e-01 -4.62567217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:145.74, Y:-25.45, Z:-4.63 [[ 9.82083288e-01 1.86151193e-01 2.93282842e-02 1.45741783e+02] [-1.86063709e-01 9.82521100e-01 -5.70833437e-03 -2.54530254e+01] [-2.98782713e-02 1.49130439e-04 9.99553534e-01 -4.62678652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35401273899998 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:145.77, Y:-25.46, Z:-4.63 [[ 9.82975932e-01 1.81611976e-01 2.78461264e-02 1.45767985e+02] [-1.81531345e-01 9.83370234e-01 -5.41792387e-03 -2.54599478e+01] [-2.83670117e-02 2.70743995e-04 9.99597539e-01 -4.62867512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:145.80, Y:-25.47, Z:-4.63 [[ 9.83234114e-01 1.80279041e-01 2.73887743e-02 1.45795024e+02] [-1.80200587e-01 9.83615462e-01 -5.32655326e-03 -2.54664868e+01] [-2.79002878e-02 3.01775666e-04 9.99610666e-01 -4.63036219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414012739 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:145.82, Y:-25.47, Z:-4.63 [[ 9.83335116e-01 1.79776765e-01 2.70622390e-02 1.45822380e+02] [-1.79700034e-01 9.83707384e-01 -5.26113591e-03 -2.54747476e+01] [-2.75671543e-02 3.10374427e-04 9.99619906e-01 -4.63187323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:145.85, Y:-25.48, Z:-4.63 [[ 9.83266770e-01 1.80171191e-01 2.69221342e-02 1.45848501e+02] [-1.80095451e-01 9.83635224e-01 -5.23202066e-03 -2.54817623e+01] [-2.74242189e-02 2.95918154e-04 9.99623842e-01 -4.63280972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474012739 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:145.88, Y:-25.49, Z:-4.63 [[ 9.83043595e-01 1.81266717e-01 2.77068271e-02 1.45875544e+02] [-1.81187000e-01 9.83433935e-01 -5.38209226e-03 -2.54912233e+01] [-2.82234282e-02 2.70714425e-04 9.99601603e-01 -4.63355623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:145.90, Y:-25.50, Z:-4.63 [[ 9.82895102e-01 1.82043125e-01 2.78840372e-02 1.45901406e+02] [-1.81962755e-01 9.83290516e-01 -5.41446933e-03 -2.54975790e+01] [-2.84037763e-02 2.47999138e-04 9.99596501e-01 -4.63445733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534012739 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:145.93, Y:-25.51, Z:-4.63 [[ 9.82733836e-01 1.82805074e-01 2.85746947e-02 1.45927588e+02] [-1.82721069e-01 9.83149151e-01 -5.54603986e-03 -2.55051261e+01] [-2.91070311e-02 2.29082248e-04 9.99576274e-01 -4.63467631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:145.95, Y:-25.51, Z:-4.64 [[ 9.82682369e-01 1.82926224e-01 2.95526242e-02 1.45954721e+02] [-1.82836502e-01 9.83126616e-01 -5.73326138e-03 -2.55112274e+01] [-3.01027353e-02 2.30676448e-04 9.99546783e-01 -4.63530899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594012739 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:145.98, Y:-25.52, Z:-4.64 [[ 9.82794988e-01 1.82239253e-01 3.00477148e-02 1.45981879e+02] [-1.82146245e-01 9.83254184e-01 -5.82710663e-03 -2.55218323e+01] [-3.06064689e-02 2.53772756e-04 9.99531480e-01 -4.63611796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:146.01, Y:-25.53, Z:-4.64 [[ 9.83010448e-01 1.81159628e-01 2.95236811e-02 1.46009169e+02] [-1.81069391e-01 9.83453664e-01 -5.72410508e-03 -2.55307528e+01] [-3.00721491e-02 2.81020129e-04 9.99547691e-01 -4.63761524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654012739 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:146.04, Y:-25.55, Z:-4.64 [[ 9.83717641e-01 1.76654984e-01 3.30547827e-02 1.46035433e+02] [-1.76978945e-01 9.84188864e-01 7.12277926e-03 -2.55505991e+01] [-3.12738745e-02 -1.28568042e-02 9.99428160e-01 -4.64166571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:146.06, Y:-25.54, Z:-4.64 [[ 9.83951254e-01 1.76784996e-01 2.42279941e-02 1.46064129e+02] [-1.76377919e-01 9.84157278e-01 -1.80355675e-02 -2.55407093e+01] [-2.70325745e-02 1.34728361e-02 9.99543757e-01 -4.63970012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714012739 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:146.09, Y:-25.56, Z:-4.64 [[ 9.84368620e-01 1.74074847e-01 2.67650365e-02 1.46088288e+02] [-1.73998276e-01 9.84732324e-01 -5.18161916e-03 -2.55645706e+01] [-2.72583862e-02 4.43553103e-04 9.99628323e-01 -4.64203170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:146.12, Y:-25.57, Z:-4.64 [[ 9.84489561e-01 1.73475497e-01 2.62022170e-02 1.46116264e+02] [-1.73401943e-01 9.84838083e-01 -5.07107138e-03 -2.55741972e+01] [-2.66846478e-02 4.48901500e-04 9.99643801e-01 -4.64325294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77401273899997 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:146.14, Y:-25.59, Z:-4.64 [[ 9.84274659e-01 1.74703811e-01 2.61146534e-02 1.46143231e+02] [-1.74631212e-01 9.84620946e-01 -5.05289969e-03 -2.55860788e+01] [-2.65957955e-02 4.13007545e-04 9.99646184e-01 -4.64428620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:146.17, Y:-25.59, Z:-4.64 [[ 9.84020175e-01 1.76143206e-01 2.60358584e-02 1.46170743e+02] [-1.76071586e-01 9.84364482e-01 -5.03623342e-03 -2.55947048e+01] [-2.65158726e-02 3.71580405e-04 9.99648323e-01 -4.64495505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83401273899997 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:146.20, Y:-25.61, Z:-4.65 [[ 9.83320692e-01 1.79972421e-01 2.62743897e-02 1.46197801e+02] [-1.79900865e-01 9.83671619e-01 -5.08173793e-03 -2.56082032e+01] [-2.67599442e-02 2.70192610e-04 9.99641852e-01 -4.64646472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:146.23, Y:-25.63, Z:-4.64 [[ 9.83156259e-01 1.81074904e-01 2.48122768e-02 1.46225013e+02] [-1.81272410e-01 9.83414997e-01 5.93773466e-03 -2.56251344e+01] [-2.33255904e-02 -1.03355022e-02 9.99674494e-01 -4.64196414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89401273899998 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:146.26, Y:-25.62, Z:-4.65 [[ 9.82897303e-01 1.82522921e-01 2.44596511e-02 1.46255347e+02] [-1.82182672e-01 9.83142488e-01 -1.55023478e-02 -2.56181644e+01] [-2.68768560e-02 1.07810913e-02 9.99580613e-01 -4.64795015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:146.28, Y:-25.63, Z:-4.65 [[ 9.82429281e-01 1.85003515e-01 2.46253260e-02 1.46281192e+02] [-1.84942307e-01 9.82737851e-01 -4.76008946e-03 -2.56348064e+01] [-2.50808732e-02 1.22186670e-04 9.99685418e-01 -4.64901963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95401273899998 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:146.31, Y:-25.64, Z:-4.65 [[ 9.82146632e-01 1.86567363e-01 2.40958868e-02 1.46307347e+02] [-1.86509247e-01 9.82442168e-01 -4.65703581e-03 -2.56438044e+01] [-2.45416662e-02 7.97863175e-05 9.99698805e-01 -4.64926145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:146.33, Y:-25.66, Z:-4.64 [[ 9.82017808e-01 1.87178695e-01 2.46000199e-02 1.46334971e+02] [-1.87341854e-01 9.82284545e-01 4.48363786e-03 -2.56563280e+01] [-2.33249778e-02 -9.01162557e-03 9.99687319e-01 -4.64415342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01401273899998 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:146.37, Y:-25.65, Z:-4.65 [[ 9.81670789e-01 1.88714677e-01 2.66314290e-02 1.46365438e+02] [-1.88385725e-01 9.81989749e-01 -1.43858161e-02 -2.56487097e+01] [-2.88666049e-02 9.10515440e-03 9.99541803e-01 -4.64911074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:146.39, Y:-25.66, Z:-4.65 [[ 9.81187494e-01 1.90851480e-01 2.91000752e-02 1.46392338e+02] [-1.90768718e-01 9.81618924e-01 -5.62005169e-03 -2.56622530e+01] [-2.96377796e-02 -3.70595944e-05 9.99560704e-01 -4.65056771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07401273899998 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:146.42, Y:-25.67, Z:-4.65 [[ 9.81112532e-01 1.91327290e-01 2.84967875e-02 1.46421227e+02] [-1.91248158e-01 9.81526294e-01 -5.50243177e-03 -2.56700831e+01] [-2.90231116e-02 -5.14533583e-05 9.99578739e-01 -4.65269572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:146.45, Y:-25.68, Z:-4.65 [[ 9.81308323e-01 1.90410930e-01 2.78864317e-02 1.46448706e+02] [-1.90334789e-01 9.81704475e-01 -5.38433322e-03 -2.56777264e+01] [-2.84014707e-02 -2.40670989e-05 9.99596597e-01 -4.65280374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13401273899999 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:146.48, Y:-25.68, Z:-4.65 [[ 9.81259120e-01 1.90758061e-01 2.72378778e-02 1.46478221e+02] [-1.90685586e-01 9.81637082e-01 -5.25800878e-03 -2.56832798e+01] [-2.77407184e-02 -3.44016080e-05 9.99615152e-01 -4.65307688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:146.50, Y:-25.69, Z:-4.65 [[ 9.81012304e-01 1.91718788e-01 2.93046884e-02 1.46503946e+02] [-1.91792243e-01 9.81435500e-01 -3.09676574e-04 -2.56936322e+01] [-2.88200323e-02 -5.31661537e-03 9.99570477e-01 -4.65493020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194012739 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:146.54, Y:-25.69, Z:-4.66 [[ 9.81123629e-01 1.91663864e-01 2.57174506e-02 1.46535232e+02] [-1.91456118e-01 9.81446772e-01 -1.03338344e-02 -2.56936342e+01] [-2.72209315e-02 5.21500583e-03 9.99615839e-01 -4.65559971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:146.56, Y:-25.71, Z:-4.66 [[ 9.81109053e-01 1.91608432e-01 2.66689984e-02 1.46562883e+02] [-1.91539315e-01 9.81471449e-01 -5.14640975e-03 -2.57073540e+01] [-2.71609560e-02 -5.89724903e-05 9.99631071e-01 -4.65667314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254012739 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:146.59, Y:-25.71, Z:-4.66 [[ 9.81267372e-01 1.90715981e-01 2.72352665e-02 1.46592335e+02] [-1.90643575e-01 9.81645258e-01 -5.25490822e-03 -2.57141878e+01] [-2.77375652e-02 -3.57585813e-05 9.99615239e-01 -4.65667535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:146.62, Y:-25.73, Z:-4.66 [[ 9.81245634e-01 1.89872317e-01 3.32491879e-02 1.46619988e+02] [-1.90027709e-01 9.81777506e-01 1.54858863e-03 -2.57289125e+01] [-3.23492707e-02 -7.83781283e-03 9.99445893e-01 -4.65695153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314012739 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:146.65, Y:-25.73, Z:-4.66 [[ 9.81033433e-01 1.91513864e-01 2.99306413e-02 1.46652138e+02] [-1.91175879e-01 9.81458787e-01 -1.37997677e-02 -2.57266180e+01] [-3.20185378e-02 7.81601685e-03 9.99456714e-01 -4.65620954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:146.68, Y:-25.74, Z:-4.66 [[ 9.80396430e-01 1.94565251e-01 3.10998911e-02 1.46680215e+02] [-1.94472614e-01 9.80889564e-01 -6.00542006e-03 -2.57404979e+01] [-3.16740047e-02 -1.60384735e-04 9.99498240e-01 -4.65738394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374012739 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:146.71, Y:-25.75, Z:-4.66 [[ 9.80108293e-01 1.96263134e-01 2.94706014e-02 1.46709928e+02] [-1.96180707e-01 9.80551243e-01 -5.69115938e-03 -2.57458407e+01] [-3.00143996e-02 -2.03610920e-04 9.99549446e-01 -4.65950181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:146.74, Y:-25.75, Z:-4.66 [[ 9.79539668e-01 1.99304307e-01 2.79254655e-02 1.46739162e+02] [-1.99231532e-01 9.79937607e-01 -5.39281305e-03 -2.57528087e+01] [-2.84400247e-02 -2.81158963e-04 9.99595461e-01 -4.66098790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434012739 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:146.77, Y:-25.77, Z:-4.66 [[ 9.78692127e-01 2.02432598e-01 3.43913352e-02 1.46765561e+02] [-2.02665481e-01 9.79242163e-01 3.38967482e-03 -2.57674023e+01] [-3.29912648e-02 -1.02873845e-02 9.99402695e-01 -4.66129304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:146.80, Y:-25.76, Z:-4.66 [[ 9.78275432e-01 2.05381851e-01 2.82041728e-02 1.46798150e+02] [-2.05015737e-01 9.78638425e-01 -1.53421426e-02 -2.57595913e+01] [-3.07526848e-02 9.22654189e-03 9.99484439e-01 -4.66072630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49401273899997 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:146.83, Y:-25.77, Z:-4.66 [[ 9.77892698e-01 2.07021458e-01 2.94616367e-02 1.46826727e+02] [-2.06943906e-01 9.78336258e-01 -5.69092597e-03 -2.57708181e+01] [-3.00015312e-02 -5.31791226e-04 9.99549711e-01 -4.66294490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:146.86, Y:-25.77, Z:-4.66 [[ 9.77193097e-01 2.10604880e-01 2.71888816e-02 1.46855145e+02] [-2.10540215e-01 9.77571089e-01 -5.25206673e-03 -2.57732540e+01] [-2.76851755e-02 -5.92069624e-04 9.99616517e-01 -4.66432624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55401273899997 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:146.88, Y:-25.78, Z:-4.66 [[ 9.76736160e-01 2.12650243e-01 2.76829964e-02 1.46883822e+02] [-2.12584054e-01 9.77128157e-01 -5.34650939e-03 -2.57767888e+01] [-2.81867717e-02 -6.62834542e-04 9.99602454e-01 -4.66480355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:146.91, Y:-25.78, Z:-4.67 [[ 9.75989178e-01 2.15845306e-01 2.92562399e-02 1.46911860e+02] [-2.15772856e-01 9.76427245e-01 -5.64887337e-03 -2.57772418e+01] [-2.97858725e-02 -7.99463152e-04 9.99555983e-01 -4.66516067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61401273899997 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:146.94, Y:-25.78, Z:-4.67 [[ 9.75877834e-01 2.16229725e-01 3.01190907e-02 1.46940710e+02] [-2.16153183e-01 9.76342156e-01 -5.81342531e-03 -2.57804917e+01] [-3.06635733e-02 -8.37144437e-04 9.99529412e-01 -4.66677731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:146.97, Y:-25.79, Z:-4.67 [[ 9.76137904e-01 2.14070327e-01 3.64511763e-02 1.46967578e+02] [-2.14422276e-01 9.76722683e-01 5.99066717e-03 -2.57909879e+01] [-3.43202666e-02 -1.36636615e-02 9.99317479e-01 -4.67033149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67401273899998 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:147.00, Y:-25.78, Z:-4.67 [[ 9.76627832e-01 2.13015268e-01 2.86805385e-02 1.46999417e+02] [-2.12546034e-01 9.76974856e-01 -1.85557028e-02 -2.57772075e+01] [-3.19728130e-02 1.20260811e-02 9.99416386e-01 -4.67018684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:147.03, Y:-25.79, Z:-4.67 [[ 9.77552135e-01 2.08356865e-01 3.12928278e-02 1.47026712e+02] [-2.08270340e-01 9.78052675e-01 -6.03566400e-03 -2.57891415e+01] [-3.18636060e-02 -6.17191675e-04 9.99492036e-01 -4.67090063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73401273899998 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:147.06, Y:-25.79, Z:-4.67 [[ 9.78021395e-01 2.06198450e-01 3.09249149e-02 1.47055154e+02] [-2.06112917e-01 9.78510044e-01 -5.96323891e-03 -2.57931416e+01] [-3.14899504e-02 -5.41849171e-04 9.99503922e-01 -4.67171077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:147.08, Y:-25.79, Z:-4.67 [[ 9.78764315e-01 2.03005284e-01 2.84476853e-02 1.47084695e+02] [-2.02931596e-01 9.79177558e-01 -5.48422623e-03 -2.57943936e+01] [-2.89686619e-02 -4.05169253e-04 9.99580238e-01 -4.67330071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79401273899998 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:147.11, Y:-25.81, Z:-4.68 [[ 9.78775743e-01 2.02182604e-01 3.34699733e-02 1.47109823e+02] [-2.02500788e-01 9.79261374e-01 6.37121492e-03 -2.58060820e+01] [-3.14877032e-02 -1.30136866e-02 9.99419416e-01 -4.67611117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:147.14, Y:-25.80, Z:-4.68 [[ 9.78829341e-01 2.02140880e-01 3.21276483e-02 1.47139510e+02] [-2.02075061e-01 9.79355607e-01 -5.31644918e-03 -2.58003821e+01] [-3.25390642e-02 -1.28830003e-03 9.99469634e-01 -4.67714410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85401273899998 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:147.17, Y:-25.79, Z:-4.67 [[ 9.78943320e-01 2.02517095e-01 2.56281707e-02 1.47170844e+02] [-2.02075277e-01 9.79189164e-01 -1.88192574e-02 -2.57947811e+01] [-2.89060484e-02 1.32441666e-02 9.99494388e-01 -4.67473694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:147.20, Y:-25.81, Z:-4.68 [[ 9.79230941e-01 2.00883375e-01 2.74341899e-02 1.47197175e+02] [-2.00814064e-01 9.79615108e-01 -5.28698808e-03 -2.58064759e+01] [-2.79370149e-02 -3.31988855e-04 9.99609630e-01 -4.67713570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914012739 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:147.23, Y:-25.81, Z:-4.68 [[ 9.79579282e-01 1.99178625e-01 2.74281932e-02 1.47225838e+02] [-1.99108724e-01 9.79963160e-01 -5.28413262e-03 -2.58109240e+01] [-2.79311052e-02 -2.84965709e-04 9.99609810e-01 -4.67876129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:147.25, Y:-25.82, Z:-4.68 [[ 9.79969266e-01 1.97138643e-01 2.82239698e-02 1.47253739e+02] [-1.97063822e-01 9.80375591e-01 -5.43599039e-03 -2.58162855e+01] [-2.87417349e-02 -2.34819837e-04 9.99586843e-01 -4.67988206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974012739 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:147.28, Y:-25.82, Z:-4.68 [[ 9.80015786e-01 1.96890312e-01 2.83419015e-02 1.47281202e+02] [-1.96814799e-01 9.80425496e-01 -5.45733171e-03 -2.58207794e+01] [-2.88616185e-02 -2.29834428e-04 9.99583390e-01 -4.68027325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:147.31, Y:-25.82, Z:-4.68 [[ 9.79829804e-01 1.97832033e-01 2.82142266e-02 1.47308737e+02] [-1.97757639e-01 9.80235900e-01 -5.43102090e-03 -2.58242403e+01] [-2.87310277e-02 -2.58102689e-04 9.99587145e-01 -4.68114558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034012739 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:147.34, Y:-25.83, Z:-4.68 [[ 9.79332821e-01 2.00356623e-01 2.76486935e-02 1.47337433e+02] [-2.00286235e-01 9.79722980e-01 -5.32046644e-03 -2.58257975e+01] [-2.81540510e-02 -3.27145325e-04 9.99603543e-01 -4.68183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:147.37, Y:-25.83, Z:-4.68 [[ 9.79035596e-01 2.01551532e-01 2.94326736e-02 1.47366121e+02] [-2.01472352e-01 9.79477836e-01 -5.66222153e-03 -2.58291177e+01] [-2.99698809e-02 -3.86353551e-04 9.99550728e-01 -4.68189669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094012739 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:147.39, Y:-25.83, Z:-4.68 [[ 9.79101288e-01 2.01065470e-01 3.05506810e-02 1.47393552e+02] [-2.00979970e-01 9.79577729e-01 -5.87577248e-03 -2.58329552e+01] [-3.11081817e-02 -3.87098546e-04 9.99515948e-01 -4.68235635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:147.42, Y:-25.84, Z:-4.68 [[ 9.79108256e-01 2.01031483e-01 3.05510270e-02 1.47422354e+02] [-2.00946023e-01 9.79584704e-01 -5.87397304e-03 -2.58384080e+01] [-3.11081723e-02 -3.87851865e-04 9.99515948e-01 -4.68329663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154012739 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:147.45, Y:-25.85, Z:-4.69 [[ 9.79250037e-01 1.99665584e-01 3.46845641e-02 1.47451144e+02] [-1.99826074e-01 9.79830663e-01 1.18868015e-03 -2.58480442e+01] [-3.37476609e-02 -8.09489533e-03 9.99397603e-01 -4.68554652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:147.48, Y:-25.84, Z:-4.68 [[ 9.79514283e-01 1.99234947e-01 2.92780853e-02 1.47479753e+02] [-1.98913422e-01 9.79923506e-01 -1.35415241e-02 -2.58407384e+01] [-3.13882288e-02 7.44031214e-03 9.99479575e-01 -4.68459709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214012739 meters Centerline goodness : 0.989241 Centerline is valid? [True, True] Translation: X:147.51, Y:-25.85, Z:-4.69 [[ 9.80098304e-01 1.96231247e-01 3.00101902e-02 1.47507636e+02] [-1.96146661e-01 9.80557618e-01 -5.76584804e-03 -2.58509256e+01] [-3.05581602e-02 -2.35300727e-04 9.99532963e-01 -4.68532905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:147.54, Y:-25.86, Z:-4.69 [[ 9.80451159e-01 1.94403697e-01 3.03764390e-02 1.47535124e+02] [-1.94316204e-01 9.80921592e-01 -5.83469275e-03 -2.58562882e+01] [-3.09311908e-02 -1.82003047e-04 9.99521500e-01 -4.68652712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27401273899997 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:147.56, Y:-25.86, Z:-4.69 [[ 9.81312287e-01 1.89823888e-01 3.15132916e-02 1.47563717e+02] [-1.89727423e-01 9.81818155e-01 -6.05102685e-03 -2.58606652e+01] [-3.20889512e-02 -4.09886165e-05 9.99485016e-01 -4.68769457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:147.59, Y:-25.86, Z:-4.69 [[ 9.81867181e-01 1.87075478e-01 3.06529592e-02 1.47591887e+02] [-1.86982916e-01 9.82345542e-01 -5.88434524e-03 -2.58649487e+01] [-3.12126145e-02 4.60657594e-05 9.99512767e-01 -4.68793098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33401273899997 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:147.62, Y:-25.87, Z:-4.69 [[ 9.82190430e-01 1.85587553e-01 2.93124613e-02 1.47620715e+02] [-1.85502281e-01 9.82627728e-01 -5.62595521e-03 -2.58706270e+01] [-2.98473446e-02 8.82309285e-05 9.99554465e-01 -4.68952580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters Centerline goodness : 0.989732 Centerline is valid? [True, True] Translation: X:147.65, Y:-25.88, Z:-4.69 [[ 9.82444824e-01 1.84565374e-01 2.71623048e-02 1.47649011e+02] [-1.84491778e-01 9.82820233e-01 -5.21277352e-03 -2.58775588e+01] [-2.76577602e-02 1.10040446e-04 9.99617445e-01 -4.69220815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39401273899998 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:147.68, Y:-25.88, Z:-4.69 [[ 9.82455177e-01 1.84224681e-01 2.90360411e-02 1.47676335e+02] [-1.84140475e-01 9.82884149e-01 -5.57088003e-03 -2.58837057e+01] [-2.95653581e-02 1.26429542e-04 9.99562841e-01 -4.69293245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:147.71, Y:-25.89, Z:-4.69 [[ 9.82394272e-01 1.84026367e-01 3.21837082e-02 1.47705032e+02] [-1.84105051e-01 9.82906431e-01 -5.26724265e-04 -2.58937243e+01] [-3.17305050e-02 -5.40773236e-03 9.99481831e-01 -4.69409126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45401273899998 meters Centerline goodness : 0.989874 Centerline is valid? [True, True] Translation: X:147.73, Y:-25.89, Z:-4.69 [[ 9.82385280e-01 1.84593190e-01 2.90605723e-02 1.47733130e+02] [-1.84337755e-01 9.82798462e-01 -1.12594548e-02 -2.58932354e+01] [-3.06391045e-02 5.70416204e-03 9.99514236e-01 -4.69384477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:147.76, Y:-25.90, Z:-4.69 [[ 9.82375225e-01 1.84581179e-01 2.94738138e-02 1.47761690e+02] [-1.84494697e-01 9.82817265e-01 -5.65075757e-03 -2.59031181e+01] [-3.00103965e-02 1.13401888e-04 9.99549580e-01 -4.69482123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51401273899998 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:147.79, Y:-25.91, Z:-4.70 [[ 9.82325212e-01 1.84834371e-01 2.95539069e-02 1.47790598e+02] [-1.84747554e-01 9.82769680e-01 -5.66540948e-03 -2.59090208e+01] [-3.00918460e-02 1.05262561e-04 9.99547132e-01 -4.69608094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:147.82, Y:-25.92, Z:-4.70 [[ 9.82241328e-01 1.85164338e-01 3.02678192e-02 1.47818274e+02] [-1.85073455e-01 9.82707565e-01 -5.80151468e-03 -2.59185350e+01] [-3.08186485e-02 9.67176029e-05 9.99524988e-01 -4.69640295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57401273899998 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:147.85, Y:-25.93, Z:-4.70 [[ 9.82225403e-01 1.85252159e-01 3.02472393e-02 1.47847032e+02] [-1.85161477e-01 9.82691014e-01 -5.79641090e-03 -2.59288838e+01] [-3.07974879e-02 9.27585289e-05 9.99525641e-01 -4.69845417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:147.88, Y:-25.94, Z:-4.70 [[ 9.82130602e-01 1.85833326e-01 2.97566195e-02 1.47875759e+02] [-1.85745830e-01 9.82581279e-01 -5.70236982e-03 -2.59354024e+01] [-3.02979875e-02 7.33039070e-05 9.99540908e-01 -4.70004204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63401273899999 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:147.90, Y:-25.94, Z:-4.70 [[ 9.81728564e-01 1.88133080e-01 2.85476970e-02 1.47902546e+02] [-1.88053507e-01 9.82143546e-01 -5.47124820e-03 -2.59418199e+01] [-2.90672591e-02 2.78609954e-06 9.99577458e-01 -4.70154897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:147.93, Y:-25.95, Z:-4.70 [[ 9.81483253e-01 1.89454412e-01 2.82427146e-02 1.47930904e+02] [-1.89377124e-01 9.81889517e-01 -5.41112597e-03 -2.59485451e+01] [-2.87563871e-02 -3.75945657e-05 9.99586449e-01 -4.70217516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694012739 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:147.96, Y:-25.96, Z:-4.70 [[ 9.81006211e-01 1.91639248e-01 3.00201961e-02 1.47958468e+02] [-1.91552992e-01 9.81465428e-01 -5.75019863e-03 -2.59560362e+01] [-3.05657484e-02 -1.09477809e-04 9.99532752e-01 -4.70211526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:147.99, Y:-25.96, Z:-4.70 [[ 9.80838121e-01 1.92481931e-01 3.01212069e-02 1.47986735e+02] [-1.92395533e-01 9.81300508e-01 -5.76815227e-03 -2.59615399e+01] [-3.06682208e-02 -1.37562036e-04 9.99529610e-01 -4.70275701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754012739 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:148.01, Y:-25.97, Z:-4.70 [[ 9.80471202e-01 1.94523475e-01 2.89281699e-02 1.48014819e+02] [-1.94444712e-01 9.80897844e-01 -5.53841584e-03 -2.59678003e+01] [-2.94529314e-02 -1.94672439e-04 9.99566149e-01 -4.70477849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:148.04, Y:-25.97, Z:-4.71 [[ 9.80237682e-01 1.95755237e-01 2.85302470e-02 1.48042278e+02] [-1.95679185e-01 9.80652759e-01 -5.46097556e-03 -2.59733862e+01] [-2.90472800e-02 -2.29721451e-04 9.99578012e-01 -4.70558855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814012739 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:148.07, Y:-25.98, Z:-4.71 [[ 9.79663146e-01 1.98548809e-01 2.89566917e-02 1.48070815e+02] [-1.98471735e-01 9.80090949e-01 -5.54090023e-03 -2.59766793e+01] [-2.94803306e-02 -3.18869094e-04 9.99565310e-01 -4.70540516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:148.10, Y:-25.98, Z:-4.71 [[ 9.79434613e-01 1.99645836e-01 2.91441189e-02 1.48098440e+02] [-1.99568288e-01 9.79868059e-01 -5.57535933e-03 -2.59804092e+01] [-2.96704885e-02 -3.55542016e-04 9.99559671e-01 -4.70609190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874012739 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:148.13, Y:-25.98, Z:-4.71 [[ 9.79069839e-01 2.01169800e-01 3.08700699e-02 1.48126948e+02] [-2.01083613e-01 9.79556292e-01 -5.90353640e-03 -2.59843840e+01] [-3.14265845e-02 -4.27490769e-04 9.99505971e-01 -4.70740059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:148.16, Y:-25.99, Z:-4.71 [[ 9.79019969e-01 2.01383026e-01 3.10608673e-02 1.48155305e+02] [-2.01295922e-01 9.79512473e-01 -5.93861268e-03 -2.59894612e+01] [-3.16204427e-02 -4.38405526e-04 9.99499853e-01 -4.70806476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934012739 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:148.18, Y:-25.99, Z:-4.71 [[ 9.78908113e-01 2.01928353e-01 3.10458614e-02 1.48182291e+02] [-2.01841655e-01 9.79400189e-01 -5.93422969e-03 -2.59940985e+01] [-3.16046117e-02 -4.57282459e-04 9.99500345e-01 -4.70899470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:148.21, Y:-26.00, Z:-4.71 [[ 9.78400016e-01 2.04528304e-01 3.00263500e-02 1.48210745e+02] [-2.04448486e-01 9.78860509e-01 -5.73757355e-03 -2.59964833e+01] [-3.05651045e-02 -5.25199749e-04 9.99532640e-01 -4.71072228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99401273899997 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:148.24, Y:-26.00, Z:-4.71 [[ 9.78155872e-01 2.05665724e-01 3.02109220e-02 1.48238734e+02] [-2.05585508e-01 9.78622139e-01 -5.77137197e-03 -2.59977660e+01] [-3.07520505e-02 -5.65626368e-04 9.99526884e-01 -4.71142622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters Centerline goodness : 0.990287 Centerline is valid? [True, True] Translation: X:148.27, Y:-26.00, Z:-4.71 [[ 9.78270824e-01 2.05017061e-01 3.08901090e-02 1.48267501e+02] [-2.04932935e-01 9.78758240e-01 -5.89918815e-03 -2.60020553e+01] [-3.14433829e-02 -5.59397047e-04 9.99505378e-01 -4.71126374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05401273899997 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:148.30, Y:-26.01, Z:-4.71 [[ 9.78809535e-01 2.02302528e-01 3.17109024e-02 1.48295788e+02] [-2.02212496e-01 9.79322955e-01 -6.05439613e-03 -2.60059793e+01] [-3.22800343e-02 -4.86240059e-04 9.99478746e-01 -4.71182023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:148.32, Y:-26.01, Z:-4.71 [[ 9.79171080e-01 2.00677224e-01 3.08650019e-02 1.48322962e+02] [-2.00591171e-01 9.79657324e-01 -5.89144766e-03 -2.60102639e+01] [-3.14194046e-02 -4.22511704e-04 9.99506199e-01 -4.71330203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11401273899997 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:148.35, Y:-26.02, Z:-4.71 [[ 9.79637995e-01 1.98641641e-01 2.91701573e-02 1.48350912e+02] [-1.98563928e-01 9.80072132e-01 -5.56626189e-03 -2.60153954e+01] [-2.96945496e-02 -3.39219371e-04 9.99558962e-01 -4.71489744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:148.38, Y:-26.02, Z:-4.72 [[ 9.80630340e-01 1.93910515e-01 2.76197165e-02 1.48379164e+02] [-1.93839001e-01 9.81019203e-01 -5.26917183e-03 -2.60217659e+01] [-2.81172201e-02 -1.86668498e-04 9.99604615e-01 -4.71673078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17401273899998 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:148.41, Y:-26.03, Z:-4.72 [[ 9.81337470e-01 1.90175501e-01 2.84613686e-02 1.48406271e+02] [-1.90098029e-01 9.81750107e-01 -5.42837564e-03 -2.60270046e+01] [-2.89742957e-02 -8.33816618e-05 9.99580153e-01 -4.71611249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:148.43, Y:-26.03, Z:-4.72 [[ 9.81607366e-01 1.88712532e-01 2.88887395e-02 1.48434792e+02] [-1.88632135e-01 9.82032371e-01 -5.50811575e-03 -2.60322627e+01] [-2.94091279e-02 -4.25376268e-05 9.99567457e-01 -4.71688279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23401273899998 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:148.46, Y:-26.04, Z:-4.72 [[ 9.82235058e-01 1.85400110e-01 2.90015528e-02 1.48461852e+02] [-1.85317679e-01 9.82663114e-01 -5.52826150e-03 -2.60387449e+01] [-2.95236965e-02 5.55517976e-05 9.99564079e-01 -4.71779548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:148.49, Y:-26.05, Z:-4.72 [[ 9.82540819e-01 1.83737342e-01 2.92254862e-02 1.48489775e+02] [-1.83652950e-01 9.82975370e-01 -5.56917114e-03 -2.60452684e+01] [-2.97511978e-02 1.04591224e-04 9.99557330e-01 -4.71876370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29401273899998 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:148.52, Y:-26.05, Z:-4.72 [[ 9.82856941e-01 1.81886233e-01 3.01600969e-02 1.48518798e+02] [-1.81795530e-01 9.83319567e-01 -5.74578427e-03 -2.60521885e+01] [-3.07020925e-02 1.64313153e-04 9.99528566e-01 -4.71773725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:148.55, Y:-26.06, Z:-4.72 [[ 9.82950835e-01 1.81415287e-01 2.99357643e-02 1.48547023e+02] [-1.81325731e-01 9.83406560e-01 -5.70236562e-03 -2.60585931e+01] [-3.04735232e-02 1.77020711e-04 9.99535559e-01 -4.71929696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35401273899998 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:148.58, Y:-26.07, Z:-4.72 [[ 9.83117453e-01 1.80595935e-01 2.94139760e-02 1.48575601e+02] [-1.80509139e-01 9.83557354e-01 -5.60193392e-03 -2.60664315e+01] [-2.99420189e-02 1.97867506e-04 9.99551618e-01 -4.72099388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:148.60, Y:-26.07, Z:-4.72 [[ 9.83131359e-01 1.80545650e-01 2.92574501e-02 1.48603790e+02] [-1.80459773e-01 9.83566586e-01 -5.57145434e-03 -2.60732839e+01] [-2.97825522e-02 1.97678674e-04 9.99556382e-01 -4.72185601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414012739 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:148.63, Y:-26.08, Z:-4.72 [[ 9.83260879e-01 1.79955532e-01 2.85315533e-02 1.48632879e+02] [-1.79873648e-01 9.83674724e-01 -5.43212435e-03 -2.60823049e+01] [-2.90433087e-02 2.09120775e-04 9.99578132e-01 -4.72233787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:148.66, Y:-26.09, Z:-4.72 [[ 9.83430541e-01 1.79082404e-01 2.81755735e-02 1.48661365e+02] [-1.79002194e-01 9.83834050e-01 -5.36430971e-03 -2.60894278e+01] [-2.86807421e-02 2.31936539e-04 9.99588596e-01 -4.72317873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474012739 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:148.69, Y:-26.10, Z:-4.72 [[ 9.83489416e-01 1.78659241e-01 2.88000890e-02 1.48690705e+02] [-1.78575242e-01 9.83910978e-01 -5.48359621e-03 -2.60988086e+01] [-2.93164188e-02 2.50075961e-04 9.99570150e-01 -4.72296355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:148.72, Y:-26.11, Z:-4.72 [[ 9.83385634e-01 1.79196441e-01 2.90057131e-02 1.48718841e+02] [-1.79111471e-01 9.83813285e-01 -5.52277678e-03 -2.61063809e+01] [-2.95258678e-02 2.35763417e-04 9.99563989e-01 -4.72314555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534012739 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:148.75, Y:-26.11, Z:-4.72 [[ 9.82745206e-01 1.82580324e-01 2.96021286e-02 1.48748303e+02] [-1.82493368e-01 9.83190931e-01 -5.63595536e-03 -2.61144781e+01] [-3.01335589e-02 1.36515983e-04 9.99545872e-01 -4.72364436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:148.78, Y:-26.12, Z:-4.72 [[ 9.82250740e-01 1.85146052e-01 3.00736351e-02 1.48777901e+02] [-1.85057504e-01 9.82711013e-01 -5.72575870e-03 -2.61196412e+01] [-3.06137940e-02 5.87788908e-05 9.99531286e-01 -4.72470873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594012739 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:148.81, Y:-26.12, Z:-4.73 [[ 9.81337504e-01 1.89981758e-01 2.97259870e-02 1.48807023e+02] [-1.89897482e-01 9.81787616e-01 -5.65889837e-03 -2.61218967e+01] [-3.02596934e-02 -9.16008767e-05 9.99542066e-01 -4.72635969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:148.84, Y:-26.13, Z:-4.73 [[ 9.80862448e-01 1.92375792e-01 3.00068747e-02 1.48835671e+02] [-1.92291067e-01 9.81321317e-01 -5.71131945e-03 -2.61256174e+01] [-3.05451054e-02 -1.68035165e-04 9.99533375e-01 -4.72817364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654012739 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:148.86, Y:-26.13, Z:-4.73 [[ 9.79906991e-01 1.96983920e-01 3.12989368e-02 1.48863717e+02] [-1.96894136e-01 9.80406665e-01 -5.95571751e-03 -2.61288829e+01] [-3.18588668e-02 -3.26527880e-04 9.99492324e-01 -4.72750569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:148.89, Y:-26.13, Z:-4.73 [[ 9.79567884e-01 1.98800543e-01 3.04155169e-02 1.48893268e+02] [-1.98716687e-01 9.80039898e-01 -5.78585557e-03 -2.61334816e+01] [-3.09586513e-02 -3.76432447e-04 9.99520595e-01 -4.72835702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714012739 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:148.92, Y:-26.14, Z:-4.73 [[ 9.79285895e-01 2.00666315e-01 2.70585533e-02 1.48921177e+02] [-2.00600673e-01 9.79659573e-01 -5.14687053e-03 -2.61373072e+01] [-2.75409743e-02 -3.87706294e-04 9.99620600e-01 -4.73064500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:148.95, Y:-26.14, Z:-4.73 [[ 9.79295522e-01 2.00621896e-01 2.70395320e-02 1.48949307e+02] [-2.00556381e-01 9.79668671e-01 -5.14138763e-03 -2.61423071e+01] [-2.75212573e-02 -3.88012810e-04 9.99621143e-01 -4.73216521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77401273899997 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:148.98, Y:-26.15, Z:-4.73 [[ 9.79555048e-01 1.98962455e-01 2.97632088e-02 1.48977096e+02] [-1.98882355e-01 9.80007040e-01 -5.65769305e-03 -2.61467834e+01] [-3.02938227e-02 -3.77355286e-04 9.99540966e-01 -4.73251217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:149.01, Y:-26.15, Z:-4.73 [[ 9.79682381e-01 1.98068417e-01 3.14854778e-02 1.49005610e+02] [-1.97978381e-01 9.80188127e-01 -5.98306136e-03 -2.61505175e+01] [-3.20467470e-02 -3.71944107e-04 9.99486302e-01 -4.73206796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83401273899997 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:149.03, Y:-26.15, Z:-4.73 [[ 9.79889091e-01 1.97317903e-01 2.97155688e-02 1.49034390e+02] [-1.97237402e-01 9.80339501e-01 -5.64538816e-03 -2.61524003e+01] [-3.02452820e-02 -3.29167315e-04 9.99542453e-01 -4.73305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:149.06, Y:-26.16, Z:-4.73 [[ 9.79953324e-01 1.97215911e-01 2.82376994e-02 1.49061800e+02] [-1.97143213e-01 9.80360030e-01 -5.36337910e-03 -2.61567272e+01] [-2.87408555e-02 -3.11009616e-04 9.99586848e-01 -4.73473808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89401273899998 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:149.09, Y:-26.16, Z:-4.74 [[ 9.80204150e-01 1.96200290e-01 2.65569250e-02 1.49090437e+02] [-1.96135659e-01 9.80563805e-01 -5.04260490e-03 -2.61622062e+01] [-2.70301200e-02 -2.65977731e-04 9.99634584e-01 -4.73616741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:149.12, Y:-26.17, Z:-4.74 [[ 9.80376462e-01 1.95298527e-01 2.68417132e-02 1.49117628e+02] [-1.95232198e-01 9.80743812e-01 -5.09544061e-03 -2.61664655e+01] [-2.73199761e-02 -2.44916614e-04 9.99626710e-01 -4.73673692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95401273899998 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:149.15, Y:-26.17, Z:-4.74 [[ 9.80703517e-01 1.93638877e-01 2.69183387e-02 1.49145193e+02] [-1.93571587e-01 9.81072854e-01 -5.10838818e-03 -2.61688771e+01] [-2.73980340e-02 -2.00811299e-04 9.99624583e-01 -4.73746762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:149.17, Y:-26.17, Z:-4.74 [[ 9.80854601e-01 1.92860960e-01 2.69981887e-02 1.49173368e+02] [-1.92793021e-01 9.81226079e-01 -5.12190611e-03 -2.61724302e+01] [-2.74791426e-02 -1.81217180e-04 9.99622361e-01 -4.73811233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01401273899998 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:149.20, Y:-26.18, Z:-4.74 [[ 9.81125784e-01 1.91326165e-01 2.80445280e-02 1.49201331e+02] [-1.91252268e-01 9.81526504e-01 -5.31906628e-03 -2.61769133e+01] [-2.85441241e-02 -1.44906505e-04 9.99592523e-01 -4.73866634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:149.23, Y:-26.18, Z:-4.74 [[ 9.81132214e-01 1.91293141e-01 2.80448451e-02 1.49230148e+02] [-1.91219279e-01 9.81532940e-01 -5.31739393e-03 -2.61822915e+01] [-2.85441203e-02 -1.45648568e-04 9.99592523e-01 -4.73960626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07401273899998 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:149.26, Y:-26.19, Z:-4.74 [[ 9.81304645e-01 1.90372763e-01 2.82737394e-02 1.49257964e+02] [-1.90297335e-01 9.81711870e-01 -5.35983761e-03 -2.61884276e+01] [-2.87770327e-02 -1.20783704e-04 9.99585848e-01 -4.73953888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:149.29, Y:-26.19, Z:-4.74 [[ 9.81733215e-01 1.88230346e-01 2.77350053e-02 1.49285808e+02] [-1.88156946e-01 9.82124907e-01 -5.25645024e-03 -2.61940132e+01] [-2.82286630e-02 -5.81020932e-05 9.99601490e-01 -4.74043762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13401273899999 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:149.31, Y:-26.20, Z:-4.74 [[ 9.81878947e-01 1.87552079e-01 2.71652381e-02 1.49313207e+02] [-1.87481441e-01 9.82254659e-01 -5.14716231e-03 -2.61994066e+01] [-2.76485427e-02 -3.90876772e-05 9.99617705e-01 -4.74225411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:149.34, Y:-26.21, Z:-4.74 [[ 9.81811055e-01 1.87924668e-01 2.70438726e-02 1.49341314e+02] [-1.87854837e-01 9.82183443e-01 -5.12285435e-03 -2.62065956e+01] [-2.75247546e-02 -5.06472583e-05 9.99621121e-01 -4.74344461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194012739 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:149.37, Y:-26.21, Z:-4.74 [[ 9.81734490e-01 1.88183817e-01 2.80043163e-02 1.49367858e+02] [-1.88109081e-01 9.82133823e-01 -5.30344070e-03 -2.62144337e+01] [-2.85020079e-02 -6.12955538e-05 9.99593733e-01 -4.74264129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:149.40, Y:-26.22, Z:-4.74 [[ 9.81647661e-01 1.88407893e-01 2.95014448e-02 1.49396593e+02] [-1.88325108e-01 9.82090862e-01 -5.58509361e-03 -2.62202797e+01] [-3.00253751e-02 -7.32686903e-05 9.99549134e-01 -4.74224089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254012739 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:149.42, Y:-26.23, Z:-4.74 [[ 9.81400849e-01 1.89369113e-01 3.14914830e-02 1.49424963e+02] [-1.89275325e-01 9.81905966e-01 -5.96024731e-03 -2.62275747e+01] [-3.20503618e-02 -1.11168921e-04 9.99486249e-01 -4.74224472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:149.45, Y:-26.23, Z:-4.74 [[ 9.81149324e-01 1.90576562e-01 3.20402549e-02 1.49452730e+02] [-1.90480146e-01 9.81672323e-01 -6.06329485e-03 -2.62344305e+01] [-3.26085534e-02 -1.54034803e-04 9.99468188e-01 -4.74270316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314012739 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:149.48, Y:-26.24, Z:-4.74 [[ 9.80862197e-01 1.92001220e-01 3.23246267e-02 1.49480650e+02] [-1.91903898e-01 9.81394666e-01 -6.11590615e-03 -2.62411160e+01] [-3.28974776e-02 -2.04360710e-04 9.99458711e-01 -4.74342638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:149.51, Y:-26.25, Z:-4.75 [[ 9.80291646e-01 1.95251770e-01 3.00838085e-02 1.49507460e+02] [-1.95169035e-01 9.80753109e-01 -5.69096179e-03 -2.62468606e+01] [-3.06159591e-02 -2.92625564e-04 9.99531179e-01 -4.74513009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374012739 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:149.53, Y:-26.25, Z:-4.75 [[ 9.79735572e-01 1.98127422e-01 2.93893442e-02 1.49534204e+02] [-1.98049807e-01 9.80176200e-01 -5.55791013e-03 -2.62528904e+01] [-2.99079101e-02 -3.75271673e-04 9.99552588e-01 -4.74590598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:149.56, Y:-26.26, Z:-4.75 [[ 9.79461282e-01 1.99438235e-01 2.96645950e-02 1.49561360e+02] [-1.99359811e-01 9.79910309e-01 -5.60822918e-03 -2.62589262e+01] [-3.01871378e-02 -4.20884723e-04 9.99544176e-01 -4.74676613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434012739 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:149.59, Y:-26.26, Z:-4.75 [[ 9.79374710e-01 1.99962264e-01 2.89874304e-02 1.49589584e+02] [-1.99887663e-01 9.79803505e-01 -5.47843954e-03 -2.62648280e+01] [-2.94974671e-02 -4.28784580e-04 9.99564763e-01 -4.74835062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:149.62, Y:-26.27, Z:-4.75 [[ 9.79362224e-01 2.00142877e-01 2.81507267e-02 1.49617916e+02] [-2.00072633e-01 9.79766630e-01 -5.31899828e-03 -2.62701996e+01] [-2.86457023e-02 -4.22964037e-04 9.99589538e-01 -4.74936517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49401273899997 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:149.65, Y:-26.28, Z:-4.75 [[ 9.79235044e-01 2.00741803e-01 2.83100232e-02 1.49645407e+02] [-2.00671049e-01 9.79644084e-01 -5.34776389e-03 -2.62761171e+01] [-2.88072665e-02 -4.44284257e-04 9.99584886e-01 -4.75023150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:149.67, Y:-26.28, Z:-4.75 [[ 9.79007046e-01 2.01551622e-01 3.03668744e-02 1.49672597e+02] [-2.01470662e-01 9.79477764e-01 -5.73434228e-03 -2.62810178e+01] [-3.08994442e-02 -5.04072796e-04 9.99522371e-01 -4.75048917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55401273899997 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:149.70, Y:-26.29, Z:-4.75 [[ 9.78980263e-01 2.01639692e-01 3.06443900e-02 1.49700756e+02] [-2.01557346e-01 9.79459632e-01 -5.78489716e-03 -2.62858457e+01] [-3.11814079e-02 -5.13301776e-04 9.99513610e-01 -4.75238716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters Centerline goodness : 0.991107 Centerline is valid? [True, True] Translation: X:149.73, Y:-26.29, Z:-4.75 [[ 9.78990248e-01 2.01784528e-01 2.93444897e-02 1.49728965e+02] [-2.01709125e-01 9.79429812e-01 -5.53819651e-03 -2.62910739e+01] [-2.98583904e-02 -4.97210981e-04 9.99554015e-01 -4.75468537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61401273899997 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:149.76, Y:-26.30, Z:-4.76 [[ 9.78898494e-01 2.02293840e-01 2.88953473e-02 1.49757519e+02] [-2.02220991e-01 9.79324740e-01 -5.45204245e-03 -2.62976222e+01] [-2.94008431e-02 -5.06249618e-04 9.99567574e-01 -4.75566733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:149.78, Y:-26.30, Z:-4.76 [[ 9.78871734e-01 2.02430113e-01 2.88474745e-02 1.49784321e+02] [-2.02357605e-01 9.79296578e-01 -5.44163563e-03 -2.63030731e+01] [-2.93517840e-02 -5.10842537e-04 9.99569013e-01 -4.75603783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67401273899998 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:149.81, Y:-26.31, Z:-4.75 [[ 9.78466821e-01 2.04079224e-01 3.08925641e-02 1.49812264e+02] [-2.03996953e-01 9.78954191e-01 -5.82539975e-03 -2.63055436e+01] [-3.14312481e-02 -6.02028559e-04 9.99505735e-01 -4.75427225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:149.84, Y:-26.31, Z:-4.76 [[ 9.78135053e-01 2.05620509e-01 3.11773064e-02 1.49840755e+02] [-2.05537556e-01 9.78631581e-01 -5.87721545e-03 -2.63088525e+01] [-3.17195727e-02 -6.59396910e-04 9.99496590e-01 -4.75531181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73401273899998 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:149.87, Y:-26.31, Z:-4.76 [[ 9.77379686e-01 2.09575648e-01 2.84076810e-02 1.49870043e+02] [-2.09508484e-01 9.77792172e-01 -5.35390135e-03 -2.63113073e+01] [-2.88988555e-02 -7.18855766e-04 9.99582082e-01 -4.75798947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:149.90, Y:-26.31, Z:-4.76 [[ 9.76972964e-01 2.11544829e-01 2.77959108e-02 1.49897788e+02] [-2.11481359e-01 9.77367999e-01 -5.23731518e-03 -2.63146757e+01] [-2.82747607e-02 -7.61601674e-04 9.99599899e-01 -4.75986005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79401273899998 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:149.93, Y:-26.32, Z:-4.76 [[ 9.76556935e-01 2.13427875e-01 2.80195527e-02 1.49925719e+02] [-2.13364203e-01 9.76958475e-01 -5.27771601e-03 -2.63152445e+01] [-2.85003512e-02 -8.24379353e-04 9.99593443e-01 -4.75940030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:149.95, Y:-26.32, Z:-4.76 [[ 9.77062184e-01 2.11004484e-01 2.87506044e-02 1.49953542e+02] [-2.10936447e-01 9.77484786e-01 -5.41371364e-03 -2.63182219e+01] [-2.92455962e-02 -7.75015463e-04 9.99571956e-01 -4.75931152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85401273899998 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:149.98, Y:-26.32, Z:-4.76 [[ 9.77536765e-01 2.08870436e-01 2.81959848e-02 1.49981615e+02] [-2.08804167e-01 9.77943072e-01 -5.30734598e-03 -2.63224845e+01] [-2.86826156e-02 -6.99313289e-04 9.99588325e-01 -4.76034714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:150.01, Y:-26.32, Z:-4.76 [[ 9.78096672e-01 2.06377871e-01 2.71122752e-02 1.50009594e+02] [-2.06315691e-01 9.78472181e-01 -5.10155033e-03 -2.63244942e+01] [-2.75814541e-02 -6.03878386e-04 9.99619377e-01 -4.76174991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914012739 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:150.04, Y:-26.33, Z:-4.76 [[ 9.78387575e-01 2.05042631e-01 2.67445910e-02 1.50037488e+02] [-2.04981679e-01 9.78752883e-01 -5.03046522e-03 -2.63286810e+01] [-2.72078054e-02 -5.60406519e-04 9.99629642e-01 -4.76331952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:150.06, Y:-26.33, Z:-4.76 [[ 9.78676572e-01 2.03722588e-01 2.62540518e-02 1.50064819e+02] [-2.03663415e-01 9.79028519e-01 -4.93676681e-03 -2.63336827e+01] [-2.67091964e-02 -5.15491845e-04 9.99643113e-01 -4.76488261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974012739 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:150.09, Y:-26.34, Z:-4.76 [[ 9.79115350e-01 2.01804016e-01 2.46631486e-02 1.50091903e+02] [-2.01751230e-01 9.79425826e-01 -4.63602625e-03 -2.63386875e+01] [-2.50912934e-02 -4.36616104e-04 9.99685069e-01 -4.76476285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:150.12, Y:-26.34, Z:-4.77 [[ 9.79690317e-01 1.98773881e-01 2.63785195e-02 1.50119804e+02] [-1.98712449e-01 9.80045303e-01 -4.95651367e-03 -2.63427977e+01] [-2.68373696e-02 -3.85891783e-04 9.99639738e-01 -4.76510869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034012739 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:150.15, Y:-26.35, Z:-4.77 [[ 9.79869588e-01 1.97765026e-01 2.72871020e-02 1.50147544e+02] [-1.97698957e-01 9.80249384e-01 -5.12508783e-03 -2.63482077e+01] [-2.77617281e-02 -3.72713920e-04 9.99614499e-01 -4.76615801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:150.18, Y:-26.35, Z:-4.77 [[ 9.79935235e-01 1.97641470e-01 2.57834229e-02 1.50175107e+02] [-1.97582479e-01 9.80274312e-01 -4.84124176e-03 -2.63535846e+01] [-2.62316573e-02 -3.50249226e-04 9.99655830e-01 -4.76754906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094012739 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:150.20, Y:-26.36, Z:-4.77 [[ 9.79867527e-01 1.98090514e-01 2.48953203e-02 1.50203224e+02] [-1.98035704e-01 9.80183669e-01 -4.67279200e-03 -2.63577518e+01] [-2.53276222e-02 -3.51445156e-04 9.99679143e-01 -4.76891352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:150.23, Y:-26.36, Z:-4.77 [[ 9.79550636e-01 1.99677523e-01 2.46867952e-02 1.50231144e+02] [-1.99624176e-01 9.79861589e-01 -4.63189264e-03 -2.63597578e+01] [-2.51145273e-02 -3.90907765e-04 9.99684504e-01 -4.76941622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154012739 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:150.26, Y:-26.36, Z:-4.77 [[ 9.79271643e-01 2.00931151e-01 2.55679800e-02 1.50259275e+02] [-2.00874403e-01 9.79605267e-01 -4.79533074e-03 -2.63637082e+01] [-2.60100591e-02 -4.40021303e-04 9.99661584e-01 -4.77057918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:150.29, Y:-26.36, Z:-4.77 [[ 9.78577422e-01 2.04260026e-01 2.57695851e-02 1.50286646e+02] [-2.04203581e-01 9.78916522e-01 -4.83131274e-03 -2.63645757e+01] [-2.62131167e-02 -5.34427991e-04 9.99656234e-01 -4.77094407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214012739 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:150.31, Y:-26.37, Z:-4.77 [[ 9.78361742e-01 2.05312202e-01 2.55968977e-02 1.50314724e+02] [-2.05256928e-01 9.78696370e-01 -4.79672973e-03 -2.63672646e+01] [-2.60364180e-02 -5.61003727e-04 9.99660838e-01 -4.77155881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:150.34, Y:-26.37, Z:-4.77 [[ 9.78383410e-01 2.05218425e-01 2.55206053e-02 1.50341925e+02] [-2.05163495e-01 9.78716040e-01 -4.78062523e-03 -2.63690968e+01] [-2.59584982e-02 -5.58612166e-04 9.99662865e-01 -4.77282393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27401273899997 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:150.37, Y:-26.37, Z:-4.77 [[ 9.78713515e-01 2.03652920e-01 2.54036154e-02 1.50369340e+02] [-2.03598024e-01 9.79043013e-01 -4.75645764e-03 -2.63730360e+01] [-2.58398987e-02 -5.16916518e-04 9.99665960e-01 -4.77334872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:150.40, Y:-26.38, Z:-4.77 [[ 9.79607340e-01 1.99269692e-01 2.57108705e-02 1.50396551e+02] [-1.99211997e-01 9.79944602e-01 -4.81215199e-03 -2.63753442e+01] [-2.61541448e-02 -4.07894442e-04 9.99657839e-01 -4.77443192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33401273899997 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:150.42, Y:-26.38, Z:-4.78 [[ 9.80204754e-01 1.96351379e-01 2.53924477e-02 1.50424670e+02] [-1.96294182e-01 9.80533543e-01 -4.75035372e-03 -2.63794202e+01] [-2.58308852e-02 -3.28070457e-04 9.99666273e-01 -4.77566695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:150.45, Y:-26.38, Z:-4.78 [[ 9.81412690e-01 1.90326709e-01 2.45942365e-02 1.50452431e+02] [-1.90271200e-01 9.81720794e-01 -4.59932748e-03 -2.63835501e+01] [-2.50200482e-02 -1.65736543e-04 9.99686936e-01 -4.77648398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39401273899998 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:150.48, Y:-26.39, Z:-4.78 [[ 9.81920952e-01 1.87602774e-01 2.52278290e-02 1.50480559e+02] [-1.87543521e-01 9.82244974e-01 -4.71581726e-03 -2.63891591e+01] [-2.56646086e-02 -1.00756098e-04 9.99670605e-01 -4.77686485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:150.51, Y:-26.40, Z:-4.78 [[ 9.82678595e-01 1.83245448e-01 2.76384845e-02 1.50507600e+02] [-1.83172644e-01 9.83067193e-01 -5.16494774e-03 -2.63966785e+01] [-2.81169406e-02 1.28692929e-05 9.99604641e-01 -4.77624724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45401273899998 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:150.54, Y:-26.41, Z:-4.78 [[ 9.83179766e-01 1.80560824e-01 2.74833942e-02 1.50535633e+02] [-1.80487835e-01 9.83563817e-01 -5.13420067e-03 -2.64056949e+01] [-2.79587076e-02 8.74238886e-05 9.99609075e-01 -4.77806275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:150.56, Y:-26.41, Z:-4.78 [[ 9.83286378e-01 1.80030067e-01 2.71491011e-02 1.50563424e+02] [-1.79958676e-01 9.83661103e-01 -5.07049622e-03 -2.64121045e+01] [-2.76183565e-02 1.00033576e-04 9.99618535e-01 -4.77897181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51401273899998 meters Centerline goodness : 0.991272 Centerline is valid? [True, True] Translation: X:150.59, Y:-26.42, Z:-4.78 [[ 9.83323750e-01 1.79907995e-01 2.65991801e-02 1.50591955e+02] [-1.79839456e-01 9.83683437e-01 -4.96655469e-03 -2.64184652e+01] [-2.70586958e-02 1.00149101e-04 9.99633841e-01 -4.77950260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:150.62, Y:-26.43, Z:-4.78 [[ 9.83014018e-01 1.81479377e-01 2.73619519e-02 1.50620033e+02] [-1.81407496e-01 9.83394749e-01 -5.10762800e-03 -2.64258798e+01] [-2.78345290e-02 5.72067298e-05 9.99612543e-01 -4.77945516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57401273899998 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:150.65, Y:-26.44, Z:-4.78 [[ 9.82404911e-01 1.84349064e-01 2.99334680e-02 1.50646684e+02] [-1.84264413e-01 9.82860835e-01 -5.58608270e-03 -2.64350099e+01] [-3.04502225e-02 -2.78778279e-05 9.99536284e-01 -4.77866920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:150.68, Y:-26.44, Z:-4.78 [[ 9.82203059e-01 1.85257677e-01 3.09312854e-02 1.50675121e+02] [-1.85167798e-01 9.82689976e-01 -5.77036179e-03 -2.64420685e+01] [-3.14648679e-02 -5.98110079e-05 9.99504857e-01 -4.77954413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63401273899999 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:150.70, Y:-26.45, Z:-4.78 [[ 9.82058134e-01 1.86226905e-01 2.96877315e-02 1.50702145e+02] [-1.86144593e-01 9.82506759e-01 -5.53702777e-03 -2.64479404e+01] [-3.01995404e-02 -8.85275274e-05 9.99543886e-01 -4.78179897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:150.73, Y:-26.45, Z:-4.78 [[ 9.82089421e-01 1.86349831e-01 2.78228102e-02 1.50730139e+02] [-1.86277632e-01 9.82483452e-01 -5.18761182e-03 -2.64539231e+01] [-2.83021612e-02 -8.80685088e-05 9.99599410e-01 -4.78352970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694012739 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:150.76, Y:-26.46, Z:-4.78 [[ 9.82252126e-01 1.85770898e-01 2.58831061e-02 1.50756314e+02] [-1.85708242e-01 9.82593084e-01 -4.82491224e-03 -2.64631894e+01] [-2.63288893e-02 -6.74258403e-05 9.99653332e-01 -4.78466749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:150.78, Y:-26.47, Z:-4.78 [[ 9.82363374e-01 1.85179348e-01 2.59000016e-02 1.50784186e+02] [-1.85116451e-01 9.82704740e-01 -4.82630788e-03 -2.64697465e+01] [-2.63457869e-02 -5.33282944e-05 9.99652888e-01 -4.78493904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754012739 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:150.81, Y:-26.48, Z:-4.79 [[ 9.82325973e-01 1.85586099e-01 2.43614978e-02 1.50811277e+02] [-1.85530603e-01 9.82628005e-01 -4.53863618e-03 -2.64759024e+01] [-2.47805977e-02 -6.13831606e-05 9.99692912e-01 -4.78535913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:150.84, Y:-26.48, Z:-4.79 [[ 9.82195358e-01 1.86335616e-01 2.39022307e-02 1.50839495e+02] [-1.86282451e-01 9.82486148e-01 -4.45160501e-03 -2.64825269e+01] [-2.43131031e-02 -8.02203361e-05 9.99704390e-01 -4.78761131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814012739 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:150.87, Y:-26.49, Z:-4.79 [[ 9.81730537e-01 1.88634792e-01 2.49412924e-02 1.50866890e+02] [-1.88577678e-01 9.82047297e-01 -4.64381015e-03 -2.64911450e+01] [-2.53695130e-02 -1.44400789e-04 9.99678132e-01 -4.78803435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:150.90, Y:-26.50, Z:-4.79 [[ 9.81628845e-01 1.89010019e-01 2.60772493e-02 1.50895176e+02] [-1.88947739e-01 9.81975146e-01 -4.85440585e-03 -2.64971354e+01] [-2.65247420e-02 -1.62012499e-04 9.99648144e-01 -4.78856195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874012739 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:150.92, Y:-26.50, Z:-4.79 [[ 9.81613193e-01 1.88999580e-01 2.67338483e-02 1.50922911e+02] [-1.88934155e-01 9.81977154e-01 -4.97533939e-03 -2.65034115e+01] [-2.71923654e-02 -1.67078274e-04 9.99630205e-01 -4.78938307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:150.95, Y:-26.51, Z:-4.79 [[ 9.81694843e-01 1.88574811e-01 2.67352969e-02 1.50951011e+02] [-1.88509260e-01 9.82058815e-01 -4.97421210e-03 -2.65106600e+01] [-2.71936451e-02 -1.56692670e-04 9.99630172e-01 -4.79108909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934012739 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:150.98, Y:-26.52, Z:-4.79 [[ 9.81701276e-01 1.88541292e-01 2.67354777e-02 1.50979847e+02] [-1.88475756e-01 9.82065251e-01 -4.97324039e-03 -2.65159380e+01] [-2.71936447e-02 -1.56752911e-04 9.99630172e-01 -4.79202899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters Centerline goodness : 0.989928 Centerline is valid? [True, True] Translation: X:151.01, Y:-26.52, Z:-4.79 [[ 9.82093422e-01 1.86670013e-01 2.54326055e-02 1.51006288e+02] [-1.86610099e-01 9.82422667e-01 -4.73018206e-03 -2.65242988e+01] [-2.58685512e-02 -1.00500346e-04 9.99665348e-01 -4.79242751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99401273899997 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:151.03, Y:-26.53, Z:-4.79 [[ 9.82401136e-01 1.85171991e-01 2.44814537e-02 1.51033746e+02] [-1.85116044e-01 9.82706126e-01 -4.55194203e-03 -2.65298099e+01] [-2.49009667e-02 -6.00768356e-05 9.99689921e-01 -4.79321859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters Centerline goodness : 0.990307 Centerline is valid? [True, True] Translation: X:151.06, Y:-26.54, Z:-4.80 [[ 9.83277885e-01 1.80505110e-01 2.41351640e-02 1.51061372e+02] [-1.80449367e-01 9.83574045e-01 -4.48595033e-03 -2.65370432e+01] [-2.45484578e-02 5.57606943e-05 9.99698640e-01 -4.79538871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05401273899997 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:151.09, Y:-26.55, Z:-4.79 [[ 9.84164540e-01 1.75207230e-01 2.68809386e-02 1.51088447e+02] [-1.75136142e-01 9.84531555e-01 -4.99484115e-03 -2.65471316e+01] [-2.73402646e-02 2.07921674e-04 9.99626163e-01 -4.79451139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:151.12, Y:-26.55, Z:-4.79 [[ 9.84423286e-01 1.73545346e-01 2.81568240e-02 1.51117985e+02] [-1.73466701e-01 9.84825844e-01 -5.23078478e-03 -2.65544097e+01] [-2.86373463e-02 2.65034975e-04 9.99589832e-01 -4.79499454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11401273899997 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:151.15, Y:-26.56, Z:-4.80 [[ 9.84763868e-01 1.71641025e-01 2.79192163e-02 1.51147358e+02] [-1.71562942e-01 9.85159509e-01 -5.18645264e-03 -2.65607613e+01] [-2.83950894e-02 3.17528286e-04 9.99596728e-01 -4.79577607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:151.18, Y:-26.57, Z:-4.80 [[ 9.84896347e-01 1.71060242e-01 2.67876583e-02 1.51176915e+02] [-1.70988102e-01 9.85260519e-01 -4.97785675e-03 -2.65669847e+01] [-2.72443355e-02 3.22302074e-04 9.99628752e-01 -4.79709848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17401273899998 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:151.21, Y:-26.57, Z:-4.80 [[ 9.85025473e-01 1.70448416e-01 2.59259488e-02 1.51206911e+02] [-1.70380632e-01 9.85366546e-01 -4.81772829e-03 -2.65734676e+01] [-2.63677368e-02 3.28305532e-04 9.99652257e-01 -4.79851859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters Centerline goodness : 0.990444 Centerline is valid? [True, True] Translation: X:151.24, Y:-26.58, Z:-4.80 [[ 9.85397390e-01 1.68226312e-01 2.63038500e-02 1.51236637e+02] [-1.68155747e-01 9.85748321e-01 -4.88789407e-03 -2.65801393e+01] [-2.67512484e-02 3.93374497e-04 9.99642044e-01 -4.79968260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23401273899998 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:151.27, Y:-26.59, Z:-4.80 [[ 9.85582024e-01 1.66755596e-01 2.86469234e-02 1.51266112e+02] [-1.66671265e-01 9.85998148e-01 -5.32364679e-03 -2.65889508e+01] [-2.91335613e-02 4.72271624e-04 9.99575416e-01 -4.79973811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:151.30, Y:-26.60, Z:-4.80 [[ 9.85616976e-01 1.66418058e-01 2.93973799e-02 1.51296776e+02] [-1.66329098e-01 9.86055163e-01 -5.46316549e-03 -2.65971708e+01] [-2.98966077e-02 4.94948964e-04 9.99552874e-01 -4.80025408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29401273899998 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:151.33, Y:-26.61, Z:-4.80 [[ 9.85872413e-01 1.64942537e-01 2.91469490e-02 1.51328558e+02] [-1.64854323e-01 9.86303031e-01 -5.42063607e-03 -2.66077168e+01] [-2.96418176e-02 5.39055019e-04 9.99560439e-01 -4.80078055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:151.36, Y:-26.62, Z:-4.80 [[ 9.85963079e-01 1.64448996e-01 2.88675227e-02 1.51359314e+02] [-1.64362091e-01 9.86385432e-01 -5.37420351e-03 -2.66150583e+01] [-2.93582862e-02 5.54039845e-04 9.99568799e-01 -4.80158654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35401273899998 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:151.39, Y:-26.62, Z:-4.80 [[ 9.85956991e-01 1.64575558e-01 2.83495629e-02 1.51390235e+02] [-1.64491652e-01 9.86364328e-01 -5.28283033e-03 -2.66237685e+01] [-2.88324223e-02 5.45377071e-04 9.99584111e-01 -4.80317447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:151.42, Y:-26.63, Z:-4.80 [[ 9.85859548e-01 1.65291165e-01 2.75641586e-02 1.51421580e+02] [-1.65212001e-01 9.86244679e-01 -5.14086181e-03 -2.66304818e+01] [-2.80347438e-02 5.14237915e-04 9.99606817e-01 -4.80444834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414012739 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:151.45, Y:-26.64, Z:-4.81 [[ 9.85498499e-01 1.67752125e-01 2.55329991e-02 1.51452039e+02] [-1.67684914e-01 9.85829119e-01 -4.76632584e-03 -2.66372401e+01] [-2.59707353e-02 4.15708205e-04 9.99662617e-01 -4.80661697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:151.48, Y:-26.65, Z:-4.81 [[ 9.85241884e-01 1.69345557e-01 2.49100964e-02 1.51483592e+02] [-1.69282111e-01 9.85556670e-01 -4.64942062e-03 -2.66464493e+01] [-2.53376704e-02 3.63970227e-04 9.99678883e-01 -4.80831511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474012739 meters Centerline goodness : 0.989483 Centerline is valid? [True, True] Translation: X:151.51, Y:-26.66, Z:-4.81 [[ 9.84922235e-01 1.71043145e-01 2.59313277e-02 1.51514096e+02] [-1.70974826e-01 9.85263481e-01 -4.84575982e-03 -2.66599061e+01] [-2.63780242e-02 3.39092356e-04 9.99651982e-01 -4.80813205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:151.55, Y:-26.67, Z:-4.81 [[ 9.84733108e-01 1.72013714e-01 2.66831116e-02 1.51545404e+02] [-1.71941650e-01 9.85094501e-01 -4.98923568e-03 -2.66701239e+01] [-2.71436035e-02 3.25127311e-04 9.99631492e-01 -4.80954558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534012739 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:151.58, Y:-26.68, Z:-4.81 [[ 9.84671694e-01 1.72382192e-01 2.65713363e-02 1.51576401e+02] [-1.72310721e-01 9.85030090e-01 -4.97363464e-03 -2.66791349e+01] [-2.70309319e-02 3.18871123e-04 9.99634547e-01 -4.81067014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:151.61, Y:-26.69, Z:-4.81 [[ 9.84336405e-01 1.74309120e-01 2.64229523e-02 1.51606801e+02] [-1.74239008e-01 9.84690946e-01 -4.95075138e-03 -2.66915120e+01] [-2.68814030e-02 2.69295822e-04 9.99638594e-01 -4.81159213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594012739 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:151.64, Y:-26.70, Z:-4.81 [[ 9.83996973e-01 1.76276942e-01 2.60076239e-02 1.51639206e+02] [-1.76209583e-01 9.84340588e-01 -4.87751024e-03 -2.66996778e+01] [-2.64601524e-02 2.16662755e-04 9.99649845e-01 -4.81263621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:151.67, Y:-26.71, Z:-4.81 [[ 9.83560238e-01 1.78742076e-01 2.57007500e-02 1.51670915e+02] [-1.78677012e-01 9.83895953e-01 -4.82476107e-03 -2.67066782e+01] [-2.61492518e-02 1.53309908e-04 9.99658038e-01 -4.81313118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654012739 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:151.70, Y:-26.72, Z:-4.81 [[ 9.82514568e-01 1.84461875e-01 2.52772669e-02 1.51701143e+02] [-1.84400694e-01 9.82839670e-01 -4.75052398e-03 -2.67158650e+01] [-2.57197912e-02 6.31345299e-06 9.99669191e-01 -4.81406110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:151.73, Y:-26.72, Z:-4.82 [[ 9.81770069e-01 1.88642456e-01 2.32713301e-02 1.51730848e+02] [-1.88591760e-01 9.82045831e-01 -4.37415867e-03 -2.67244776e+01] [-2.36786647e-02 -9.43630284e-05 9.99719617e-01 -4.81653158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714012739 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:151.76, Y:-26.73, Z:-4.82 [[ 9.81624489e-01 1.89520455e-01 2.22566813e-02 1.51761104e+02] [-1.89474310e-01 9.81876767e-01 -4.18344182e-03 -2.67299551e+01] [-2.26461661e-02 -1.10500390e-04 9.99743537e-01 -4.81838380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:151.79, Y:-26.74, Z:-4.82 [[ 9.81932436e-01 1.87896559e-01 2.24404506e-02 1.51792790e+02] [-1.87849258e-01 9.82188820e-01 -4.21648277e-03 -2.67365691e+01] [-2.28330223e-02 -7.51208074e-05 9.99739290e-01 -4.82013215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77401273899997 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:151.82, Y:-26.74, Z:-4.82 [[ 9.82145567e-01 1.86660017e-01 2.34120374e-02 1.51823586e+02] [-1.86608084e-01 9.82424570e-01 -4.40305982e-03 -2.67443381e+01] [-2.38224360e-02 -4.44297736e-05 9.99716205e-01 -4.82093636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:151.86, Y:-26.75, Z:-4.82 [[ 9.82762774e-01 1.83323132e-01 2.38738254e-02 1.51855728e+02] [-1.83268041e-01 9.83052708e-01 -4.49417075e-03 -2.67532191e+01] [-2.42931142e-02 4.13945001e-05 9.99704878e-01 -4.82199670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83401273899997 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:151.89, Y:-26.76, Z:-4.82 [[ 9.83005303e-01 1.81973205e-01 2.42141722e-02 1.51887252e+02] [-1.81915996e-01 9.83303486e-01 -4.56333383e-03 -2.67604388e+01] [-2.46402844e-02 8.08360923e-05 9.99696379e-01 -4.82291462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:151.92, Y:-26.77, Z:-4.82 [[ 9.83471049e-01 1.79286631e-01 2.53179624e-02 1.51918743e+02] [-1.79223128e-01 9.83796869e-01 -4.77402234e-03 -2.67719300e+01] [-2.57636505e-02 1.57548347e-04 9.99668050e-01 -4.82356350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89401273899998 meters Centerline goodness : 0.987669 Centerline is valid? [True, True] Translation: X:151.95, Y:-26.78, Z:-4.82 [[ 9.83674184e-01 1.78120513e-01 2.56550826e-02 1.51950623e+02] [-1.78054785e-01 9.84008661e-01 -4.84241435e-03 -2.67817275e+01] [-2.61073568e-02 1.95347781e-04 9.99659126e-01 -4.82416035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters Centerline goodness : 0.987562 Centerline is valid? [True, True] Translation: X:151.98, Y:-26.79, Z:-4.82 [[ 9.83944004e-01 1.76419524e-01 2.70249655e-02 1.51980637e+02] [-1.76345800e-01 9.84315033e-01 -5.10628913e-03 -2.67927267e+01] [-2.75019289e-02 2.58563409e-04 9.99621717e-01 -4.82391173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95401273899998 meters Centerline goodness : 0.987233 Centerline is valid? [True, True] Translation: X:152.01, Y:-26.80, Z:-4.82 [[ 9.83950420e-01 1.76274892e-01 2.77260487e-02 1.52011885e+02] [-1.76197099e-01 9.84340941e-01 -5.24356480e-03 -2.68027890e+01] [-2.82161937e-02 2.74158445e-04 9.99601806e-01 -4.82398428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters Centerline goodness : 0.987580 Centerline is valid? [True, True] Translation: X:152.04, Y:-26.81, Z:-4.82 [[ 9.83856922e-01 1.76731107e-01 2.81366896e-02 1.52043538e+02] [-1.76651024e-01 9.84259134e-01 -5.32663331e-03 -2.68116857e+01] [-2.86351756e-02 2.70270031e-04 9.99589893e-01 -4.82455803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01401273899998 meters Centerline goodness : 0.986766 Centerline is valid? [True, True] Translation: X:152.07, Y:-26.82, Z:-4.83 [[ 9.83620092e-01 1.77877615e-01 2.91730719e-02 1.52074262e+02] [-1.77791851e-01 9.84052585e-01 -5.52874106e-03 -2.68199912e+01] [-2.96912761e-02 2.51446352e-04 9.99559085e-01 -4.82531923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters Centerline goodness : 0.986974 Centerline is valid? [True, True] Translation: X:152.11, Y:-26.83, Z:-4.83 [[ 9.83104101e-01 1.80633800e-01 2.96269722e-02 1.52106043e+02] [-1.80546432e-01 9.83550405e-01 -5.62020233e-03 -2.68275498e+01] [-3.01548190e-02 1.76199840e-04 9.99545225e-01 -4.82505830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07401273899998 meters Centerline goodness : 0.986992 Centerline is valid? [True, True] Translation: X:152.14, Y:-26.83, Z:-4.83 [[ 9.82730811e-01 1.83113616e-01 2.66374910e-02 1.52138564e+02] [-1.83043790e-01 9.83091753e-01 -5.05729417e-03 -2.68348500e+01] [-2.71131571e-02 9.41314934e-05 9.99632366e-01 -4.82741487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:152.17, Y:-26.84, Z:-4.83 [[ 9.82449964e-01 1.84732577e-01 2.58058561e-02 1.52169479e+02] [-1.84667473e-01 9.82788824e-01 -4.90430019e-03 -2.68417601e+01] [-2.62676910e-02 5.27273011e-05 9.99654943e-01 -4.82811809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13401273899999 meters Centerline goodness : 0.986424 Centerline is valid? [True, True] Translation: X:152.20, Y:-26.85, Z:-4.83 [[ 9.81726994e-01 1.88336558e-01 2.72295994e-02 1.52200633e+02] [-1.88265310e-01 9.82104546e-01 -5.18014421e-03 -2.68499228e+01] [-2.77179239e-02 -4.09015666e-05 9.99615784e-01 -4.82831887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters Centerline goodness : 0.987257 Centerline is valid? [True, True] Translation: X:152.23, Y:-26.86, Z:-4.83 [[ 9.81368160e-01 1.90123936e-01 2.77384700e-02 1.52232542e+02] [-1.90050570e-01 9.81760094e-01 -5.28200664e-03 -2.68561065e+01] [-2.82367588e-02 -8.81188844e-05 9.99601259e-01 -4.82935769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194012739 meters Centerline goodness : 0.987064 Centerline is valid? [True, True] Translation: X:152.27, Y:-26.86, Z:-4.83 [[ 9.80443272e-01 1.95033482e-01 2.63235752e-02 1.52265565e+02] [-1.94969062e-01 9.80796562e-01 -5.01691133e-03 -2.68599026e+01] [-2.67965377e-02 -2.13485815e-04 9.99640886e-01 -4.83182726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters Centerline goodness : 0.987473 Centerline is valid? [True, True] Translation: X:152.30, Y:-26.86, Z:-4.83 [[ 9.79906349e-01 1.97871219e-01 2.51103056e-02 1.52297939e+02] [-1.97813428e-01 9.80227987e-01 -4.78978824e-03 -2.68643057e+01] [-2.55615855e-02 -2.73611702e-04 9.99673212e-01 -4.83391875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254012739 meters Centerline goodness : 0.986397 Centerline is valid? [True, True] Translation: X:152.33, Y:-26.87, Z:-4.83 [[ 9.78863816e-01 2.03038433e-01 2.45158019e-02 1.52329803e+02] [-2.02984853e-01 9.79170689e-01 -4.68085978e-03 -2.68673350e+01] [-2.49555491e-02 -3.94412170e-04 9.99688484e-01 -4.83454894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:152.36, Y:-26.87, Z:-4.83 [[ 9.78227547e-01 2.06000878e-01 2.51893642e-02 1.52362636e+02] [-2.05945182e-01 9.78551690e-01 -4.81379343e-03 -2.68722843e+01] [-2.56407406e-02 -4.78642870e-04 9.99671108e-01 -4.83470657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314012739 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:152.39, Y:-26.87, Z:-4.84 [[ 9.77364815e-01 2.10131640e-01 2.45502202e-02 1.52394620e+02] [-2.10079916e-01 9.77672937e-01 -4.69647471e-03 -2.68748802e+01] [-2.49889638e-02 -5.67339056e-04 9.99687566e-01 -4.83547621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:152.42, Y:-26.88, Z:-4.84 [[ 9.76911062e-01 2.12249415e-01 2.43918674e-02 1.52424899e+02] [-2.12198874e-01 9.77215335e-01 -4.67188189e-03 -2.68762488e+01] [-2.48277111e-02 -6.11913713e-04 9.99691558e-01 -4.83792877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374012739 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:152.46, Y:-26.88, Z:-4.84 [[ 9.76719320e-01 2.13055470e-01 2.50347260e-02 1.52455059e+02] [-2.13002486e-01 9.77039890e-01 -4.79531103e-03 -2.68801355e+01] [-2.54815931e-02 -6.48785948e-04 9.99675081e-01 -4.83807964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters Centerline goodness : 0.987955 Centerline is valid? [True, True] Translation: X:152.49, Y:-26.88, Z:-4.84 [[ 9.76188700e-01 2.15200229e-01 2.72852134e-02 1.52486565e+02] [-2.15138118e-01 9.76569645e-01 -5.22667413e-03 -2.68827778e+01] [-2.77706926e-02 -7.67869237e-04 9.99614025e-01 -4.83721263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434012739 meters Centerline goodness : 0.988265 Centerline is valid? [True, True] Translation: X:152.52, Y:-26.89, Z:-4.84 [[ 9.75924120e-01 2.16351910e-01 2.76398751e-02 1.52517551e+02] [-2.16288631e-01 9.76315110e-01 -5.29477903e-03 -2.68864625e+01] [-2.81307632e-02 -8.10888172e-04 9.99603923e-01 -4.83825329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:152.55, Y:-26.89, Z:-4.84 [[ 9.75765984e-01 2.17165258e-01 2.68327345e-02 1.52549894e+02] [-2.17105802e-01 9.76134520e-01 -5.14478297e-03 -2.68861081e+01] [-2.73096265e-02 -8.05438132e-04 9.99626698e-01 -4.84012294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49401273899997 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:152.58, Y:-26.89, Z:-4.84 [[ 9.75628123e-01 2.17816734e-01 2.65638199e-02 1.52579788e+02] [-2.17758687e-01 9.75989348e-01 -5.09390735e-03 -2.68889239e+01] [-2.70355435e-02 -8.14743275e-04 9.99634141e-01 -4.84170499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters Centerline goodness : 0.988912 Centerline is valid? [True, True] Translation: X:152.61, Y:-26.89, Z:-4.84 [[ 9.75316649e-01 2.19249098e-01 2.62157926e-02 1.52610548e+02] [-2.19193065e-01 9.75668552e-01 -5.02766388e-03 -2.68880590e+01] [-2.66802352e-02 -8.42755660e-04 9.99643664e-01 -4.84239582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55401273899997 meters Centerline goodness : 0.988555 Centerline is valid? [True, True] Translation: X:152.64, Y:-26.89, Z:-4.84 [[ 9.75190363e-01 2.19825272e-01 2.60884020e-02 1.52639271e+02] [-2.19770003e-01 9.75538886e-01 -5.00267850e-03 -2.68900626e+01] [-2.65499658e-02 -8.54884331e-04 9.99647122e-01 -4.84303821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:152.67, Y:-26.89, Z:-4.84 [[ 9.75141979e-01 2.19924835e-01 2.70404725e-02 1.52668879e+02] [-2.19865522e-01 9.75516415e-01 -5.18430060e-03 -2.68886633e+01] [-2.75185813e-02 -8.89838469e-04 9.99620896e-01 -4.84466161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61401273899997 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:152.70, Y:-26.89, Z:-4.85 [[ 9.75346053e-01 2.18944244e-01 2.76314216e-02 1.52698304e+02] [-2.18881957e-01 9.75736972e-01 -5.29618345e-03 -2.68913835e+01] [-2.81205685e-02 -8.82407999e-04 9.99604149e-01 -4.84549337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:152.73, Y:-26.89, Z:-4.85 [[ 9.76146155e-01 2.15205858e-01 2.87249431e-02 1.52727351e+02] [-2.15136946e-01 9.76568374e-01 -5.50507353e-03 -2.68920789e+01] [-2.92365950e-02 -8.06040153e-04 9.99572194e-01 -4.84561235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67401273899998 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:152.76, Y:-26.90, Z:-4.85 [[ 9.76464941e-01 2.13666643e-01 2.93732009e-02 1.52756049e+02] [-2.13593922e-01 9.76906321e-01 -5.62819184e-03 -2.68953357e+01] [-2.98974225e-02 -7.78205184e-04 9.99552669e-01 -4.84576398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:152.79, Y:-26.90, Z:-4.85 [[ 9.77023924e-01 2.11017646e-01 2.99300147e-02 1.52785366e+02] [-2.10940932e-01 9.77481993e-01 -5.73379334e-03 -2.68973816e+01] [-3.04659820e-02 -7.11411927e-04 9.99535551e-01 -4.84688371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73401273899998 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:152.81, Y:-26.90, Z:-4.85 [[ 9.77703149e-01 2.08067230e-01 2.83651164e-02 1.52814916e+02] [-2.07997105e-01 9.78114350e-01 -5.43337439e-03 -2.68996799e+01] [-2.88748345e-02 -5.87634842e-04 9.99582862e-01 -4.84772022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:152.84, Y:-26.90, Z:-4.85 [[ 9.78064746e-01 2.06483647e-01 2.74564230e-02 1.52844702e+02] [-2.06417338e-01 9.78449911e-01 -5.25869552e-03 -2.69041378e+01] [-2.79505693e-02 -5.24137046e-04 9.99609169e-01 -4.84895699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79401273899998 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:152.87, Y:-26.91, Z:-4.85 [[ 9.78779093e-01 2.03192946e-01 2.65351459e-02 1.52872580e+02] [-2.03129818e-01 9.79138628e-01 -5.08169301e-03 -2.69091378e+01] [-2.70141505e-02 -4.16224481e-04 9.99634965e-01 -4.85122126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters Centerline goodness : 0.990064 Centerline is valid? [True, True] Translation: X:152.90, Y:-26.91, Z:-4.85 [[ 9.79150536e-01 2.01469162e-01 2.59693135e-02 1.52900720e+02] [-2.01408114e-01 9.79494791e-01 -4.97248230e-03 -2.69146306e+01] [-2.64386091e-02 -3.61621751e-04 9.99650373e-01 -4.85185791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85401273899998 meters Centerline goodness : 0.990064 Centerline is valid? [True, True] Translation: X:152.93, Y:-26.92, Z:-4.85 [[ 9.79157262e-01 2.01436441e-01 2.59695461e-02 1.52929529e+02] [-2.01375414e-01 9.79501521e-01 -4.97126670e-03 -2.69200586e+01] [-2.64386042e-02 -3.61976225e-04 9.99650373e-01 -4.85279780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:152.96, Y:-26.93, Z:-4.85 [[ 9.79852437e-01 1.98066896e-01 2.56652932e-02 1.52958908e+02] [-1.98006162e-01 9.80188468e-01 -4.91194776e-03 -2.69270697e+01] [-2.61297186e-02 -2.68902228e-04 9.99658524e-01 -4.85338398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914012739 meters Centerline goodness : 0.990504 Centerline is valid? [True, True] Translation: X:152.99, Y:-26.93, Z:-4.85 [[ 9.80211063e-01 1.96221975e-01 2.61382538e-02 1.52988257e+02] [-1.96158328e-01 9.80559476e-01 -5.00239639e-03 -2.69332331e+01] [-2.66116926e-02 -2.23831870e-04 9.99645821e-01 -4.85431702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:153.02, Y:-26.94, Z:-4.86 [[ 9.81019216e-01 1.92078986e-01 2.65887359e-02 1.53017441e+02] [-1.92011590e-01 9.81379463e-01 -5.08908268e-03 -2.69382507e+01] [-2.70711452e-02 -1.12857547e-04 9.99633503e-01 -4.85655020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974012739 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:153.05, Y:-26.94, Z:-4.86 [[ 9.81424703e-01 1.90094231e-01 2.58792481e-02 1.53046549e+02] [-1.90029702e-01 9.81765848e-01 -4.95298374e-03 -2.69441194e+01] [-2.63488956e-02 -5.68452271e-05 9.99652806e-01 -4.85889753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters Centerline goodness : 0.990951 Centerline is valid? [True, True] Translation: X:153.08, Y:-26.95, Z:-4.86 [[ 9.82139802e-01 1.86367245e-01 2.58584371e-02 1.53077026e+02] [-1.86301541e-01 9.82480152e-01 -4.94849190e-03 -2.69522426e+01] [-2.63276380e-02 4.26441766e-05 9.99653367e-01 -4.86087645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034012739 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:153.11, Y:-26.96, Z:-4.86 [[ 9.82698373e-01 1.83319426e-01 2.64177040e-02 1.53107070e+02] [-1.83249748e-01 9.83053392e-01 -5.05550593e-03 -2.69611213e+01] [-2.68967859e-02 1.26999870e-04 9.99638208e-01 -4.86024413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:153.14, Y:-26.97, Z:-4.86 [[ 9.82880338e-01 1.82300384e-01 2.66985339e-02 1.53138408e+02] [-1.82228726e-01 9.83242871e-01 -5.11344812e-03 -2.69681831e+01] [-2.71833267e-02 1.60667804e-04 9.99630452e-01 -4.86059494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094012739 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:153.17, Y:-26.98, Z:-4.86 [[ 9.83230111e-01 1.80458187e-01 2.63323157e-02 1.53169084e+02] [-1.80387694e-01 9.83582634e-01 -5.04804889e-03 -2.69773602e+01] [-2.68109701e-02 2.13367977e-04 9.99640499e-01 -4.86188590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:153.20, Y:-26.99, Z:-4.86 [[ 9.83277660e-01 1.80228898e-01 2.61263642e-02 1.53199667e+02] [-1.80159346e-01 9.83624672e-01 -5.01145240e-03 -2.69857047e+01] [-2.66017449e-02 2.20740525e-04 9.99646087e-01 -4.86275419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154012739 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:153.23, Y:-26.99, Z:-4.86 [[ 9.83164219e-01 1.80761652e-01 2.67084914e-02 1.53230761e+02] [-1.80689026e-01 9.83526908e-01 -5.12809392e-03 -2.69938452e+01] [-2.71954827e-02 2.15827160e-04 9.99630111e-01 -4.86269196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:153.26, Y:-27.00, Z:-4.86 [[ 9.82971532e-01 1.81643523e-01 2.77956448e-02 1.53263060e+02] [-1.81565069e-01 9.83364423e-01 -5.34201226e-03 -2.70006897e+01] [-2.83035902e-02 2.04327813e-04 9.99599352e-01 -4.86305142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214012739 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:153.29, Y:-27.01, Z:-4.86 [[ 9.82395799e-01 1.84638689e-01 2.84086068e-02 1.53293688e+02] [-1.84557816e-01 9.82806460e-01 -5.46569921e-03 -2.70098009e+01] [-2.89293418e-02 1.26449501e-04 9.99581451e-01 -4.86444900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:153.32, Y:-27.02, Z:-4.87 [[ 9.82118002e-01 1.86190442e-01 2.78809691e-02 1.53324985e+02] [-1.86113083e-01 9.82513670e-01 -5.36729364e-03 -2.70184548e+01] [-2.83927720e-02 8.23025988e-05 9.99596841e-01 -4.86557250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27401273899997 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:153.36, Y:-27.03, Z:-4.87 [[ 9.81670211e-01 1.88628841e-01 2.72535770e-02 1.53356621e+02] [-1.88555735e-01 9.82048451e-01 -5.25117976e-03 -2.70267838e+01] [-2.77548570e-02 1.61085062e-05 9.99614760e-01 -4.86657817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:153.39, Y:-27.04, Z:-4.87 [[ 9.81365875e-01 1.90101766e-01 2.79702967e-02 1.53387545e+02] [-1.90025200e-01 9.81764390e-01 -5.39493506e-03 -2.70358575e+01] [-2.84858280e-02 -2.06560579e-05 9.99594196e-01 -4.86679582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33401273899997 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:153.42, Y:-27.04, Z:-4.87 [[ 9.81189014e-01 1.90924396e-01 2.85656111e-02 1.53419946e+02] [-1.90844729e-01 9.81604744e-01 -5.51504586e-03 -2.70447273e+01] [-2.90930962e-02 -4.02939178e-05 9.99576705e-01 -4.86750784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:153.45, Y:-27.05, Z:-4.87 [[ 9.80628096e-01 1.93968962e-01 2.72869953e-02 1.53452385e+02] [-1.93897308e-01 9.81007659e-01 -5.27315733e-03 -2.70517915e+01] [-2.77915802e-02 -1.19868705e-04 9.99613732e-01 -4.86826082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39401273899998 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:153.48, Y:-27.06, Z:-4.87 [[ 9.80106612e-01 1.96739284e-01 2.61664692e-02 1.53483347e+02] [-1.96674248e-01 9.80455822e-01 -5.06164899e-03 -2.70568577e+01] [-2.66508923e-02 -1.85315025e-04 9.99644785e-01 -4.86999230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:153.51, Y:-27.06, Z:-4.87 [[ 9.79185833e-01 2.01456680e-01 2.47044687e-02 1.53513331e+02] [-2.01400094e-01 9.79497382e-01 -4.78341228e-03 -2.70625861e+01] [-2.51616128e-02 -2.91632795e-04 9.99683354e-01 -4.87243867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45401273899998 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:153.54, Y:-27.07, Z:-4.87 [[ 9.78725325e-01 2.03402181e-01 2.69126426e-02 1.53541591e+02] [-2.03335748e-01 9.79095202e-01 -5.21143519e-03 -2.70692878e+01] [-2.74100566e-02 -3.71738713e-04 9.99624205e-01 -4.87247386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:153.57, Y:-27.07, Z:-4.87 [[ 9.78345077e-01 2.05061625e-01 2.81183120e-02 1.53572756e+02] [-2.04989804e-01 9.78748966e-01 -5.44443838e-03 -2.70746274e+01] [-2.86372142e-02 -4.37427766e-04 9.99589775e-01 -4.87234997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51401273899998 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:153.60, Y:-27.08, Z:-4.87 [[ 9.77895827e-01 2.07177827e-01 2.82329548e-02 1.53603339e+02] [-2.07106280e-01 9.78303172e-01 -5.46732434e-03 -2.70794743e+01] [-2.87530976e-02 -5.00748574e-04 9.99586419e-01 -4.87321447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:153.63, Y:-27.08, Z:-4.87 [[ 9.77121001e-01 2.11016383e-01 2.65826281e-02 1.53633009e+02] [-2.10954357e-01 9.77482354e-01 -5.14839387e-03 -2.70834429e+01] [-2.70704454e-02 -5.77117464e-04 9.99633362e-01 -4.87471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57401273899998 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:153.66, Y:-27.09, Z:-4.88 [[ 9.76730663e-01 2.12772640e-01 2.69261211e-02 1.53663752e+02] [-2.12709657e-01 9.77101531e-01 -5.21530155e-03 -2.70874058e+01] [-2.74192276e-02 -6.33501056e-04 9.99623822e-01 -4.87655597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:153.70, Y:-27.09, Z:-4.88 [[ 9.76550765e-01 2.13457758e-01 2.80069423e-02 1.53695014e+02] [-2.13389901e-01 9.76952058e-01 -5.42456023e-03 -2.70933310e+01] [-2.85193544e-02 -6.79040190e-04 9.99593010e-01 -4.87686556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63401273899999 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:153.72, Y:-27.10, Z:-4.88 [[ 9.76473512e-01 2.13703602e-01 2.88140656e-02 1.53724755e+02] [-2.13631861e-01 9.76898292e-01 -5.58165154e-03 -2.70993058e+01] [-2.93412305e-02 -7.05267578e-04 9.99569205e-01 -4.87734180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:153.76, Y:-27.11, Z:-4.88 [[ 9.76588550e-01 2.13151520e-01 2.90040348e-02 1.53755342e+02] [-2.13078576e-01 9.77018910e-01 -5.61877904e-03 -2.71057647e+01] [-2.95351417e-02 -6.92903163e-04 9.99563502e-01 -4.87960963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694012739 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:153.78, Y:-27.11, Z:-4.88 [[ 9.76735238e-01 2.12636011e-01 2.78244616e-02 1.53784847e+02] [-2.12568653e-01 9.77131263e-01 -5.39094941e-03 -2.71127676e+01] [-2.83344613e-02 -6.49078066e-04 9.99598288e-01 -4.88097746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:153.82, Y:-27.12, Z:-4.88 [[ 9.76923821e-01 2.11873041e-01 2.70122541e-02 1.53815278e+02] [-2.11809260e-01 9.77297009e-01 -5.23384374e-03 -2.71215528e+01] [-2.75079055e-02 -6.08378923e-04 9.99621401e-01 -4.88300360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754012739 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:153.85, Y:-27.13, Z:-4.88 [[ 9.77201461e-01 2.10555401e-01 2.72713748e-02 1.53845304e+02] [-2.10489859e-01 9.77581757e-01 -5.28471194e-03 -2.71289707e+01] [-2.77727231e-02 -5.76119595e-04 9.99614098e-01 -4.88421366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:153.88, Y:-27.14, Z:-4.88 [[ 9.77836645e-01 2.07452180e-01 2.82681534e-02 1.53875308e+02] [-2.07380453e-01 9.78245029e-01 -5.47815910e-03 -2.71372244e+01] [-2.87896366e-02 -5.05517750e-04 9.99585365e-01 -4.88366255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814012739 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:153.91, Y:-27.14, Z:-4.88 [[ 9.78043226e-01 2.06506610e-01 2.80440489e-02 1.53906870e+02] [-2.06435505e-01 9.78445093e-01 -5.43902319e-03 -2.71449694e+01] [-2.85627563e-02 -4.69687601e-04 9.99591891e-01 -4.88469431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:153.94, Y:-27.15, Z:-4.89 [[ 9.78123930e-01 2.06149984e-01 2.78524891e-02 1.53936692e+02] [-2.06079570e-01 9.78520301e-01 -5.40652462e-03 -2.71527463e+01] [-2.83687810e-02 -4.51577871e-04 9.99597423e-01 -4.88599893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874012739 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:153.97, Y:-27.16, Z:-4.89 [[ 9.77834511e-01 2.07651616e-01 2.68416687e-02 1.53967805e+02] [-2.07586680e-01 9.78202731e-01 -5.21418503e-03 -2.71612929e+01] [-2.73393276e-02 -4.73362836e-04 9.99626099e-01 -4.88742857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:154.00, Y:-27.17, Z:-4.89 [[ 9.77660951e-01 2.08557391e-01 2.61319721e-02 1.53998568e+02] [-2.08496053e-01 9.78010012e-01 -5.08064826e-03 -2.71678851e+01] [-2.66169371e-02 -4.81261631e-04 9.99645591e-01 -4.88837698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934012739 meters Centerline goodness : 0.990416 Centerline is valid? [True, True] Translation: X:154.03, Y:-27.17, Z:-4.89 [[ 9.77405346e-01 2.09848244e-01 2.53476851e-02 1.54028428e+02] [-2.09790852e-01 9.77733843e-01 -4.93257329e-03 -2.71745496e+01] [-2.58183814e-02 -4.96588956e-04 9.99666527e-01 -4.88955788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:154.06, Y:-27.18, Z:-4.89 [[ 9.77215895e-01 2.10624480e-01 2.61996642e-02 1.54057776e+02] [-2.10563395e-01 9.77566900e-01 -5.10021329e-03 -2.71786569e+01] [-2.66861543e-02 -5.32680756e-04 9.99643719e-01 -4.88975043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99401273899997 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:154.09, Y:-27.18, Z:-4.89 [[ 9.77037593e-01 2.11385630e-01 2.67143517e-02 1.54087474e+02] [-2.11322416e-01 9.77402576e-01 -5.20003693e-03 -2.71831789e+01] [-2.72098893e-02 -5.64709762e-04 9.99629583e-01 -4.89009919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:154.12, Y:-27.19, Z:-4.89 [[ 9.76583485e-01 2.13405177e-01 2.72566760e-02 1.54116741e+02] [-2.13340153e-01 9.76963576e-01 -5.30565131e-03 -2.71850308e+01] [-2.77610331e-02 -6.33531992e-04 9.99614387e-01 -4.88995186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05401273899997 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:154.15, Y:-27.19, Z:-4.89 [[ 9.76454439e-01 2.13916078e-01 2.78682703e-02 1.54148236e+02] [-2.13848325e-01 9.76851817e-01 -5.42423737e-03 -2.71890939e+01] [-2.83835021e-02 -6.63062260e-04 9.99596887e-01 -4.89027161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:154.18, Y:-27.19, Z:-4.89 [[ 9.76439727e-01 2.13814290e-01 2.91360295e-02 1.54178774e+02] [-2.13740165e-01 9.76874083e-01 -5.67166105e-03 -2.71913237e+01] [-2.96749143e-02 -6.89504592e-04 9.99559365e-01 -4.89129417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11401273899997 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:154.21, Y:-27.20, Z:-4.89 [[ 9.76508073e-01 2.13519322e-01 2.90083163e-02 1.54208681e+02] [-2.13445664e-01 9.76938607e-01 -5.64854734e-03 -2.71963001e+01] [-2.95454181e-02 -6.75847266e-04 9.99563210e-01 -4.89248266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:154.24, Y:-27.20, Z:-4.89 [[ 9.76931929e-01 2.11714557e-01 2.79455324e-02 1.54238798e+02] [-2.11645450e-01 9.77331361e-01 -5.44192458e-03 -2.72013740e+01] [-2.84641799e-02 -5.98154917e-04 9.99594634e-01 -4.89403197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17401273899998 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:154.27, Y:-27.21, Z:-4.90 [[ 9.77555503e-01 2.08763632e-01 2.83369972e-02 1.54268398e+02] [-2.08691324e-01 9.77965989e-01 -5.51856555e-03 -2.72058847e+01] [-2.88646953e-02 -5.18981352e-04 9.99583193e-01 -4.89533098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:154.30, Y:-27.21, Z:-4.90 [[ 9.77924581e-01 2.07008260e-01 2.84797260e-02 1.54297222e+02] [-2.06934487e-01 9.78339082e-01 -5.54603002e-03 -2.72112347e+01] [-2.90109030e-02 -4.69838414e-04 9.99578985e-01 -4.89624697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23401273899998 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:154.33, Y:-27.22, Z:-4.90 [[ 9.78282460e-01 2.05268555e-01 2.87793192e-02 1.54328238e+02] [-2.05192493e-01 9.78705595e-01 -5.60354371e-03 -2.72180195e+01] [-2.93167121e-02 -4.23451739e-04 9.99570083e-01 -4.89761925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:154.36, Y:-27.22, Z:-4.90 [[ 9.78419511e-01 2.04679569e-01 2.83113904e-02 1.54358658e+02] [-2.04605575e-01 9.78828953e-01 -5.51727718e-03 -2.72244623e+01] [-2.88412825e-02 -3.94456667e-04 9.99583926e-01 -4.89943385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29401273899998 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:154.39, Y:-27.23, Z:-4.90 [[ 9.78378557e-01 2.04853099e-01 2.84711667e-02 1.54389384e+02] [-2.04778196e-01 9.78792649e-01 -5.55339329e-03 -2.72302145e+01] [-2.90049985e-02 -3.96953246e-04 9.99579188e-01 -4.90018975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:154.42, Y:-27.23, Z:-4.90 [[ 9.77863423e-01 2.07239485e-01 2.88950089e-02 1.54419546e+02] [-2.07163354e-01 9.78290126e-01 -5.63681548e-03 -2.72345379e+01] [-2.94358727e-02 -4.73951287e-04 9.99566558e-01 -4.89902354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35401273899998 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:154.45, Y:-27.24, Z:-4.90 [[ 9.77470174e-01 2.09165126e-01 2.83197611e-02 1.54448581e+02] [-2.09092790e-01 9.77880197e-01 -5.52504461e-03 -2.72384444e+01] [-2.88489802e-02 -5.20891561e-04 9.99583646e-01 -4.89974032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:154.48, Y:-27.24, Z:-4.90 [[ 9.76587383e-01 2.13369620e-01 2.73950320e-02 1.54477370e+02] [-2.13303598e-01 9.76971348e-01 -5.34412004e-03 -2.72390380e+01] [-2.79044342e-02 -6.24458692e-04 9.99610400e-01 -4.90183885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414012739 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:154.51, Y:-27.24, Z:-4.90 [[ 9.76339357e-01 2.14461098e-01 2.77109572e-02 1.54506666e+02] [-2.14394023e-01 9.76732305e-01 -5.40436922e-03 -2.72428590e+01] [-2.82252140e-02 -6.64565213e-04 9.99601368e-01 -4.90334998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:154.54, Y:-27.25, Z:-4.90 [[ 9.76560963e-01 2.13192783e-01 2.96230005e-02 1.54536313e+02] [-2.13115570e-01 9.77009921e-01 -5.77650944e-03 -2.72459716e+01] [-3.01734755e-02 -6.72009010e-04 9.99544451e-01 -4.90358641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474012739 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:154.57, Y:-27.25, Z:-4.90 [[ 9.77673205e-01 2.08015722e-01 2.97416108e-02 1.54565817e+02] [-2.07935517e-01 9.78125347e-01 -5.79884473e-03 -2.72474122e+01] [-3.02972743e-02 -5.14962107e-04 9.99540800e-01 -4.90445203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:154.60, Y:-27.25, Z:-4.91 [[ 9.78293533e-01 2.05295513e-01 2.82048994e-02 1.54596168e+02] [-2.05222241e-01 9.78699947e-01 -5.49963104e-03 -2.72510920e+01] [-2.87331831e-02 -4.08019191e-04 9.99587034e-01 -4.90603313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534012739 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:154.63, Y:-27.25, Z:-4.91 [[ 9.79044506e-01 2.02033308e-01 2.55812071e-02 1.54625184e+02] [-2.01971918e-01 9.79378610e-01 -4.98818188e-03 -2.72545351e+01] [-2.60614660e-02 -2.83033411e-04 9.99660302e-01 -4.90781174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:154.65, Y:-27.26, Z:-4.91 [[ 9.79202802e-01 2.01222848e-01 2.59082657e-02 1.54653749e+02] [-2.01159610e-01 9.79545453e-01 -5.05139228e-03 -2.72585948e+01] [-2.63947794e-02 -2.65359129e-04 9.99651562e-01 -4.90832553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594012739 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:154.68, Y:-27.26, Z:-4.91 [[ 9.79472300e-01 1.99530027e-01 2.86667211e-02 1.54682183e+02] [-1.99451910e-01 9.79891682e-01 -5.58812820e-03 -2.72607668e+01] [-2.92052809e-02 -2.44215486e-04 9.99573405e-01 -4.90787087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:154.71, Y:-27.27, Z:-4.91 [[ 9.79739756e-01 1.98201932e-01 2.87402976e-02 1.54711831e+02] [-1.98122894e-01 9.80161186e-01 -5.60068404e-03 -2.72656952e+01] [-2.92801906e-02 -2.06898116e-04 9.99571222e-01 -4.90839296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654012739 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:154.74, Y:-27.27, Z:-4.91 [[ 9.80455984e-01 1.94977293e-01 2.62662972e-02 1.54741150e+02] [-1.94910138e-01 9.80807751e-01 -5.11793808e-03 -2.72718829e+01] [-2.67600696e-02 -1.01654584e-04 9.99641880e-01 -4.90997629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:154.77, Y:-27.29, Z:-4.91 [[ 9.80905360e-01 1.91529251e-01 3.37819712e-02 1.54767577e+02] [-1.91971460e-01 9.81346017e-01 1.03418182e-02 -2.72904862e+01] [-3.11710422e-02 -1.66295192e-02 9.99375718e-01 -4.91363244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714012739 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:154.80, Y:-27.27, Z:-4.91 [[ 9.81194992e-01 1.91490202e-01 2.42464475e-02 1.54803223e+02] [-1.90989453e-01 9.81355846e-01 -2.15344406e-02 -2.72748666e+01] [-2.79180274e-02 1.64986695e-02 9.99474051e-01 -4.91134858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:154.83, Y:-27.29, Z:-4.91 [[ 9.81210431e-01 1.90984098e-01 2.74073839e-02 1.54830641e+02] [-1.90909344e-01 9.81593131e-01 -5.34306265e-03 -2.72918147e+01] [-2.79233398e-02 1.03431134e-05 9.99610067e-01 -4.91219033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77401273899997 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:154.86, Y:-27.30, Z:-4.91 [[ 9.81416914e-01 1.89662860e-01 2.91348573e-02 1.54860502e+02] [-1.89577813e-01 9.81849274e-01 -5.67943486e-03 -2.72986289e+01] [-2.96832163e-02 5.05709249e-05 9.99559355e-01 -4.91188484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:154.89, Y:-27.30, Z:-4.91 [[ 9.81375385e-01 1.89831250e-01 2.94355200e-02 1.54890226e+02] [-1.89744515e-01 9.81816732e-01 -5.73801916e-03 -2.73046412e+01] [-2.99895414e-02 4.59223013e-05 9.99550211e-01 -4.91292250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83401273899997 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:154.92, Y:-27.31, Z:-4.91 [[ 9.81275368e-01 1.90349143e-01 2.94254248e-02 1.54920860e+02] [-1.90262690e-01 9.81716457e-01 -5.73637896e-03 -2.73106585e+01] [-2.99793386e-02 3.04068993e-05 9.99550518e-01 -4.91376814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:154.95, Y:-27.32, Z:-4.92 [[ 9.80834790e-01 1.92566731e-01 2.96845027e-02 1.54951127e+02] [-1.92479741e-01 9.81283880e-01 -5.78760255e-03 -2.73163743e+01] [-3.02434237e-02 -3.69834701e-05 9.99542562e-01 -4.91539526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89401273899998 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:154.98, Y:-27.32, Z:-4.92 [[ 9.80610150e-01 1.93767697e-01 2.92884406e-02 1.54981250e+02] [-1.93683530e-01 9.81047437e-01 -5.71102128e-03 -2.73225981e+01] [-2.98399610e-02 -7.24031305e-05 9.99554687e-01 -4.91627282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:155.01, Y:-27.33, Z:-4.92 [[ 9.80492225e-01 1.94442674e-01 2.87583700e-02 1.55009470e+02] [-1.94361762e-01 9.80913879e-01 -5.60953939e-03 -2.73286178e+01] [-2.93002181e-02 -8.94176970e-05 9.99570652e-01 -4.91690868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95401273899998 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:155.04, Y:-27.33, Z:-4.92 [[ 9.80348912e-01 1.95159861e-01 2.87861091e-02 1.55037830e+02] [-1.95079132e-01 9.80771439e-01 -5.61394542e-03 -2.73338792e+01] [-2.93282105e-02 -1.11943888e-04 9.99569829e-01 -4.91723347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:155.07, Y:-27.34, Z:-4.92 [[ 9.80288707e-01 1.95532932e-01 2.83005824e-02 1.55068418e+02] [-1.95455090e-01 9.80697128e-01 -5.51817868e-03 -2.73384470e+01] [-2.88332855e-02 -1.22084643e-04 9.99584227e-01 -4.91889666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01401273899998 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:155.10, Y:-27.34, Z:-4.92 [[ 9.80660905e-01 1.93684796e-01 2.81138536e-02 1.55098323e+02] [-1.93607220e-01 9.81063808e-01 -5.48172643e-03 -2.73429808e+01] [-2.86432114e-02 -6.73302252e-05 9.99589697e-01 -4.92103701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:155.13, Y:-27.35, Z:-4.92 [[ 9.80751168e-01 1.93184514e-01 2.84058091e-02 1.55126931e+02] [-1.93105095e-01 9.81162444e-01 -5.53908777e-03 -2.73491528e+01] [-2.89407791e-02 -5.28396723e-05 9.99581127e-01 -4.92146930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07401273899998 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:155.16, Y:-27.35, Z:-4.92 [[ 9.81231617e-01 1.90686602e-01 2.86903104e-02 1.55155631e+02] [-1.90604526e-01 9.81650966e-01 -5.59420986e-03 -2.73538606e+01] [-2.92306117e-02 2.07125725e-05 9.99572694e-01 -4.92158096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:155.19, Y:-27.36, Z:-4.92 [[ 9.81434710e-01 1.89679161e-01 2.84205160e-02 1.55185197e+02] [-1.89598208e-01 9.81846125e-01 -5.54130709e-03 -2.73579658e+01] [-2.89556440e-02 4.99522085e-05 9.99580696e-01 -4.92208529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13401273899999 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:155.21, Y:-27.37, Z:-4.93 [[ 9.81522135e-01 1.88606215e-01 3.22799494e-02 1.55212393e+02] [-1.88836348e-01 9.81999555e-01 4.20806190e-03 -2.73684996e+01] [-3.09052293e-02 -1.02259336e-02 9.99470008e-01 -4.92529867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:155.25, Y:-27.36, Z:-4.92 [[ 9.81646512e-01 1.88923067e-01 2.60422639e-02 1.55245126e+02] [-1.88566895e-01 9.81937447e-01 -1.55362672e-02 -2.73605511e+01] [-2.85070333e-02 1.03404137e-02 9.99540107e-01 -4.92423836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:155.27, Y:-27.37, Z:-4.92 [[ 9.81747772e-01 1.87686808e-01 3.07404245e-02 1.55274147e+02] [-1.87591034e-01 9.82228918e-01 -5.99637132e-03 -2.73733263e+01] [-3.13195737e-02 1.20296187e-04 9.99509415e-01 -4.92334451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:155.30, Y:-27.38, Z:-4.93 [[ 9.82085584e-01 1.86335860e-01 2.80509033e-02 1.55304722e+02] [-1.86255579e-01 9.82486094e-01 -5.47118750e-03 -2.73808180e+01] [-2.85791009e-02 1.48537128e-04 9.99591523e-01 -4.92615158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254012739 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:155.34, Y:-27.39, Z:-4.93 [[ 9.82355118e-01 1.85231672e-01 2.58389053e-02 1.55335384e+02] [-1.85163057e-01 9.82694866e-01 -5.04417265e-03 -2.73888693e+01] [-2.63261001e-02 1.70758130e-04 9.99653394e-01 -4.92828005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:155.36, Y:-27.40, Z:-4.93 [[ 9.82647939e-01 1.83751688e-01 2.52654754e-02 1.55364181e+02] [-1.83685577e-01 9.82972672e-01 -4.93298025e-03 -2.73981155e+01] [-2.57417154e-02 2.06479444e-04 9.99668606e-01 -4.92922363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314012739 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:155.39, Y:-27.41, Z:-4.93 [[ 9.82660520e-01 1.83579344e-01 2.60178020e-02 1.55392701e+02] [-1.83509176e-01 9.83004871e-01 -5.07986893e-03 -2.74055979e+01] [-2.65081852e-02 2.17281232e-04 9.99648573e-01 -4.92966970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:155.42, Y:-27.42, Z:-4.93 [[ 9.82693977e-01 1.83364031e-01 2.62712655e-02 1.55422930e+02] [-1.83292436e-01 9.83045056e-01 -5.12845476e-03 -2.74166627e+01] [-2.67662118e-02 2.24377344e-04 9.99641696e-01 -4.93070269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374012739 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:155.45, Y:-27.43, Z:-4.93 [[ 9.82860874e-01 1.82704227e-01 2.45696592e-02 1.55452829e+02] [-1.82641303e-01 9.83167896e-01 -4.80020519e-03 -2.74259647e+01] [-2.50331180e-02 2.30499288e-04 9.99686596e-01 -4.93282112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:155.48, Y:-27.43, Z:-4.93 [[ 9.82628554e-01 1.83910764e-01 2.48587148e-02 1.55482783e+02] [-1.83846614e-01 9.82942922e-01 -4.86152250e-03 -2.74339105e+01] [-2.53287840e-02 2.06880287e-04 9.99679153e-01 -4.93406116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434012739 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:155.51, Y:-27.44, Z:-4.93 [[ 9.81948297e-01 1.87201735e-01 2.70749432e-02 1.55512995e+02] [-1.87126865e-01 9.82321481e-01 -5.29565484e-03 -2.74443272e+01] [-2.75876541e-02 1.33610019e-04 9.99619379e-01 -4.93257640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:155.54, Y:-27.45, Z:-4.93 [[ 9.81686648e-01 1.88460656e-01 2.78191846e-02 1.55544016e+02] [-1.88382113e-01 9.82080736e-01 -5.44136358e-03 -2.74522612e+01] [-2.83461682e-02 1.01077195e-04 9.99598162e-01 -4.93326801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49401273899997 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:155.57, Y:-27.46, Z:-4.93 [[ 9.81481637e-01 1.89465852e-01 2.82221126e-02 1.55574977e+02] [-1.89385292e-01 9.81887308e-01 -5.52505500e-03 -2.74599623e+01] [-2.87577434e-02 7.78869954e-05 9.99586408e-01 -4.93495863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:155.61, Y:-27.47, Z:-4.94 [[ 9.81668030e-01 1.88597446e-01 2.75478349e-02 1.55605385e+02] [-1.88520210e-01 9.82054475e-01 -5.39797130e-03 -2.74693008e+01] [-2.80715182e-02 1.05692222e-04 9.99605912e-01 -4.93643064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55401273899997 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:155.64, Y:-27.48, Z:-4.94 [[ 9.81880141e-01 1.87564401e-01 2.70367295e-02 1.55636112e+02] [-1.87489482e-01 9.82252298e-01 -5.30260307e-03 -2.74783801e+01] [-2.75514692e-02 1.37418244e-04 9.99620377e-01 -4.93735173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:155.67, Y:-27.49, Z:-4.94 [[ 9.82205127e-01 1.85827589e-01 2.72249153e-02 1.55666929e+02] [-1.85750819e-01 9.82582348e-01 -5.34442896e-03 -2.74888800e+01] [-2.77438636e-02 1.92275210e-04 9.99615046e-01 -4.93822572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61401273899997 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:155.70, Y:-27.50, Z:-4.94 [[ 9.82283607e-01 1.85268579e-01 2.81863370e-02 1.55698858e+02] [-1.85185912e-01 9.82687898e-01 -5.53832206e-03 -2.74987627e+01] [-2.87244493e-02 2.20490446e-04 9.99587344e-01 -4.93884379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:155.73, Y:-27.51, Z:-4.94 [[ 9.82272075e-01 1.85365150e-01 2.79523041e-02 1.55730254e+02] [-1.85283740e-01 9.82669686e-01 -5.49759832e-03 -2.75081203e+01] [-2.84869450e-02 2.21029878e-04 9.99594140e-01 -4.93938635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67401273899998 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:155.76, Y:-27.52, Z:-4.94 [[ 9.82434188e-01 1.84704990e-01 2.65919836e-02 1.55760321e+02] [-1.84630940e-01 9.82793983e-01 -5.23483733e-03 -2.75187569e+01] [-2.71013421e-02 2.33180214e-04 9.99632664e-01 -4.94155482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:155.79, Y:-27.53, Z:-4.94 [[ 9.82515873e-01 1.84358855e-01 2.59686867e-02 1.55792404e+02] [-1.84287999e-01 9.82858970e-01 -5.11653309e-03 -2.75273223e+01] [-2.64668349e-02 2.41357658e-04 9.99649663e-01 -4.94294582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73401273899998 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:155.82, Y:-27.54, Z:-4.94 [[ 9.82507559e-01 1.84454055e-01 2.56046641e-02 1.55822627e+02] [-1.84385080e-01 9.82841108e-01 -5.04960887e-03 -2.75388513e+01] [-2.60967372e-02 2.40160862e-04 9.99659393e-01 -4.94451788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:155.85, Y:-27.55, Z:-4.94 [[ 9.82334784e-01 1.85342333e-01 2.58184178e-02 1.55854435e+02] [-1.85272390e-01 9.82673990e-01 -5.09624968e-03 -2.75484143e+01] [-2.63156385e-02 2.22783358e-04 9.99653659e-01 -4.94480881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79401273899998 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:155.89, Y:-27.56, Z:-4.94 [[ 9.81661715e-01 1.88674912e-01 2.72406934e-02 1.55885484e+02] [-1.88598179e-01 9.82039590e-01 -5.38243389e-03 -2.75591782e+01] [-2.77669696e-02 1.46184112e-04 9.99614413e-01 -4.94343655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:155.92, Y:-27.57, Z:-4.94 [[ 9.81378638e-01 1.90088400e-01 2.76110218e-02 1.55917488e+02] [-1.90009989e-01 9.81766972e-01 -5.46044137e-03 -2.75674253e+01] [-2.81455558e-02 1.12390569e-04 9.99603829e-01 -4.94374633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85401273899998 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:155.95, Y:-27.58, Z:-4.95 [[ 9.80883021e-01 1.92611138e-01 2.77389331e-02 1.55947743e+02] [-1.92532854e-01 9.81275164e-01 -5.49113646e-03 -2.75765946e+01] [-2.82771801e-02 4.55065634e-05 9.99600120e-01 -4.94570311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:155.98, Y:-27.59, Z:-4.95 [[ 9.80189896e-01 1.96334398e-01 2.60877760e-02 1.55979609e+02] [-1.96266411e-01 9.80536996e-01 -5.16668147e-03 -2.75872983e+01] [-2.65944268e-02 -5.58252086e-05 9.99646304e-01 -4.94794558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914012739 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:156.01, Y:-27.60, Z:-4.95 [[ 9.79648538e-01 1.99151947e-01 2.50448384e-02 1.56009993e+02] [-1.99090096e-01 9.79968615e-01 -4.96454040e-03 -2.75961016e+01] [-2.55318535e-02 -1.22674542e-04 9.99674002e-01 -4.94850504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:156.04, Y:-27.60, Z:-4.95 [[ 9.78324282e-01 2.05509505e-01 2.54448831e-02 1.56040845e+02] [-2.05447694e-01 9.78655077e-01 -5.04825843e-03 -2.76049764e+01] [-2.59392291e-02 -2.88758746e-04 9.99663480e-01 -4.94853744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974012739 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:156.07, Y:-27.61, Z:-4.95 [[ 9.76997544e-01 2.11594392e-01 2.65256769e-02 1.56071219e+02] [-2.11529310e-01 9.77357457e-01 -5.26812832e-03 -2.76109997e+01] [-2.70397745e-02 -4.64009679e-04 9.99634251e-01 -4.94931726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:156.10, Y:-27.62, Z:-4.95 [[ 9.76313297e-01 2.14707719e-01 2.67009595e-02 1.56102978e+02] [-2.14642937e-01 9.76678191e-01 -5.30289222e-03 -2.76173361e+01] [-2.72168167e-02 -5.53888192e-04 9.99629400e-01 -4.95072129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:156.14, Y:-27.62, Z:-4.95 [[ 9.75782641e-01 2.17100283e-01 2.67526555e-02 1.56135532e+02] [-2.17036040e-01 9.76149110e-01 -5.31716748e-03 -2.76230968e+01] [-2.72689395e-02 -6.17890687e-04 9.99627942e-01 -4.95193075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:156.17, Y:-27.62, Z:-4.95 [[ 9.74786141e-01 2.21589042e-01 2.62731036e-02 1.56168102e+02] [-2.21528563e-01 9.75139873e-01 -5.22728069e-03 -2.76243928e+01] [-2.67782590e-02 -7.24762103e-04 9.99641135e-01 -4.95313501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094012739 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:156.20, Y:-27.63, Z:-4.95 [[ 9.73955826e-01 2.25163421e-01 2.66736445e-02 1.56200748e+02] [-2.25102339e-01 9.74320656e-01 -5.31004377e-03 -2.76256387e+01] [-2.71843104e-02 -8.32551695e-04 9.99630092e-01 -4.95327202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:156.23, Y:-27.63, Z:-4.95 [[ 9.73219476e-01 2.28404419e-01 2.59860320e-02 1.56231591e+02] [-2.28347461e-01 9.73565931e-01 -5.17832252e-03 -2.76258683e+01] [-2.64818672e-02 -8.94200122e-04 9.99648894e-01 -4.95480422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154012739 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:156.26, Y:-27.63, Z:-4.96 [[ 9.73045935e-01 2.29275482e-01 2.47863250e-02 1.56263384e+02] [-2.29223940e-01 9.73361180e-01 -4.93945252e-03 -2.76283142e+01] [-2.52585419e-02 -8.75304880e-04 9.99680569e-01 -4.95644405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:156.29, Y:-27.63, Z:-4.96 [[ 9.72913344e-01 2.29955521e-01 2.36660752e-02 1.56292558e+02] [-2.29908709e-01 9.73200767e-01 -4.71721323e-03 -2.76264446e+01] [-2.41165918e-02 -8.51597101e-04 9.99708790e-01 -4.95871015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214012739 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:156.32, Y:-27.63, Z:-4.96 [[ 9.73046134e-01 2.29316529e-01 2.43957278e-02 1.56322687e+02] [-2.29266610e-01 9.73351522e-01 -4.86165827e-03 -2.76294341e+01] [-2.48604774e-02 -8.62508034e-04 9.99690558e-01 -4.95904337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:156.35, Y:-27.63, Z:-4.96 [[ 9.73528161e-01 2.26923897e-01 2.73580736e-02 1.56351719e+02] [-2.26860193e-01 9.73912078e-01 -5.45131107e-03 -2.76293388e+01] [-2.78813911e-02 -8.99453036e-04 9.99610834e-01 -4.95792713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27401273899997 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:156.38, Y:-27.63, Z:-4.96 [[ 9.73792398e-01 2.25752818e-01 2.76411008e-02 1.56380964e+02] [-2.25687347e-01 9.74184222e-01 -5.50666912e-03 -2.76331864e+01] [-2.81706703e-02 -8.75894197e-04 9.99602744e-01 -4.95842664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:156.41, Y:-27.64, Z:-4.96 [[ 9.74524809e-01 2.22799243e-01 2.57273029e-02 1.56411291e+02] [-2.22741514e-01 9.74864070e-01 -5.12471610e-03 -2.76367971e+01] [-2.62224061e-02 -7.36375421e-04 9.99655862e-01 -4.96054182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33401273899997 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:156.44, Y:-27.64, Z:-4.96 [[ 9.74923897e-01 2.21128279e-01 2.50135745e-02 1.56439514e+02] [-2.21073154e-01 9.75244499e-01 -4.98278018e-03 -2.76408545e+01] [-2.54961846e-02 -6.71998341e-04 9.99674694e-01 -4.96251534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:156.47, Y:-27.64, Z:-4.96 [[ 9.75656732e-01 2.17925673e-01 2.45426466e-02 1.56468410e+02] [-2.17871610e-01 9.75965198e-01 -4.88818684e-03 -2.76434450e+01] [-2.50180303e-02 -5.77953531e-04 9.99686833e-01 -4.96442269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39401273899998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:156.49, Y:-27.65, Z:-4.97 [[ 9.75981641e-01 2.15970341e-01 2.85770443e-02 1.56492486e+02] [-2.16151150e-01 9.76354132e-01 3.36001569e-03 -2.76534973e+01] [-2.71756516e-02 -9.45627464e-03 9.99585946e-01 -4.96686893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:156.53, Y:-27.65, Z:-4.97 [[ 9.76429231e-01 2.14674883e-01 2.23752252e-02 1.56525234e+02] [-2.14420025e-01 9.76651602e-01 -1.32552202e-02 -2.76462688e+01] [-2.46983624e-02 8.14508810e-03 9.99661767e-01 -4.96694779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45401273899998 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:156.55, Y:-27.66, Z:-4.97 [[ 9.76648887e-01 2.13532840e-01 2.36786388e-02 1.56551868e+02] [-2.13481269e-01 9.76935782e-01 -4.71429736e-03 -2.76557575e+01] [-2.41391668e-02 -4.50732593e-04 9.99708506e-01 -4.96750960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:156.58, Y:-27.66, Z:-4.97 [[ 9.76509836e-01 2.14149377e-01 2.38450096e-02 1.56581426e+02] [-2.14097303e-01 9.76800810e-01 -4.74575290e-03 -2.76604492e+01] [-2.43081247e-02 -4.70877857e-04 9.99704403e-01 -4.96824826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51401273899998 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:156.61, Y:-27.66, Z:-4.97 [[ 9.76247571e-01 2.15190125e-01 2.51771681e-02 1.56609838e+02] [-2.15132425e-01 9.76572033e-01 -5.01049491e-03 -2.76615026e+01] [-2.56655273e-02 -5.24941744e-04 9.99670448e-01 -4.96874125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:156.64, Y:-27.66, Z:-4.97 [[ 9.76285324e-01 2.14985148e-01 2.54627768e-02 1.56638828e+02] [-2.14926108e-01 9.76617176e-01 -5.06554035e-03 -2.76646406e+01] [-2.59564011e-02 -5.27202822e-04 9.99662937e-01 -4.96976467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57401273899998 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:156.67, Y:-27.67, Z:-4.97 [[ 9.76610004e-01 2.13520261e-01 2.53376681e-02 1.56667417e+02] [-2.13461337e-01 9.76938514e-01 -5.03949403e-03 -2.76651186e+01] [-2.58293779e-02 -4.86992227e-04 9.99666247e-01 -4.96983109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:156.70, Y:-27.67, Z:-4.97 [[ 9.76925972e-01 2.12052611e-01 2.54820719e-02 1.56695838e+02] [-2.11992557e-01 9.77258147e-01 -5.06658245e-03 -2.76677813e+01] [-2.59769444e-02 -4.52333606e-04 9.99662440e-01 -4.97033615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63401273899999 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:156.73, Y:-27.67, Z:-4.97 [[ 9.77617344e-01 2.08623108e-01 2.72163244e-02 1.56725409e+02] [-2.08553310e-01 9.77996037e-01 -5.40997754e-03 -2.76678885e+01] [-2.77461038e-02 -3.87166678e-04 9.99614928e-01 -4.97107503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:156.75, Y:-27.67, Z:-4.97 [[ 9.77624680e-01 2.08588692e-01 2.72165882e-02 1.56754178e+02] [-2.08518918e-01 9.78003378e-01 -5.40865034e-03 -2.76735210e+01] [-2.77460985e-02 -3.87543464e-04 9.99614928e-01 -4.97202245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694012739 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:156.78, Y:-27.67, Z:-4.97 [[ 9.78631721e-01 2.03437183e-01 2.98875631e-02 1.56784180e+02] [-2.03350672e-01 9.79087964e-01 -5.93821461e-03 -2.76744512e+01] [-3.04706070e-02 -2.66330865e-04 9.99535628e-01 -4.97172065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:156.81, Y:-27.68, Z:-4.97 [[ 9.79149375e-01 2.00778952e-01 3.08919757e-02 1.56813364e+02] [-2.00685228e-01 9.79636553e-01 -6.13700918e-03 -2.76766823e+01] [-3.14950908e-02 -1.90514487e-04 9.99503888e-01 -4.97271913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754012739 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:156.84, Y:-27.68, Z:-4.97 [[ 9.80148679e-01 1.95913115e-01 3.04403937e-02 1.56842402e+02] [-1.95819797e-01 9.80621257e-01 -6.04620911e-03 -2.76761406e+01] [-3.10350288e-02 -3.46478597e-05 9.99518297e-01 -4.97389372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:156.87, Y:-27.68, Z:-4.97 [[ 9.80616188e-01 1.93628895e-01 2.99957061e-02 1.56872001e+02] [-1.93537249e-01 9.81074844e-01 -5.95680413e-03 -2.76795313e+01] [-3.05814421e-02 3.60521121e-05 9.99532278e-01 -4.97462551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814012739 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:156.90, Y:-27.68, Z:-4.98 [[ 9.81479734e-01 1.89466709e-01 2.82824595e-02 1.56901238e+02] [-1.89383525e-01 9.81887133e-01 -5.61592619e-03 -2.76831663e+01] [-2.88342141e-02 1.55685873e-04 9.99584195e-01 -4.97657830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:156.93, Y:-27.69, Z:-4.98 [[ 9.82023188e-01 1.86799797e-01 2.71347306e-02 1.56929117e+02] [-1.86722226e-01 9.82397977e-01 -5.38745333e-03 -2.76878989e+01] [-2.76634796e-02 2.23946807e-04 9.99617268e-01 -4.97854181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874012739 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:156.96, Y:-27.69, Z:-4.98 [[ 9.82124342e-01 1.86292085e-01 2.69636083e-02 1.56958114e+02] [-1.86215327e-01 9.82494378e-01 -5.35245076e-03 -2.76931652e+01] [-2.74887127e-02 2.35735062e-04 9.99622086e-01 -4.97976451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:156.99, Y:-27.70, Z:-4.98 [[ 9.82207852e-01 1.85927078e-01 2.64358965e-02 1.56987456e+02] [-1.85853180e-01 9.82563516e-01 -5.24708186e-03 -2.76983501e+01] [-2.69505220e-02 2.40529585e-04 9.99636740e-01 -4.98080256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:157.02, Y:-27.70, Z:-4.98 [[ 9.82233712e-01 1.85819907e-01 2.62277912e-02 1.57015707e+02] [-1.85747146e-01 9.82583790e-01 -5.20515498e-03 -2.77032036e+01] [-2.67382239e-02 2.40941324e-04 9.99642441e-01 -4.98175178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:157.04, Y:-27.71, Z:-4.98 [[ 9.81980068e-01 1.87136118e-01 2.63670007e-02 1.57043520e+02] [-1.87063071e-01 9.82333971e-01 -5.23225940e-03 -2.77092702e+01] [-2.68803452e-02 2.05682334e-04 9.99638637e-01 -4.98287588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99401273899997 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:157.07, Y:-27.72, Z:-4.98 [[ 9.81775526e-01 1.88257495e-01 2.59987023e-02 1.57071119e+02] [-1.88186899e-01 9.82119690e-01 -5.15800464e-03 -2.77157163e+01] [-2.65048705e-02 1.71387545e-04 9.99648670e-01 -4.98433576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:157.10, Y:-27.72, Z:-4.99 [[ 9.81233766e-01 1.91163680e-01 2.52337968e-02 1.57099091e+02] [-1.91098169e-01 9.81558169e-01 -5.00503437e-03 -2.77226116e+01] [-2.57252202e-02 8.89763456e-05 9.99669048e-01 -4.98672107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05401273899997 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:157.13, Y:-27.73, Z:-4.99 [[ 9.81007825e-01 1.92279794e-01 2.55367998e-02 1.57127753e+02] [-1.92213101e-01 9.81340143e-01 -5.06427095e-03 -2.77286698e+01] [-2.60340438e-02 5.95819623e-05 9.99661055e-01 -4.98766938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:157.16, Y:-27.73, Z:-4.99 [[ 9.80546729e-01 1.94305817e-01 2.78093654e-02 1.57156310e+02] [-1.94227580e-01 9.80941002e-01 -5.51343828e-03 -2.77345063e+01] [-2.83506399e-02 4.83813166e-06 9.99598040e-01 -4.98700684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11401273899997 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:157.18, Y:-27.74, Z:-4.99 [[ 9.80397870e-01 1.94822407e-01 2.93980735e-02 1.57184380e+02] [-1.94735252e-01 9.80838534e-01 -5.82685681e-03 -2.77393682e+01] [-2.99699656e-02 -1.22032456e-05 9.99550800e-01 -4.98711007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:157.21, Y:-27.75, Z:-4.99 [[ 9.80324890e-01 1.95111802e-01 2.99081094e-02 1.57212208e+02] [-1.95021764e-01 9.80781007e-01 -5.92683342e-03 -2.77453810e+01] [-3.04897008e-02 -2.25099204e-05 9.99535081e-01 -4.98877777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17401273899998 meters Centerline goodness : 0.996884 Centerline is valid? [True, True] Translation: X:157.24, Y:-27.75, Z:-4.99 [[ 9.80106186e-01 1.96038148e-01 3.09985160e-02 1.57239482e+02] [-1.95941923e-01 9.80596268e-01 -6.14176628e-03 -2.77529694e+01] [-3.16010496e-02 -5.43257000e-05 9.99500561e-01 -4.98923438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:157.27, Y:-27.76, Z:-4.99 [[ 9.80343381e-01 1.94629793e-01 3.23434479e-02 1.57269017e+02] [-1.94524331e-01 9.80876773e-01 -6.40632532e-03 -2.77587045e+01] [-3.29717986e-02 -1.11889316e-05 9.99456282e-01 -4.98907134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23401273899998 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:157.30, Y:-27.76, Z:-4.99 [[ 9.80561806e-01 1.93525567e-01 3.23481157e-02 1.57298548e+02] [-1.93419499e-01 9.81095232e-01 -6.40649200e-03 -2.77649405e+01] [-3.29764021e-02 2.52050393e-05 9.99456130e-01 -4.99024399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:157.33, Y:-27.77, Z:-4.99 [[ 9.81090926e-01 1.90866495e-01 3.21025786e-02 1.57328743e+02] [-1.90760605e-01 9.81615998e-01 -6.35793098e-03 -2.77745454e+01] [-3.27259207e-02 1.13801084e-04 9.99464357e-01 -4.99190888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29401273899998 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:157.36, Y:-27.78, Z:-4.99 [[ 9.81421085e-01 1.89104186e-01 3.24385576e-02 1.57359081e+02] [-1.88994933e-01 9.81957013e-01 -6.42965965e-03 -2.77821297e+01] [-3.30691447e-02 1.79480525e-04 9.99453050e-01 -4.99253132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:157.39, Y:-27.79, Z:-4.99 [[ 9.81982498e-01 1.86047966e-01 3.31138708e-02 1.57388610e+02] [-1.85932349e-01 9.82540620e-01 -6.56435387e-03 -2.77865593e+01] [-3.37570078e-02 2.89140814e-04 9.99430028e-01 -4.99344628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35401273899998 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:157.42, Y:-27.79, Z:-5.00 [[ 9.82180840e-01 1.85060134e-01 3.27649771e-02 1.57418954e+02] [-1.84946334e-01 9.82727146e-01 -6.49693415e-03 -2.77921138e+01] [-3.34013560e-02 3.21401855e-04 9.99441967e-01 -4.99511665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:157.45, Y:-27.80, Z:-5.00 [[ 9.82616805e-01 1.83043603e-01 3.09718171e-02 1.57448454e+02] [-1.82940901e-01 9.83104726e-01 -6.14195855e-03 -2.78020450e+01] [-3.15727860e-02 3.69179551e-04 9.99501387e-01 -4.99683711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:157.48, Y:-27.81, Z:-5.00 [[ 9.83341627e-01 1.79338650e-01 2.96123866e-02 1.57480226e+02] [-1.79242963e-01 9.83787287e-01 -5.87650946e-03 -2.78111298e+01] [-3.01861748e-02 4.70804451e-04 9.99544183e-01 -4.99938068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:157.51, Y:-27.82, Z:-5.00 [[ 9.83595987e-01 1.77947890e-01 2.95547378e-02 1.57510677e+02] [-1.77851774e-01 9.84039776e-01 -5.87084398e-03 -2.78183446e+01] [-3.01277419e-02 5.18176042e-04 9.99545922e-01 -5.00036693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474012739 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:157.54, Y:-27.83, Z:-5.00 [[ 9.84136590e-01 1.74904415e-01 2.97257001e-02 1.57541768e+02] [-1.74805656e-01 9.84585223e-01 -5.90937997e-03 -2.78301780e+01] [-3.03010617e-02 6.19416543e-04 9.99540625e-01 -5.00093239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:157.57, Y:-27.84, Z:-5.00 [[ 9.84286932e-01 1.74128838e-01 2.92981721e-02 1.57573067e+02] [-1.74032389e-01 9.84722671e-01 -5.83000762e-03 -2.78391281e+01] [-2.98657467e-02 6.39569435e-04 9.99553714e-01 -5.00112517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534012739 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:157.61, Y:-27.85, Z:-5.00 [[ 9.84309271e-01 1.74075196e-01 2.88632108e-02 1.57605138e+02] [-1.73981417e-01 9.84732157e-01 -5.74854376e-03 -2.78467128e+01] [-2.94232107e-02 6.36682617e-04 9.99566841e-01 -5.00184131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:157.64, Y:-27.86, Z:-5.00 [[ 9.84066002e-01 1.75428817e-01 2.89626420e-02 1.57637252e+02] [-1.75334810e-01 9.84491933e-01 -5.77396790e-03 -2.78555949e+01] [-2.95264077e-02 6.03806170e-04 9.99563818e-01 -5.00342301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594012739 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:157.67, Y:-27.87, Z:-5.00 [[ 9.83335757e-01 1.78985621e-01 3.18580675e-02 1.57667828e+02] [-1.78873512e-01 9.83851534e-01 -6.35810731e-03 -2.78671060e+01] [-3.24816184e-02 5.53589823e-04 9.99472180e-01 -5.00414085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:157.70, Y:-27.88, Z:-5.00 [[ 9.82860366e-01 1.81430898e-01 3.26853299e-02 1.57699517e+02] [-1.81314035e-01 9.83403573e-01 -6.52936615e-03 -2.78753191e+01] [-3.33274990e-02 4.91146155e-04 9.99444364e-01 -5.00368757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654012739 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:157.73, Y:-27.89, Z:-5.01 [[ 9.81608099e-01 1.87106726e-01 3.79026791e-02 1.57726155e+02] [-1.87411495e-01 9.82270617e-01 4.62242304e-03 -2.78909374e+01] [-3.63658015e-02 -1.16408056e-02 9.99270744e-01 -5.00681479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:157.76, Y:-27.88, Z:-5.01 [[ 9.80625867e-01 1.93838508e-01 2.82761749e-02 1.57762553e+02] [-1.93398728e-01 9.80963033e-01 -1.75630076e-02 -2.78830103e+01] [-3.11422694e-02 1.17541633e-02 9.99445846e-01 -5.00777570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714012739 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:157.79, Y:-27.90, Z:-5.01 [[ 9.80090810e-01 1.96294469e-01 2.98410039e-02 1.57791665e+02] [-1.96203488e-01 9.80544992e-01 -5.97574829e-03 -2.78972776e+01] [-3.04334533e-02 1.86692075e-06 9.99536795e-01 -5.00815031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:157.82, Y:-27.90, Z:-5.01 [[ 9.79501639e-01 1.99129059e-01 3.03999570e-02 1.57822416e+02] [-1.99035844e-01 9.79973271e-01 -6.09277307e-03 -2.79013145e+01] [-3.10043935e-02 -8.27998940e-05 9.99519245e-01 -5.00863239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77401273899997 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:157.85, Y:-27.91, Z:-5.01 [[ 9.79345568e-01 1.99867706e-01 3.05803561e-02 1.57853200e+02] [-1.99773720e-01 9.79822886e-01 -6.12959852e-03 -2.79079676e+01] [-3.11884416e-02 -1.06156353e-04 9.99513517e-01 -5.01028928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:157.88, Y:-27.92, Z:-5.01 [[ 9.79334037e-01 1.99838270e-01 3.11369551e-02 1.57884655e+02] [-1.99740721e-01 9.79828891e-01 -6.24415032e-03 -2.79205360e+01] [-3.17567084e-02 -1.04208906e-04 9.99495623e-01 -5.01249334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83401273899997 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:157.92, Y:-27.93, Z:-5.01 [[ 9.79443150e-01 1.99244741e-01 3.15063335e-02 1.57915940e+02] [-1.99144353e-01 9.79949757e-01 -6.32454920e-03 -2.79282354e+01] [-3.21347570e-02 -7.97720010e-05 9.99483542e-01 -5.01264326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:157.95, Y:-27.93, Z:-5.01 [[ 9.79674507e-01 1.98066177e-01 3.17435012e-02 1.57948848e+02] [-1.97963461e-01 9.80188649e-01 -6.37807454e-03 -2.79317018e+01] [-3.23779004e-02 -3.56163338e-05 9.99475698e-01 -5.01450644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89401273899998 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:157.98, Y:-27.94, Z:-5.02 [[ 9.79995568e-01 1.96291267e-01 3.28393881e-02 1.57980962e+02] [-1.96180115e-01 9.80545633e-01 -6.60490979e-03 -2.79416041e+01] [-3.34970047e-02 3.03473846e-05 9.99438817e-01 -5.01636218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:158.01, Y:-27.95, Z:-5.02 [[ 9.80222729e-01 1.95140443e-01 3.29182220e-02 1.58012892e+02] [-1.95027890e-01 9.80775306e-01 -6.62724820e-03 -2.79520147e+01] [-3.35786235e-02 7.62079333e-05 9.99436076e-01 -5.01694944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95401273899998 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:158.04, Y:-27.96, Z:-5.02 [[ 9.80600470e-01 1.93523689e-01 3.11656769e-02 1.58043814e+02] [-1.93421798e-01 9.81095594e-01 -6.28036948e-03 -2.79604825e+01] [-3.17919085e-02 1.30412002e-04 9.99494501e-01 -5.01796559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:158.08, Y:-27.97, Z:-5.02 [[ 9.80694032e-01 1.93128989e-01 3.06660780e-02 1.58076358e+02] [-1.93029969e-01 9.81173365e-01 -6.18537885e-03 -2.79676510e+01] [-3.12833149e-02 1.46492036e-04 9.99510547e-01 -5.02042155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01401273899998 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:158.11, Y:-27.98, Z:-5.02 [[ 9.80518427e-01 1.94102045e-01 3.01332051e-02 1.58106822e+02] [-1.94006717e-01 9.80981336e-01 -6.08373252e-03 -2.79805753e+01] [-3.07409767e-02 1.19167660e-04 9.99527377e-01 -5.02077471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:158.14, Y:-27.99, Z:-5.02 [[ 9.80235989e-01 1.95436732e-01 3.06902250e-02 1.58138406e+02] [-1.95338385e-01 9.80716308e-01 -6.19985056e-03 -2.79894183e+01] [-3.13100827e-02 8.23376405e-05 9.99509716e-01 -5.02060982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07401273899998 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:158.17, Y:-27.99, Z:-5.02 [[ 9.79695430e-01 1.97968771e-01 3.17053761e-02 1.58170721e+02] [-1.97864928e-01 9.80208328e-01 -6.41130528e-03 -2.79919447e+01] [-3.23471119e-02 7.74454540e-06 9.99476695e-01 -5.02056132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:158.20, Y:-28.00, Z:-5.02 [[ 9.79413218e-01 1.99472707e-01 3.09901258e-02 1.58203590e+02] [-1.99374076e-01 9.79903382e-01 -6.27216284e-03 -2.79978717e+01] [-3.16184543e-02 -3.55884857e-05 9.99500011e-01 -5.02283980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13401273899999 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:158.23, Y:-28.01, Z:-5.03 [[ 9.79050184e-01 2.01405991e-01 2.99393208e-02 1.58234148e+02] [-2.01314667e-01 9.79507845e-01 -6.06517688e-03 -2.80093615e+01] [-3.05473626e-02 -8.91118430e-05 9.99533316e-01 -5.02503766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:158.26, Y:-28.02, Z:-5.03 [[ 9.78959917e-01 2.01669368e-01 3.10957763e-02 1.58264019e+02] [-2.01606708e-01 9.79452912e-01 -5.16992947e-03 -2.80174543e+01] [-3.14994650e-02 -1.20796338e-03 9.99503039e-01 -5.02514722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194012739 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:158.30, Y:-28.02, Z:-5.03 [[ 9.78996782e-01 2.01533804e-01 3.08127808e-02 1.58296613e+02] [-2.01403273e-01 9.79481094e-01 -7.31498678e-03 -2.80218666e+01] [-3.16547534e-02 9.55553619e-04 9.99498406e-01 -5.02637153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:158.33, Y:-28.03, Z:-5.03 [[ 9.78759698e-01 2.02557097e-01 3.16239874e-02 1.58327475e+02] [-2.02455318e-01 9.79270447e-01 -6.42151049e-03 -2.80308752e+01] [-3.22691588e-02 -1.17328743e-04 9.99479208e-01 -5.02592597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254012739 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:158.36, Y:-28.04, Z:-5.03 [[ 9.78532078e-01 2.03676446e-01 3.14782048e-02 1.58359368e+02] [-2.03576003e-01 9.79038244e-01 -6.39748815e-03 -2.80384773e+01] [-3.21213840e-02 -1.48059744e-04 9.99483964e-01 -5.02721564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:158.39, Y:-28.04, Z:-5.03 [[ 9.77910447e-01 2.06563149e-01 3.19816081e-02 1.58390479e+02] [-2.06460794e-01 9.78433241e-01 -6.50638163e-03 -2.80438028e+01] [-3.26358472e-02 -2.40289628e-04 9.99467280e-01 -5.02777207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314012739 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:158.42, Y:-28.05, Z:-5.03 [[ 9.77616216e-01 2.07870472e-01 3.25023314e-02 1.58422661e+02] [-2.07765269e-01 9.78156320e-01 -6.61859113e-03 -2.80497378e+01] [-3.31681705e-02 -2.82413608e-04 9.99449745e-01 -5.02925700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:158.45, Y:-28.06, Z:-5.03 [[ 9.77405655e-01 2.09046823e-01 3.12667603e-02 1.58454229e+02] [-2.08949879e-01 9.77905585e-01 -6.37298321e-03 -2.80559823e+01] [-3.19081914e-02 -3.04195938e-04 9.99490758e-01 -5.03057210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374012739 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:158.49, Y:-28.06, Z:-5.03 [[ 9.77483821e-01 2.08533072e-01 3.22387524e-02 1.58485554e+02] [-2.08429522e-01 9.78015273e-01 -6.57728362e-03 -2.80608080e+01] [-3.29015733e-02 -2.90319439e-04 9.99458555e-01 -5.03172314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:158.52, Y:-28.07, Z:-5.03 [[ 9.77535563e-01 2.08209604e-01 3.27564347e-02 1.58516585e+02] [-2.08102316e-01 9.78084190e-01 -6.68898907e-03 -2.80665529e+01] [-3.34312626e-02 -2.77965228e-04 9.99440980e-01 -5.03283037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434012739 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:158.55, Y:-28.07, Z:-5.03 [[ 9.77618517e-01 2.07747537e-01 3.32113824e-02 1.58548765e+02] [-2.07636775e-01 9.78182444e-01 -6.78795970e-03 -2.80729977e+01] [-3.38969731e-02 -2.59869247e-04 9.99425299e-01 -5.03415520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:158.58, Y:-28.08, Z:-5.04 [[ 9.77580102e-01 2.08039805e-01 3.25051357e-02 1.58580970e+02] [-2.07933661e-01 9.78120326e-01 -6.64979447e-03 -2.80792017e+01] [-3.31773559e-02 -2.58205127e-04 9.99449447e-01 -5.03594786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49401273899997 meters Centerline goodness : 0.997775 Centerline is valid? [True, True] Translation: X:158.61, Y:-28.08, Z:-5.04 [[ 9.77387592e-01 2.09105987e-01 3.14353553e-02 1.58613405e+02] [-2.09007077e-01 9.77892943e-01 -6.43687140e-03 -2.80848935e+01] [-3.20864005e-02 -2.78893497e-04 9.99485060e-01 -5.03749726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:158.65, Y:-28.09, Z:-5.04 [[ 9.77074008e-01 2.10633819e-01 3.09802658e-02 1.58645238e+02] [-2.10538331e-01 9.77564981e-01 -6.34968542e-03 -2.80876945e+01] [-3.16226814e-02 -3.18420853e-04 9.99499827e-01 -5.03903545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55401273899997 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:158.68, Y:-28.09, Z:-5.04 [[ 9.77066608e-01 2.10668298e-01 3.09791998e-02 1.58676397e+02] [-2.10572662e-01 9.77557553e-01 -6.35488182e-03 -2.80941341e+01] [-3.16227229e-02 -3.14229761e-04 9.99499827e-01 -5.04007161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:158.71, Y:-28.10, Z:-5.04 [[ 9.77027933e-01 2.10785598e-01 3.13982507e-02 1.58705974e+02] [-2.10687380e-01 9.77532265e-01 -6.44202042e-03 -2.80984882e+01] [-3.20506883e-02 -3.21181292e-04 9.99486193e-01 -5.04036961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61401273899997 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:158.74, Y:-28.10, Z:-5.04 [[ 9.77026572e-01 2.10557599e-01 3.29328896e-02 1.58737486e+02] [-2.10449398e-01 9.77581398e-01 -6.75731613e-03 -2.81023904e+01] [-3.36173845e-02 -3.28629356e-04 9.99434722e-01 -5.04085061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:158.77, Y:-28.11, Z:-5.04 [[ 9.77015683e-01 2.10501146e-01 3.36098682e-02 1.58767455e+02] [-2.10388388e-01 9.77593554e-01 -6.89703507e-03 -2.81061986e+01] [-3.43086243e-02 -3.32614557e-04 9.99411231e-01 -5.04084586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67401273899998 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:158.80, Y:-28.11, Z:-5.04 [[ 9.77004391e-01 2.10521374e-01 3.38108228e-02 1.58798160e+02] [-2.10407256e-01 9.77589197e-01 -6.93884542e-03 -2.81100533e+01] [-3.45138704e-02 -3.34760019e-04 9.99404163e-01 -5.04228940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:158.83, Y:-28.11, Z:-5.04 [[ 9.77157494e-01 2.09843452e-01 3.35999551e-02 1.58829910e+02] [-2.09730247e-01 9.77734950e-01 -6.89864448e-03 -2.81117010e+01] [-3.42994858e-02 -3.05864744e-04 9.99411553e-01 -5.04421455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73401273899998 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:158.86, Y:-28.12, Z:-5.04 [[ 9.77224195e-01 2.09551515e-01 3.34818516e-02 1.58859444e+02] [-2.09438907e-01 9.77797564e-01 -6.87518253e-03 -2.81167313e+01] [-3.41791778e-02 -2.93807668e-04 9.99415678e-01 -5.04491806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:158.89, Y:-28.12, Z:-5.05 [[ 9.77628216e-01 2.07818971e-01 3.24707095e-02 1.58890352e+02] [-2.07712094e-01 9.78167278e-01 -6.66793903e-03 -2.81204474e+01] [-3.31475098e-02 -2.25793741e-04 9.99450445e-01 -5.04592142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79401273899998 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:158.92, Y:-28.13, Z:-5.05 [[ 9.78355695e-01 2.04625107e-01 3.08009688e-02 1.58920232e+02] [-2.04527336e-01 9.78840413e-01 -6.32577330e-03 -2.81252687e+01] [-3.14436451e-02 -1.10783764e-04 9.99505520e-01 -5.04748511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:158.95, Y:-28.13, Z:-5.05 [[ 9.78681728e-01 2.03014112e-01 3.11021748e-02 1.58950317e+02] [-2.02913593e-01 9.79175810e-01 -6.38802310e-03 -2.81318593e+01] [-3.17513561e-02 -5.92125735e-05 9.99495797e-01 -5.04858109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85401273899998 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:158.98, Y:-28.14, Z:-5.05 [[ 9.78943711e-01 2.01613780e-01 3.19545558e-02 1.58979998e+02] [-2.01506929e-01 9.79465101e-01 -6.56309218e-03 -2.81386078e+01] [-3.26215820e-02 -1.41665823e-05 9.99467774e-01 -5.04869258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:159.01, Y:-28.14, Z:-5.05 [[ 9.79329029e-01 1.99633218e-01 3.25765423e-02 1.59009639e+02] [-1.99521070e-01 9.79870693e-01 -6.69084924e-03 -2.81445040e+01] [-3.32565148e-02 5.28363319e-05 9.99446848e-01 -5.04937676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914012739 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:159.04, Y:-28.15, Z:-5.05 [[ 9.79601948e-01 1.98541503e-01 3.10047644e-02 1.59039013e+02] [-1.98439360e-01 9.80092477e-01 -6.36837353e-03 -2.81518237e+01] [-3.16519228e-02 8.59055056e-05 9.99498949e-01 -5.05175856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:159.07, Y:-28.16, Z:-5.05 [[ 9.79769169e-01 1.97915362e-01 2.96965529e-02 1.59069477e+02] [-1.97821362e-01 9.80219108e-01 -6.09997353e-03 -2.81598834e+01] [-3.03164071e-02 1.01953433e-04 9.99540347e-01 -5.05346740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974012739 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:159.10, Y:-28.17, Z:-5.06 [[ 9.80012016e-01 1.96813571e-01 2.89976975e-02 1.59099362e+02] [-1.96723442e-01 9.80440921e-01 -5.95707639e-03 -2.81686789e+01] [-2.96029627e-02 1.33479571e-04 9.99561727e-01 -5.05500699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:159.13, Y:-28.18, Z:-5.06 [[ 9.79923246e-01 1.97189884e-01 2.94377768e-02 1.59129017e+02] [-1.97097145e-01 9.80365307e-01 -6.04823260e-03 -2.81758269e+01] [-3.00524254e-02 1.24701943e-04 9.99548316e-01 -5.05534868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:159.16, Y:-28.18, Z:-5.06 [[ 9.79087199e-01 2.01246023e-01 2.98042837e-02 1.59158996e+02] [-2.01152826e-01 9.79540728e-01 -6.12392108e-03 -2.81828885e+01] [-3.04269245e-02 6.36841142e-07 9.99536994e-01 -5.05510579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:159.19, Y:-28.19, Z:-5.06 [[ 9.77785949e-01 2.07429636e-01 3.01261470e-02 1.59189331e+02] [-2.07337345e-01 9.78249921e-01 -6.19005472e-03 -2.81884263e+01] [-3.07549018e-02 -1.93726817e-04 9.99526937e-01 -5.05774302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:159.22, Y:-28.19, Z:-5.06 [[ 9.77282325e-01 2.09609891e-01 3.13520542e-02 1.59217642e+02] [-2.09511054e-01 9.77785058e-01 -6.44195787e-03 -2.81931962e+01] [-3.20058682e-02 -2.72990365e-04 9.99487644e-01 -5.05884205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:159.25, Y:-28.20, Z:-5.06 [[ 9.76657061e-01 2.12232789e-01 3.31395172e-02 1.59249116e+02] [-2.12123898e-01 9.77219064e-01 -6.80832424e-03 -2.81978966e+01] [-3.38295177e-02 -3.80285630e-04 9.99427546e-01 -5.05872372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:159.28, Y:-28.20, Z:-5.06 [[ 9.76404191e-01 2.13365026e-01 3.33199944e-02 1.59279130e+02] [-2.13255576e-01 9.76972460e-01 -6.84622381e-03 -2.82027900e+01] [-3.40134616e-02 -4.20992972e-04 9.99421286e-01 -5.05941933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:159.31, Y:-28.20, Z:-5.06 [[ 9.76279947e-01 2.13954822e-01 3.31782969e-02 1.59309270e+02] [-2.13846629e-01 9.76843458e-01 -6.81747374e-03 -2.82040377e+01] [-3.38686336e-02 -4.39304044e-04 9.99426197e-01 -5.05940585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214012739 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:159.34, Y:-28.21, Z:-5.06 [[ 9.76405913e-01 2.13395337e-01 3.30745034e-02 1.59337521e+02] [-2.13287526e-01 9.76965841e-01 -6.79538193e-03 -2.82066037e+01] [-3.37627629e-02 -4.19327909e-04 9.99429787e-01 -5.05987317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:159.37, Y:-28.21, Z:-5.06 [[ 9.76798794e-01 2.11418273e-01 3.41530238e-02 1.59367607e+02] [-2.11302136e-01 9.77395612e-01 -7.01608291e-03 -2.82077408e+01] [-3.48643437e-02 -3.63305550e-04 9.99391988e-01 -5.05981061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27401273899997 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:159.40, Y:-28.21, Z:-5.06 [[ 9.77169574e-01 2.09628283e-01 3.45775470e-02 1.59395627e+02] [-2.09508150e-01 9.77781106e-01 -7.10242155e-03 -2.82114799e+01] [-3.52981406e-02 -3.04007677e-04 9.99376780e-01 -5.06058778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:159.43, Y:-28.21, Z:-5.06 [[ 9.78063688e-01 2.05497341e-01 3.40920246e-02 1.59426692e+02] [-2.05378087e-01 9.78657662e-01 -7.00156611e-03 -2.82134122e+01] [-3.48032243e-02 -1.53777240e-04 9.99394172e-01 -5.06294967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33401273899997 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:159.46, Y:-28.22, Z:-5.06 [[ 9.78724378e-01 2.02606249e-01 3.23928884e-02 1.59456769e+02] [-2.02497006e-01 9.79260285e-01 -6.65259779e-03 -2.82151930e+01] [-3.30689270e-02 -4.84032787e-05 9.99453072e-01 -5.06489741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:159.49, Y:-28.22, Z:-5.07 [[ 9.79052499e-01 2.01105283e-01 3.18256007e-02 1.59486403e+02] [-2.00999065e-01 9.79569633e-01 -6.53534434e-03 -2.82198510e+01] [-3.24896842e-02 1.52921573e-06 9.99472071e-01 -5.06621640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39401273899998 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:159.52, Y:-28.22, Z:-5.07 [[ 9.79626958e-01 1.98536274e-01 3.02385674e-02 1.59515342e+02] [-1.98439184e-01 9.80093537e-01 -6.20877467e-03 -2.82226714e+01] [-3.08692915e-02 8.17663894e-05 9.99523427e-01 -5.06737132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:159.54, Y:-28.23, Z:-5.07 [[ 9.79710472e-01 1.98222591e-01 2.95836939e-02 1.59543749e+02] [-1.98129551e-01 9.80157026e-01 -6.07326666e-03 -2.82258078e+01] [-3.02005241e-02 8.86389592e-05 9.99543856e-01 -5.06910248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45401273899998 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:159.57, Y:-28.23, Z:-5.07 [[ 9.79677583e-01 1.98548223e-01 2.84681802e-02 1.59572268e+02] [-1.98462233e-01 9.80091117e-01 -5.84332990e-03 -2.82286809e+01] [-2.90615933e-02 7.47206806e-05 9.99577620e-01 -5.07050316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:159.60, Y:-28.23, Z:-5.07 [[ 9.79766311e-01 1.98081577e-01 2.86646809e-02 1.59600998e+02] [-1.97994236e-01 9.80185534e-01 -5.88229194e-03 -2.82334640e+01] [-2.92618792e-02 8.78298711e-05 9.99571776e-01 -5.07151137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51401273899998 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:159.63, Y:-28.23, Z:-5.07 [[ 9.79696189e-01 1.98181483e-01 3.03228816e-02 1.59629463e+02] [-1.98083837e-01 9.80165339e-01 -6.22106617e-03 -2.82346539e+01] [-3.09543377e-02 8.82820788e-05 9.99520796e-01 -5.07106491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:159.66, Y:-28.24, Z:-5.07 [[ 9.79581974e-01 1.98588342e-01 3.13341226e-02 1.59657382e+02] [-1.98484342e-01 9.80082989e-01 -6.42662081e-03 -2.82379733e+01] [-3.19862925e-02 7.60692065e-05 9.99488305e-01 -5.07165886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57401273899998 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:159.69, Y:-28.24, Z:-5.07 [[ 9.79728364e-01 1.97668014e-01 3.25528732e-02 1.59686098e+02] [-1.97555326e-01 9.80269016e-01 -6.67446927e-03 -2.82423529e+01] [-3.32299020e-02 1.08173395e-04 9.99447728e-01 -5.07289133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:159.71, Y:-28.25, Z:-5.07 [[ 9.79864434e-01 1.97085990e-01 3.19812927e-02 1.59713092e+02] [-1.96976964e-01 9.80386198e-01 -6.55578559e-03 -2.82477844e+01] [-3.26460714e-02 1.24203195e-04 9.99466967e-01 -5.07427945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63401273899999 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:159.74, Y:-28.25, Z:-5.08 [[ 9.80315390e-01 1.95146189e-01 2.99950014e-02 1.59740398e+02] [-1.95049431e-01 9.80774150e-01 -6.14697461e-03 -2.82524068e+01] [-3.06178806e-02 1.75465854e-04 9.99531147e-01 -5.07639598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:159.77, Y:-28.26, Z:-5.08 [[ 9.80669757e-01 1.93336466e-01 3.01303700e-02 1.59768454e+02] [-1.93238032e-01 9.81132487e-01 -6.17294897e-03 -2.82581870e+01] [-3.07553410e-02 2.31290944e-04 9.99526916e-01 -5.07782087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694012739 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:159.80, Y:-28.27, Z:-5.08 [[ 9.81427606e-01 1.89032843e-01 3.26563612e-02 1.59796999e+02] [-1.88914878e-01 9.81970686e-01 -6.68885762e-03 -2.82677709e+01] [-3.33320031e-02 3.95357034e-04 9.99444256e-01 -5.07782348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:159.83, Y:-28.28, Z:-5.08 [[ 9.81877017e-01 1.86532918e-01 3.35111075e-02 1.59825747e+02] [-1.86407267e-01 9.82448588e-01 -6.86312563e-03 -2.82763143e+01] [-3.42031391e-02 4.92031365e-04 9.99414780e-01 -5.07857692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754012739 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:159.85, Y:-28.29, Z:-5.08 [[ 9.82509010e-01 1.83288925e-01 3.28818463e-02 1.59854624e+02] [-1.83166146e-01 9.83058909e-01 -6.73389144e-03 -2.82870322e+01] [-3.35590397e-02 5.93267959e-04 9.99436561e-01 -5.07927968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:159.89, Y:-28.30, Z:-5.08 [[ 9.82796976e-01 1.81943942e-01 3.17254700e-02 1.59885277e+02] [-1.81828937e-01 9.83308711e-01 -6.49740643e-03 -2.82996195e+01] [-3.23780947e-02 6.17022910e-04 9.99475502e-01 -5.08073341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814012739 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:159.92, Y:-28.31, Z:-5.08 [[ 9.82736847e-01 1.82056094e-01 3.29221579e-02 1.59915121e+02] [-1.81932126e-01 9.83287937e-01 -6.74796467e-03 -2.83098919e+01] [-3.36004688e-02 6.41875354e-04 9.99435139e-01 -5.08117026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:159.95, Y:-28.32, Z:-5.08 [[ 9.82525910e-01 1.82801472e-01 3.50208111e-02 1.59945345e+02] [-1.82661614e-01 9.83149627e-01 -7.17946825e-03 -2.83222951e+01] [-3.57431147e-02 6.57055708e-04 9.99360795e-01 -5.08112993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874012739 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:159.98, Y:-28.33, Z:-5.08 [[ 9.82440950e-01 1.83376949e-01 3.43900234e-02 1.59977208e+02] [-1.83242238e-01 9.83042470e-01 -7.05585677e-03 -2.83310806e+01] [-3.51007351e-02 6.30257789e-04 9.99383581e-01 -5.08223117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:160.01, Y:-28.34, Z:-5.09 [[ 9.82202838e-01 1.85016240e-01 3.23508119e-02 1.60008706e+02] [-1.84897840e-01 9.82735315e-01 -6.64001390e-03 -2.83433530e+01] [-3.30207957e-02 5.40245250e-04 9.99454519e-01 -5.08532326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934012739 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:160.04, Y:-28.35, Z:-5.09 [[ 9.82057308e-01 1.85846989e-01 3.20053031e-02 1.60039499e+02] [-1.85731345e-01 9.82578564e-01 -6.57526051e-03 -2.83532878e+01] [-3.26697171e-02 5.12894664e-04 9.99466071e-01 -5.08690082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:160.07, Y:-28.37, Z:-5.09 [[ 9.81758547e-01 1.87465968e-01 3.17280034e-02 1.60070331e+02] [-1.87352979e-01 9.82270990e-01 -6.52400698e-03 -2.83665863e+01] [-3.23885266e-02 4.60663652e-04 9.99475248e-01 -5.08661898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99401273899997 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:160.10, Y:-28.38, Z:-5.09 [[ 9.81384177e-01 1.89669833e-01 3.01736979e-02 1.60100803e+02] [-1.89568516e-01 9.81847857e-01 -6.20995457e-03 -2.83782962e+01] [-3.08038217e-02 3.74368004e-04 9.99525380e-01 -5.08742285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:160.13, Y:-28.39, Z:-5.09 [[ 9.81045887e-01 1.91488624e-01 2.96829098e-02 1.60132825e+02] [-1.91391250e-01 9.81494781e-01 -6.11418878e-03 -2.83879151e+01] [-3.03044187e-02 3.17250538e-04 9.99540665e-01 -5.08894764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05401273899997 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:160.16, Y:-28.40, Z:-5.09 [[ 9.80341454e-01 1.95128299e-01 2.92503219e-02 1.60163383e+02] [-1.95035195e-01 9.80777704e-01 -6.03064125e-03 -2.84000708e+01] [-2.98648124e-02 2.07245354e-04 9.99553926e-01 -5.09059122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:160.20, Y:-28.41, Z:-5.09 [[ 9.80004658e-01 1.96776780e-01 2.94918468e-02 1.60195508e+02] [-1.96682706e-01 9.80448302e-01 -6.08614568e-03 -2.84085470e+01] [-3.01128432e-02 1.63914895e-04 9.99546492e-01 -5.09194116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11401273899997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:160.23, Y:-28.42, Z:-5.09 [[ 9.79362317e-01 1.99867844e-01 3.00382517e-02 1.60226364e+02] [-1.99771521e-01 9.79822861e-01 -6.20486851e-03 -2.84172592e+01] [-3.06723194e-02 7.60271635e-05 9.99529491e-01 -5.09286064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:160.26, Y:-28.42, Z:-5.09 [[ 9.79003168e-01 2.01554693e-01 3.04713560e-02 1.60257320e+02] [-2.01456213e-01 9.79477261e-01 -6.29995832e-03 -2.84247108e+01] [-3.11157865e-02 2.90351770e-05 9.99515786e-01 -5.09320437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17401273899998 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:160.29, Y:-28.43, Z:-5.09 [[ 9.78095896e-01 2.05832783e-01 3.10045673e-02 1.60288783e+02] [-2.05732806e-01 9.78587173e-01 -6.41544231e-03 -2.84315625e+01] [-3.16611802e-02 -1.03738841e-04 9.99498654e-01 -5.09290950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:160.32, Y:-28.44, Z:-5.09 [[ 9.77585461e-01 2.08355098e-01 3.02459973e-02 1.60319615e+02] [-2.08261007e-01 9.78053231e-01 -6.26347007e-03 -2.84361793e+01] [-3.08872213e-02 -1.75984573e-04 9.99522860e-01 -5.09411578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23401273899998 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:160.35, Y:-28.44, Z:-5.10 [[ 9.76277192e-01 2.14521224e-01 2.93851893e-02 1.60349430e+02] [-2.14435058e-01 9.76719263e-01 -6.09000982e-03 -2.84375024e+01] [-3.00075167e-02 -3.55677063e-04 9.99549610e-01 -5.09636947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:160.38, Y:-28.44, Z:-5.10 [[ 9.74958289e-01 2.20116121e-01 3.17053336e-02 1.60377150e+02] [-2.20018746e-01 9.75473510e-01 -6.57131507e-03 -2.84392395e+01] [-3.23741654e-02 -5.69009616e-04 9.99475657e-01 -5.09608513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29401273899998 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:160.41, Y:-28.44, Z:-5.10 [[ 9.74676269e-01 2.21259419e-01 3.24104904e-02 1.60406333e+02] [-2.21158358e-01 9.75214788e-01 -6.71555400e-03 -2.84426552e+01] [-3.30930691e-02 -6.22359701e-04 9.99452081e-01 -5.09645721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:160.44, Y:-28.44, Z:-5.10 [[ 9.74388139e-01 2.22695402e-01 3.12171973e-02 1.60437225e+02] [-2.22602427e-01 9.74887859e-01 -6.46690757e-03 -2.84420530e+01] [-3.18734172e-02 -6.47745845e-04 9.99491704e-01 -5.09773395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35401273899998 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:160.47, Y:-28.44, Z:-5.10 [[ 9.74338657e-01 2.22876288e-01 3.14696909e-02 1.60467239e+02] [-2.22781921e-01 9.74846514e-01 -6.51846057e-03 -2.84444250e+01] [-3.21309287e-02 -6.59690085e-04 9.99483451e-01 -5.09907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:160.50, Y:-28.44, Z:-5.10 [[ 9.74215509e-01 2.23004732e-01 3.42495579e-02 1.60496691e+02] [-2.22893066e-01 9.74817094e-01 -7.09332932e-03 -2.84440395e+01] [-3.49689005e-02 -7.23557538e-04 9.99388139e-01 -5.09914841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414012739 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:160.52, Y:-28.45, Z:-5.10 [[ 9.74070253e-01 2.22939448e-01 3.85375821e-02 1.60524593e+02] [-2.23049395e-01 9.74806024e-01 -1.47740512e-03 -2.84515364e+01] [-3.78960391e-02 -7.15668801e-03 9.99256059e-01 -5.10035817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:160.55, Y:-28.45, Z:-5.10 [[ 9.74247007e-01 2.22071169e-01 3.90789668e-02 1.60552296e+02] [-2.22052926e-01 9.75022493e-01 -4.86159940e-03 -2.84508106e+01] [-3.91824927e-02 -3.94120027e-03 9.99224299e-01 -5.10165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:160.58, Y:-28.45, Z:-5.10 [[ 9.74248196e-01 2.22151397e-01 3.85902674e-02 1.60581338e+02] [-2.22020753e-01 9.75011592e-01 -7.69284213e-03 -2.84547715e+01] [-3.93349336e-02 -1.07310265e-03 9.99225506e-01 -5.10278827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:160.62, Y:-28.45, Z:-5.10 [[ 9.75561533e-01 2.17225618e-01 3.30564193e-02 1.60616241e+02] [-2.16773373e-01 9.76078367e-01 -1.67429632e-02 -2.84494239e+01] [-3.59026563e-02 9.16803928e-03 9.99313237e-01 -5.10213227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:160.64, Y:-28.46, Z:-5.10 [[ 9.75966755e-01 2.14881166e-01 3.62626246e-02 1.60640797e+02] [-2.14926235e-01 9.76626562e-01 -2.69684912e-03 -2.84628564e+01] [-3.59945445e-02 -5.16175428e-03 9.99338656e-01 -5.10414018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:160.67, Y:-28.46, Z:-5.11 [[ 9.76589322e-01 2.12756651e-01 3.17474933e-02 1.60671436e+02] [-2.12507230e-01 9.77096753e-01 -1.10730471e-02 -2.84606685e+01] [-3.33762370e-02 4.06724768e-03 9.99434582e-01 -5.10601964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594012739 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:160.70, Y:-28.47, Z:-5.11 [[ 9.77619646e-01 2.08163706e-01 3.04581649e-02 1.60698943e+02] [-2.08068384e-01 9.78093983e-01 -6.30138006e-03 -2.84673333e+01] [-3.11026665e-02 -1.77028224e-04 9.99516179e-01 -5.10799594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:160.73, Y:-28.47, Z:-5.11 [[ 9.78000835e-01 2.06319446e-01 3.07677085e-02 1.60727718e+02] [-2.06221290e-01 9.78484681e-01 -6.36457523e-03 -2.84726177e+01] [-3.14188671e-02 -1.20396653e-04 9.99506298e-01 -5.10886031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654012739 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:160.76, Y:-28.48, Z:-5.11 [[ 9.78345396e-01 2.04440029e-01 3.23196656e-02 1.60755451e+02] [-2.04330746e-01 9.78879089e-01 -6.68397790e-03 -2.84772169e+01] [-3.30035174e-02 -6.46623800e-05 9.99455233e-01 -5.10843887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:160.78, Y:-28.48, Z:-5.11 [[ 9.78466828e-01 2.03696392e-01 3.33233712e-02 1.60783655e+02] [-2.03579853e-01 9.79034105e-01 -6.88952457e-03 -2.84809303e+01] [-3.40280882e-02 -4.27957549e-05 9.99420876e-01 -5.10917747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714012739 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:160.81, Y:-28.49, Z:-5.11 [[ 9.78627342e-01 2.02963708e-01 3.30795854e-02 1.60812245e+02] [-2.02848503e-01 9.79186261e-01 -6.83753769e-03 -2.84853828e+01] [-3.37788475e-02 -1.87430422e-05 9.99429332e-01 -5.11102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:160.84, Y:-28.49, Z:-5.11 [[ 9.78742386e-01 2.02271772e-01 3.39038705e-02 1.60837437e+02] [-2.02334526e-01 9.79315149e-01 -1.60556027e-03 -2.84935739e+01] [-3.35273335e-02 -5.28849366e-03 9.99423809e-01 -5.11407638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77401273899997 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:160.87, Y:-28.49, Z:-5.12 [[ 9.78968671e-01 2.01806899e-01 2.99051368e-02 1.60868546e+02] [-2.01554582e-01 9.79412611e-01 -1.12556129e-02 -2.84926197e+01] [-3.15609285e-02 4.99137510e-03 9.99489367e-01 -5.11523703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:160.90, Y:-28.50, Z:-5.12 [[ 9.78898815e-01 2.02181689e-01 2.96593158e-02 1.60896404e+02] [-2.02088715e-01 9.79348030e-01 -6.13082910e-03 -2.85009603e+01] [-3.02863339e-02 7.64833538e-06 9.99541264e-01 -5.11543759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83401273899997 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:160.92, Y:-28.51, Z:-5.12 [[ 9.79021620e-01 2.01564584e-01 2.98057982e-02 1.60924189e+02] [-2.01470446e-01 9.79475226e-01 -6.15967761e-03 -2.85061064e+01] [-3.04356138e-02 2.54700865e-05 9.99536729e-01 -5.11716714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:160.95, Y:-28.51, Z:-5.12 [[ 9.79691201e-01 1.98293859e-01 2.97438574e-02 1.60951705e+02] [-1.98198665e-01 9.80142607e-01 -6.14485156e-03 -2.85146889e+01] [-3.03717083e-02 1.24864154e-04 9.99538665e-01 -5.12031624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89401273899998 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:160.98, Y:-28.52, Z:-5.12 [[ 9.80200174e-01 1.95772025e-01 2.96805253e-02 1.60979816e+02] [-1.95676113e-01 9.80649414e-01 -6.13067191e-03 -2.85228370e+01] [-3.03064038e-02 2.01515853e-04 9.99540635e-01 -5.12163013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:161.01, Y:-28.53, Z:-5.12 [[ 9.80119610e-01 1.96141816e-01 2.98987853e-02 1.61008566e+02] [-1.96044682e-01 9.80575521e-01 -6.17502504e-03 -2.85289047e+01] [-3.05291976e-02 1.90765279e-04 9.99533857e-01 -5.12222506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95401273899998 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:161.03, Y:-28.54, Z:-5.12 [[ 9.79257953e-01 2.00122470e-01 3.16995065e-02 1.61034987e+02] [-2.00090209e-01 9.79768395e-01 -4.21909840e-03 -2.85373966e+01] [-3.19025110e-02 -2.21117522e-03 9.99488539e-01 -5.12238750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:161.06, Y:-28.54, Z:-5.12 [[ 9.78807552e-01 2.02564413e-01 3.00572016e-02 1.61063545e+02] [-2.02397528e-01 9.79266328e-01 -8.52638176e-03 -2.85404998e+01] [-3.11611469e-02 2.26218355e-03 9.99511814e-01 -5.12238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01401273899998 meters Centerline goodness : 0.998550 Centerline is valid? [True, True] Translation: X:161.09, Y:-28.55, Z:-5.12 [[ 9.77841101e-01 2.06954361e-01 3.15701292e-02 1.61091428e+02] [-2.06851818e-01 9.78350585e-01 -6.51598867e-03 -2.85473547e+01] [-3.22351666e-02 -1.58737083e-04 9.99480299e-01 -5.12368559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:161.12, Y:-28.55, Z:-5.12 [[ 9.77443238e-01 2.08625277e-01 3.28665574e-02 1.61119197e+02] [-2.08515135e-01 9.77995626e-01 -6.78194683e-03 -2.85537390e+01] [-3.35582349e-02 -2.24206585e-04 9.99436739e-01 -5.12378277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07401273899998 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:161.15, Y:-28.56, Z:-5.12 [[ 9.77470497e-01 2.08511887e-01 3.27753128e-02 1.61146373e+02] [-2.08402344e-01 9.78019808e-01 -6.76156235e-03 -2.85598344e+01] [-3.34647712e-02 -2.21224312e-04 9.99439873e-01 -5.12427873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:161.18, Y:-28.57, Z:-5.13 [[ 9.77541243e-01 2.08197043e-01 3.26666515e-02 1.61175111e+02] [-2.08088114e-01 9.78086881e-01 -6.73722686e-03 -2.85653907e+01] [-3.33534940e-02 -2.11624793e-04 9.99443595e-01 -5.12612937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13401273899999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:161.20, Y:-28.57, Z:-5.13 [[ 9.78028216e-01 2.06360013e-01 2.96032839e-02 1.61203249e+02] [-2.06269758e-01 9.78476125e-01 -6.10412212e-03 -2.85706936e+01] [-3.02257533e-02 -1.36258563e-04 9.99543088e-01 -5.12820433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:161.23, Y:-28.58, Z:-5.13 [[ 9.78387645e-01 2.04692964e-01 2.92985695e-02 1.61231063e+02] [-2.04603841e-01 9.78826227e-01 -6.04028345e-03 -2.85761004e+01] [-2.99146118e-02 -8.48611561e-05 9.99552454e-01 -5.12986580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194012739 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:161.26, Y:-28.58, Z:-5.13 [[ 9.78397959e-01 2.04332694e-01 3.13940133e-02 1.61259504e+02] [-2.04230229e-01 9.78901498e-01 -6.47071362e-03 -2.85814988e+01] [-3.20538250e-02 -8.06735265e-05 9.99486141e-01 -5.12970000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:161.29, Y:-28.59, Z:-5.13 [[ 9.78224915e-01 2.04853339e-01 3.33335515e-02 1.61287222e+02] [-2.04738178e-01 9.78792674e-01 -6.86877701e-03 -2.85864427e+01] [-3.40337279e-02 -1.05441800e-04 9.99420679e-01 -5.12951737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254012739 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:161.32, Y:-28.59, Z:-5.13 [[ 9.78133177e-01 2.05452556e-01 3.23223734e-02 1.61315502e+02] [-2.05344666e-01 9.78667069e-01 -6.65855504e-03 -2.85914785e+01] [-3.30008596e-02 -1.24273384e-04 9.99455316e-01 -5.13097553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:161.34, Y:-28.60, Z:-5.13 [[ 9.77983253e-01 2.06454839e-01 3.04163899e-02 1.61343634e+02] [-2.06359827e-01 9.78456119e-01 -6.26460031e-03 -2.85955069e+01] [-3.10544598e-02 -1.50046744e-04 9.99517683e-01 -5.13350791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314012739 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:161.37, Y:-28.60, Z:-5.13 [[ 9.77889553e-01 2.06884813e-01 3.05073067e-02 1.61372022e+02] [-2.06789486e-01 9.78365293e-01 -6.28184257e-03 -2.85998846e+01] [-3.11469079e-02 -1.65642052e-04 9.99514804e-01 -5.13479965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:161.40, Y:-28.60, Z:-5.14 [[ 9.77792058e-01 2.07394774e-01 3.01678525e-02 1.61399836e+02] [-2.07301845e-01 9.78257315e-01 -6.21049231e-03 -2.86031537e+01] [-3.07999461e-02 -1.81281439e-04 9.99525553e-01 -5.13540134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374012739 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:161.43, Y:-28.61, Z:-5.14 [[ 9.77635293e-01 2.08182166e-01 2.98231354e-02 1.61428345e+02] [-2.08091777e-01 9.78090049e-01 -6.13751521e-03 -2.86073518e+01] [-3.04474331e-02 -2.05697737e-04 9.99536348e-01 -5.13582241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:161.46, Y:-28.61, Z:-5.14 [[ 9.77199121e-01 2.10321337e-01 2.91000524e-02 1.61456252e+02] [-2.10236266e-01 9.77632274e-01 -5.98738692e-03 -2.86090974e+01] [-2.97084256e-02 -2.67017099e-04 9.99558572e-01 -5.13726435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434012739 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:161.49, Y:-28.61, Z:-5.14 [[ 9.76830831e-01 2.12142691e-01 2.82312850e-02 1.61485487e+02] [-2.12063432e-01 9.77238650e-01 -5.80697237e-03 -2.86105285e+01] [-2.88206096e-02 -3.14393558e-04 9.99584551e-01 -5.14050673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:161.51, Y:-28.61, Z:-5.14 [[ 9.76939016e-01 2.11585810e-01 2.86636436e-02 1.61513681e+02] [-2.11503906e-01 9.77359377e-01 -5.89449598e-03 -2.86135250e+01] [-2.92618726e-02 -3.03909473e-04 9.99571734e-01 -5.14114801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49401273899997 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:161.54, Y:-28.61, Z:-5.14 [[ 9.77663890e-01 2.07793224e-01 3.15482938e-02 1.61543032e+02] [-2.07692103e-01 9.78172751e-01 -6.48533037e-03 -2.86149391e+01] [-3.22072891e-02 -2.11858156e-04 9.99481188e-01 -5.14094129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:161.57, Y:-28.62, Z:-5.14 [[ 9.78099818e-01 2.05628207e-01 3.22147004e-02 1.61570719e+02] [-2.05521647e-01 9.78630175e-01 -6.62065039e-03 -2.86194386e+01] [-3.28876703e-02 -1.45161338e-04 9.99459044e-01 -5.14101223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55401273899997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:161.60, Y:-28.62, Z:-5.14 [[ 9.78474578e-01 2.03928058e-01 3.16361708e-02 1.61598989e+02] [-2.03824472e-01 9.78985873e-01 -6.49963481e-03 -2.86237684e+01] [-3.22968222e-02 -8.84983674e-05 9.99478318e-01 -5.14130775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:161.63, Y:-28.62, Z:-5.14 [[ 9.79017818e-01 2.01658088e-01 2.92938203e-02 1.61626924e+02] [-2.01568299e-01 9.79455979e-01 -6.01711568e-03 -2.86246457e+01] [-2.99054075e-02 -1.38420697e-05 9.99552733e-01 -5.14345960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61401273899997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:161.66, Y:-28.63, Z:-5.15 [[ 9.79710132e-01 1.98235772e-01 2.95065391e-02 1.61655588e+02] [-1.98143176e-01 9.80154361e-01 -6.05896688e-03 -2.86267203e+01] [-3.01220670e-02 8.95118764e-05 9.99546224e-01 -5.14567888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:161.68, Y:-28.63, Z:-5.15 [[ 9.80174250e-01 1.95836435e-01 3.01086307e-02 1.61682573e+02] [-1.95738933e-01 9.80636560e-01 -6.18112276e-03 -2.86315296e+01] [-3.07361131e-02 1.65146114e-04 9.99527520e-01 -5.14662551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67401273899998 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:161.71, Y:-28.64, Z:-5.15 [[ 9.81081000e-01 1.91348471e-01 2.94250525e-02 1.61710173e+02] [-1.91253385e-01 9.81522121e-01 -6.03889713e-03 -2.86357139e+01] [-3.00368737e-02 2.97006343e-04 9.99548747e-01 -5.14662915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:161.74, Y:-28.64, Z:-5.15 [[ 9.81399222e-01 1.89915209e-01 2.80674301e-02 1.61738485e+02] [-1.89828161e-01 9.81800443e-01 -5.75849363e-03 -2.86408672e+01] [-2.86502409e-02 3.23392518e-04 9.99589445e-01 -5.14705972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73401273899998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:161.77, Y:-28.65, Z:-5.15 [[ 9.81551224e-01 1.89218243e-01 2.74527119e-02 1.61766320e+02] [-1.89134731e-01 9.81935000e-01 -5.63109342e-03 -2.86465144e+01] [-2.80222843e-02 3.34945359e-04 9.99607243e-01 -5.14751558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:161.79, Y:-28.65, Z:-5.15 [[ 9.81388700e-01 1.89941765e-01 2.82550201e-02 1.61794750e+02] [-1.89853639e-01 9.81795306e-01 -5.79425843e-03 -2.86527202e+01] [-2.88412178e-02 3.22101340e-04 9.99583954e-01 -5.14833358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79401273899998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:161.82, Y:-28.66, Z:-5.15 [[ 9.80805582e-01 1.92597188e-01 3.04423032e-02 1.61822026e+02] [-1.92496214e-01 9.81277868e-01 -6.24122426e-03 -2.86572175e+01] [-3.10744007e-02 2.61399478e-04 9.99517040e-01 -5.14763077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:161.85, Y:-28.66, Z:-5.15 [[ 9.79913045e-01 1.96908169e-01 3.15847554e-02 1.61849411e+02] [-1.96801772e-01 9.80421928e-01 -6.47346071e-03 -2.86597695e+01] [-3.22410641e-02 1.27492768e-04 9.99480114e-01 -5.14821514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85401273899998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:161.88, Y:-28.66, Z:-5.15 [[ 9.79422199e-01 1.99320305e-01 3.16791917e-02 1.61877521e+02] [-1.99214599e-01 9.79934393e-01 -6.49074771e-03 -2.86635787e+01] [-3.23372673e-02 4.62249141e-05 9.99477013e-01 -5.14965595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:161.91, Y:-28.66, Z:-5.15 [[ 9.78204158e-01 2.05282145e-01 3.12388433e-02 1.61905101e+02] [-2.05182440e-01 9.78702824e-01 -6.39904022e-03 -2.86644399e+01] [-3.18871528e-02 -1.50094344e-04 9.99491464e-01 -5.15058131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914012739 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:161.93, Y:-28.67, Z:-5.15 [[ 9.77691226e-01 2.07744613e-01 3.10167993e-02 1.61932886e+02] [-2.07647631e-01 9.78183072e-01 -6.35130043e-03 -2.86670119e+01] [-3.16595564e-02 -2.30954177e-04 9.99498684e-01 -5.15240532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:161.96, Y:-28.67, Z:-5.15 [[ 9.77587311e-01 2.08378629e-01 3.00232592e-02 1.61961154e+02] [-2.08288127e-01 9.78048203e-01 -6.14571115e-03 -2.86680291e+01] [-3.06448296e-02 -2.45519177e-04 9.99530307e-01 -5.15330186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974012739 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:161.99, Y:-28.67, Z:-5.15 [[ 9.77951761e-01 2.06646438e-01 3.01264372e-02 1.61987632e+02] [-2.06554558e-01 9.78415664e-01 -6.16462351e-03 -2.86726115e+01] [-3.07500755e-02 -1.94048490e-04 9.99527086e-01 -5.15391977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:162.02, Y:-28.68, Z:-5.15 [[ 9.78999399e-01 2.01262334e-01 3.24599669e-02 1.62015453e+02] [-2.01152802e-01 9.79537377e-01 -6.63913498e-03 -2.86772940e+01] [-3.31319586e-02 -2.97041479e-05 9.99450986e-01 -5.15394277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034012739 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:162.04, Y:-28.68, Z:-5.15 [[ 9.79445784e-01 1.98730382e-01 3.45281134e-02 1.62043466e+02] [-1.98604964e-01 9.80054199e-01 -7.05947317e-03 -2.86821290e+01] [-3.52423543e-02 5.69165048e-05 9.99378794e-01 -5.15415955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:162.07, Y:-28.69, Z:-5.15 [[ 9.80098911e-01 1.94909947e-01 3.76329374e-02 1.62070625e+02] [-1.94758244e-01 9.80821120e-01 -7.69137903e-03 -2.86867148e+01] [-3.84103060e-02 2.08987404e-04 9.99262030e-01 -5.15343218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094012739 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:162.10, Y:-28.69, Z:-5.15 [[ 9.80589650e-01 1.92493615e-01 3.72846794e-02 1.62098424e+02] [-1.92343044e-01 9.81298180e-01 -7.61803034e-03 -2.86925312e+01] [-3.80538102e-02 2.98712958e-04 9.99275647e-01 -5.15386944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:162.13, Y:-28.70, Z:-5.16 [[ 9.80857516e-01 1.91325364e-01 3.62372601e-02 1.62125698e+02] [-1.91182404e-01 9.81526614e-01 -7.40227749e-03 -2.86986128e+01] [-3.69840786e-02 3.32653005e-04 9.99315800e-01 -5.15575053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154012739 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:162.15, Y:-28.71, Z:-5.16 [[ 9.81301226e-01 1.89670212e-01 3.27584225e-02 1.62154017e+02] [-1.89552528e-01 9.81847791e-01 -6.68989570e-03 -2.87073453e+01] [-3.34326587e-02 3.55361054e-04 9.99440909e-01 -5.15769595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:162.18, Y:-28.72, Z:-5.16 [[ 9.81367955e-01 1.89530125e-01 3.15478738e-02 1.62180221e+02] [-1.89420931e-01 9.81874845e-01 -6.44194655e-03 -2.87158719e+01] [-3.21970066e-02 3.46092282e-04 9.99481482e-01 -5.15974510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214012739 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:162.21, Y:-28.73, Z:-5.16 [[ 9.81307611e-01 1.89929047e-01 3.10214297e-02 1.62207582e+02] [-1.89823728e-01 9.81797765e-01 -6.33255116e-03 -2.87265287e+01] [-3.16595057e-02 3.25577225e-04 9.99498659e-01 -5.16158857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:162.24, Y:-28.73, Z:-5.16 [[ 9.81267487e-01 1.90149432e-01 3.09404695e-02 1.62235423e+02] [-1.90044818e-01 9.81755109e-01 -6.31453659e-03 -2.87327304e+01] [-3.15766696e-02 3.16173547e-04 9.99501283e-01 -5.16231379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27401273899997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:162.26, Y:-28.74, Z:-5.16 [[ 9.81152649e-01 1.90784525e-01 3.06715435e-02 1.62262964e+02] [-1.90682079e-01 9.81631896e-01 -6.25818276e-03 -2.87388917e+01] [-3.13021299e-02 2.91718910e-04 9.99509926e-01 -5.16266853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:162.29, Y:-28.75, Z:-5.16 [[ 9.80635914e-01 1.93409152e-01 3.07588134e-02 1.62291062e+02] [-1.93307472e-01 9.81118167e-01 -6.27410014e-03 -2.87472756e+01] [-3.13914990e-02 2.06699480e-04 9.99507144e-01 -5.16403681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33401273899997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:162.32, Y:-28.75, Z:-5.17 [[ 9.80216406e-01 1.95565933e-01 3.04920109e-02 1.62317933e+02] [-1.95467096e-01 9.80690546e-01 -6.21823420e-03 -2.87529615e+01] [-3.11193016e-02 1.35030346e-04 9.99515668e-01 -5.16539843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:162.35, Y:-28.76, Z:-5.17 [[ 9.80227463e-01 1.95510452e-01 3.04923705e-02 1.62345862e+02] [-1.95411644e-01 9.80701609e-01 -6.21647051e-03 -2.87585263e+01] [-3.11193017e-02 1.34990881e-04 9.99515668e-01 -5.16633376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39401273899998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:162.37, Y:-28.76, Z:-5.17 [[ 9.79986273e-01 1.96665953e-01 3.08124609e-02 1.62374309e+02] [-1.96565688e-01 9.80470547e-01 -6.27986125e-03 -2.87643298e+01] [-3.14457453e-02 9.75052331e-05 9.99505456e-01 -5.16713437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:162.40, Y:-28.77, Z:-5.17 [[ 9.79433826e-01 1.99420031e-01 3.06762342e-02 1.62400583e+02] [-1.99322035e-01 9.79914104e-01 -6.25102612e-03 -2.87725607e+01] [-3.13066543e-02 8.01701862e-06 9.99509827e-01 -5.16786008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45401273899998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:162.43, Y:-28.78, Z:-5.17 [[ 9.79304847e-01 2.00106632e-01 3.03208229e-02 1.62428413e+02] [-2.00011280e-01 9.79774125e-01 -6.17676940e-03 -2.87796006e+01] [-3.09435702e-02 -1.55663779e-05 9.99521133e-01 -5.16944987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:162.46, Y:-28.79, Z:-5.17 [[ 9.79217448e-01 2.00634093e-01 2.96504694e-02 1.62455295e+02] [-2.00543193e-01 9.79666249e-01 -6.03888118e-03 -2.87853173e+01] [-3.02591696e-02 -3.28219950e-05 9.99542086e-01 -5.17143621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51401273899998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:162.48, Y:-28.79, Z:-5.17 [[ 9.79402315e-01 1.99503140e-01 3.11384401e-02 1.62483333e+02] [-1.99402389e-01 9.79897187e-01 -6.33956670e-03 -2.87932678e+01] [-3.17772334e-02 -9.30537946e-08 9.99494976e-01 -5.17253734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:162.51, Y:-28.80, Z:-5.17 [[ 9.79392161e-01 1.99430210e-01 3.19153117e-02 1.62511481e+02] [-1.99324379e-01 9.79912033e-01 -6.49617331e-03 -2.88009678e+01] [-3.25697312e-02 8.01506962e-07 9.99469466e-01 -5.17305492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57401273899998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:162.54, Y:-28.81, Z:-5.17 [[ 9.79188352e-01 2.00324634e-01 3.25609128e-02 1.62539361e+02] [-2.00215026e-01 9.79729575e-01 -6.62596221e-03 -2.88058971e+01] [-3.32282327e-02 -3.11189831e-05 9.99447789e-01 -5.17283336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:162.57, Y:-28.81, Z:-5.17 [[ 9.78986617e-01 2.01274340e-01 3.27695486e-02 1.62567420e+02] [-2.01163921e-01 9.79534908e-01 -6.66642653e-03 -2.88110596e+01] [-3.34406974e-02 -6.57085145e-05 9.99440701e-01 -5.17463356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63401273899999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:162.59, Y:-28.82, Z:-5.18 [[ 9.78784640e-01 2.02266233e-01 3.26955619e-02 1.62594280e+02] [-2.02156919e-01 9.79330568e-01 -6.64976027e-03 -2.88174829e+01] [-3.33647852e-02 -1.00950864e-04 9.99443235e-01 -5.17626127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:162.62, Y:-28.83, Z:-5.18 [[ 9.78653812e-01 2.02983386e-01 3.21630424e-02 1.62622506e+02] [-2.02878060e-01 9.79182174e-01 -6.53937076e-03 -2.88252057e+01] [-3.28208613e-02 -1.25395520e-04 9.99461243e-01 -5.17699509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694012739 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:162.65, Y:-28.83, Z:-5.18 [[ 9.78723933e-01 2.02702848e-01 3.17965083e-02 1.62651126e+02] [-2.02599811e-01 9.79240288e-01 -6.46332071e-03 -2.88295018e+01] [-3.24465555e-02 -1.16159914e-04 9.99473465e-01 -5.17726585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:162.68, Y:-28.83, Z:-5.18 [[ 9.78868357e-01 2.02034159e-01 3.16059912e-02 1.62678841e+02] [-2.01932054e-01 9.79378471e-01 -6.42307085e-03 -2.88326564e+01] [-3.22519070e-02 -9.49219084e-05 9.99479767e-01 -5.17864184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754012739 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:162.71, Y:-28.84, Z:-5.18 [[ 9.78886407e-01 2.01830193e-01 3.23415570e-02 1.62706981e+02] [-2.01723233e-01 9.79420525e-01 -6.57055719e-03 -2.88412340e+01] [-3.30021216e-02 -9.22143458e-05 9.99455277e-01 -5.17913320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:162.74, Y:-28.85, Z:-5.18 [[ 9.78984024e-01 2.01236106e-01 3.30803725e-02 1.62735346e+02] [-2.01123917e-01 9.79542763e-01 -6.71906165e-03 -2.88481444e+01] [-3.37557573e-02 -7.54001064e-05 9.99430109e-01 -5.18001716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814012739 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:162.76, Y:-28.85, Z:-5.18 [[ 9.79163499e-01 2.00205150e-01 3.40108790e-02 1.62763764e+02] [-2.00085996e-01 9.79753998e-01 -6.90638899e-03 -2.88536036e+01] [-3.47049893e-02 -4.26165882e-05 9.99397600e-01 -5.18032920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:162.79, Y:-28.86, Z:-5.18 [[ 9.79577908e-01 1.97798622e-01 3.60946983e-02 1.62791974e+02] [-1.97662848e-01 9.80242676e-01 -7.32772779e-03 -2.88595791e+01] [-3.68309781e-02 4.34994008e-05 9.99321508e-01 -5.18172439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874012739 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:162.82, Y:-28.87, Z:-5.18 [[ 9.79789850e-01 1.96746286e-01 3.60936227e-02 1.62819975e+02] [-1.96609865e-01 9.80454432e-01 -7.32587521e-03 -2.88672946e+01] [-3.68294910e-02 8.14558807e-05 9.99321561e-01 -5.18334082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:162.85, Y:-28.88, Z:-5.19 [[ 9.80207243e-01 1.95067969e-01 3.37971693e-02 1.62848641e+02] [-1.94947389e-01 9.80789717e-01 -6.85901796e-03 -2.88767130e+01] [-3.44858908e-02 1.34589167e-04 9.99405176e-01 -5.18507698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934012739 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:162.88, Y:-28.88, Z:-5.19 [[ 9.80243255e-01 1.95408371e-01 3.06386948e-02 1.62876280e+02] [-1.95309467e-01 9.80721957e-01 -6.21737633e-03 -2.88832100e+01] [-3.12629681e-02 1.10514070e-04 9.99511188e-01 -5.18755968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:162.90, Y:-28.89, Z:-5.18 [[ 9.80268851e-01 1.95298643e-01 3.05191767e-02 1.62904180e+02] [-1.95200489e-01 9.80743813e-01 -6.19205970e-03 -2.88909673e+01] [-3.11407946e-02 1.12525029e-04 9.99515002e-01 -5.18492578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99401273899997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:162.93, Y:-28.90, Z:-5.19 [[ 9.80444508e-01 1.94170505e-01 3.20371990e-02 1.62929910e+02] [-1.94061791e-01 9.80967783e-01 -6.49846303e-03 -2.89019067e+01] [-3.26892699e-02 1.54186160e-04 9.99465551e-01 -5.18836228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:162.96, Y:-28.91, Z:-5.19 [[ 9.80572229e-01 1.93447794e-01 3.24969854e-02 1.62957681e+02] [-1.93335604e-01 9.81110554e-01 -6.58979055e-03 -2.89094548e+01] [-3.31579158e-02 1.78941314e-04 9.99450109e-01 -5.18949834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05401273899997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:162.99, Y:-28.92, Z:-5.19 [[ 9.80708516e-01 1.92751666e-01 3.25208011e-02 1.62986901e+02] [-1.92638978e-01 9.81247550e-01 -6.59312063e-03 -2.89169233e+01] [-3.31817914e-02 2.01155651e-04 9.99449312e-01 -5.18992985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:163.01, Y:-28.93, Z:-5.19 [[ 9.81008339e-01 1.91257846e-01 3.22966724e-02 1.63014304e+02] [-1.91145921e-01 9.81539798e-01 -6.54693592e-03 -2.89281317e+01] [-3.29526221e-02 2.49221535e-04 9.99456884e-01 -5.19196847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11401273899997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:163.04, Y:-28.94, Z:-5.19 [[ 9.81192435e-01 1.90387344e-01 3.18443860e-02 1.63042830e+02] [-1.90278103e-01 9.81709012e-01 -6.45440570e-03 -2.89390892e+01] [-3.24907579e-02 2.73724689e-04 9.99471998e-01 -5.19309770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:163.07, Y:-28.95, Z:-5.19 [[ 9.81281834e-01 1.90016357e-01 3.13009065e-02 1.63071152e+02] [-1.89910646e-01 9.81780885e-01 -6.34356036e-03 -2.89455078e+01] [-3.19360119e-02 2.80445152e-04 9.99489876e-01 -5.19386659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17401273899998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:163.10, Y:-28.95, Z:-5.20 [[ 9.81120685e-01 1.90855667e-01 3.12460625e-02 1.63100486e+02] [-1.90750788e-01 9.81618078e-01 -6.33135461e-03 -2.89536781e+01] [-3.18800748e-02 2.51611938e-04 9.99491670e-01 -5.19526821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:163.13, Y:-28.96, Z:-5.20 [[ 9.80949483e-01 1.91630176e-01 3.18745539e-02 1.63129343e+02] [-1.91521443e-01 9.81467178e-01 -6.45868849e-03 -2.89619288e+01] [-3.25215081e-02 2.30986581e-04 9.99471009e-01 -5.19683862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23401273899998 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:163.16, Y:-28.97, Z:-5.20 [[ 9.80958003e-01 1.91500349e-01 3.23884634e-02 1.63157435e+02] [-1.91387949e-01 9.81492516e-01 -6.56465898e-03 -2.89728781e+01] [-3.30461689e-02 2.40893189e-04 9.99453797e-01 -5.19694749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:163.19, Y:-28.98, Z:-5.20 [[ 9.81029064e-01 1.91177240e-01 3.21440359e-02 1.63189377e+02] [-1.91066358e-01 9.81555500e-01 -6.51511189e-03 -2.89807368e+01] [-3.27966963e-02 2.49870267e-04 9.99462012e-01 -5.19773166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29401273899998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:163.22, Y:-28.99, Z:-5.20 [[ 9.80730289e-01 1.92875466e-01 3.10991084e-02 1.63220440e+02] [-1.92772334e-01 9.81223225e-01 -6.30948086e-03 -2.89888170e+01] [-3.17321115e-02 1.92851270e-04 9.99496391e-01 -5.19915052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:163.25, Y:-29.00, Z:-5.20 [[ 9.80393524e-01 1.94582353e-01 3.10844897e-02 1.63249010e+02] [-1.94479981e-01 9.80886175e-01 -6.31264497e-03 -2.89956684e+01] [-3.17186755e-02 1.43565270e-04 9.99496826e-01 -5.20038615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35401273899998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:163.28, Y:-29.00, Z:-5.20 [[ 9.79761965e-01 1.97704111e-01 3.12981936e-02 1.63276746e+02] [-1.97601929e-01 9.80261742e-01 -6.35569936e-03 -2.90012096e+01] [-3.19369697e-02 4.24890407e-05 9.99489884e-01 -5.20141685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:163.31, Y:-29.01, Z:-5.20 [[ 9.79537140e-01 1.98899136e-01 3.07591587e-02 1.63307131e+02] [-1.98801055e-01 9.80019966e-01 -6.24553079e-03 -2.90061121e+01] [-3.13868204e-02 2.77614347e-06 9.99507312e-01 -5.19544453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414012739 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:163.34, Y:-29.01, Z:-5.20 [[ 9.79357972e-01 1.99647394e-01 3.16050899e-02 1.63336098e+02] [-1.99544232e-01 9.79867806e-01 -6.41730095e-03 -2.90102689e+01] [-3.22500075e-02 -2.17785580e-05 9.99479833e-01 -5.20351252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:163.36, Y:-29.02, Z:-5.20 [[ 9.79503654e-01 1.98868112e-01 3.20010209e-02 1.63364316e+02] [-1.98761946e-01 9.80026262e-01 -6.49729138e-03 -2.90166029e+01] [-3.26539449e-02 3.53547928e-06 9.99466718e-01 -5.20354096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474012739 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:163.39, Y:-29.02, Z:-5.20 [[ 9.79659441e-01 1.97933808e-01 3.30088978e-02 1.63394136e+02] [-1.97820356e-01 9.80215388e-01 -6.70075251e-03 -2.90229385e+01] [-3.36821350e-02 3.46235341e-05 9.99432595e-01 -5.20438107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:163.43, Y:-29.03, Z:-5.21 [[ 9.79691246e-01 1.97892925e-01 3.23025120e-02 1.63425196e+02] [-1.97784257e-01 9.80223642e-01 -6.55736067e-03 -2.90286249e+01] [-3.29613412e-02 3.52605236e-05 9.99456627e-01 -5.20604810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534012739 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:163.46, Y:-29.03, Z:-5.21 [[ 9.79897517e-01 1.97147825e-01 3.05547149e-02 1.63456406e+02] [-1.97050216e-01 9.80373771e-01 -6.20327420e-03 -2.90339524e+01] [-3.11780031e-02 5.77598111e-05 9.99513846e-01 -5.20803903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:163.49, Y:-29.04, Z:-5.21 [[ 9.80199601e-01 1.95632312e-01 3.06062326e-02 1.63487674e+02] [-1.95533610e-01 9.80677310e-01 -6.21449765e-03 -2.90399250e+01] [-3.12305944e-02 1.06900956e-04 9.99512200e-01 -5.20771295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:163.52, Y:-29.05, Z:-5.21 [[ 9.80340781e-01 1.94851784e-01 3.10601967e-02 1.63517744e+02] [-1.94749716e-01 9.80832689e-01 -6.30747023e-03 -2.90455337e+01] [-3.16938781e-02 1.34505806e-04 9.99497614e-01 -5.20788587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:163.55, Y:-29.05, Z:-5.21 [[ 9.80437879e-01 1.94257096e-01 3.17135130e-02 1.63547510e+02] [-1.94150363e-01 9.80950639e-01 -6.44054117e-03 -2.90509992e+01] [-3.23605117e-02 1.57360464e-04 9.99476249e-01 -5.20945914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654012739 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:163.58, Y:-29.06, Z:-5.21 [[ 9.80388409e-01 1.94251202e-01 3.32420993e-02 1.63577769e+02] [-1.94133911e-01 9.80951805e-01 -6.75141327e-03 -2.90590609e+01] [-3.39203675e-02 1.65588564e-04 9.99424525e-01 -5.21118443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:163.61, Y:-29.07, Z:-5.21 [[ 9.80497275e-01 1.93854795e-01 3.23328484e-02 1.63608009e+02] [-1.93743592e-01 9.81030218e-01 -6.56754773e-03 -2.90694761e+01] [-3.29926519e-02 1.75180465e-04 9.99455579e-01 -5.21320774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71401273899997 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:163.64, Y:-29.08, Z:-5.21 [[ 9.80717363e-01 1.92814536e-01 3.18748880e-02 1.63639904e+02] [-1.92705724e-01 9.81235196e-01 -6.48031222e-03 -2.90781169e+01] [-3.25262604e-02 2.12881336e-04 9.99470859e-01 -5.21477008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:163.67, Y:-29.09, Z:-5.21 [[ 9.81065475e-01 1.90919658e-01 3.25609812e-02 1.63670759e+02] [-1.90804849e-01 9.81605624e-01 -6.62632735e-03 -2.90874825e+01] [-3.32271384e-02 2.88067876e-04 9.99447785e-01 -5.21443764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77401273899997 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:163.70, Y:-29.10, Z:-5.21 [[ 9.81056229e-01 1.90950445e-01 3.26588908e-02 1.63702716e+02] [-1.90834762e-01 9.81599634e-01 -6.65224527e-03 -2.90953335e+01] [-3.33282044e-02 2.93775005e-04 9.99444418e-01 -5.21478540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:163.73, Y:-29.10, Z:-5.22 [[ 9.80929661e-01 1.91680147e-01 3.21826327e-02 1.63734437e+02] [-1.91568006e-01 9.81457410e-01 -6.56134045e-03 -2.91032256e+01] [-3.28435620e-02 2.71050679e-04 9.99460468e-01 -5.21570464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83401273899997 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:163.76, Y:-29.11, Z:-5.22 [[ 9.80451981e-01 1.94266331e-01 3.12170624e-02 1.63764969e+02] [-1.94161942e-01 9.80948805e-01 -6.37036236e-03 -2.91120089e+01] [-3.18598870e-02 1.84668926e-04 9.99492328e-01 -5.21804038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:163.80, Y:-29.12, Z:-5.22 [[ 9.80366189e-01 1.94832921e-01 3.03688729e-02 1.63795895e+02] [-1.94734294e-01 9.80836432e-01 -6.20072349e-03 -2.91214444e+01] [-3.09950020e-02 1.65118617e-04 9.99519526e-01 -5.21910184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89401273899998 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:163.83, Y:-29.13, Z:-5.22 [[ 9.80301893e-01 1.95092922e-01 3.07725696e-02 1.63826595e+02] [-1.94991620e-01 9.80784749e-01 -6.28836971e-03 -2.91294369e+01] [-3.14080833e-02 1.64107554e-04 9.99506631e-01 -5.22092458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:163.86, Y:-29.14, Z:-5.22 [[ 9.80276303e-01 1.95361933e-01 2.98677814e-02 1.63858311e+02] [-1.95266477e-01 9.80731202e-01 -6.10835869e-03 -2.91401539e+01] [-3.04856059e-02 1.55702827e-04 9.99535194e-01 -5.22182674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95401273899998 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:163.89, Y:-29.15, Z:-5.22 [[ 9.80120679e-01 1.96163944e-01 2.97180229e-02 1.63889332e+02] [-1.96069636e-01 9.80571103e-01 -6.08351918e-03 -2.91478928e+01] [-3.03340016e-02 1.35781028e-04 9.99539809e-01 -5.22293577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:163.92, Y:-29.15, Z:-5.22 [[ 9.79868389e-01 1.97423069e-01 2.96997018e-02 1.63920541e+02] [-1.97329291e-01 9.80318378e-01 -6.08519485e-03 -2.91546270e+01] [-3.03165213e-02 1.02068984e-04 9.99540343e-01 -5.22336295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01401273899998 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:163.95, Y:-29.16, Z:-5.23 [[ 9.79322074e-01 1.99895631e-01 3.11450048e-02 1.63950934e+02] [-1.99793575e-01 9.79817195e-01 -6.38685089e-03 -2.91632547e+01] [-3.17931149e-02 3.22122066e-05 9.99494471e-01 -5.22521035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:163.98, Y:-29.17, Z:-5.23 [[ 9.79073817e-01 2.01019237e-01 3.17132189e-02 1.63982763e+02] [-2.00913848e-01 9.79587294e-01 -6.50839192e-03 -2.91706640e+01] [-3.23741783e-02 5.71269823e-07 9.99475819e-01 -5.22554929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07401273899998 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:164.01, Y:-29.18, Z:-5.23 [[ 9.78262042e-01 2.04983718e-01 3.13855391e-02 1.64014909e+02] [-2.04882366e-01 9.78765375e-01 -6.44641302e-03 -2.91757196e+01] [-3.20404887e-02 -1.24062345e-04 9.99486564e-01 -5.22661450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:164.04, Y:-29.18, Z:-5.23 [[ 9.77025805e-01 2.10935603e-01 3.04425449e-02 1.64044815e+02] [-2.10843050e-01 9.77499912e-01 -6.25546028e-03 -2.91797217e+01] [-3.10770842e-02 -3.06852906e-04 9.99516944e-01 -5.22836961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13401273899999 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:164.07, Y:-29.18, Z:-5.23 [[ 9.76465729e-01 2.13521655e-01 3.03839328e-02 1.64073899e+02] [-2.13430651e-01 9.76938255e-01 -6.24529191e-03 -2.91839884e+01] [-3.10167313e-02 -3.86549028e-04 9.99518791e-01 -5.22943645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:164.10, Y:-29.19, Z:-5.23 [[ 9.76018300e-01 2.15520189e-01 3.06484160e-02 1.64102523e+02] [-2.15428601e-01 9.76499279e-01 -6.29892688e-03 -2.91874197e+01] [-3.12857020e-02 -4.54677456e-04 9.99510379e-01 -5.22965280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194012739 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:164.13, Y:-29.19, Z:-5.23 [[ 9.75492351e-01 2.17928022e-01 3.03652869e-02 1.64132302e+02] [-2.17839318e-01 9.75964701e-01 -6.23963170e-03 -2.91880902e+01] [-3.09952387e-02 -5.28040397e-04 9.99519393e-01 -5.23065843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:164.16, Y:-29.19, Z:-5.23 [[ 9.75396251e-01 2.18428947e-01 2.98487472e-02 1.64161758e+02] [-2.18343492e-01 9.75852708e-01 -6.13278732e-03 -2.91923148e+01] [-3.04675591e-02 -5.35381933e-04 9.99535613e-01 -5.23180097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254012739 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:164.19, Y:-29.19, Z:-5.23 [[ 9.75525824e-01 2.17731765e-01 3.06960099e-02 1.64190883e+02] [-2.17641067e-01 9.76008503e-01 -6.30613076e-03 -2.91946857e+01] [-3.13326116e-02 -5.28918925e-04 9.99508873e-01 -5.23282811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:164.22, Y:-29.20, Z:-5.23 [[ 9.75528366e-01 2.17720332e-01 3.06963154e-02 1.64220424e+02] [-2.17629675e-01 9.76011053e-01 -6.30464307e-03 -2.92007144e+01] [-3.13325921e-02 -5.30071005e-04 9.99508873e-01 -5.23381825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314012739 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:164.25, Y:-29.20, Z:-5.23 [[ 9.75565796e-01 2.17084146e-01 3.38504127e-02 1.64248336e+02] [-2.16973532e-01 9.76152732e-01 -6.95192137e-03 -2.92014771e+01] [-3.45523248e-02 -5.62586900e-04 9.99402732e-01 -5.23193243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:164.28, Y:-29.21, Z:-5.23 [[ 9.75499268e-01 2.17253980e-01 3.46682421e-02 1.64277703e+02] [-2.17138136e-01 9.76114935e-01 -7.11782634e-03 -2.92057219e+01] [-3.53865650e-02 -5.84363095e-04 9.99373529e-01 -5.23215306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:164.31, Y:-29.21, Z:-5.23 [[ 9.75589274e-01 2.16942554e-01 3.40807520e-02 1.64307353e+02] [-2.16830441e-01 9.76184209e-01 -6.99640249e-03 -2.92106220e+01] [-3.47869093e-02 -5.64129273e-04 9.99394593e-01 -5.23354138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:164.34, Y:-29.21, Z:-5.24 [[ 9.76207434e-01 2.14719596e-01 3.02413874e-02 1.64336256e+02] [-2.14630278e-01 9.76675642e-01 -6.20760766e-03 -2.92140695e+01] [-3.08689215e-02 -4.30804643e-04 9.99523348e-01 -5.23762044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:164.36, Y:-29.22, Z:-5.24 [[ 9.76495762e-01 2.13551630e-01 2.91843756e-02 1.64364788e+02] [-2.13467955e-01 9.76931705e-01 -5.98967281e-03 -2.92187329e+01] [-2.97902462e-02 -3.81038863e-04 9.99556099e-01 -5.23932765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:164.39, Y:-29.22, Z:-5.24 [[ 9.76962856e-01 2.11250197e-01 3.02808835e-02 1.64391837e+02] [-2.11159057e-01 9.77431966e-01 -6.21317947e-03 -2.92235376e+01] [-3.09100389e-02 -3.24037232e-04 9.99522118e-01 -5.23845175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49401273899997 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:164.42, Y:-29.23, Z:-5.24 [[ 9.77154362e-01 2.10321992e-01 3.05616349e-02 1.64420331e+02] [-2.10228759e-01 9.77632124e-01 -6.26886466e-03 -2.92258306e+01] [-3.11965162e-02 -2.99286143e-04 9.99513225e-01 -5.23824100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:164.45, Y:-29.23, Z:-5.24 [[ 9.77097943e-01 2.10701151e-01 2.97428125e-02 1.64449010e+02] [-2.10613065e-01 9.77550476e-01 -6.09955038e-03 -2.92297020e+01] [-3.03602828e-02 -3.04366789e-04 9.99538974e-01 -5.24056532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55401273899997 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:164.48, Y:-29.23, Z:-5.24 [[ 9.77016884e-01 2.11215944e-01 2.87373242e-02 1.64477369e+02] [-2.11133975e-01 9.77439373e-01 -5.89205327e-03 -2.92334516e+01] [-2.93334878e-02 -3.10789977e-04 9.99569632e-01 -5.24290539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:164.51, Y:-29.24, Z:-5.24 [[ 9.77142485e-01 2.10478033e-01 2.98590284e-02 1.64505941e+02] [-2.10389238e-01 9.77598541e-01 -6.12059636e-03 -2.92386082e+01] [-3.04783937e-02 -3.01323506e-04 9.99535380e-01 -5.24391425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61401273899997 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:164.53, Y:-29.24, Z:-5.24 [[ 9.77439762e-01 2.08913265e-01 3.10927656e-02 1.64533170e+02] [-2.08816237e-01 9.77934138e-01 -6.37193036e-03 -2.92433868e+01] [-3.17378577e-02 -2.64496207e-04 9.99496192e-01 -5.24405661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:164.56, Y:-29.25, Z:-5.25 [[ 9.78536661e-01 2.03684274e-01 3.12844856e-02 1.64562555e+02] [-2.03583432e-01 9.79036622e-01 -6.40928543e-03 -2.92494693e+01] [-3.19341277e-02 -9.72821818e-05 9.99489971e-01 -5.24582190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67401273899998 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:164.59, Y:-29.26, Z:-5.25 [[ 9.79690978e-01 1.98455460e-01 2.86534143e-02 1.64590647e+02] [-1.98368655e-01 9.80109905e-01 -5.86947452e-03 -2.92574011e+01] [-2.92483245e-02 6.63319777e-05 9.99572174e-01 -5.24795832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:164.62, Y:-29.27, Z:-5.25 [[ 9.79961021e-01 1.96542072e-01 3.23668234e-02 1.64617211e+02] [-1.96722439e-01 9.80456148e-01 2.45432547e-03 -2.92700725e+01] [-3.12518728e-02 -8.77242373e-03 9.99473044e-01 -5.25036584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73401273899998 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:164.65, Y:-29.26, Z:-5.25 [[ 9.80477097e-01 1.94751819e-01 2.71365305e-02 1.64649612e+02] [-1.94421784e-01 9.80813244e-01 -1.43370098e-02 -2.92646179e+01] [-2.94080273e-02 8.78117705e-03 9.99528918e-01 -5.25000735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:164.68, Y:-29.28, Z:-5.25 [[ 9.80520432e-01 1.94387496e-01 2.81635300e-02 1.64676683e+02] [-1.94301926e-01 9.80924802e-01 -5.77017263e-03 -2.92770137e+01] [-2.87479545e-02 1.85544035e-04 9.99586675e-01 -5.25036743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79401273899998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:164.70, Y:-29.28, Z:-5.25 [[ 9.80543352e-01 1.94323712e-01 2.78034286e-02 1.64704428e+02] [-1.94240274e-01 9.80937440e-01 -5.69695933e-03 -2.92836418e+01] [-2.83804783e-02 1.85570006e-04 9.99597176e-01 -5.25170688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:164.73, Y:-29.29, Z:-5.25 [[ 9.80632102e-01 1.93893160e-01 2.76789303e-02 1.64731776e+02] [-1.93810327e-01 9.81022632e-01 -5.67038538e-03 -2.92905292e+01] [-2.82531059e-02 1.96099406e-04 9.99600782e-01 -5.25280636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85401273899998 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:164.76, Y:-29.30, Z:-5.25 [[ 9.80907991e-01 1.92294185e-01 2.90251723e-02 1.64760270e+02] [-1.92202420e-01 9.81337293e-01 -5.94537913e-03 -2.93016068e+01] [-2.96267458e-02 2.53161561e-04 9.99561000e-01 -5.25397030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:164.79, Y:-29.31, Z:-5.26 [[ 9.81193151e-01 1.90842850e-01 2.89656218e-02 1.64789362e+02] [-1.90750829e-01 9.81620558e-01 -5.93313901e-03 -2.93106875e+01] [-2.95655470e-02 2.96338970e-04 9.99562800e-01 -5.25518783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914012739 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:164.82, Y:-29.32, Z:-5.26 [[ 9.81797345e-01 1.88014747e-01 2.69152011e-02 1.64818026e+02] [-1.87934225e-01 9.82166141e-01 -5.51344946e-03 -2.93219671e+01] [-2.74718090e-02 3.54802598e-04 9.99622516e-01 -5.25715252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:164.85, Y:-29.33, Z:-5.26 [[ 9.82001356e-01 1.87077323e-01 2.59887034e-02 1.64848246e+02] [-1.87001916e-01 9.82345123e-01 -5.32387824e-03 -2.93305784e+01] [-2.65258529e-02 3.68118328e-04 9.99648060e-01 -5.25891582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974012739 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:164.88, Y:-29.34, Z:-5.26 [[ 9.82193054e-01 1.86117477e-01 2.56337675e-02 1.64878072e+02] [-1.86043773e-01 9.82527421e-01 -5.25178222e-03 -2.93386460e+01] [-2.61633279e-02 3.89261182e-04 9.99657606e-01 -5.25962370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:164.91, Y:-29.35, Z:-5.25 [[ 9.82263800e-01 1.85672949e-01 2.61415923e-02 1.64908040e+02] [-1.85596121e-01 9.82611514e-01 -5.35647325e-03 -2.93491223e+01] [-2.66815818e-02 4.09691625e-04 9.99643899e-01 -5.25166675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034012739 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:164.94, Y:-29.36, Z:-5.26 [[ 9.81987238e-01 1.86921573e-01 2.75932783e-02 1.64938869e+02] [-1.86836466e-01 9.82374759e-01 -5.65392466e-03 -2.93588043e+01] [-2.81637806e-02 3.96651265e-04 9.99603243e-01 -5.26053140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:164.97, Y:-29.37, Z:-5.26 [[ 9.81357157e-01 1.90003719e-01 2.89260805e-02 1.64969637e+02] [-1.89911372e-01 9.81783316e-01 -5.93226460e-03 -2.93703791e+01] [-2.95262955e-02 3.28278692e-04 9.99563950e-01 -5.26023517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094012739 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:165.00, Y:-29.38, Z:-5.26 [[ 9.80672231e-01 1.93579608e-01 2.84413592e-02 1.65000197e+02] [-1.93491681e-01 9.81084546e-01 -5.83809258e-03 -2.93795930e+01] [-2.90335136e-02 2.22088866e-04 9.99578414e-01 -5.26184197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:165.03, Y:-29.39, Z:-5.26 [[ 9.80402819e-01 1.94996374e-01 2.80486409e-02 1.65031874e+02] [-1.94911294e-01 9.80803946e-01 -5.76251663e-03 -2.93878074e+01] [-2.86338875e-02 1.82590659e-04 9.99589950e-01 -5.26354011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154012739 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:165.06, Y:-29.40, Z:-5.27 [[ 9.80226571e-01 1.95801509e-01 2.85943643e-02 1.65062922e+02] [-1.95713365e-01 9.80643535e-01 -5.87679328e-03 -2.93965811e+01] [-2.91915634e-02 1.64289670e-04 9.99573822e-01 -5.26537478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:165.09, Y:-29.41, Z:-5.27 [[ 9.80395194e-01 1.94194158e-01 3.33750261e-02 1.65093139e+02] [-1.94323055e-01 9.80937384e-01 6.31617668e-04 -2.94122153e+01] [-3.26161544e-02 -7.10477196e-03 9.99442699e-01 -5.26690253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21401273899997 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:165.13, Y:-29.41, Z:-5.27 [[ 9.80747529e-01 1.93202106e-01 2.84118108e-02 1.65125701e+02] [-1.92889381e-01 9.81129143e-01 -1.33899799e-02 -2.94104168e+01] [-3.04626279e-02 7.65185310e-03 9.99506617e-01 -5.26721162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:165.16, Y:-29.43, Z:-5.27 [[ 9.81155772e-01 1.91104474e-01 2.85031666e-02 1.65155673e+02] [-1.91014555e-01 9.81569652e-01 -5.87017654e-03 -2.94275581e+01] [-2.90996603e-02 3.15037908e-04 9.99576466e-01 -5.26868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27401273899997 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:165.19, Y:-29.44, Z:-5.27 [[ 9.80984264e-01 1.92370561e-01 2.57573603e-02 1.65187086e+02] [-1.92297456e-01 9.81322323e-01 -5.30904231e-03 -2.94398533e+01] [-2.62975761e-02 2.55012092e-04 9.99654126e-01 -5.26987221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:165.22, Y:-29.45, Z:-5.27 [[ 9.80524819e-01 1.94691200e-01 2.58150316e-02 1.65218508e+02] [-1.94618439e-01 9.80864566e-01 -5.32597790e-03 -2.94475446e+01] [-2.63579708e-02 1.98172383e-04 9.99652549e-01 -5.27077829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33401273899997 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:165.25, Y:-29.46, Z:-5.27 [[ 9.80001268e-01 1.97206530e-01 2.65913255e-02 1.65251156e+02] [-1.97130103e-01 9.80361956e-01 -5.49161565e-03 -2.94550430e+01] [-2.71521063e-02 1.39839585e-04 9.99631304e-01 -5.27140566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:165.28, Y:-29.46, Z:-5.27 [[ 9.78885302e-01 2.02402219e-01 2.85815777e-02 1.65282902e+02] [-2.02316068e-01 9.79302477e-01 -5.90483168e-03 -2.94640878e+01] [-2.91851608e-02 -2.35944999e-06 9.99574022e-01 -5.27126423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39401273899998 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:165.31, Y:-29.47, Z:-5.27 [[ 9.78142205e-01 2.06178428e-01 2.69867070e-02 1.65314212e+02] [-2.06102926e-01 9.78514407e-01 -5.58024956e-03 -2.94735124e+01] [-2.75574087e-02 -1.03761661e-04 9.99620217e-01 -5.27230273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:165.35, Y:-29.48, Z:-5.27 [[ 9.77866673e-01 2.07638052e-01 2.57528397e-02 1.65345918e+02] [-2.07569675e-01 9.78205715e-01 -5.32993210e-03 -2.94800475e+01] [-2.62982717e-02 -1.33545596e-04 9.99654132e-01 -5.27393835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45401273899998 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:165.38, Y:-29.49, Z:-5.27 [[ 9.77091292e-01 2.11131587e-01 2.67592967e-02 1.65378906e+02] [-2.11058932e-01 9.77457620e-01 -5.54325596e-03 -2.94856444e+01] [-2.73264349e-02 -2.31521453e-04 9.99626536e-01 -5.27481986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:165.41, Y:-29.49, Z:-5.27 [[ 9.76626955e-01 2.13029686e-01 2.86032161e-02 1.65410533e+02] [-2.12947298e-01 9.77045682e-01 -5.93161523e-03 -2.94918299e+01] [-2.92102589e-02 -2.98002277e-04 9.99573245e-01 -5.27492968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51401273899998 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:165.44, Y:-29.50, Z:-5.27 [[ 9.76091809e-01 2.15124375e-01 3.10850955e-02 1.65442653e+02] [-2.15027997e-01 9.76586582e-01 -6.45040876e-03 -2.94952106e+01] [-3.17449273e-02 -3.87974657e-04 9.99495927e-01 -5.27475368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:165.48, Y:-29.50, Z:-5.28 [[ 9.76001434e-01 2.15561799e-01 3.08919248e-02 1.65475445e+02] [-2.15466671e-01 9.76490120e-01 -6.41550526e-03 -2.94989989e+01] [-3.15485972e-02 -3.94637845e-04 9.99502141e-01 -5.27627197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57401273899998 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:165.51, Y:-29.50, Z:-5.28 [[ 9.76020220e-01 2.15657056e-01 2.96068222e-02 1.65507489e+02] [-2.15569550e-01 9.76469095e-01 -6.15434101e-03 -2.95037171e+01] [-3.02373739e-02 -3.75568064e-04 9.99542676e-01 -5.27765744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:165.54, Y:-29.51, Z:-5.28 [[ 9.76214165e-01 2.14996848e-01 2.79688935e-02 1.65537704e+02] [-2.14918330e-01 9.76614687e-01 -5.81937129e-03 -2.95080876e+01] [-2.85659786e-02 -3.30075187e-04 9.99591855e-01 -5.28063835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63401273899999 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:165.57, Y:-29.51, Z:-5.28 [[ 9.76278191e-01 2.14465663e-01 2.97552317e-02 1.65569022e+02] [-2.14376491e-01 9.76731472e-01 -6.19287499e-03 -2.95099419e+01] [-3.03910303e-02 -3.32853351e-04 9.99538031e-01 -5.28064956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:165.60, Y:-29.51, Z:-5.28 [[ 9.76230874e-01 2.14712167e-01 2.95290814e-02 1.65600323e+02] [-2.14624448e-01 9.76677312e-01 -6.14615214e-03 -2.95135292e+01] [-3.01600375e-02 -3.37599322e-04 9.99545026e-01 -5.28171697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694012739 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:165.63, Y:-29.52, Z:-5.28 [[ 9.76169316e-01 2.15227117e-01 2.77624673e-02 1.65630874e+02] [-2.15149648e-01 9.76563967e-01 -5.78341122e-03 -2.95153792e+01] [-2.83565721e-02 -3.27496505e-04 9.99597818e-01 -5.28463820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:165.66, Y:-29.52, Z:-5.29 [[ 9.76233849e-01 2.15004415e-01 2.72134872e-02 1.65661069e+02] [-2.14929894e-01 9.76613026e-01 -5.66904899e-03 -2.95188953e+01] [-2.77959167e-02 -3.14674399e-04 9.99613569e-01 -5.28588126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754012739 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:165.69, Y:-29.52, Z:-5.29 [[ 9.76773228e-01 2.12449916e-01 2.79122476e-02 1.65690975e+02] [-2.12370474e-01 9.77171925e-01 -5.81466774e-03 -2.95176849e+01] [-2.85103904e-02 -2.48125463e-04 9.99593465e-01 -5.28607014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:165.72, Y:-29.52, Z:-5.29 [[ 9.77213602e-01 2.10312794e-01 2.86723616e-02 1.65720464e+02] [-2.10228054e-01 9.77634130e-01 -5.97269620e-03 -2.95211819e+01] [-2.92872137e-02 -1.91134825e-04 9.99571019e-01 -5.28740064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814012739 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:165.75, Y:-29.53, Z:-5.29 [[ 9.77891626e-01 2.07030967e-01 2.94303833e-02 1.65749806e+02] [-2.06940222e-01 9.78334385e-01 -6.12982118e-03 -2.95263255e+01] [-3.00618188e-02 -9.60292722e-05 9.99548037e-01 -5.28869317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:165.78, Y:-29.54, Z:-5.29 [[ 9.79480384e-01 1.99339286e-01 2.96989338e-02 1.65780599e+02] [-1.99399224e-01 9.79917868e-01 -9.59598056e-04 -2.95385458e+01] [-2.92938015e-02 -4.98203689e-03 9.99558429e-01 -5.28647628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874012739 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:165.81, Y:-29.54, Z:-5.29 [[ 9.81016763e-01 1.91600404e-01 2.99231588e-02 1.65812130e+02] [-1.91333380e-01 9.81456885e-01 -1.15723838e-02 -2.95376069e+01] [-3.15855637e-02 5.62740335e-03 9.99485210e-01 -5.28950822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:165.84, Y:-29.55, Z:-5.29 [[ 9.81569829e-01 1.88644099e-01 3.05626182e-02 1.65842492e+02] [-1.88537133e-01 9.82045397e-01 -6.37079740e-03 -2.95493638e+01] [-3.12156918e-02 4.91194118e-04 9.99512551e-01 -5.29102225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934012739 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:165.87, Y:-29.56, Z:-5.29 [[ 9.82077410e-01 1.86180352e-01 2.93400424e-02 1.65873233e+02] [-1.86080542e-01 9.82515431e-01 -6.12035852e-03 -2.95612849e+01] [-2.99665349e-02 5.51054844e-04 9.99550751e-01 -5.29339232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:165.90, Y:-29.57, Z:-5.29 [[ 9.82009325e-01 1.86692569e-01 2.83473032e-02 1.65904306e+02] [-1.86599462e-01 9.82418247e-01 -5.91855334e-03 -2.95694723e+01] [-2.89538578e-02 5.22483049e-04 9.99580613e-01 -5.29348109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99401273899997 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:165.93, Y:-29.58, Z:-5.29 [[ 9.81277529e-01 1.90813363e-01 2.61662133e-02 1.65933108e+02] [-1.90735359e-01 9.81626263e-01 -5.46836619e-03 -2.95776921e+01] [-2.67288795e-02 3.75162770e-04 9.99642649e-01 -5.29395072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:165.96, Y:-29.59, Z:-5.30 [[ 9.80772660e-01 1.93449006e-01 2.57385349e-02 1.65963399e+02] [-1.93374424e-01 9.81110286e-01 -5.37955578e-03 -2.95862075e+01] [-2.62930111e-02 2.98946874e-04 9.99654234e-01 -5.29528589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05401273899997 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:165.99, Y:-29.60, Z:-5.30 [[ 9.79755849e-01 1.98420051e-01 2.66075136e-02 1.65992149e+02] [-1.98342158e-01 9.80117061e-01 -5.56187915e-03 -2.95973917e+01] [-2.71820664e-02 1.71891953e-04 9.99630485e-01 -5.29635473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:166.02, Y:-29.61, Z:-5.29 [[ 9.79371740e-01 2.00342026e-01 2.63451667e-02 1.66023584e+02] [-2.00535656e-01 9.79674158e-01 4.89838761e-03 -2.96141416e+01] [-2.48283261e-02 -1.00804877e-02 9.99640905e-01 -5.29162547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11401273899997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:166.06, Y:-29.61, Z:-5.30 [[ 9.78650701e-01 2.03732451e-01 2.71273515e-02 1.66055318e+02] [-2.03346748e-01 9.78970788e-01 -1.63185903e-02 -2.96068379e+01] [-2.98815111e-02 1.04539411e-02 9.99498780e-01 -5.29832641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:166.09, Y:-29.62, Z:-5.30 [[ 9.78287030e-01 2.05043016e-01 3.01968417e-02 1.66085999e+02] [-2.04945650e-01 9.78752963e-01 -6.31812963e-03 -2.96219494e+01] [-3.08507366e-02 -7.76708338e-06 9.99524003e-01 -5.29834637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17401273899998 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:166.12, Y:-29.63, Z:-5.30 [[ 9.78270154e-01 2.05123696e-01 3.01956068e-02 1.66118744e+02] [-2.05026187e-01 9.78736057e-01 -6.32402561e-03 -2.96289474e+01] [-3.08507367e-02 -4.28460695e-06 9.99524003e-01 -5.29945957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:166.15, Y:-29.64, Z:-5.30 [[ 9.77598405e-01 2.07871561e-01 3.30268438e-02 1.66150575e+02] [-2.07756364e-01 9.78156125e-01 -6.92014369e-03 -2.96383033e+01] [-3.37439106e-02 -9.64155465e-05 9.99430507e-01 -5.29989522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23401273899998 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:166.18, Y:-29.65, Z:-5.30 [[ 9.77324451e-01 2.09199988e-01 3.27457148e-02 1.66181722e+02] [-2.09087275e-01 9.77872869e-01 -6.86762959e-03 -2.96454126e+01] [-3.34578541e-02 -1.34809966e-04 9.99440120e-01 -5.30068925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:166.21, Y:-29.65, Z:-5.30 [[ 9.76835736e-01 2.12018730e-01 2.89828239e-02 1.66213528e+02] [-2.11931542e-01 9.77265582e-01 -6.08304187e-03 -2.96527609e+01] [-2.96136351e-02 -2.00241872e-04 9.99561400e-01 -5.30370669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29401273899998 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:166.24, Y:-29.66, Z:-5.31 [[ 9.76502938e-01 2.13784317e-01 2.71712846e-02 1.66244743e+02] [-2.13708233e-01 9.76880858e-01 -5.70785232e-03 -2.96610275e+01] [-2.77633572e-02 -2.32992684e-04 9.99614497e-01 -5.30531869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:166.27, Y:-29.67, Z:-5.31 [[ 9.75858433e-01 2.16737956e-01 2.69254153e-02 1.66274354e+02] [-2.16664212e-01 9.76229770e-01 -5.66181185e-03 -2.96693321e+01] [-2.75125215e-02 -3.08647056e-04 9.99621411e-01 -5.30519569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35401273899998 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:166.30, Y:-29.67, Z:-5.31 [[ 9.75457772e-01 2.18442441e-01 2.76592768e-02 1.66304211e+02] [-2.18365253e-01 9.75849767e-01 -5.81801319e-03 -2.96746365e+01] [-2.82621999e-02 -3.64598803e-04 9.99600478e-01 -5.30603429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:166.33, Y:-29.68, Z:-5.31 [[ 9.74315881e-01 2.23433504e-01 2.80362786e-02 1.66334149e+02] [-2.23356257e-01 9.74719038e-01 -5.89742176e-03 -2.96780028e+01] [-2.86451761e-02 -5.16126570e-04 9.99589509e-01 -5.30795673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414012739 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:166.36, Y:-29.68, Z:-5.31 [[ 9.73711186e-01 2.26117084e-01 2.75243657e-02 1.66364002e+02] [-2.26043725e-01 9.74099955e-01 -5.78897120e-03 -2.96840257e+01] [-2.81204687e-02 -5.84924135e-04 9.99604370e-01 -5.30887158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:166.39, Y:-29.69, Z:-5.31 [[ 9.72480887e-01 2.31318217e-01 2.77994032e-02 1.66393860e+02] [-2.31245502e-01 9.72877860e-01 -5.84693256e-03 -2.96877295e+01] [-2.83979259e-02 -7.42456799e-04 9.99596422e-01 -5.30873669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474012739 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:166.42, Y:-29.69, Z:-5.31 [[ 9.71905372e-01 2.33627175e-01 2.86057947e-02 1.66422146e+02] [-2.33551197e-01 9.72325896e-01 -6.01586239e-03 -2.96905716e+01] [-2.92196239e-02 -8.34068636e-04 9.99572668e-01 -5.31022778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:166.45, Y:-29.69, Z:-5.31 [[ 9.70986844e-01 2.37249372e-01 2.99547065e-02 1.66451302e+02] [-2.37167814e-01 9.71448279e-01 -6.29842345e-03 -2.96901727e+01] [-3.05937451e-02 -9.88605945e-04 9.99531413e-01 -5.31195867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:166.48, Y:-29.69, Z:-5.31 [[ 9.70655772e-01 2.38698695e-01 2.91599904e-02 1.66479688e+02] [-2.38622101e-01 9.71093155e-01 -6.12996554e-03 -2.96935949e+01] [-2.97802819e-02 -1.00813174e-03 9.99555961e-01 -5.31350628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:166.51, Y:-29.69, Z:-5.31 [[ 9.70132589e-01 2.40987873e-01 2.77056844e-02 1.66508609e+02] [-2.40919696e-01 9.70527585e-01 -5.82299375e-03 -2.96943394e+01] [-2.82924019e-02 -1.02576907e-03 9.99599164e-01 -5.31487715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594012739 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:166.54, Y:-29.70, Z:-5.32 [[ 9.70046144e-01 2.41188976e-01 2.89543969e-02 1.66536106e+02] [-2.41114647e-01 9.70477569e-01 -6.08398489e-03 -2.96966189e+01] [-2.95669828e-02 -1.07958309e-03 9.99562218e-01 -5.31542025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:166.57, Y:-29.70, Z:-5.32 [[ 9.70208375e-01 2.40066224e-01 3.26177352e-02 1.66565103e+02] [-2.39971339e-01 9.70755796e-01 -6.85133607e-03 -2.96973084e+01] [-3.33086299e-02 -1.18009795e-03 9.99444417e-01 -5.31517878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654012739 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:166.59, Y:-29.70, Z:-5.32 [[ 9.70473508e-01 2.38904104e-01 3.32565616e-02 1.66593006e+02] [-2.38804841e-01 9.71042468e-01 -6.98385205e-03 -2.97010411e+01] [-3.39620046e-02 -1.16418452e-03 9.99422447e-01 -5.31609655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:166.62, Y:-29.70, Z:-5.32 [[ 9.71115990e-01 2.36456642e-01 3.19685963e-02 1.66621540e+02] [-2.36363643e-01 9.71641487e-01 -6.71188487e-03 -2.97007499e+01] [-3.26490842e-02 -1.03819518e-03 9.99466337e-01 -5.31780568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71401273899997 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:166.65, Y:-29.70, Z:-5.32 [[ 9.71278429e-01 2.35950475e-01 3.07503946e-02 1.66650834e+02] [-2.35864231e-01 9.71764583e-01 -6.45438346e-03 -2.97028658e+01] [-3.14050592e-02 -9.83914750e-04 9.99506255e-01 -5.31886305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:166.68, Y:-29.70, Z:-5.32 [[ 9.71175978e-01 2.36515473e-01 2.96251609e-02 1.66679688e+02] [-2.36435728e-01 9.71627241e-01 -6.21692099e-03 -2.97023804e+01] [-3.02550114e-02 -9.66722171e-04 9.99541745e-01 -5.32099285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77401273899997 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:166.71, Y:-29.71, Z:-5.32 [[ 9.71146861e-01 2.36564981e-01 3.01791999e-02 1.66707272e+02] [-2.36482316e-01 9.71615167e-01 -6.33100207e-03 -2.97051478e+01] [-3.08202617e-02 -9.88514311e-04 9.99524454e-01 -5.32234946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:166.74, Y:-29.70, Z:-5.31 [[ 9.71053426e-01 2.37244637e-01 2.77529352e-02 1.66735856e+02] [-2.37175059e-01 9.71449492e-01 -5.82024849e-03 -2.97017291e+01] [-2.83413975e-02 -9.30531787e-04 9.99597869e-01 -5.30865901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83401273899997 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:166.76, Y:-29.70, Z:-5.32 [[ 9.70936767e-01 2.37603419e-01 2.87473602e-02 1.66762544e+02] [-2.37528995e-01 9.71361756e-01 -6.02626904e-03 -2.97026456e+01] [-2.93559484e-02 -9.77205393e-04 9.99568544e-01 -5.32450602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:166.79, Y:-29.70, Z:-5.33 [[ 9.71334518e-01 2.36103513e-01 2.76475301e-02 1.66790728e+02] [-2.36034133e-01 9.71727495e-01 -5.79345498e-03 -2.97027316e+01] [-2.82337202e-02 -8.98377977e-04 9.99600945e-01 -5.32586652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89401273899998 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:166.82, Y:-29.71, Z:-5.33 [[ 9.71861070e-01 2.33808884e-01 2.86263229e-02 1.66817985e+02] [-2.33733569e-01 9.72282192e-01 -5.99648085e-03 -2.97063597e+01] [-2.92348944e-02 -8.63186325e-04 9.99572196e-01 -5.32633868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:166.85, Y:-29.71, Z:-5.33 [[ 9.73437698e-01 2.26862648e-01 3.08607626e-02 1.66846811e+02] [-2.26771711e-01 9.73926505e-01 -6.46174854e-03 -2.97072966e+01] [-3.15220440e-02 -7.08238291e-04 9.99502806e-01 -5.32658980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95401273899998 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:166.87, Y:-29.71, Z:-5.33 [[ 9.74272740e-01 2.23148002e-01 3.15847545e-02 1.66873089e+02] [-2.23050871e-01 9.74784389e-01 -6.61094798e-03 -2.97108291e+01] [-3.22635454e-02 -6.04140595e-04 9.99479214e-01 -5.32867552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:166.90, Y:-29.71, Z:-5.33 [[ 9.75712799e-01 2.16764321e-01 3.15873883e-02 1.66899463e+02] [-2.16663936e-01 9.76223884e-01 -6.60808326e-03 -2.97146575e+01] [-3.22687596e-02 -3.96256466e-04 9.99479149e-01 -5.32891855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01401273899998 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:166.93, Y:-29.72, Z:-5.33 [[ 9.77255362e-01 2.09787218e-01 3.10045204e-02 1.66927104e+02] [-2.09687091e-01 9.77747051e-01 -6.48292270e-03 -2.97181793e+01] [-3.16746127e-02 -1.65776709e-04 9.99498220e-01 -5.33065132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:166.96, Y:-29.72, Z:-5.33 [[ 9.78119074e-01 2.05838013e-01 3.02289433e-02 1.66955129e+02] [-2.05741012e-01 9.78586077e-01 -6.31863109e-03 -2.97231447e+01] [-3.08822375e-02 -3.89598137e-05 9.99523029e-01 -5.33288425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07401273899998 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:166.98, Y:-29.73, Z:-5.33 [[ 9.79550226e-01 1.99283283e-01 2.77042952e-02 1.66982125e+02] [-1.99199220e-01 9.79941911e-01 -5.78974740e-03 -2.97298844e+01] [-2.83023999e-02 1.52674387e-04 9.99599395e-01 -5.33436691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:167.01, Y:-29.74, Z:-5.34 [[ 9.79974769e-01 1.97332165e-01 2.66358442e-02 1.67008855e+02] [-1.97253783e-01 9.80336665e-01 -5.56491573e-03 -2.97361483e+01] [-2.72102315e-02 1.99455982e-04 9.99629713e-01 -5.33570837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13401273899999 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:167.04, Y:-29.74, Z:-5.34 [[ 9.80219844e-01 1.95974944e-01 2.76202640e-02 1.67037479e+02] [-1.95890171e-01 9.80608873e-01 -5.76882214e-03 -2.97410499e+01] [-2.82152205e-02 2.44175717e-04 9.99601842e-01 -5.33524832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:167.06, Y:-29.76, Z:-5.33 [[ 9.80293612e-01 1.95558342e-01 2.79529879e-02 1.67063963e+02] [-1.95807595e-01 9.80621122e-01 6.44990449e-03 -2.97552436e+01] [-2.61499577e-02 -1.17962075e-02 9.99588430e-01 -5.32880882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194012739 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:167.10, Y:-29.74, Z:-5.34 [[ 9.80245697e-01 1.95819134e-01 2.78071912e-02 1.67095165e+02] [-1.95368418e-01 9.80562524e-01 -1.81195216e-02 -2.97447831e+01] [-3.08148387e-02 1.23289361e-02 9.99449070e-01 -5.33534535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:167.12, Y:-29.76, Z:-5.34 [[ 9.80478852e-01 1.94196914e-01 3.08022487e-02 1.67121449e+02] [-1.94090654e-01 9.80962513e-01 -6.43170612e-03 -2.97614223e+01] [-3.14648688e-02 3.27723222e-04 9.99504805e-01 -5.33739304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254012739 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:167.15, Y:-29.77, Z:-5.34 [[ 9.80537221e-01 1.94292824e-01 2.82322107e-02 1.67149341e+02] [-1.94203635e-01 9.80943531e-01 -5.89384404e-03 -2.97677036e+01] [-2.88393360e-02 2.96335528e-04 9.99584016e-01 -5.33972178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:167.18, Y:-29.77, Z:-5.34 [[ 9.80516517e-01 1.94574435e-01 2.69842262e-02 1.67176596e+02] [-1.94493097e-01 9.80887717e-01 -5.63216198e-03 -2.97743191e+01] [-2.75643707e-02 2.74182136e-04 9.99619993e-01 -5.34052022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314012739 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:167.20, Y:-29.78, Z:-5.34 [[ 9.80466527e-01 1.95035371e-01 2.54282015e-02 1.67204377e+02] [-1.94963338e-01 9.80796179e-01 -5.30591020e-03 -2.97844463e+01] [-2.59747230e-02 2.44700309e-04 9.99662570e-01 -5.34152782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:167.23, Y:-29.79, Z:-5.34 [[ 9.80560568e-01 1.94586769e-01 2.52380945e-02 1.67231617e+02] [-1.94515691e-01 9.80885276e-01 -5.26505681e-03 -2.97926335e+01] [-2.57801857e-02 2.53501713e-04 9.99667604e-01 -5.34299297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374012739 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:167.26, Y:-29.80, Z:-5.34 [[ 9.81024734e-01 1.92060444e-01 2.65190033e-02 1.67257985e+02] [-1.91981078e-01 9.81383041e-01 -5.53101921e-03 -2.98018022e+01] [-2.70875901e-02 3.34919826e-04 9.99633008e-01 -5.34325257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:167.29, Y:-29.81, Z:-5.34 [[ 9.81195833e-01 1.90853335e-01 2.88052238e-02 1.67286232e+02] [-1.90759227e-01 9.81618483e-01 -6.00595721e-03 -2.98091752e+01] [-2.94219970e-02 3.98157981e-04 9.99567000e-01 -5.34314109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434012739 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:167.31, Y:-29.82, Z:-5.33 [[ 9.81120979e-01 1.90886099e-01 3.10503021e-02 1.67313258e+02] [-1.90776811e-01 9.81612100e-01 -6.47250944e-03 -2.98172656e+01] [-3.17148644e-02 4.26637178e-04 9.99496866e-01 -5.32887871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:167.34, Y:-29.82, Z:-5.34 [[ 9.80812379e-01 1.92243676e-01 3.23951533e-02 1.67340349e+02] [-1.92125518e-01 9.81347141e-01 -6.75088362e-03 -2.98247606e+01] [-3.30887058e-02 3.97414632e-04 9.99452340e-01 -5.34249531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49401273899997 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:167.37, Y:-29.83, Z:-5.34 [[ 9.80008846e-01 1.96832658e-01 2.89752567e-02 1.67367414e+02] [-1.96740159e-01 9.80437075e-01 -6.03752969e-03 -2.98344042e+01] [-2.95967989e-02 2.16235884e-04 9.99561895e-01 -5.34450679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:167.40, Y:-29.84, Z:-5.35 [[ 9.79529959e-01 1.99375291e-01 2.77588217e-02 1.67395638e+02] [-1.99291442e-01 9.79923199e-01 -5.78321082e-03 -2.98410603e+01] [-2.83545427e-02 1.32732650e-04 9.99597920e-01 -5.34646499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55401273899997 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:167.42, Y:-29.85, Z:-5.35 [[ 9.79083359e-01 2.01676027e-01 2.68803976e-02 1.67422398e+02] [-2.01598299e-01 9.79452284e-01 -5.59907854e-03 -2.98484337e+01] [-2.74572668e-02 6.29221905e-05 9.99622976e-01 -5.34848159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:167.45, Y:-29.86, Z:-5.35 [[ 9.79005110e-01 2.02015943e-01 2.71763484e-02 1.67449262e+02] [-2.01936669e-01 9.79382232e-01 -5.65914566e-03 -2.98562217e+01] [-2.77592704e-02 5.24312531e-05 9.99614636e-01 -5.34941009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61401273899997 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:167.48, Y:-29.87, Z:-5.35 [[ 9.79016553e-01 2.01753130e-01 2.86751447e-02 1.67475645e+02] [-2.01664806e-01 9.79436405e-01 -5.96952007e-03 -2.98679673e+01] [-2.92898499e-02 6.14914837e-05 9.99570958e-01 -5.34972125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:167.50, Y:-29.89, Z:-5.35 [[ 9.78707947e-01 2.02228646e-01 3.51330154e-02 1.67498411e+02] [-2.02591077e-01 9.79238085e-01 7.04479705e-03 -2.98853204e+01] [-3.29789269e-02 -1.40124343e-02 9.99357815e-01 -5.35252765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67401273899998 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:167.53, Y:-29.87, Z:-5.35 [[ 9.79012428e-01 2.02297807e-01 2.47034929e-02 1.67532360e+02] [-2.01854550e-01 9.79225162e-01 -1.93086234e-02 -2.98732638e+01] [-2.80963740e-02 1.39168699e-02 9.99508336e-01 -5.35282370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:167.56, Y:-29.90, Z:-5.35 [[ 9.79145434e-01 2.01388699e-01 2.67733265e-02 1.67557095e+02] [-2.01656258e-01 9.79426306e-01 7.67236709e-03 -2.98991109e+01] [-2.46773722e-02 -1.29113720e-02 9.99612087e-01 -5.34748307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73401273899998 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:167.59, Y:-29.89, Z:-5.35 [[ 9.79028230e-01 2.02334964e-01 2.37547339e-02 1.67589109e+02] [-2.01935784e-01 9.79230169e-01 -1.81718420e-02 -2.98887871e+01] [-2.69381510e-02 1.29938154e-02 9.99552648e-01 -5.35446276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:167.62, Y:-29.90, Z:-5.36 [[ 9.78950134e-01 2.02513805e-01 2.53927827e-02 1.67616216e+02] [-2.02444944e-01 9.79279408e-01 -5.28077005e-03 -2.99037363e+01] [-2.59360581e-02 2.89700668e-05 9.99663603e-01 -5.35573042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79401273899998 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:167.64, Y:-29.91, Z:-5.36 [[ 9.78542977e-01 2.04636880e-01 2.40289444e-02 1.67643387e+02] [-2.04575864e-01 9.78837957e-01 -4.99690948e-03 -2.99096212e+01] [-2.45429948e-02 -2.60513974e-05 9.99698775e-01 -5.35707714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:167.67, Y:-29.92, Z:-5.36 [[ 9.78366678e-01 2.05445462e-01 2.43065012e-02 1.67670205e+02] [-2.05383315e-01 9.78668565e-01 -5.05313623e-03 -2.99152658e+01] [-2.48261526e-02 -4.83296998e-05 9.99691782e-01 -5.35838112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85401273899998 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:167.70, Y:-29.92, Z:-5.36 [[ 9.78108644e-01 2.06560120e-01 2.52269235e-02 1.67698972e+02] [-2.06493590e-01 9.78433907e-01 -5.24279664e-03 -2.99188808e+01] [-2.57658300e-02 -8.11732970e-05 9.99668003e-01 -5.35832871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:167.73, Y:-29.92, Z:-5.36 [[ 9.77955259e-01 2.07229629e-01 2.56786498e-02 1.67726377e+02] [-2.07160957e-01 9.78292324e-01 -5.33549283e-03 -2.99220738e+01] [-2.62268981e-02 -1.01740380e-04 9.99656011e-01 -5.35883618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:167.75, Y:-29.93, Z:-5.36 [[ 9.77840097e-01 2.07670935e-01 2.64863746e-02 1.67754153e+02] [-2.07598079e-01 9.78198737e-01 -5.50170015e-03 -2.99265027e+01] [-2.70514814e-02 -1.18737486e-04 9.99634035e-01 -5.35955342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:167.78, Y:-29.93, Z:-5.36 [[ 9.78037095e-01 2.06506850e-01 2.82552939e-02 1.67782839e+02] [-2.06423510e-01 9.78445150e-01 -5.86708242e-03 -2.99322465e+01] [-2.88578480e-02 -9.43326938e-05 9.99583521e-01 -5.35859289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974012739 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:167.81, Y:-29.93, Z:-5.36 [[ 9.78557279e-01 2.03983012e-01 2.85759032e-02 1.67810959e+02] [-2.03896733e-01 9.78974428e-01 -5.93227835e-03 -2.99341725e+01] [-2.91851625e-02 -2.14591543e-05 9.99574022e-01 -5.35942634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:167.84, Y:-29.94, Z:-5.36 [[ 9.78813288e-01 2.02783483e-01 2.83444297e-02 1.67839092e+02] [-2.02698145e-01 9.79223600e-01 -5.88246116e-03 -2.99382196e+01] [-2.89484004e-02 1.24678424e-05 9.99580907e-01 -5.36121534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034012739 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:167.87, Y:-29.94, Z:-5.36 [[ 9.78926368e-01 2.02332609e-01 2.76528683e-02 1.67867501e+02] [-2.02251242e-01 9.79316861e-01 -5.73765140e-03 -2.99426257e+01] [-2.82418342e-02 2.39112891e-05 9.99601120e-01 -5.36328228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:167.89, Y:-29.95, Z:-5.36 [[ 9.78848636e-01 2.02736400e-01 2.74463245e-02 1.67894636e+02] [-2.02656437e-01 9.79233349e-01 -5.69353770e-03 -2.99473063e+01] [-2.80306436e-02 1.09372682e-05 9.99607064e-01 -5.36370847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094012739 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:167.92, Y:-29.95, Z:-5.36 [[ 9.78855330e-01 2.02704028e-01 2.74466784e-02 1.67923357e+02] [-2.02624101e-01 9.79240051e-01 -5.69183112e-03 -2.99531754e+01] [-2.80306438e-02 1.01207009e-05 9.99607064e-01 -5.36468291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:167.95, Y:-29.96, Z:-5.37 [[ 9.78705437e-01 2.03438043e-01 2.73611103e-02 1.67951713e+02] [-2.03358924e-01 9.79087822e-01 -5.67322764e-03 -2.99572053e+01] [-2.79430802e-02 -1.17072228e-05 9.99609516e-01 -5.36525254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154012739 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:167.98, Y:-29.96, Z:-5.37 [[ 9.78154782e-01 2.06198309e-01 2.63719480e-02 1.67980017e+02] [-2.06125843e-01 9.78510219e-01 -5.46694312e-03 -2.99590402e+01] [-2.69324950e-02 -8.84234587e-05 9.99637251e-01 -5.36565910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:168.01, Y:-29.96, Z:-5.37 [[ 9.77421167e-01 2.09739572e-01 2.56354163e-02 1.68008332e+02] [-2.09672357e-01 9.77757270e-01 -5.31263109e-03 -2.99632440e+01] [-2.61794837e-02 -1.82360096e-04 9.99657242e-01 -5.36769300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21401273899997 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:168.04, Y:-29.97, Z:-5.37 [[ 9.77121884e-01 2.11182100e-01 2.51980922e-02 1.68036475e+02] [-2.11117669e-01 9.77446711e-01 -5.22078354e-03 -2.99691581e+01] [-2.57323284e-02 -2.18420648e-04 9.99668845e-01 -5.36829354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:168.06, Y:-29.97, Z:-5.37 [[ 9.76889559e-01 2.12210734e-01 2.55615589e-02 1.68063673e+02] [-2.12144814e-01 9.77223895e-01 -5.29492261e-03 -2.99743658e+01] [-2.61030056e-02 -2.50197557e-04 9.99659227e-01 -5.36888305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27401273899997 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:168.09, Y:-29.98, Z:-5.37 [[ 9.76347155e-01 2.14329338e-01 2.84458777e-02 1.68091045e+02] [-2.14248659e-01 9.76761392e-01 -5.89027730e-03 -2.99803032e+01] [-2.90472944e-02 -3.43535672e-04 9.99577979e-01 -5.36822151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:168.12, Y:-29.98, Z:-5.37 [[ 9.76111172e-01 2.15338009e-01 2.89226817e-02 1.68119825e+02] [-2.15255110e-01 9.76539500e-01 -5.98679354e-03 -2.99848484e+01] [-2.95333253e-02 -3.81978978e-04 9.99563723e-01 -5.36777132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33401273899997 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:168.15, Y:-29.99, Z:-5.37 [[ 9.75363402e-01 2.18861488e-01 2.76746042e-02 1.68148697e+02] [-2.18787039e-01 9.75755825e-01 -5.72730995e-03 -2.99855001e+01] [-2.82571438e-02 -4.68636191e-04 9.99600577e-01 -5.36917041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:168.18, Y:-29.99, Z:-5.37 [[ 9.74520434e-01 2.22758939e-01 2.62369885e-02 1.68175669e+02] [-2.22693482e-01 9.74873402e-01 -5.42807452e-03 -2.99873643e+01] [-2.67868943e-02 -5.53036781e-04 9.99641014e-01 -5.37135754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39401273899998 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:168.20, Y:-29.99, Z:-5.37 [[ 9.74325201e-01 2.23641586e-01 2.59777481e-02 1.68202864e+02] [-2.23577790e-01 9.74671284e-01 -5.37218067e-03 -2.99922137e+01] [-2.65212081e-02 -5.73796491e-04 9.99648086e-01 -5.37340587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:168.23, Y:-29.99, Z:-5.37 [[ 9.74381773e-01 2.23350916e-01 2.63539315e-02 1.68230108e+02] [-2.23285202e-01 9.74737932e-01 -5.44811190e-03 -2.99943211e+01] [-2.69050175e-02 -5.75901987e-04 9.99637829e-01 -5.37366907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45401273899998 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:168.26, Y:-30.00, Z:-5.37 [[ 9.74573046e-01 2.22482530e-01 2.66252236e-02 1.68257942e+02] [-2.22415195e-01 9.74936516e-01 -5.50187316e-03 -2.99973567e+01] [-2.71819734e-02 -5.59877020e-04 9.99630345e-01 -5.37361630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:168.29, Y:-30.00, Z:-5.37 [[ 9.74767956e-01 2.21627192e-01 2.66236800e-02 1.68286041e+02] [-2.21559597e-01 9.75131324e-01 -5.49966256e-03 -3.00009068e+01] [-2.71804591e-02 -5.37836991e-04 9.99630398e-01 -5.37350653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51401273899998 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:168.31, Y:-30.00, Z:-5.37 [[ 9.74925604e-01 2.20923762e-01 2.66975204e-02 1.68312913e+02] [-2.20855574e-01 9.75290941e-01 -5.51324707e-03 -3.00045300e+01] [-2.72558570e-02 -5.21290449e-04 9.99628354e-01 -5.37360540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:168.34, Y:-30.01, Z:-5.37 [[ 9.74746127e-01 2.21742510e-01 2.64621686e-02 1.68341273e+02] [-2.21675908e-01 9.75105105e-01 -5.46137695e-03 -3.00071281e+01] [-2.70144151e-02 -5.42569231e-04 9.99634897e-01 -5.37439925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57401273899998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:168.37, Y:-30.01, Z:-5.38 [[ 9.74746018e-01 2.21828939e-01 2.57317196e-02 1.68367851e+02] [-2.21766034e-01 9.75085452e-01 -5.30913168e-03 -3.00098783e+01] [-2.62683445e-02 -5.31366440e-04 9.99654786e-01 -5.37629260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:168.40, Y:-30.01, Z:-5.38 [[ 9.74665858e-01 2.22259783e-01 2.50410434e-02 1.68396260e+02] [-2.22200432e-01 9.74987337e-01 -5.16348086e-03 -3.00125745e+01] [-2.55623344e-02 -5.31462158e-04 9.99673089e-01 -5.37836330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63401273899999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:168.42, Y:-30.02, Z:-5.38 [[ 9.74629096e-01 2.22468311e-01 2.46165706e-02 1.68423606e+02] [-2.22411065e-01 9.74939778e-01 -5.07423100e-03 -3.00169259e+01] [-2.51285295e-02 -5.29504515e-04 9.99684088e-01 -5.37850543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:168.45, Y:-30.02, Z:-5.38 [[ 9.74333667e-01 2.23854713e-01 2.37270718e-02 1.68451527e+02] [-2.23801980e-01 9.74622373e-01 -4.88923583e-03 -3.00182660e+01] [-2.42194135e-02 -5.46418573e-04 9.99706518e-01 -5.37892976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694012739 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:168.48, Y:-30.02, Z:-5.38 [[ 9.74102105e-01 2.24853685e-01 2.37888331e-02 1.68478600e+02] [-2.24801015e-01 9.74392370e-01 -4.90030552e-03 -3.00205214e+01] [-2.42815092e-02 -5.74355899e-04 9.99704996e-01 -5.37925167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:168.51, Y:-30.02, Z:-5.38 [[ 9.73951202e-01 2.25438632e-01 2.44229248e-02 1.68507138e+02] [-2.25383358e-01 9.74257181e-01 -5.02864815e-03 -3.00225889e+01] [-2.49278614e-02 -6.06862893e-04 9.99689068e-01 -5.37942345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754012739 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:168.54, Y:-30.02, Z:-5.38 [[ 9.73708281e-01 2.26428197e-01 2.49490469e-02 1.68536005e+02] [-2.26370888e-01 9.74027644e-01 -5.13508789e-03 -3.00213668e+01] [-2.54637901e-02 -6.47660305e-04 9.99675535e-01 -5.38033874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:168.56, Y:-30.02, Z:-5.38 [[ 9.74239373e-01 2.24023921e-01 2.59022474e-02 1.68564376e+02] [-2.23961341e-01 9.74583456e-01 -5.32967412e-03 -3.00187926e+01] [-2.64378763e-02 -6.08723704e-04 9.99650273e-01 -5.38163600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814012739 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:168.59, Y:-30.02, Z:-5.38 [[ 9.74746641e-01 2.21665388e-01 2.70821310e-02 1.68592952e+02] [-2.21596182e-01 9.75122621e-01 -5.56826272e-03 -3.00207529e+01] [-2.76426896e-02 -5.73651444e-04 9.99617703e-01 -5.38227681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:168.62, Y:-30.02, Z:-5.38 [[ 9.76311642e-01 2.14536394e-01 2.81018304e-02 1.68621081e+02] [-2.14458981e-01 9.76715919e-01 -5.77581596e-03 -3.00195291e+01] [-2.86866279e-02 -3.87693549e-04 9.99588379e-01 -5.38281268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874012739 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:168.65, Y:-30.02, Z:-5.38 [[ 9.77276898e-01 2.10165849e-01 2.75713727e-02 1.68649100e+02] [-2.10089657e-01 9.77665715e-01 -5.66442726e-03 -3.00225042e+01] [-2.81460549e-02 -2.56746329e-04 9.99603788e-01 -5.38419445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:168.68, Y:-30.03, Z:-5.39 [[ 9.79449357e-01 1.99990538e-01 2.61293462e-02 1.68677057e+02] [-1.99918528e-01 9.79797828e-01 -5.36642597e-03 -3.00259621e+01] [-2.66747111e-02 3.24020373e-05 9.99644166e-01 -5.38691705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934012739 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:168.70, Y:-30.03, Z:-5.39 [[ 9.80621060e-01 1.94233939e-01 2.56029848e-02 1.68704523e+02] [-1.94162883e-01 9.80955220e-01 -5.25657869e-03 -3.00314783e+01] [-2.61363876e-02 1.83562436e-04 9.99658369e-01 -5.38834770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:168.73, Y:-30.04, Z:-5.39 [[ 9.82170732e-01 1.86250018e-01 2.55261350e-02 1.68731360e+02] [-1.86176736e-01 9.82502303e-01 -5.23896645e-03 -3.00358173e+01] [-2.60552441e-02 3.93187012e-04 9.99660427e-01 -5.38857338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99401273899997 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:168.76, Y:-30.04, Z:-5.39 [[ 9.82574391e-01 1.84051214e-01 2.59367657e-02 1.68758628e+02] [-1.83974853e-01 9.82916549e-01 -5.32083060e-03 -3.00406868e+01] [-2.64729816e-02 4.56399225e-04 9.99649425e-01 -5.38895212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:168.79, Y:-30.05, Z:-5.39 [[ 9.82923469e-01 1.82030927e-01 2.69480302e-02 1.68785812e+02] [-1.81947789e-01 9.83292663e-01 -5.52631636e-03 -3.00458488e+01] [-2.75037609e-02 5.28811530e-04 9.99621560e-01 -5.38808238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05401273899997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:168.81, Y:-30.05, Z:-5.39 [[ 9.83111896e-01 1.81063952e-01 2.65865737e-02 1.68812485e+02] [-1.80982726e-01 9.83471172e-01 -5.45036253e-03 -3.00517852e+01] [-2.71339930e-02 5.46605666e-04 9.99631656e-01 -5.38968567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:168.84, Y:-30.06, Z:-5.39 [[ 9.83644414e-01 1.78405653e-01 2.48010217e-02 1.68838469e+02] [-1.78334172e-01 9.83956854e-01 -5.08258236e-03 -3.00592715e+01] [-2.53098967e-02 5.76584094e-04 9.99679487e-01 -5.39181485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11401273899997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:168.87, Y:-30.07, Z:-5.39 [[ 9.83965530e-01 1.76591940e-01 2.50424048e-02 1.68865277e+02] [-1.76518547e-01 9.84283950e-01 -5.12915565e-03 -3.00662812e+01] [-2.55546046e-02 6.26463453e-04 9.99673231e-01 -5.39297733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:168.89, Y:-30.07, Z:-5.39 [[ 9.84733764e-01 1.72006858e-01 2.67030931e-02 1.68892385e+02] [-1.71921779e-01 9.85095433e-01 -5.46715555e-03 -3.00746120e+01] [-2.72454833e-02 7.92849396e-04 9.99628458e-01 -5.39312881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17401273899998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:168.92, Y:-30.08, Z:-5.39 [[ 9.85343950e-01 1.68419413e-01 2.70592048e-02 1.68920758e+02] [-1.68330744e-01 9.85715013e-01 -5.53837187e-03 -3.00820257e+01] [-2.76054337e-02 9.02305149e-04 9.99618490e-01 -5.39394422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:168.95, Y:-30.09, Z:-5.39 [[ 9.86536232e-01 1.61262773e-01 2.72136090e-02 1.68946425e+02] [-1.61170401e-01 9.86910883e-01 -5.56874043e-03 -3.00933836e+01] [-2.77554374e-02 1.10773592e-03 9.99614130e-01 -5.39326728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23401273899998 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:168.97, Y:-30.10, Z:-5.39 [[ 9.86917314e-01 1.58751863e-01 2.81435866e-02 1.68973916e+02] [-1.58652105e-01 9.87317763e-01 -5.75706911e-03 -3.01037174e+01] [-2.87006084e-02 1.21671192e-03 9.99587312e-01 -5.39379812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:169.00, Y:-30.11, Z:-5.39 [[ 9.87155188e-01 1.57167556e-01 2.86878873e-02 1.69002431e+02] [-1.57063276e-01 9.87571114e-01 -5.86695555e-03 -3.01138681e+01] [-2.92534239e-02 1.28578203e-03 9.99571200e-01 -5.39409444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29401273899998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:169.03, Y:-30.13, Z:-5.39 [[ 9.87289121e-01 1.56485684e-01 2.77925010e-02 1.69030550e+02] [-1.56387565e-01 9.87679417e-01 -5.68310691e-03 -3.01261251e+01] [-2.83394061e-02 1.26446805e-03 9.99597559e-01 -5.39485440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:169.06, Y:-30.14, Z:-5.40 [[ 9.87104247e-01 1.58139856e-01 2.48393132e-02 1.69058816e+02] [-1.58062008e-01 9.87416125e-01 -5.07922883e-03 -3.01415923e+01] [-2.53299669e-02 1.08757663e-03 9.99678553e-01 -5.39728574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35401273899998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:169.09, Y:-30.15, Z:-5.40 [[ 9.86980365e-01 1.58976138e-01 2.44201952e-02 1.69085985e+02] [-1.58901143e-01 9.87281869e-01 -4.99381014e-03 -3.01521344e+01] [-2.49035126e-02 1.04839563e-03 9.99689310e-01 -5.39851670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:169.11, Y:-30.16, Z:-5.40 [[ 9.86474208e-01 1.61706026e-01 2.68290646e-02 1.69113093e+02] [-1.61616540e-01 9.86838389e-01 -5.48529611e-03 -3.01643863e+01] [-2.73629563e-02 1.07508253e-03 9.99624986e-01 -5.39725859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414012739 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:169.14, Y:-30.17, Z:-5.40 [[ 9.86126733e-01 1.63600301e-01 2.80892977e-02 1.69142251e+02] [-1.63502999e-01 9.86526126e-01 -5.74215998e-03 -3.01737675e+01] [-2.86502452e-02 1.06981305e-03 9.99588925e-01 -5.39771916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:169.17, Y:-30.19, Z:-5.40 [[ 9.85479759e-01 1.67496538e-01 2.78308018e-02 1.69170595e+02] [-1.67402569e-01 9.85872208e-01 -5.68931689e-03 -3.01885905e+01] [-2.83905549e-02 9.47758918e-04 9.99596458e-01 -5.39977036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474012739 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:169.20, Y:-30.20, Z:-5.40 [[ 9.85322679e-01 1.68704068e-01 2.60414065e-02 1.69199561e+02] [-1.68622218e-01 9.85666378e-01 -5.32351943e-03 -3.01991505e+01] [-2.65662382e-02 8.54224713e-04 9.99646690e-01 -5.40112169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:169.23, Y:-30.21, Z:-5.40 [[ 9.84754653e-01 1.72136474e-01 2.50461158e-02 1.69228100e+02] [-1.72061871e-01 9.85072839e-01 -5.12005694e-03 -3.02117068e+01] [-2.55535969e-02 7.32518354e-04 9.99673185e-01 -5.40178123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534012739 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:169.26, Y:-30.22, Z:-5.40 [[ 9.84225211e-01 1.74916323e-01 2.65521159e-02 1.69255991e+02] [-1.74833484e-01 9.84583054e-01 -5.42798996e-03 -3.02207179e+01] [-2.70922074e-02 7.00165638e-04 9.99632694e-01 -5.40207421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:169.28, Y:-30.23, Z:-5.40 [[ 9.82873976e-01 1.82005997e-01 2.88542070e-02 1.69284251e+02] [-1.81911227e-01 9.83297268e-01 -5.89823867e-03 -3.02328852e+01] [-2.94457777e-02 5.48321101e-04 9.99566229e-01 -5.40327821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594012739 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:169.31, Y:-30.24, Z:-5.40 [[ 9.82038337e-01 1.86440826e-01 2.89917659e-02 1.69313556e+02] [-1.86347090e-01 9.82466104e-01 -5.92598253e-03 -3.02412335e+01] [-2.95882724e-02 4.17010803e-04 9.99562084e-01 -5.40336581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:169.34, Y:-30.25, Z:-5.40 [[ 9.80586997e-01 1.94099117e-01 2.78329529e-02 1.69342771e+02] [-1.94015806e-01 9.80981906e-01 -5.68911852e-03 -3.02518644e+01] [-2.84078761e-02 1.78642852e-04 9.99596399e-01 -5.40394086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654012739 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:169.37, Y:-30.26, Z:-5.41 [[ 9.80066739e-01 1.96759934e-01 2.74720672e-02 1.69371260e+02] [-1.96679813e-01 9.80451691e-01 -5.61541372e-03 -3.02598183e+01] [-2.80399232e-02 1.00279170e-04 9.99606799e-01 -5.40514967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:169.40, Y:-30.27, Z:-5.41 [[ 9.79393270e-01 2.00086350e-01 2.74640803e-02 1.69398754e+02] [-2.00007586e-01 9.79778267e-01 -5.61362476e-03 -3.02691297e+01] [-2.80319187e-02 4.92189723e-06 9.99607029e-01 -5.40684652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71401273899997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:169.43, Y:-30.28, Z:-5.41 [[ 9.79228709e-01 2.00917812e-01 2.72611071e-02 1.69426877e+02] [-2.00840568e-01 9.79608102e-01 -5.57078579e-03 -3.02760161e+01] [-2.78244715e-02 -2.00628563e-05 9.99612824e-01 -5.40849315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:169.46, Y:-30.28, Z:-5.41 [[ 9.78931663e-01 2.02625133e-01 2.52161785e-02 1.69455723e+02] [-2.02559627e-01 9.79256377e-01 -5.15227465e-03 -3.02839862e+01] [-2.57370839e-02 -6.40549112e-05 9.99668744e-01 -5.40938320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77401273899997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:169.48, Y:-30.29, Z:-5.41 [[ 9.78695191e-01 2.03821630e-01 2.47480583e-02 1.69483849e+02] [-2.03758926e-01 9.79008036e-01 -5.05626078e-03 -3.02916534e+01] [-2.52591233e-02 -9.40996738e-05 9.99680933e-01 -5.40965748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:169.51, Y:-30.30, Z:-5.41 [[ 9.78262566e-01 2.05756556e-01 2.58184474e-02 1.69510695e+02] [-2.05689017e-01 9.78603197e-01 -5.27366634e-03 -3.03025512e+01] [-2.63511066e-02 -1.51540691e-04 9.99652738e-01 -5.41013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83401273899997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:169.54, Y:-30.31, Z:-5.41 [[ 9.78134761e-01 2.06290100e-01 2.63966564e-02 1.69539439e+02] [-2.06219734e-01 9.78490861e-01 -5.39034497e-03 -3.03099950e+01] [-2.69408619e-02 -1.71027672e-04 9.99637014e-01 -5.41091154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:169.57, Y:-30.32, Z:-5.41 [[ 9.77525407e-01 2.09183757e-01 2.61960854e-02 1.69568037e+02] [-2.09115512e-01 9.77876318e-01 -5.34877497e-03 -3.03160165e+01] [-2.67354084e-02 -2.49444384e-04 9.99642514e-01 -5.41248509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89401273899998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:169.60, Y:-30.32, Z:-5.41 [[ 9.77074443e-01 2.11335948e-01 2.57420011e-02 1.69595081e+02] [-2.11270803e-01 9.77413436e-01 -5.25570330e-03 -3.03216956e+01] [-2.62712968e-02 -3.03319890e-04 9.99654804e-01 -5.41385280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:169.62, Y:-30.33, Z:-5.41 [[ 9.76040407e-01 2.16043406e-01 2.58915019e-02 1.69623559e+02] [-2.15979200e-01 9.76383663e-01 -5.28461814e-03 -3.03284049e+01] [-2.64217464e-02 -4.34025015e-04 9.99650790e-01 -5.41418872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95401273899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:169.65, Y:-30.33, Z:-5.41 [[ 9.75645362e-01 2.17844512e-01 2.56884468e-02 1.69651830e+02] [-2.17781963e-01 9.75983370e-01 -5.24199663e-03 -3.03333154e+01] [-2.62134371e-02 -4.80150681e-04 9.99656254e-01 -5.41441205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:169.68, Y:-30.34, Z:-5.42 [[ 9.75661483e-01 2.17772278e-01 2.56886366e-02 1.69680573e+02] [-2.17709728e-01 9.75999491e-01 -5.24106671e-03 -3.03390672e+01] [-2.62134552e-02 -4.79159168e-04 9.99656254e-01 -5.41538639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01401273899998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:169.71, Y:-30.34, Z:-5.42 [[ 9.75422903e-01 2.18744961e-01 2.64726705e-02 1.69708820e+02] [-2.18678953e-01 9.75781927e-01 -5.39880528e-03 -3.03407823e+01] [-2.70125149e-02 -5.22897547e-04 9.99634959e-01 -5.41718992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:169.74, Y:-30.35, Z:-5.42 [[ 9.75472130e-01 2.18462197e-01 2.69887363e-02 1.69736732e+02] [-2.18393526e-01 9.75845270e-01 -5.50241961e-03 -3.03453255e+01] [-2.75389013e-02 -5.26708313e-04 9.99620594e-01 -5.41843822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07401273899998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:169.76, Y:-30.35, Z:-5.42 [[ 9.75905385e-01 2.16449599e-01 2.75363302e-02 1.69764188e+02] [-2.16377364e-01 9.76293675e-01 -5.61223386e-03 -3.03491899e+01] [-2.80983107e-02 -4.81229278e-04 9.99605049e-01 -5.41905697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:169.79, Y:-30.35, Z:-5.42 [[ 9.76291272e-01 2.14535284e-01 2.88090921e-02 1.69792667e+02] [-2.14455441e-01 9.76716137e-01 -5.86961057e-03 -3.03535641e+01] [-2.93975437e-02 -4.47816983e-04 9.99567699e-01 -5.41969599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13401273899999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:169.82, Y:-30.36, Z:-5.42 [[ 9.77223659e-01 2.10167893e-01 2.93832697e-02 1.69821052e+02] [-2.10082904e-01 9.77665255e-01 -5.98511792e-03 -3.03565519e+01] [-2.99848815e-02 -3.24123784e-04 9.99550300e-01 -5.42030225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:169.85, Y:-30.36, Z:-5.42 [[ 9.77656774e-01 2.08240030e-01 2.86935840e-02 1.69850501e+02] [-2.08158186e-01 9.78077718e-01 -5.84359174e-03 -3.03622982e+01] [-2.92814249e-02 -2.59777341e-04 9.99571173e-01 -5.42174680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194012739 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:169.88, Y:-30.37, Z:-5.42 [[ 9.78131752e-01 2.06184989e-01 2.73134789e-02 1.69880322e+02] [-2.06110049e-01 9.78513012e-01 -5.56177307e-03 -3.03687670e+01] [-2.78733486e-02 -1.89435624e-04 9.99611445e-01 -5.42360745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:169.91, Y:-30.37, Z:-5.43 [[ 9.78303016e-01 2.05364616e-01 2.73602677e-02 1.69909079e+02] [-2.05289096e-01 9.78685520e-01 -5.57136509e-03 -3.03740009e+01] [-2.79212591e-02 -1.66281356e-04 9.99610112e-01 -5.42522926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:169.94, Y:-30.38, Z:-5.43 [[ 9.78547706e-01 2.04240449e-01 2.70227099e-02 1.69937226e+02] [-2.04166360e-01 9.78920743e-01 -5.50236257e-03 -3.03818969e+01] [-2.75768962e-02 -1.32804041e-04 9.99619676e-01 -5.42635323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:169.97, Y:-30.39, Z:-5.43 [[ 9.78627849e-01 2.03891824e-01 2.67517762e-02 1.69966301e+02] [-2.03819101e-01 9.78993416e-01 -5.44655611e-03 -3.03902553e+01] [-2.73003211e-02 -1.22371500e-04 9.99627269e-01 -5.42679409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314012739 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:169.99, Y:-30.40, Z:-5.43 [[ 9.78286145e-01 2.05499753e-01 2.69457050e-02 1.69993518e+02] [-2.05426597e-01 9.78657153e-01 -5.48544813e-03 -3.03983164e+01] [-2.74978651e-02 -1.69026568e-04 9.99621848e-01 -5.42666704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:170.02, Y:-30.40, Z:-5.43 [[ 9.77802882e-01 2.07834913e-01 2.65739099e-02 1.70022133e+02] [-2.07764650e-01 9.78163890e-01 -5.40881344e-03 -3.04036900e+01] [-2.71177793e-02 -2.32365732e-04 9.99632218e-01 -5.42756153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374012739 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:170.05, Y:-30.41, Z:-5.43 [[ 9.76514731e-01 2.14010856e-01 2.48663027e-02 1.70049858e+02] [-2.13951351e-01 9.76831209e-01 -5.06052456e-03 -3.04092286e+01] [-2.53731877e-02 -3.78502299e-04 9.99677977e-01 -5.43010332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:170.08, Y:-30.42, Z:-5.43 [[ 9.75876667e-01 2.16936571e-01 2.45612492e-02 1.70076928e+02] [-2.16879471e-01 9.76185598e-01 -4.99735969e-03 -3.04150265e+01] [-2.50604479e-02 -4.50024021e-04 9.99685836e-01 -5.43126660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:170.11, Y:-30.42, Z:-5.43 [[ 9.74873792e-01 2.21169216e-01 2.65568684e-02 1.70105511e+02] [-2.21104076e-01 9.75235259e-01 -5.40155375e-03 -3.04196197e+01] [-2.70938518e-02 -6.05998672e-04 9.99632711e-01 -5.43118533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:170.13, Y:-30.42, Z:-5.43 [[ 9.74548800e-01 2.22462997e-01 2.76559450e-02 1.70132980e+02] [-2.22392912e-01 9.74940904e-01 -5.62376555e-03 -3.04249332e+01] [-2.82139917e-02 -6.69852156e-04 9.99601682e-01 -5.43158002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49401273899997 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:170.16, Y:-30.43, Z:-5.43 [[ 9.74158816e-01 2.24078816e-01 2.83422859e-02 1.70161609e+02] [-2.24005943e-01 9.74570748e-01 -5.76154663e-03 -3.04305186e+01] [-2.89126033e-02 -7.36179034e-04 9.99581672e-01 -5.43103305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:170.19, Y:-30.43, Z:-5.43 [[ 9.74075791e-01 2.24351611e-01 2.90294490e-02 1.70189116e+02] [-2.24275322e-01 9.74507964e-01 -5.89987053e-03 -3.04336499e+01] [-2.96130747e-02 -7.63667989e-04 9.99561145e-01 -5.43151105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55401273899997 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:170.22, Y:-30.44, Z:-5.43 [[ 9.74195106e-01 2.23819950e-01 2.91294612e-02 1.70217856e+02] [-2.23742949e-01 9.74630220e-01 -5.91844327e-03 -3.04375981e+01] [-2.97151188e-02 -7.51793082e-04 9.99558126e-01 -5.43279031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:170.24, Y:-30.44, Z:-5.43 [[ 9.74371839e-01 2.23114042e-01 2.86294320e-02 1.70244985e+02] [-2.23039395e-01 9.74792084e-01 -5.81556830e-03 -3.04414664e+01] [-2.92052787e-02 -7.18965226e-04 9.99573176e-01 -5.43384795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61401273899997 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:170.27, Y:-30.44, Z:-5.44 [[ 9.74939523e-01 2.20681756e-01 2.81511851e-02 1.70273890e+02] [-2.20608617e-01 9.75345660e-01 -5.71674567e-03 -3.04439983e+01] [-2.87187177e-02 -6.36912704e-04 9.99587330e-01 -5.43507549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:170.30, Y:-30.45, Z:-5.43 [[ 9.75184343e-01 2.19599981e-01 2.81308633e-02 1.70302377e+02] [-2.19526535e-01 9.75589812e-01 -5.71131255e-03 -3.04477900e+01] [-2.86983878e-02 -6.05888381e-04 9.99587933e-01 -5.43459049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67401273899998 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:170.33, Y:-30.45, Z:-5.44 [[ 9.75622758e-01 2.17525143e-01 2.90352648e-02 1.70331031e+02] [-2.17446021e-01 9.76054555e-01 -5.89354360e-03 -3.04504123e+01] [-2.96219964e-02 -5.63727531e-04 9.99561013e-01 -5.43534164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:170.36, Y:-30.45, Z:-5.44 [[ 9.75906911e-01 2.16186363e-01 2.94814918e-02 1.70358776e+02] [-2.16104223e-01 9.76351972e-01 -5.98265087e-03 -3.04534905e+01] [-3.00776802e-02 -5.32564556e-04 9.99547422e-01 -5.43511615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73401273899998 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:170.39, Y:-30.46, Z:-5.44 [[ 9.75938061e-01 2.16076971e-01 2.92513779e-02 1.70386374e+02] [-2.15996114e-01 9.76376190e-01 -5.93414068e-03 -3.04568134e+01] [-2.98425801e-02 -5.26830201e-04 9.99554472e-01 -5.43587417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:170.42, Y:-30.46, Z:-5.44 [[ 9.75981975e-01 2.15862588e-01 2.93688176e-02 1.70416046e+02] [-2.15781038e-01 9.76423611e-01 -5.95609385e-03 -3.04573363e+01] [-2.99621047e-02 -5.24193701e-04 9.99550898e-01 -5.43769810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79401273899998 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:170.44, Y:-30.46, Z:-5.44 [[ 9.76099144e-01 2.15252457e-01 2.99472891e-02 1.70443992e+02] [-2.15167421e-01 9.76558300e-01 -6.07194211e-03 -3.04601435e+01] [-3.05522742e-02 -5.16863466e-04 9.99533037e-01 -5.43832519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:170.47, Y:-30.46, Z:-5.44 [[ 9.76380843e-01 2.14018607e-01 2.96054882e-02 1.70472906e+02] [-2.13934989e-01 9.76829469e-01 -6.00081164e-03 -3.04620359e+01] [-3.02037986e-02 -4.74572273e-04 9.99543649e-01 -5.43810807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85401273899998 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:170.50, Y:-30.47, Z:-5.44 [[ 9.76550451e-01 2.13390568e-01 2.85251277e-02 1.70501051e+02] [-2.13312712e-01 9.76966874e-01 -5.78055935e-03 -3.04654874e+01] [-2.91016216e-02 -4.39764504e-04 9.99576361e-01 -5.43906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:170.53, Y:-30.47, Z:-5.44 [[ 9.76662250e-01 2.12975719e-01 2.77883554e-02 1.70529993e+02] [-2.12901713e-01 9.77057403e-01 -5.62957591e-03 -3.04687911e+01] [-2.83497814e-02 -4.17994207e-04 9.99597977e-01 -5.44026274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914012739 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:170.56, Y:-30.47, Z:-5.44 [[ 9.76905556e-01 2.11908957e-01 2.73884934e-02 1.70559312e+02] [-2.11836683e-01 9.77289337e-01 -5.54728091e-03 -3.04690636e+01] [-2.79420011e-02 -3.82718048e-04 9.99609473e-01 -5.44164583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:170.59, Y:-30.47, Z:-5.44 [[ 9.76977013e-01 2.11524709e-01 2.78067366e-02 1.70587367e+02] [-2.11450090e-01 9.77372577e-01 -5.63072735e-03 -3.04706535e+01] [-2.83685798e-02 -3.78645786e-04 9.99597459e-01 -5.44214496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974012739 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:170.61, Y:-30.47, Z:-5.44 [[ 9.77017712e-01 2.11268268e-01 2.83215437e-02 1.70614801e+02] [-2.11190815e-01 9.77428040e-01 -5.73284803e-03 -3.04728550e+01] [-2.88934398e-02 -3.80155819e-04 9.99582425e-01 -5.44255216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:170.64, Y:-30.47, Z:-5.44 [[ 9.77262345e-01 2.10104451e-01 2.85381946e-02 1.70643000e+02] [-2.10025384e-01 9.77678882e-01 -5.77418763e-03 -3.04717396e+01] [-2.91143727e-02 -3.50849134e-04 9.99576025e-01 -5.44388592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034012739 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:170.67, Y:-30.47, Z:-5.44 [[ 9.77443061e-01 2.09254361e-01 2.85950276e-02 1.70671051e+02] [-2.09174689e-01 9.77861189e-01 -5.78318116e-03 -3.04746951e+01] [-2.91721236e-02 -3.28625724e-04 9.99574349e-01 -5.44490911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:170.70, Y:-30.48, Z:-5.45 [[ 9.77554788e-01 2.08716210e-01 2.87085458e-02 1.70697399e+02] [-2.08635733e-01 9.77976198e-01 -5.80403930e-03 -3.04781116e+01] [-2.92876716e-02 -3.15862100e-04 9.99570974e-01 -5.44594561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094012739 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:170.73, Y:-30.48, Z:-5.45 [[ 9.77912112e-01 2.07003558e-01 2.89383570e-02 1.70725624e+02] [-2.06921113e-01 9.78340153e-01 -5.84794716e-03 -3.04812365e+01] [-2.95221025e-02 -2.69178673e-04 9.99564091e-01 -5.44777757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:170.75, Y:-30.49, Z:-5.45 [[ 9.78869488e-01 2.02496684e-01 2.84537828e-02 1.70752964e+02] [-2.02415133e-01 9.79282939e-01 -5.74791841e-03 -3.04870523e+01] [-2.90282384e-02 -1.33014275e-04 9.99578583e-01 -5.44984207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154012739 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:170.78, Y:-30.49, Z:-5.45 [[ 9.79409239e-01 1.99890224e-01 2.83097411e-02 1.70780859e+02] [-1.99808459e-01 9.79818297e-01 -5.71705282e-03 -3.04924975e+01] [-2.88811853e-02 -5.71913885e-05 9.99582850e-01 -5.45118992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:170.81, Y:-30.50, Z:-5.45 [[ 9.80017266e-01 1.96998117e-01 2.75299894e-02 1.70809381e+02] [-1.96919689e-01 9.80403866e-01 -5.55830254e-03 -3.04961489e+01] [-2.80854832e-02 2.60355057e-05 9.99605525e-01 -5.45196775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21401273899997 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:170.84, Y:-30.50, Z:-5.45 [[ 9.80113688e-01 1.96562199e-01 2.72114234e-02 1.70837367e+02] [-1.96485440e-01 9.80491357e-01 -5.49282381e-03 -3.05012091e+01] [-2.77602469e-02 3.69433019e-05 9.99614609e-01 -5.45252411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:170.86, Y:-30.51, Z:-5.45 [[ 9.80163296e-01 1.96421928e-01 2.64261211e-02 1.70863359e+02] [-1.96349533e-01 9.80519467e-01 -5.33254723e-03 -3.05080849e+01] [-2.69587554e-02 3.80105370e-05 9.99636546e-01 -5.45322129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27401273899997 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:170.89, Y:-30.51, Z:-5.45 [[ 9.80237686e-01 1.96024762e-01 2.66152564e-02 1.70890409e+02] [-1.95951243e-01 9.80598945e-01 -5.36840933e-03 -3.05144227e+01] [-2.71512335e-02 4.70245798e-05 9.99631336e-01 -5.45378089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:170.92, Y:-30.52, Z:-5.45 [[ 9.80538781e-01 1.94243989e-01 2.85126491e-02 1.70917187e+02] [-1.94158924e-01 9.80953242e-01 -5.74888591e-03 -3.05198491e+01] [-2.90862621e-02 1.01020317e-04 9.99576900e-01 -5.45464476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33401273899997 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:170.94, Y:-30.53, Z:-5.45 [[ 9.80706966e-01 1.93273936e-01 2.93092720e-02 1.70944454e+02] [-1.93183670e-01 9.81144825e-01 -5.90771853e-03 -3.05256609e+01] [-2.98984486e-02 1.31667966e-04 9.99552933e-01 -5.45481780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:170.97, Y:-30.53, Z:-5.46 [[ 9.81214947e-01 1.90786291e-01 2.85975358e-02 1.70972362e+02] [-1.90699348e-01 9.81631576e-01 -5.76260818e-03 -3.05331260e+01] [-2.91716707e-02 2.00825853e-04 9.99574396e-01 -5.45557128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39401273899998 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:171.00, Y:-30.54, Z:-5.46 [[ 9.81435939e-01 1.89719069e-01 2.81100091e-02 1.70999320e+02] [-1.89634666e-01 9.81838390e-01 -5.66306023e-03 -3.05392654e+01] [-2.86738765e-02 2.27298671e-04 9.99588794e-01 -5.45658925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:171.03, Y:-30.54, Z:-5.46 [[ 9.81353885e-01 1.90244696e-01 2.74136659e-02 1.71026826e+02] [-1.90164679e-01 9.81736683e-01 -5.52096139e-03 -3.05436165e+01] [-2.79633350e-02 2.04905926e-04 9.99608928e-01 -5.45777352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45401273899998 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:171.06, Y:-30.55, Z:-5.46 [[ 9.81138965e-01 1.91367917e-01 2.72883111e-02 1.71055122e+02] [-1.91289112e-01 9.81518360e-01 -5.49401222e-03 -3.05490275e+01] [-2.78353560e-02 1.70432670e-04 9.99612507e-01 -5.45896508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:171.08, Y:-30.56, Z:-5.46 [[ 9.80855793e-01 1.92989305e-01 2.60200347e-02 1.71083414e+02] [-1.92918256e-01 9.81200853e-01 -5.23756387e-03 -3.05564196e+01] [-2.65416740e-02 1.17555138e-04 9.99647701e-01 -5.46047549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51401273899998 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:171.11, Y:-30.56, Z:-5.46 [[ 9.80792576e-01 1.93414637e-01 2.52329392e-02 1.71110130e+02] [-1.93347992e-01 9.81117102e-01 -5.07801736e-03 -3.05624026e+01] [-2.57386311e-02 1.01743602e-04 9.99668701e-01 -5.46126300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:171.14, Y:-30.57, Z:-5.46 [[ 9.80632785e-01 1.94246911e-01 2.50495353e-02 1.71136633e+02] [-1.94181538e-01 9.80952665e-01 -5.03973093e-03 -3.05677320e+01] [-2.55513606e-02 7.79680925e-05 9.99673508e-01 -5.46158496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57401273899998 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:171.16, Y:-30.57, Z:-5.46 [[ 9.80402426e-01 1.95298121e-01 2.58790692e-02 1.71163706e+02] [-1.95228775e-01 9.80743922e-01 -5.20424764e-03 -3.05733972e+01] [-2.63971196e-02 4.99180449e-05 9.99651534e-01 -5.46176664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:171.19, Y:-30.58, Z:-5.46 [[ 9.80020539e-01 1.96815770e-01 2.86931517e-02 1.71190021e+02] [-1.96731217e-01 9.80440489e-01 -5.76849748e-03 -3.05796465e+01] [-2.92672590e-02 8.40735242e-06 9.99571622e-01 -5.46178014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63401273899999 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:171.22, Y:-30.59, Z:-5.46 [[ 9.79882246e-01 1.97420384e-01 2.92570633e-02 1.71217682e+02] [-1.97332833e-01 9.80318924e-01 -5.87886576e-03 -3.05850071e+01] [-2.98418607e-02 -1.27830028e-05 9.99554632e-01 -5.46189228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:171.25, Y:-30.59, Z:-5.46 [[ 9.79689876e-01 1.98305914e-01 2.97070990e-02 1.71245472e+02] [-1.98216118e-01 9.80140175e-01 -5.96721498e-03 -3.05913718e+01] [-3.03004552e-02 -4.24057494e-05 9.99540835e-01 -5.46321491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694012739 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:171.27, Y:-30.60, Z:-5.46 [[ 9.79657507e-01 1.98455438e-01 2.97759743e-02 1.71274077e+02] [-1.98365338e-01 9.80109911e-01 -5.97960152e-03 -3.05976456e+01] [-3.03704120e-02 -4.85597030e-05 9.99538711e-01 -5.46337226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:171.30, Y:-30.60, Z:-5.46 [[ 9.79302655e-01 2.00313724e-01 2.89951918e-02 1.71301713e+02] [-2.00229142e-01 9.79731801e-01 -5.82148934e-03 -3.06035558e+01] [-2.95736357e-02 -1.04682408e-04 9.99562599e-01 -5.46371709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754012739 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:171.33, Y:-30.61, Z:-5.47 [[ 9.79001715e-01 2.01942665e-01 2.78352541e-02 1.71329845e+02] [-2.01865422e-01 9.79397334e-01 -5.58694902e-03 -3.06086560e+01] [-2.83900171e-02 -1.49342638e-04 9.99596911e-01 -5.46537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:171.36, Y:-30.61, Z:-5.47 [[ 9.78272277e-01 2.05660880e-01 2.62098329e-02 1.71357852e+02] [-2.05593757e-01 9.78623290e-01 -5.25961996e-03 -3.06110663e+01] [-2.67312510e-02 -2.43237626e-04 9.99642627e-01 -5.46811253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814012739 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:171.38, Y:-30.61, Z:-5.47 [[ 9.77956819e-01 2.07090410e-01 2.67211837e-02 1.71384684e+02] [-2.07021217e-01 9.78321766e-01 -5.36071304e-03 -3.06145082e+01] [-2.72520679e-02 -2.89306105e-04 9.99628552e-01 -5.46854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:171.41, Y:-30.62, Z:-5.47 [[ 9.77638036e-01 2.08294569e-01 2.89351670e-02 1.71412049e+02] [-2.08214037e-01 9.78066076e-01 -5.80229047e-03 -3.06166526e+01] [-2.95090909e-02 -3.52168076e-04 9.99564450e-01 -5.46754496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874012739 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:171.44, Y:-30.62, Z:-5.47 [[ 9.77519763e-01 2.08751165e-01 2.96321429e-02 1.71440094e+02] [-2.08667025e-01 9.77968715e-01 -5.93840730e-03 -3.06202213e+01] [-3.02189581e-02 -3.78340610e-04 9.99543231e-01 -5.46816395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:171.47, Y:-30.63, Z:-5.47 [[ 9.77531660e-01 2.08695390e-01 2.96325558e-02 1.71468042e+02] [-2.08611287e-01 9.77980619e-01 -5.93634604e-03 -3.06256882e+01] [-3.02189533e-02 -3.78719391e-04 9.99543231e-01 -5.46911066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:171.50, Y:-30.63, Z:-5.47 [[ 9.77672949e-01 2.07959572e-01 3.01400106e-02 1.71496836e+02] [-2.07872269e-01 9.78137354e-01 -6.03621656e-03 -3.06264487e+01] [-3.07363592e-02 -3.63826731e-04 9.99527460e-01 -5.47149812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:171.53, Y:-30.63, Z:-5.47 [[ 9.77965196e-01 2.06534565e-01 3.04556792e-02 1.71525026e+02] [-2.06444801e-01 9.78439251e-01 -6.09721023e-03 -3.06295520e+01] [-3.10583166e-02 -3.24557227e-04 9.99517521e-01 -5.47272215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99401273899997 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:171.55, Y:-30.63, Z:-5.47 [[ 9.78648317e-01 2.03270312e-01 3.04737863e-02 1.71552931e+02] [-2.03178927e-01 9.79122633e-01 -6.09861253e-03 -3.06319889e+01] [-3.10772407e-02 -2.23234324e-04 9.99516961e-01 -5.47347658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:171.58, Y:-30.64, Z:-5.47 [[ 9.79088378e-01 2.01231836e-01 2.98612728e-02 1.71579828e+02] [-2.01143203e-01 9.79543630e-01 -5.97398517e-03 -3.06360356e+01] [-3.04525756e-02 -1.57332606e-04 9.99536200e-01 -5.47479861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05401273899997 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:171.61, Y:-30.64, Z:-5.48 [[ 9.79863139e-01 1.97550061e-01 2.90207228e-02 1.71608003e+02] [-1.97464823e-01 9.80292799e-01 -5.80276994e-03 -3.06390164e+01] [-2.95951431e-02 -4.46515331e-05 9.99561967e-01 -5.47616131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:171.63, Y:-30.64, Z:-5.48 [[ 9.80198057e-01 1.95908020e-01 2.88412317e-02 1.71634615e+02] [-1.95823182e-01 9.80622276e-01 -5.76486613e-03 -3.06431681e+01] [-2.94117378e-02 2.92882517e-06 9.99567381e-01 -5.47687042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11401273899997 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:171.66, Y:-30.65, Z:-5.48 [[ 9.80585524e-01 1.94072729e-01 2.80678979e-02 1.71662149e+02] [-1.93991695e-01 9.80987142e-01 -5.60796448e-03 -3.06482140e+01] [-2.86225999e-02 5.41496975e-05 9.99590288e-01 -5.47906549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:171.69, Y:-30.65, Z:-5.48 [[ 9.80783939e-01 1.93184590e-01 2.72502881e-02 1.71689706e+02] [-1.93107916e-01 9.81162427e-01 -5.44282345e-03 -3.06538196e+01] [-2.77884285e-02 7.59874629e-05 9.99613824e-01 -5.48049440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17401273899998 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:171.72, Y:-30.66, Z:-5.48 [[ 9.81093558e-01 1.91737002e-01 2.63125808e-02 1.71716062e+02] [-1.91665042e-01 9.81446336e-01 -5.25377054e-03 -3.06578078e+01] [-2.68317282e-02 1.11238546e-04 9.99639958e-01 -5.48149159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:171.74, Y:-30.66, Z:-5.48 [[ 9.81319098e-01 1.90640662e-01 2.58643702e-02 1.71743351e+02] [-1.90570811e-01 9.81659880e-01 -5.16207300e-03 -3.06625987e+01] [-2.63741155e-02 1.36646829e-04 9.99652133e-01 -5.48201533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23401273899998 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:171.77, Y:-30.67, Z:-5.48 [[ 9.81754171e-01 1.88387942e-01 2.58598472e-02 1.71770138e+02] [-1.88317385e-01 9.82094672e-01 -5.15917922e-03 -3.06691183e+01] [-2.63687454e-02 1.95186899e-04 9.99652265e-01 -5.48264479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:171.80, Y:-30.68, Z:-5.48 [[ 9.81955317e-01 1.87210746e-01 2.67561741e-02 1.71795858e+02] [-1.87134821e-01 9.82319746e-01 -5.33631893e-03 -3.06758798e+01] [-2.72821344e-02 2.33014889e-04 9.99627746e-01 -5.48325000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29401273899998 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:171.82, Y:-30.68, Z:-5.48 [[ 9.82359620e-01 1.84814407e-01 2.85168639e-02 1.71823456e+02] [-1.84727244e-01 9.82773389e-01 -5.68421550e-03 -3.06836666e+01] [-2.90761399e-02 3.16102097e-04 9.99577150e-01 -5.48433481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:171.85, Y:-30.69, Z:-5.48 [[ 9.82561569e-01 1.83713774e-01 2.86707564e-02 1.71850709e+02] [-1.83625240e-01 9.82979719e-01 -5.71347837e-03 -3.06906025e+01] [-2.92324168e-02 3.49169730e-04 9.99572581e-01 -5.48495338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35401273899998 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:171.88, Y:-30.70, Z:-5.48 [[ 9.82634270e-01 1.83119868e-01 2.99500478e-02 1.71877594e+02] [-1.83023039e-01 9.83090519e-01 -5.96643654e-03 -3.07005454e+01] [-3.05361811e-02 3.81276237e-04 9.99533589e-01 -5.48485627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:171.91, Y:-30.71, Z:-5.49 [[ 9.82448344e-01 1.84038943e-01 3.04124941e-02 1.71905119e+02] [-1.83939605e-01 9.82918888e-01 -6.05647888e-03 -3.07074399e+01] [-3.10076428e-02 3.56115485e-04 9.99519084e-01 -5.48504273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:171.93, Y:-30.71, Z:-5.49 [[ 9.81789237e-01 1.87814310e-01 2.85600776e-02 1.71933613e+02] [-1.87728341e-01 9.82204529e-01 -5.68631474e-03 -3.07119098e+01] [-2.91198089e-02 2.21226632e-04 9.99575904e-01 -5.48632817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:171.96, Y:-30.72, Z:-5.49 [[ 9.81343873e-01 1.90390148e-01 2.67543442e-02 1.71962365e+02] [-1.90315686e-01 9.81708497e-01 -5.32597670e-03 -3.07165591e+01] [-2.72789806e-02 1.34843209e-04 9.99627850e-01 -5.48818279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474012739 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:171.99, Y:-30.72, Z:-5.49 [[ 9.80263468e-01 1.95959966e-01 2.61385857e-02 1.71989969e+02] [-1.95890902e-01 9.80611896e-01 -5.20223145e-03 -3.07225940e+01] [-2.66512372e-02 -2.07536941e-05 9.99644792e-01 -5.48809639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:172.02, Y:-30.73, Z:-5.49 [[ 9.79900079e-01 1.97539692e-01 2.78191478e-02 1.72017628e+02] [-1.97462145e-01 9.80294887e-01 -5.53495768e-03 -3.07282638e+01] [-2.83643422e-02 -6.95231482e-05 9.99597649e-01 -5.48769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:172.04, Y:-30.73, Z:-5.49 [[ 9.79819680e-01 1.97340139e-01 3.17846494e-02 1.72044872e+02] [-1.97238887e-01 9.80335077e-01 -6.32120310e-03 -3.07323756e+01] [-3.24070338e-02 -7.55296555e-05 9.99474751e-01 -5.48785908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:172.07, Y:-30.74, Z:-5.49 [[ 9.80062790e-01 1.96060941e-01 3.22030447e-02 1.72071666e+02] [-1.95956381e-01 9.80591712e-01 -6.40238637e-03 -3.07381045e+01] [-3.28332967e-02 -3.56514619e-05 9.99460841e-01 -5.48933672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594012739 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:172.10, Y:-30.75, Z:-5.49 [[ 9.80931351e-01 1.91774177e-01 3.15650174e-02 1.72099521e+02] [-1.91671558e-01 9.81439073e-01 -6.27372261e-03 -3.07456974e+01] [-3.21822794e-02 1.03975114e-04 9.99482011e-01 -5.49189624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:172.13, Y:-30.75, Z:-5.49 [[ 9.81452175e-01 1.89165327e-01 3.11144371e-02 1.72126881e+02] [-1.89064352e-01 9.81945235e-01 -6.18271301e-03 -3.07514979e+01] [-3.17222282e-02 1.85406222e-04 9.99496706e-01 -5.49249034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654012739 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:172.15, Y:-30.76, Z:-5.49 [[ 9.82561196e-01 1.83466062e-01 3.02274625e-02 1.72154863e+02] [-1.83368119e-01 9.83025980e-01 -6.00469072e-03 -3.07597942e+01] [-3.08160379e-02 3.57223154e-04 9.99525009e-01 -5.49352758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:172.18, Y:-30.77, Z:-5.49 [[ 9.83102019e-01 1.80695900e-01 2.93157180e-02 1.72181783e+02] [-1.80602585e-01 9.83538920e-01 -5.82227764e-03 -3.07679964e+01] [-2.98852113e-02 4.29398444e-04 9.99553245e-01 -5.49445462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71401273899997 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:172.21, Y:-30.78, Z:-5.50 [[ 9.83992502e-01 1.76227250e-01 2.65087344e-02 1.72209507e+02] [-1.76149373e-01 9.84349377e-01 -5.26322904e-03 -3.07785172e+01] [-2.70213806e-02 5.09480967e-04 9.99634726e-01 -5.49758565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:172.24, Y:-30.79, Z:-5.50 [[ 9.84341697e-01 1.74393924e-01 2.56550755e-02 1.72238007e+02] [-1.74320376e-01 9.84675818e-01 -5.09314896e-03 -3.07865096e+01] [-2.61501467e-02 5.41196481e-04 9.99657880e-01 -5.49921588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77401273899997 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:172.26, Y:-30.80, Z:-5.50 [[ 9.84769053e-01 1.71884524e-01 2.61843963e-02 1.72264715e+02] [-1.71807038e-01 9.85116910e-01 -5.19766396e-03 -3.07982921e+01] [-2.66880896e-02 6.19835048e-04 9.99643617e-01 -5.50022705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:172.29, Y:-30.81, Z:-5.50 [[ 9.84929089e-01 1.70785755e-01 2.73297543e-02 1.72293460e+02] [-1.70700953e-01 9.85307956e-01 -5.42374559e-03 -3.08069160e+01] [-2.78545229e-02 6.76789703e-04 9.99611758e-01 -5.50049259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83401273899997 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:172.32, Y:-30.82, Z:-5.50 [[ 9.85005383e-01 1.70278207e-01 2.77439712e-02 1.72322520e+02] [-1.70190601e-01 9.85395778e-01 -5.50633690e-03 -3.08163557e+01] [-2.82764013e-02 7.02008341e-04 9.99599896e-01 -5.50064651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:172.35, Y:-30.82, Z:-5.50 [[ 9.84863878e-01 1.71154018e-01 2.73759923e-02 1.72351665e+02] [-1.71069060e-01 9.85244059e-01 -5.43330425e-03 -3.08248844e+01] [-2.79019656e-02 6.67879832e-04 9.99610441e-01 -5.50215376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89401273899998 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:172.38, Y:-30.83, Z:-5.50 [[ 9.84710940e-01 1.72055250e-01 2.72278482e-02 1.72380697e+02] [-1.71971553e-01 9.85087094e-01 -5.40390213e-03 -3.08343339e+01] [-2.77515716e-02 6.38866219e-04 9.99614647e-01 -5.50353237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:172.41, Y:-30.85, Z:-5.50 [[ 9.84534555e-01 1.72988621e-01 2.76884103e-02 1.72408760e+02] [-1.72902438e-01 9.84923626e-01 -5.49525141e-03 -3.08463337e+01] [-2.82215854e-02 6.22871257e-04 9.99601498e-01 -5.50398287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95401273899998 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:172.44, Y:-30.86, Z:-5.50 [[ 9.84320718e-01 1.74061145e-01 2.85559241e-02 1.72438723e+02] [-1.73969918e-01 9.84734657e-01 -5.66772959e-03 -3.08576320e+01] [-2.91065396e-02 6.10991876e-04 9.99576128e-01 -5.50354593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:172.47, Y:-30.87, Z:-5.50 [[ 9.84168551e-01 1.74920772e-01 2.85479759e-02 1.72469089e+02] [-1.74829952e-01 9.84582338e-01 -5.66630548e-03 -3.08669906e+01] [-2.90989874e-02 5.85558386e-04 9.99576363e-01 -5.50421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01401273899998 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:172.50, Y:-30.88, Z:-5.51 [[ 9.84062600e-01 1.75561136e-01 2.82681309e-02 1.72500028e+02] [-1.75472231e-01 9.84468368e-01 -5.61497383e-03 -3.08757188e+01] [-2.88148519e-02 5.65213745e-04 9.99584606e-01 -5.50554740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:172.53, Y:-30.88, Z:-5.51 [[ 9.83940999e-01 1.76426356e-01 2.70897110e-02 1.72532114e+02] [-1.76344924e-01 9.84313705e-01 -5.38502656e-03 -3.08845377e+01] [-2.76148344e-02 5.21415365e-04 9.99618502e-01 -5.50763916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07401273899998 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:172.56, Y:-30.89, Z:-5.51 [[ 9.83868699e-01 1.76972661e-01 2.61354057e-02 1.72562959e+02] [-1.76896927e-01 9.84215644e-01 -5.20029898e-03 -3.08918715e+01] [-2.66431859e-02 4.93138434e-04 9.99644886e-01 -5.50917457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:172.59, Y:-30.90, Z:-5.51 [[ 9.84061403e-01 1.76260027e-01 2.35702580e-02 1.72592833e+02] [-1.76198129e-01 9.84343530e-01 -4.69403324e-03 -3.09015318e+01] [-2.40286013e-02 4.66181592e-04 9.99711163e-01 -5.51081647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13401273899999 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:172.62, Y:-30.91, Z:-5.51 [[ 9.84295732e-01 1.74941255e-01 2.36107807e-02 1.72622456e+02] [-1.74878692e-01 9.84578745e-01 -4.70508555e-03 -3.09085660e+01] [-2.40697864e-02 5.02173171e-04 9.99710155e-01 -5.51157765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:172.65, Y:-30.92, Z:-5.51 [[ 9.84616210e-01 1.72883633e-01 2.53410571e-02 1.72652962e+02] [-1.72810875e-01 9.84942078e-01 -5.05013827e-03 -3.09160761e+01] [-2.58325597e-02 5.93237749e-04 9.99666108e-01 -5.51214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194012739 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:172.68, Y:-30.92, Z:-5.51 [[ 9.84603771e-01 1.72742862e-01 2.67454333e-02 1.72684565e+02] [-1.72661767e-01 9.84966754e-01 -5.32985468e-03 -3.09232877e+01] [-2.72640569e-02 6.29881257e-04 9.99628068e-01 -5.51296631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:172.72, Y:-30.93, Z:-5.51 [[ 9.84579683e-01 1.72587070e-01 2.85753775e-02 1.72716224e+02] [-1.72494285e-01 9.84994029e-01 -5.69946647e-03 -3.09310425e+01] [-2.91302305e-02 6.82489567e-04 9.99575392e-01 -5.51312987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:172.75, Y:-30.94, Z:-5.51 [[ 9.84597356e-01 1.72186386e-01 3.03297770e-02 1.72747094e+02] [-1.72081474e-01 9.85064108e-01 -6.05558304e-03 -3.09394389e+01] [-3.09194637e-02 7.43118333e-04 9.99521603e-01 -5.51299014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:172.78, Y:-30.95, Z:-5.51 [[ 9.84568854e-01 1.72555981e-01 2.91308357e-02 1.72778597e+02] [-1.72459218e-01 9.84999458e-01 -5.82108373e-03 -3.09496408e+01] [-2.96983202e-02 7.07376585e-04 9.99558657e-01 -5.51421262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314012739 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:172.81, Y:-30.96, Z:-5.52 [[ 9.84566763e-01 1.72663204e-01 2.85605782e-02 1.72810301e+02] [-1.72570087e-01 9.84980677e-01 -5.71234405e-03 -3.09585357e+01] [-2.91179293e-02 6.95482627e-04 9.99575741e-01 -5.51555712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:172.84, Y:-30.97, Z:-5.52 [[ 9.84588507e-01 1.72612352e-01 2.81149035e-02 1.72841025e+02] [-1.72521948e-01 9.84989593e-01 -5.62842255e-03 -3.09664999e+01] [-2.86644226e-02 6.91242238e-04 9.99588852e-01 -5.51610000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374012739 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:172.87, Y:-30.98, Z:-5.52 [[ 9.84829931e-01 1.71140336e-01 2.86529623e-02 1.72871796e+02] [-1.71045666e-01 9.85246374e-01 -5.74123966e-03 -3.09764059e+01] [-2.92127849e-02 7.53179631e-04 9.99572932e-01 -5.51732413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:172.90, Y:-30.99, Z:-5.52 [[ 9.84996952e-01 1.70193427e-01 2.85517276e-02 1.72903364e+02] [-1.70098885e-01 9.85410363e-01 -5.72584715e-03 -3.09864084e+01] [-2.91096698e-02 7.83324956e-04 9.99575917e-01 -5.51790102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434012739 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:172.93, Y:-31.00, Z:-5.52 [[ 9.85202530e-01 1.68895963e-01 2.91569501e-02 1.72934218e+02] [-1.68796640e-01 9.85633522e-01 -5.85267863e-03 -3.09993503e+01] [-2.97265613e-02 8.44478589e-04 9.99557711e-01 -5.51883311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:172.97, Y:-31.01, Z:-5.52 [[ 9.85100391e-01 1.69418810e-01 2.95717283e-02 1.72966172e+02] [-1.69316696e-01 9.85543784e-01 -5.94191009e-03 -3.10077081e+01] [-3.01509043e-02 8.46390634e-04 9.99545000e-01 -5.52000741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49401273899997 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:173.00, Y:-31.02, Z:-5.52 [[ 9.84595995e-01 1.72525976e-01 2.83815970e-02 1.72997435e+02] [-1.72433153e-01 9.85004703e-01 -5.70459864e-03 -3.10187437e+01] [-2.89401980e-02 7.22796722e-04 9.99580883e-01 -5.52116344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:173.03, Y:-31.03, Z:-5.52 [[ 9.84293209e-01 1.74587134e-01 2.61956217e-02 1.73028969e+02] [-1.74404813e-01 9.84631914e-01 -9.10801524e-03 -3.10267521e+01] [-2.73831874e-02 4.39631504e-03 9.99615343e-01 -5.52208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55401273899997 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:173.06, Y:-31.04, Z:-5.52 [[ 9.83990135e-01 1.75902098e-01 2.86682199e-02 1.73058377e+02] [-1.75920584e-01 9.84402536e-01 -1.89589532e-03 -3.10424384e+01] [-2.85545604e-02 -3.17778770e-03 9.99587184e-01 -5.52326859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:173.09, Y:-31.05, Z:-5.52 [[ 9.83454450e-01 1.78897733e-01 2.85122224e-02 1.73089897e+02] [-1.78806252e-01 9.83867519e-01 -5.74717347e-03 -3.10507813e+01] [-2.90804058e-02 5.53919707e-04 9.99576922e-01 -5.52366211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61401273899997 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:173.12, Y:-31.06, Z:-5.52 [[ 9.82702214e-01 1.83121162e-01 2.76224312e-02 1.73121464e+02] [-1.83036820e-01 9.83090262e-01 -5.57313074e-03 -3.10591428e+01] [-2.81759013e-02 4.20805959e-04 9.99602892e-01 -5.52487655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:173.15, Y:-31.07, Z:-5.53 [[ 9.82204833e-01 1.85834799e-01 2.71862726e-02 1.73152299e+02] [-1.85754030e-01 9.82580944e-01 -5.48902095e-03 -3.10667562e+01] [-2.77327645e-02 3.41383198e-04 9.99615315e-01 -5.52558756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67401273899998 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:173.18, Y:-31.07, Z:-5.53 [[ 9.81613757e-01 1.88922286e-01 2.72543868e-02 1.73183938e+02] [-1.88842213e-01 9.81992008e-01 -5.50595889e-03 -3.10741877e+01] [-2.78037883e-02 2.57946295e-04 9.99613367e-01 -5.52655502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:173.22, Y:-31.08, Z:-5.53 [[ 9.80306736e-01 1.95483001e-01 2.80196194e-02 1.73216005e+02] [-1.95400908e-01 9.80707087e-01 -5.66523652e-03 -3.10813658e+01] [-2.85864967e-02 7.86104460e-05 9.99591320e-01 -5.52729568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73401273899998 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:173.25, Y:-31.09, Z:-5.53 [[ 9.79785718e-01 1.98124817e-01 2.76858065e-02 1.73247143e+02] [-1.98045563e-01 9.80176799e-01 -5.60339020e-03 -3.10879328e+01] [-2.82471559e-02 7.07054006e-06 9.99600969e-01 -5.52865949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:173.28, Y:-31.09, Z:-5.53 [[ 9.79098322e-01 2.01728974e-01 2.59209837e-02 1.73279832e+02] [-2.01660703e-01 9.79441378e-01 -5.24858432e-03 -3.10942925e+01] [-2.64468755e-02 -8.83636866e-05 9.99650216e-01 -5.53061145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79401273899998 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:173.31, Y:-31.10, Z:-5.53 [[ 9.79081644e-01 2.01810048e-01 2.59198463e-02 1.73312620e+02] [-2.01741657e-01 9.79424677e-01 -5.25419454e-03 -3.11010775e+01] [-2.64468863e-02 -8.48273238e-05 9.99650216e-01 -5.53172537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:173.34, Y:-31.11, Z:-5.53 [[ 9.78729459e-01 2.03570720e-01 2.54481279e-02 1.73344169e+02] [-2.03505356e-01 9.79060236e-01 -5.15993397e-03 -3.11064897e+01] [-2.59656616e-02 -1.28650939e-04 9.99662827e-01 -5.53308393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85401273899998 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:173.38, Y:-31.11, Z:-5.53 [[ 9.77835922e-01 2.07578612e-01 2.73501140e-02 1.73376931e+02] [-2.07504513e-01 9.78218308e-01 -5.55138260e-03 -3.11102458e+01] [-2.79067305e-02 -2.46930768e-04 9.99610501e-01 -5.53250484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:173.41, Y:-31.11, Z:-5.53 [[ 9.77287534e-01 2.09937678e-01 2.89006489e-02 1.73408845e+02] [-2.09855787e-01 9.77714716e-01 -5.87226741e-03 -3.11144830e+01] [-2.94893999e-02 -3.26074674e-04 9.99565040e-01 -5.53236066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914012739 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:173.44, Y:-31.12, Z:-5.53 [[ 9.76567286e-01 2.13057912e-01 3.03753524e-02 1.73441190e+02] [-2.12968772e-01 9.77039475e-01 -6.17785565e-03 -3.11165509e+01] [-3.09941594e-02 -4.35909777e-04 9.99519471e-01 -5.53258540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:173.47, Y:-31.12, Z:-5.53 [[ 9.76301019e-01 2.14262755e-01 3.04596948e-02 1.73473307e+02] [-2.14173541e-01 9.76775947e-01 -6.20029572e-03 -3.11215479e+01] [-3.10807896e-02 -4.70305650e-04 9.99516765e-01 -5.53331352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974012739 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:173.50, Y:-31.13, Z:-5.53 [[ 9.76134207e-01 2.14914055e-01 3.12083194e-02 1.73504884e+02] [-2.14820612e-01 9.76632838e-01 -6.35648827e-03 -3.11262593e+01] [-3.18451682e-02 -4.99404650e-04 9.99492689e-01 -5.53428254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:173.54, Y:-31.13, Z:-5.53 [[ 9.76012692e-01 2.15383069e-01 3.17704067e-02 1.73537959e+02] [-2.15286302e-01 9.76529500e-01 -6.47637301e-03 -3.11293521e+01] [-3.24196405e-02 -5.18711123e-04 9.99474211e-01 -5.53393718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034012739 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:173.57, Y:-31.13, Z:-5.54 [[ 9.76069747e-01 2.15186881e-01 3.13441456e-02 1.73570972e+02] [-2.15092398e-01 9.76572761e-01 -6.39557969e-03 -3.11337207e+01] [-3.19860837e-02 -4.99355608e-04 9.99488190e-01 -5.53533771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:173.60, Y:-31.13, Z:-5.54 [[ 9.76267218e-01 2.14399024e-01 3.05839460e-02 1.73602998e+02] [-2.14308492e-01 9.76746052e-01 -6.24656265e-03 -3.11342253e+01] [-3.12120054e-02 -4.56085011e-04 9.99512683e-01 -5.53762279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094012739 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:173.63, Y:-31.14, Z:-5.54 [[ 9.76304577e-01 2.14300721e-01 3.00761507e-02 1.73633930e+02] [-2.14213030e-01 9.76767631e-01 -6.14594769e-03 -3.11385145e+01] [-3.06944915e-02 -4.42386504e-04 9.99528715e-01 -5.53897143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:173.66, Y:-31.14, Z:-5.54 [[ 9.76241699e-01 2.14814400e-01 2.84063116e-02 1.73663485e+02] [-2.14736371e-01 9.76654794e-01 -5.80551812e-03 -3.11387752e+01] [-2.89902693e-02 -4.32279404e-04 9.99579600e-01 -5.54001432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154012739 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:173.69, Y:-31.14, Z:-5.54 [[ 9.76154654e-01 2.15346716e-01 2.73474652e-02 1.73693875e+02] [-2.15274613e-01 9.76537560e-01 -5.58886509e-03 -3.11403590e+01] [-2.79093707e-02 -4.31618319e-04 9.99610364e-01 -5.54096350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:173.72, Y:-31.14, Z:-5.54 [[ 9.76006068e-01 2.15948930e-01 2.78964980e-02 1.73722623e+02] [-2.15874163e-01 9.76404552e-01 -5.70054559e-03 -3.11383109e+01] [-2.84692944e-02 -4.58366061e-04 9.99594562e-01 -5.54136636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21401273899997 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:173.75, Y:-31.14, Z:-5.54 [[ 9.76132136e-01 2.15123963e-01 2.97948679e-02 1.73750898e+02] [-2.15038348e-01 9.76586639e-01 -6.08650143e-03 -3.11419904e+01] [-3.04066222e-02 -4.65809524e-04 9.99537503e-01 -5.54184956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:173.78, Y:-31.15, Z:-5.54 [[ 9.76369281e-01 2.13855286e-01 3.11278557e-02 1.73779831e+02] [-2.13761243e-01 9.76865250e-01 -6.35718955e-03 -3.11464755e+01] [-3.17672391e-02 -4.46964553e-04 9.99495194e-01 -5.54242312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27401273899997 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:173.81, Y:-31.15, Z:-5.54 [[ 9.76859756e-01 2.11502704e-01 3.18060379e-02 1.73808261e+02] [-2.11403297e-01 9.77377339e-01 -6.49491017e-03 -3.11480610e+01] [-3.24601917e-02 -3.79284889e-04 9.99472957e-01 -5.54266009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:173.84, Y:-31.15, Z:-5.54 [[ 9.77013776e-01 2.10874057e-01 3.12444023e-02 1.73838006e+02] [-2.10777836e-01 9.77513175e-01 -6.37937159e-03 -3.11513376e+01] [-3.18870588e-02 -3.52893569e-04 9.99491416e-01 -5.54378011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33401273899997 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:173.87, Y:-31.15, Z:-5.54 [[ 9.77091732e-01 2.10929031e-01 2.82964771e-02 1.73866876e+02] [-2.10850151e-01 9.77501325e-01 -5.77696854e-03 -3.11517316e+01] [-2.88783743e-02 -3.21688277e-04 9.99582881e-01 -5.54493447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:173.90, Y:-31.15, Z:-5.55 [[ 9.76881204e-01 2.11979418e-01 2.77099216e-02 1.73895898e+02] [-2.11904234e-01 9.77274069e-01 -5.65592314e-03 -3.11544420e+01] [-2.82791272e-02 -3.46684708e-04 9.99600005e-01 -5.54612210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39401273899998 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:173.92, Y:-31.15, Z:-5.55 [[ 9.76266504e-01 2.14613686e-01 2.90633629e-02 1.73924356e+02] [-2.14532188e-01 9.76698913e-01 -5.93068206e-03 -3.11526102e+01] [-2.96589605e-02 -4.45100571e-04 9.99559977e-01 -5.54799422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters Centerline goodness : 0.997484 Centerline is valid? [True, True] Translation: X:173.95, Y:-31.16, Z:-5.55 [[ 9.76234371e-01 2.14676731e-01 2.96707790e-02 1.73953610e+02] [-2.14591876e-01 9.76685052e-01 -6.05270068e-03 -3.11552208e+01] [-3.02783804e-02 -4.58253709e-04 9.99541400e-01 -5.54855306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45401273899998 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:173.98, Y:-31.16, Z:-5.55 [[ 9.76746529e-01 2.12412732e-01 2.91041238e-02 1.73982894e+02] [-2.12330125e-01 9.77179966e-01 -5.93571369e-03 -3.11570920e+01] [-2.97007878e-02 -3.81994481e-04 9.99558761e-01 -5.54963050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:174.01, Y:-31.16, Z:-5.55 [[ 9.77245522e-01 2.10162953e-01 2.86831473e-02 1.74010391e+02] [-2.10081789e-01 9.77666322e-01 -5.84851628e-03 -3.11613012e+01] [-2.92716886e-02 -3.10370559e-04 9.99571444e-01 -5.55101718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51401273899998 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:174.04, Y:-31.17, Z:-5.55 [[ 9.77779958e-01 2.07702977e-01 2.83870870e-02 1.74038704e+02] [-2.07622499e-01 9.78191913e-01 -5.78619510e-03 -3.11657099e+01] [-2.89698289e-02 -2.36172347e-04 9.99580259e-01 -5.55200676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:174.07, Y:-31.17, Z:-5.55 [[ 9.78894405e-01 2.02611703e-01 2.67252894e-02 1.74067134e+02] [-2.02538508e-01 9.79259154e-01 -5.44627000e-03 -3.11692034e+01] [-2.72744624e-02 -8.15770068e-05 9.99627979e-01 -5.55395875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57401273899998 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:174.10, Y:-31.17, Z:-5.56 [[ 9.80343789e-01 1.95545922e-01 2.62268683e-02 1.74095840e+02] [-1.95472933e-01 9.80694540e-01 -5.34345252e-03 -3.11732514e+01] [-2.67654369e-02 1.11777614e-04 9.99641735e-01 -5.55536454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:174.12, Y:-31.18, Z:-5.55 [[ 9.81091809e-01 1.91737159e-01 2.63765966e-02 1.74124734e+02] [-1.91661992e-01 9.81446288e-01 -5.37266625e-03 -3.11783565e+01] [-2.69173525e-02 2.15687820e-04 9.99637639e-01 -5.55493001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63401273899999 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:174.15, Y:-31.18, Z:-5.56 [[ 9.81668238e-01 1.88891515e-01 2.54453634e-02 1.74152621e+02] [-1.88749122e-01 9.81993499e-01 -7.90801631e-03 -3.11820442e+01] [-2.64809386e-02 2.96025844e-03 9.99644935e-01 -5.55535926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:174.18, Y:-31.19, Z:-5.56 [[ 9.82693603e-01 1.83365823e-01 2.62727349e-02 1.74181025e+02] [-1.83358826e-01 9.83042356e-01 -2.69579294e-03 -3.11929553e+01] [-2.63215275e-02 -2.16819933e-03 9.99651177e-01 -5.55748458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694012739 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:174.21, Y:-31.20, Z:-5.56 [[ 9.83076717e-01 1.81344136e-01 2.59706157e-02 1.74209981e+02] [-1.81267634e-01 9.83419575e-01 -5.28993616e-03 -3.11984967e+01] [-2.64993108e-02 4.92781007e-04 9.99648710e-01 -5.55891401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:174.24, Y:-31.21, Z:-5.56 [[ 9.83851459e-01 1.76889097e-01 2.73231563e-02 1.74238485e+02] [-1.76802721e-01 9.84230579e-01 -5.56464207e-03 -3.12075603e+01] [-2.78766105e-02 6.43972846e-04 9.99611164e-01 -5.55863322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754012739 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:174.27, Y:-31.22, Z:-5.56 [[ 9.84212068e-01 1.74853461e-01 2.74385031e-02 1.74267263e+02] [-1.74765573e-01 9.84594217e-01 -5.58779066e-03 -3.12156798e+01] [-2.79928360e-02 7.04265293e-04 9.99607876e-01 -5.55854822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:174.30, Y:-31.23, Z:-5.56 [[ 9.84798918e-01 1.71646578e-01 2.66184680e-02 1.74297103e+02] [-1.71562709e-01 9.85158291e-01 -5.42026122e-03 -3.12266919e+01] [-2.71537738e-02 7.71130889e-04 9.99630971e-01 -5.55886979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814012739 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:174.33, Y:-31.24, Z:-5.56 [[ 9.84978874e-01 1.70539352e-01 2.70730006e-02 1.74326617e+02] [-1.70452156e-01 9.85350528e-01 -5.51355712e-03 -3.12361322e+01] [-2.76166739e-02 8.16085963e-04 9.99618254e-01 -5.55923918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:174.36, Y:-31.25, Z:-5.56 [[ 9.85074829e-01 1.69724227e-01 2.86577674e-02 1.74357261e+02] [-1.69626183e-01 9.85491197e-01 -5.83606738e-03 -3.12463890e+01] [-2.92324995e-02 8.87855371e-04 9.99572245e-01 -5.56020893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874012739 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:174.39, Y:-31.26, Z:-5.56 [[ 9.85197589e-01 1.68344392e-01 3.23400250e-02 1.74387443e+02] [-1.68218576e-01 9.85727677e-01 -6.59217956e-03 -3.12611247e+01] [-3.29882142e-02 1.05440645e-03 9.99455185e-01 -5.55984373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:174.42, Y:-31.27, Z:-5.56 [[ 9.85298705e-01 1.67731347e-01 3.24446874e-02 1.74418399e+02] [-1.67604187e-01 9.85832146e-01 -6.61945460e-03 -3.12706878e+01] [-3.30953058e-02 1.08427461e-03 9.99451612e-01 -5.56032766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934012739 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:174.45, Y:-31.28, Z:-5.56 [[ 9.85402428e-01 1.67724258e-01 2.91655210e-02 1.74450012e+02] [-1.67621369e-01 9.85833462e-01 -5.95504309e-03 -3.12831426e+01] [-2.97511517e-02 9.79349359e-04 9.99556857e-01 -5.56170057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:174.48, Y:-31.29, Z:-5.56 [[ 9.85451965e-01 1.67772786e-01 2.71425429e-02 1.74481827e+02] [-1.67683571e-01 9.85825266e-01 -5.54655346e-03 -3.12932332e+01] [-2.76883653e-02 9.14503484e-04 9.99616185e-01 -5.56351515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99401273899997 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:174.51, Y:-31.30, Z:-5.57 [[ 9.85548974e-01 1.67398394e-01 2.59036117e-02 1.74512310e+02] [-1.67316884e-01 9.85888934e-01 -5.29813647e-03 -3.13034504e+01] [-2.64249836e-02 8.87461382e-04 9.99650405e-01 -5.56548713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:174.54, Y:-31.32, Z:-5.57 [[ 9.85766661e-01 1.66132590e-01 2.57692122e-02 1.74543748e+02] [-1.66051375e-01 9.86102994e-01 -5.27509977e-03 -3.13162809e+01] [-2.62874633e-02 9.21004365e-04 9.99654001e-01 -5.56546200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05401273899997 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:174.57, Y:-31.33, Z:-5.56 [[ 9.85611610e-01 1.66686697e-01 2.80232062e-02 1.74574943e+02] [-1.66590698e-01 9.86009413e-01 -5.74258712e-03 -3.13288545e+01] [-2.85883580e-02 9.91555048e-04 9.99590778e-01 -5.56493196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:174.61, Y:-31.34, Z:-5.57 [[ 9.85487284e-01 1.67348040e-01 2.84507885e-02 1.74605280e+02] [-1.67249199e-01 9.85897382e-01 -5.83591299e-03 -3.13390878e+01] [-2.90261865e-02 9.92846454e-04 9.99578158e-01 -5.56581962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11401273899997 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:174.64, Y:-31.35, Z:-5.57 [[ 9.85285959e-01 1.68538737e-01 2.83949495e-02 1.74637121e+02] [-1.68440616e-01 9.85694562e-01 -5.82999549e-03 -3.13499055e+01] [-2.89713274e-02 9.61349917e-04 9.99579781e-01 -5.56724503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:174.67, Y:-31.36, Z:-5.57 [[ 9.84942683e-01 1.70739752e-01 2.71265339e-02 1.74666955e+02] [-1.70650895e-01 9.85315784e-01 -5.57469797e-03 -3.13635900e+01] [-2.76800246e-02 8.61590669e-04 9.99616463e-01 -5.56949686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17401273899998 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:174.70, Y:-31.37, Z:-5.57 [[ 9.84838546e-01 1.71536794e-01 2.58489285e-02 1.74698596e+02] [-1.71456270e-01 9.85177386e-01 -5.31651740e-03 -3.13733107e+01] [-2.63777581e-02 8.03950406e-04 9.99651723e-01 -5.57031414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:174.73, Y:-31.39, Z:-5.57 [[ 9.84396666e-01 1.74148724e-01 2.52076741e-02 1.74729463e+02] [-1.74072881e-01 9.84719099e-01 -5.18930958e-03 -3.13852807e+01] [-2.57261898e-02 7.20366587e-04 9.99668767e-01 -5.57133844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23401273899998 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:174.76, Y:-31.39, Z:-5.57 [[ 9.84042645e-01 1.75997367e-01 2.61725090e-02 1.74759704e+02] [-1.75916114e-01 9.84390386e-01 -5.39336733e-03 -3.13946531e+01] [-2.67131846e-02 7.03137374e-04 9.99642892e-01 -5.57224722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:174.79, Y:-31.40, Z:-5.57 [[ 9.83698408e-01 1.77750330e-01 2.72444865e-02 1.74790383e+02] [-1.77662810e-01 9.84075377e-01 -5.61946359e-03 -3.14042649e+01] [-2.78094898e-02 6.87525349e-04 9.99613005e-01 -5.57240052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29401273899998 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:174.82, Y:-31.42, Z:-5.57 [[ 9.83196266e-01 1.80515359e-01 2.71902145e-02 1.74821202e+02] [-1.80429109e-01 9.83571975e-01 -5.61311062e-03 -3.14170924e+01] [-2.77567857e-02 6.12883214e-04 9.99614518e-01 -5.57377432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:174.85, Y:-31.43, Z:-5.58 [[ 9.82941937e-01 1.81994817e-01 2.65148042e-02 1.74852819e+02] [-1.81913206e-01 9.83299329e-01 -5.47854655e-03 -3.14269799e+01] [-2.70690563e-02 5.61700114e-04 9.99633408e-01 -5.57510918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35401273899998 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:174.88, Y:-31.44, Z:-5.58 [[ 9.82101532e-01 1.86572178e-01 2.58341579e-02 1.74882913e+02] [-1.86496156e-01 9.82441163e-01 -5.34281499e-03 -3.14403990e+01] [-2.63773608e-02 4.29215642e-04 9.99651965e-01 -5.57558220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:174.91, Y:-31.45, Z:-5.58 [[ 9.81547285e-01 1.89414419e-01 2.62126801e-02 1.74914033e+02] [-1.89337023e-01 9.81897167e-01 -5.42640431e-03 -3.14496828e+01] [-2.67659956e-02 3.63241600e-04 9.99641661e-01 -5.57587708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414012739 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:174.94, Y:-31.46, Z:-5.58 [[ 9.80918248e-01 1.92508540e-01 2.72002247e-02 1.74944957e+02] [-1.92465123e-01 9.81294697e-01 -4.23005666e-03 -3.14591813e+01] [-2.75057583e-02 -1.08575482e-03 9.99621055e-01 -5.57643165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:174.98, Y:-31.46, Z:-5.58 [[ 9.80332111e-01 1.95910703e-01 2.38316750e-02 1.74977461e+02] [-1.95669455e-01 9.80595399e-01 -1.20883211e-02 -3.14619499e+01] [-2.57374624e-02 7.18743852e-03 9.99642898e-01 -5.57697383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474012739 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:175.01, Y:-31.48, Z:-5.58 [[ 9.78982642e-01 2.01791653e-01 2.95485307e-02 1.75006423e+02] [-2.01871056e-01 9.79412061e-01 -3.01865520e-04 -3.14792755e+01] [-2.90011013e-02 -5.66947199e-03 9.99563301e-01 -5.57750987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:175.04, Y:-31.48, Z:-5.58 [[ 9.78358763e-01 2.04898455e-01 2.88228050e-02 1.75039067e+02] [-2.04811045e-01 9.78783235e-01 -5.98458312e-03 -3.14825498e+01] [-2.94375102e-02 -4.81594759e-05 9.99566621e-01 -5.57861297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534012739 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:175.07, Y:-31.49, Z:-5.58 [[ 9.77497395e-01 2.09020030e-01 2.84511779e-02 1.75070133e+02] [-2.08936445e-01 9.77911346e-01 -5.91287484e-03 -3.14893634e+01] [-2.90586390e-02 -1.64668224e-04 9.99577695e-01 -5.57979893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:175.10, Y:-31.50, Z:-5.58 [[ 9.77169764e-01 2.10174561e-01 3.10790283e-02 1.75101377e+02] [-2.10296492e-01 9.77637425e-01 6.71088803e-04 -3.15017018e+01] [-3.02429754e-02 -7.19157831e-03 9.99516705e-01 -5.58146500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594012739 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:175.13, Y:-31.50, Z:-5.58 [[ 9.77117242e-01 2.11227026e-01 2.50007891e-02 1.75133368e+02] [-2.10974823e-01 9.77413364e-01 -1.23588423e-02 -3.14996895e+01] [-2.70466269e-02 6.80150085e-03 9.99611034e-01 -5.58304239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:175.17, Y:-31.51, Z:-5.58 [[ 9.77002393e-01 2.11509660e-01 2.70182984e-02 1.75165056e+02] [-2.11434944e-01 9.77375883e-01 -5.62561833e-03 -3.15118731e+01] [-2.75969058e-02 -2.16369835e-04 9.99619109e-01 -5.58280042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:175.20, Y:-31.52, Z:-5.58 [[ 9.76833985e-01 2.12142626e-01 2.81224607e-02 1.75197193e+02] [-2.12061786e-01 9.77238686e-01 -5.86083848e-03 -3.15192410e+01] [-2.87256902e-02 -2.38633027e-04 9.99587304e-01 -5.58356267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:175.23, Y:-31.53, Z:-5.59 [[ 9.76633991e-01 2.13032010e-01 2.83445102e-02 1.75229409e+02] [-2.12950109e-01 9.77045185e-01 -5.91243673e-03 -3.15270188e+01] [-2.89534055e-02 -2.61679854e-04 9.99580728e-01 -5.58513479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71401273899997 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:175.26, Y:-31.53, Z:-5.59 [[ 9.76617417e-01 2.13108128e-01 2.83433717e-02 1.75262155e+02] [-2.13026101e-01 9.77028587e-01 -5.91788929e-03 -3.15339987e+01] [-2.89534347e-02 -2.58364195e-04 9.99580728e-01 -5.58624417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:175.29, Y:-31.54, Z:-5.59 [[ 9.76585464e-01 2.13337795e-01 2.77095057e-02 1.75293334e+02] [-2.13259438e-01 9.76978464e-01 -5.78730390e-03 -3.15403656e+01] [-2.83062409e-02 -2.57516754e-04 9.99599265e-01 -5.58781278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77401273899997 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:175.32, Y:-31.55, Z:-5.59 [[ 9.76436022e-01 2.14223256e-01 2.60977157e-02 1.75324804e+02] [-2.14153956e-01 9.76784689e-01 -5.45485815e-03 -3.15473798e+01] [-2.66604065e-02 -2.62609055e-04 9.99644514e-01 -5.58965094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:175.36, Y:-31.55, Z:-5.59 [[ 9.76237160e-01 2.15054794e-01 2.66916192e-02 1.75357113e+02] [-2.14982487e-01 9.76601942e-01 -5.58367060e-03 -3.15546829e+01] [-2.72678823e-02 -2.87243944e-04 9.99628121e-01 -5.59055873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83401273899997 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:175.39, Y:-31.56, Z:-5.59 [[ 9.76103822e-01 2.15519240e-01 2.77990437e-02 1.75389758e+02] [-2.15440844e-01 9.76499546e-01 -5.82064544e-03 -3.15614122e+01] [-2.84002146e-02 -3.07495170e-04 9.99596585e-01 -5.59113763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:175.42, Y:-31.57, Z:-5.59 [[ 9.76121186e-01 2.15227952e-01 2.93999673e-02 1.75422355e+02] [-2.15139963e-01 9.76563788e-01 -6.16152289e-03 -3.15680511e+01] [-3.00370754e-02 -3.10714830e-04 9.99548737e-01 -5.59161984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89401273899998 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:175.45, Y:-31.58, Z:-5.59 [[ 9.76277509e-01 2.14653228e-01 2.83939642e-02 1.75453946e+02] [-2.14570764e-01 9.76690286e-01 -5.95592012e-03 -3.15759730e+01] [-2.90105665e-02 -2.77883725e-04 9.99579066e-01 -5.59281085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:175.49, Y:-31.59, Z:-5.59 [[ 9.76802158e-01 2.12552272e-01 2.60590913e-02 1.75485672e+02] [-2.12481948e-01 9.77149678e-01 -5.47061734e-03 -3.15856245e+01] [-2.66264248e-02 -1.93375650e-04 9.99645435e-01 -5.59485568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95401273899998 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:175.52, Y:-31.59, Z:-5.60 [[ 9.76943814e-01 2.11845780e-01 2.64981100e-02 1.75516324e+02] [-2.11772663e-01 9.77303093e-01 -5.56805080e-03 -3.15931076e+01] [-2.70762530e-02 -1.71902550e-04 9.99633356e-01 -5.59636460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:175.55, Y:-31.60, Z:-5.60 [[ 9.77073255e-01 2.11079356e-01 2.78093498e-02 1.75548326e+02] [-2.10998362e-01 9.77468916e-01 -5.84887438e-03 -3.16007214e+01] [-2.84173516e-02 -1.52948509e-04 9.99596134e-01 -5.59681484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01401273899998 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:175.58, Y:-31.61, Z:-5.60 [[ 9.77014550e-01 2.11108676e-01 2.95921743e-02 1.75580340e+02] [-2.11016805e-01 9.77462583e-01 -6.22943731e-03 -3.16089686e+01] [-3.02403314e-02 -1.58195196e-04 9.99542644e-01 -5.59648528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:175.61, Y:-31.62, Z:-5.60 [[ 9.76837674e-01 2.12000643e-01 2.90497239e-02 1.75611454e+02] [-2.11912335e-01 9.77269511e-01 -6.12094400e-03 -3.16159360e+01] [-2.96870535e-02 -1.76826128e-04 9.99559227e-01 -5.59706976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07401273899998 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:175.64, Y:-31.62, Z:-5.60 [[ 9.76402633e-01 2.14210725e-01 2.74164975e-02 1.75643747e+02] [-2.14132808e-01 9.76787446e-01 -5.78153072e-03 -3.16222887e+01] [-2.80185564e-02 -2.25669774e-04 9.99607378e-01 -5.59924531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:175.67, Y:-31.63, Z:-5.60 [[ 9.76210253e-01 2.15041301e-01 2.77629295e-02 1.75674517e+02] [-2.14961579e-01 9.76604924e-01 -5.86019149e-03 -3.16297554e+01] [-2.83735969e-02 -2.47184150e-04 9.99597358e-01 -5.60098167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13401273899999 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:175.71, Y:-31.64, Z:-5.60 [[ 9.76090834e-01 2.15432038e-01 2.89088434e-02 1.75706646e+02] [-2.15345606e-01 9.76518800e-01 -6.10760600e-03 -3.16376578e+01] [-2.95458031e-02 -2.63814160e-04 9.99563393e-01 -5.60148128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:175.74, Y:-31.65, Z:-5.60 [[ 9.75868435e-01 2.16190026e-01 3.07029486e-02 1.75739060e+02] [-2.16092706e-01 9.76351260e-01 -6.49299964e-03 -3.16453328e+01] [-3.13805843e-02 -2.98369832e-04 9.99507464e-01 -5.60142040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194012739 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:175.77, Y:-31.65, Z:-5.60 [[ 9.75746815e-01 2.16743475e-01 3.06662656e-02 1.75769913e+02] [-2.16646473e-01 9.76228544e-01 -6.49120708e-03 -3.16523389e+01] [-3.13442106e-02 -3.09963658e-04 9.99508601e-01 -5.60221309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:175.80, Y:-31.66, Z:-5.60 [[ 9.75437452e-01 2.18220457e-01 3.00267975e-02 1.75801763e+02] [-2.18127997e-01 9.75899438e-01 -6.36110166e-03 -3.16612532e+01] [-3.06912574e-02 -3.44828423e-04 9.99528853e-01 -5.60344777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254012739 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:175.83, Y:-31.67, Z:-5.60 [[ 9.75041221e-01 2.20093811e-01 2.92118492e-02 1.75834167e+02] [-2.20006980e-01 9.75478633e-01 -6.19392000e-03 -3.16684637e+01] [-2.98587782e-02 -3.87483393e-04 9.99554052e-01 -5.60402758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:175.87, Y:-31.67, Z:-5.61 [[ 9.74499528e-01 2.22615520e-01 2.81602645e-02 1.75866182e+02] [-2.22535730e-01 9.74906218e-01 -5.97619478e-03 -3.16737609e+01] [-2.87840107e-02 -4.42866024e-04 9.99585556e-01 -5.60509526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314012739 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:175.90, Y:-31.68, Z:-5.61 [[ 9.72907830e-01 2.29639039e-01 2.67631613e-02 1.75899839e+02] [-2.29569500e-01 9.73275673e-01 -5.68415232e-03 -3.16755713e+01] [-2.73532371e-02 -6.13849256e-04 9.99625642e-01 -5.60661771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:175.93, Y:-31.68, Z:-5.61 [[ 9.71927863e-01 2.33694273e-01 2.72619731e-02 1.75932668e+02] [-2.33623559e-01 9.72309850e-01 -5.79551293e-03 -3.16799777e+01] [-2.78614632e-02 -7.36218686e-04 9.99611523e-01 -5.60793482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374012739 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:175.96, Y:-31.68, Z:-5.61 [[ 9.70242787e-01 2.40334301e-01 2.94679237e-02 1.75964861e+02] [-2.40254541e-01 9.70689669e-01 -6.27079486e-03 -3.16817877e+01] [-3.01112962e-02 -9.95609007e-04 9.99546056e-01 -5.60876523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:176.00, Y:-31.69, Z:-5.61 [[ 9.69699072e-01 2.42435309e-01 3.01468150e-02 1.75997126e+02] [-2.42352671e-01 9.70166973e-01 -6.42092074e-03 -3.16859327e+01] [-3.08041021e-02 -1.07980024e-03 9.99524858e-01 -5.61009649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434012739 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:176.03, Y:-31.69, Z:-5.61 [[ 9.69309602e-01 2.43952626e-01 3.04304544e-02 1.76030054e+02] [-2.43869013e-01 9.69786487e-01 -6.48640678e-03 -3.16899020e+01] [-3.10934195e-02 -1.13370851e-03 9.99515840e-01 -5.61101112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:176.06, Y:-31.69, Z:-5.61 [[ 9.69191725e-01 2.44615458e-01 2.88214878e-02 1.76062305e+02] [-2.44540589e-01 9.69619561e-01 -6.14881497e-03 -3.16900531e+01] [-2.94499735e-02 -1.08864302e-03 9.99565663e-01 -5.61309992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49401273899997 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:176.09, Y:-31.69, Z:-5.61 [[ 9.69274033e-01 2.44450356e-01 2.74202752e-02 1.76092422e+02] [-2.44382390e-01 9.69661266e-01 -5.85467775e-03 -3.16933852e+01] [-2.80195568e-02 -1.02624526e-03 9.99606848e-01 -5.61415181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:176.12, Y:-31.69, Z:-5.61 [[ 9.69199109e-01 2.44769470e-01 2.72212184e-02 1.76121812e+02] [-2.44702607e-01 9.69580760e-01 -5.81235953e-03 -3.16923455e+01] [-2.78158577e-02 -1.02776944e-03 9.99612536e-01 -5.61376748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55401273899997 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:176.15, Y:-31.69, Z:-5.61 [[ 9.69074637e-01 2.45083067e-01 2.87860713e-02 1.76150461e+02] [-2.45008466e-01 9.69501463e-01 -6.14539757e-03 -3.16937968e+01] [-2.94142711e-02 -1.09748224e-03 9.99566704e-01 -5.61414818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:176.18, Y:-31.70, Z:-5.61 [[ 9.68928625e-01 2.45476571e-01 3.03079775e-02 1.76181050e+02] [-2.45394101e-01 9.69401819e-01 -6.46909403e-03 -3.16963820e+01] [-3.09686195e-02 -1.16930850e-03 9.99519673e-01 -5.61478451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61401273899997 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:176.21, Y:-31.70, Z:-5.62 [[ 9.68941650e-01 2.45456541e-01 3.00527084e-02 1.76210764e+02] [-2.45375445e-01 9.69406903e-01 -6.41463632e-03 -3.16987127e+01] [-3.07078174e-02 -1.15878838e-03 9.99527732e-01 -5.61650884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:176.24, Y:-31.70, Z:-5.62 [[ 9.68990006e-01 2.45425608e-01 2.87165400e-02 1.76239498e+02] [-2.45351557e-01 9.69414796e-01 -6.12919075e-03 -3.17031589e+01] [-2.93424991e-02 -1.10652321e-03 9.99568804e-01 -5.61849161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67401273899998 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:176.27, Y:-31.70, Z:-5.62 [[ 9.68922130e-01 2.45784275e-01 2.79284243e-02 1.76269486e+02] [-2.45714409e-01 9.69323943e-01 -5.96005248e-03 -3.17028634e+01] [-2.85365775e-02 -1.08758951e-03 9.99592157e-01 -5.62000208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:176.30, Y:-31.71, Z:-5.62 [[ 9.68855061e-01 2.45870176e-01 2.94572090e-02 1.76297197e+02] [-2.45792534e-01 9.69302084e-01 -6.28485046e-03 -3.17060899e+01] [-3.00981914e-02 -1.15125288e-03 9.99546284e-01 -5.62064725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73401273899998 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:176.33, Y:-31.71, Z:-5.62 [[ 9.68853606e-01 2.45622995e-01 3.14965855e-02 1.76326887e+02] [-2.45534162e-01 9.69364660e-01 -6.71793593e-03 -3.17114596e+01] [-3.21817564e-02 -1.22479129e-03 9.99481283e-01 -5.62060707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:176.36, Y:-31.71, Z:-5.62 [[ 9.69207864e-01 2.44057103e-01 3.27451934e-02 1.76355808e+02] [-2.43960222e-01 9.69760095e-01 -6.98340540e-03 -3.17148741e+01] [-3.34593315e-02 -1.22015323e-03 9.99439335e-01 -5.62009949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79401273899998 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:176.39, Y:-31.72, Z:-5.62 [[ 9.69428798e-01 2.43402782e-01 3.10305051e-02 1.76385796e+02] [-2.43315484e-01 9.69924634e-01 -6.61662048e-03 -3.17182813e+01] [-3.17077551e-02 -1.13585992e-03 9.99496537e-01 -5.62173786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:176.41, Y:-31.72, Z:-5.62 [[ 9.69355604e-01 2.43906436e-01 2.93148928e-02 1.76413931e+02] [-2.43828773e-01 9.69798156e-01 -6.25023707e-03 -3.17206024e+01] [-2.99540021e-02 -1.08911201e-03 9.99550685e-01 -5.62428798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85401273899998 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:176.44, Y:-31.73, Z:-5.63 [[ 9.69147879e-01 2.44557446e-01 3.07253132e-02 1.76441455e+02] [-2.44472517e-01 9.69634106e-01 -6.54898054e-03 -3.17264256e+01] [-3.13939136e-02 -1.16456405e-03 9.99506411e-01 -5.62510489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:176.47, Y:-31.73, Z:-5.62 [[ 9.69035463e-01 2.44885080e-01 3.16475691e-02 1.76470008e+02] [-2.44795213e-01 9.69551354e-01 -6.74359430e-03 -3.17287140e+01] [-3.23353491e-02 -1.21239138e-03 9.99476341e-01 -5.62464274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914012739 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:176.50, Y:-31.73, Z:-5.63 [[ 9.69066350e-01 2.44860814e-01 3.08802838e-02 1.76498489e+02] [-2.44775285e-01 9.69557518e-01 -6.57867492e-03 -3.17316994e+01] [-3.15510711e-02 -1.18355778e-03 9.99501440e-01 -5.62630244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:176.53, Y:-31.74, Z:-5.63 [[ 9.69065114e-01 2.45028320e-01 2.95622439e-02 1.76525757e+02] [-2.44950055e-01 9.69515252e-01 -6.29656419e-03 -3.17353829e+01] [-3.02038829e-02 -1.13949256e-03 9.99543109e-01 -5.62853939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974012739 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:176.55, Y:-31.74, Z:-5.63 [[ 9.68749846e-01 2.46510402e-01 2.75019599e-02 1.76553495e+02] [-2.46443304e-01 9.69139516e-01 -5.85628934e-03 -3.17396952e+01] [-2.80968723e-02 -1.10439444e-03 9.99604595e-01 -5.62911106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:176.58, Y:-31.74, Z:-5.63 [[ 9.68468088e-01 2.47645967e-01 2.72220086e-02 1.76580243e+02] [-2.47580727e-01 9.68849939e-01 -5.79481828e-03 -3.17424390e+01] [-2.78091047e-02 -1.12754809e-03 9.99612616e-01 -5.63016592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034012739 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:176.61, Y:-31.74, Z:-5.63 [[ 9.67809725e-01 2.50120823e-01 2.79983856e-02 1.76608818e+02] [-2.50052912e-01 9.68213844e-01 -5.95764110e-03 -3.17404010e+01] [-2.85985547e-02 -1.23521485e-03 9.99590214e-01 -5.63290740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:176.64, Y:-31.74, Z:-5.63 [[ 9.67687832e-01 2.50553480e-01 2.83410083e-02 1.76636822e+02] [-2.50484140e-01 9.68101933e-01 -6.02852000e-03 -3.17436015e+01] [-2.89474515e-02 -1.26524762e-03 9.99580134e-01 -5.63422038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094012739 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:176.66, Y:-31.75, Z:-5.64 [[ 9.67751047e-01 2.50319578e-01 2.82492404e-02 1.76663371e+02] [-2.50250645e-01 9.68162451e-01 -6.00696973e-03 -3.17469876e+01] [-2.88535160e-02 -1.25613938e-03 9.99582861e-01 -5.63520423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:176.69, Y:-31.75, Z:-5.63 [[ 9.67957090e-01 2.49631797e-01 2.72587200e-02 1.76691529e+02] [-2.49567405e-01 9.68340095e-01 -5.79408707e-03 -3.17457641e+01] [-2.78420999e-02 -1.19446036e-03 9.99611620e-01 -5.63465023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154012739 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:176.72, Y:-31.75, Z:-5.64 [[ 9.67797088e-01 2.50165048e-01 2.80400553e-02 1.76720291e+02] [-2.50097204e-01 9.68202403e-01 -5.95770689e-03 -3.17471551e+01] [-2.86388590e-02 -1.24688807e-03 9.99589046e-01 -5.63508845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:176.75, Y:-31.74, Z:-5.63 [[ 9.67134938e-01 2.52401762e-01 3.07142180e-02 1.76749603e+02] [-2.52321557e-01 9.67621452e-01 -6.52356302e-03 -3.17444197e+01] [-3.13662950e-02 -1.44069359e-03 9.99506918e-01 -5.63488900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21401273899997 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:176.78, Y:-31.75, Z:-5.64 [[ 9.66780045e-01 2.53625109e-01 3.17907010e-02 1.76777943e+02] [-2.53539920e-01 9.67301375e-01 -6.74978537e-03 -3.17455411e+01] [-3.24631038e-02 -1.53465399e-03 9.99471756e-01 -5.63586828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:176.81, Y:-31.75, Z:-5.64 [[ 9.66511685e-01 2.54629705e-01 3.19198279e-02 1.76805349e+02] [-2.54544446e-01 9.67037345e-01 -6.77485985e-03 -3.17453036e+01] [-3.25927462e-02 -1.57703369e-03 9.99467471e-01 -5.63614079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27401273899997 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:176.84, Y:-31.74, Z:-5.64 [[ 9.66127720e-01 2.56092262e-01 3.18430968e-02 1.76835280e+02] [-2.56008292e-01 9.66650978e-01 -6.75587096e-03 -3.17391932e+01] [-3.25112869e-02 -1.62506260e-03 9.99470047e-01 -5.63762051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:176.86, Y:-31.74, Z:-5.64 [[ 9.66150066e-01 2.56034526e-01 3.16286376e-02 1.76863854e+02] [-2.55951726e-01 9.66666289e-01 -6.70810318e-03 -3.17401036e+01] [-3.22918438e-02 -1.61437007e-03 9.99477179e-01 -5.63925950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33401273899997 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:176.89, Y:-31.74, Z:-5.64 [[ 9.66570619e-01 2.54539867e-01 3.08333341e-02 1.76892397e+02] [-2.54460488e-01 9.67061076e-01 -6.53728365e-03 -3.17379960e+01] [-3.14817165e-02 -1.52711894e-03 9.99503161e-01 -5.63971655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:176.92, Y:-31.74, Z:-5.64 [[ 9.66837536e-01 2.53481894e-01 3.11786591e-02 1.76920883e+02] [-2.53400262e-01 9.67338950e-01 -6.60784336e-03 -3.17395190e+01] [-3.18353000e-02 -1.51196939e-03 9.99491985e-01 -5.64050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39401273899998 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:176.95, Y:-31.74, Z:-5.64 [[ 9.67151305e-01 2.52216636e-01 3.17036706e-02 1.76947624e+02] [-2.52131628e-01 9.67669637e-01 -6.71680116e-03 -3.17410625e+01] [-3.23727684e-02 -1.49733508e-03 9.99474743e-01 -5.64144337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:176.98, Y:-31.74, Z:-5.64 [[ 9.68143488e-01 2.48352918e-01 3.19220231e-02 1.76976456e+02] [-2.48264726e-01 9.68668635e-01 -6.76036912e-03 -3.17403347e+01] [-3.26008199e-02 -1.38010497e-03 9.99467499e-01 -5.64302461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45401273899998 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:177.00, Y:-31.74, Z:-5.64 [[ 9.68475746e-01 2.47115718e-01 3.14412423e-02 1.77004458e+02] [-2.47029581e-01 9.68985077e-01 -6.65636801e-03 -3.17435028e+01] [-3.21109877e-02 -1.32038595e-03 9.99483437e-01 -5.64361162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:177.03, Y:-31.74, Z:-5.65 [[ 9.68660218e-01 2.46491880e-01 3.06453026e-02 1.77032834e+02] [-2.46409806e-01 9.69144026e-01 -6.48571775e-03 -3.17444633e+01] [-3.12983887e-02 -1.26884628e-03 9.99509280e-01 -5.64501806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51401273899998 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:177.06, Y:-31.75, Z:-5.65 [[ 9.68779585e-01 2.46074605e-01 3.02225650e-02 1.77061164e+02] [-2.45994643e-01 9.69250097e-01 -6.39411106e-03 -3.17475655e+01] [-3.08666524e-02 -1.24010484e-03 9.99522742e-01 -5.64626929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:177.09, Y:-31.75, Z:-5.65 [[ 9.69055363e-01 2.44961185e-01 3.04256822e-02 1.77088973e+02] [-2.44879666e-01 9.69532125e-01 -6.43486485e-03 -3.17506489e+01] [-3.10749684e-02 -1.21489058e-03 9.99516318e-01 -5.64731064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57401273899998 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:177.12, Y:-31.75, Z:-5.65 [[ 9.69801021e-01 2.41912160e-01 3.10561877e-02 1.77116240e+02] [-2.41825738e-01 9.70297481e-01 -6.56592634e-03 -3.17526771e+01] [-3.17221181e-02 -1.14254343e-03 9.99496074e-01 -5.64766599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:177.14, Y:-31.76, Z:-5.65 [[ 9.69828020e-01 2.41803829e-01 3.10567090e-02 1.77144124e+02] [-2.41717430e-01 9.70324485e-01 -6.56345974e-03 -3.17584066e+01] [-3.17221548e-02 -1.14152069e-03 9.99496074e-01 -5.64860890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63401273899999 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:177.17, Y:-31.76, Z:-5.65 [[ 9.70401296e-01 2.39422502e-01 3.15941576e-02 1.77172085e+02] [-2.39331947e-01 9.70914871e-01 -6.67325685e-03 -3.17624218e+01] [-3.22729653e-02 -1.08575417e-03 9.99478502e-01 -5.64970518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:177.20, Y:-31.76, Z:-5.65 [[ 9.72038880e-01 2.32766119e-01 3.09895162e-02 1.77199923e+02] [-2.32675683e-01 9.72532370e-01 -6.54334544e-03 -3.17639807e+01] [-3.16613767e-02 -8.50120658e-04 9.99498291e-01 -5.65148293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694012739 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:177.23, Y:-31.77, Z:-5.65 [[ 9.72929201e-01 2.29121917e-01 3.01979495e-02 1.77227536e+02] [-2.29034354e-01 9.73397471e-01 -6.37405794e-03 -3.17690456e+01] [-3.08550441e-02 -7.14860765e-04 9.99523614e-01 -5.65349653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:177.25, Y:-31.77, Z:-5.65 [[ 9.73764967e-01 2.25645805e-01 2.94238050e-02 1.77254122e+02] [-2.25561149e-01 9.74209229e-01 -6.20857882e-03 -3.17746530e+01] [-3.00658822e-02 -5.91170735e-04 9.99547744e-01 -5.65470990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754012739 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:177.28, Y:-31.78, Z:-5.65 [[ 9.75198231e-01 2.19422296e-01 2.90218054e-02 1.77280445e+02] [-2.19337254e-01 9.75629899e-01 -6.12129702e-03 -3.17795933e+01] [-2.96576901e-02 -3.96085060e-04 9.99560035e-01 -5.65431037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:177.31, Y:-31.79, Z:-5.65 [[ 9.76241917e-01 2.14617435e-01 2.98508979e-02 1.77307642e+02] [-2.14525294e-01 9.76698157e-01 -6.29359144e-03 -3.17851564e+01] [-3.05060314e-02 -2.59704869e-04 9.99534549e-01 -5.65451979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814012739 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:177.34, Y:-31.79, Z:-5.65 [[ 9.76808359e-01 2.12278331e-01 2.79882129e-02 1.77336147e+02] [-2.12064679e-01 9.77200004e-01 -1.04270612e-02 -3.17885349e+01] [-2.95635209e-02 4.24992914e-03 9.99553869e-01 -5.65484195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:177.36, Y:-31.80, Z:-5.66 [[ 9.77088073e-01 2.10677553e-01 3.02302096e-02 1.77360447e+02] [-2.10715691e-01 9.77545435e-01 -1.95469933e-03 -3.18019270e+01] [-2.99632146e-02 -4.46006611e-03 9.99541051e-01 -5.65785824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874012739 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:177.39, Y:-31.81, Z:-5.66 [[ 9.77554258e-01 2.08654561e-01 2.91710111e-02 1.77387940e+02] [-2.08564084e-01 9.77989401e-01 -6.14447923e-03 -3.18063399e+01] [-2.98110133e-02 -7.74633789e-05 9.99555550e-01 -5.65836702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:177.41, Y:-31.82, Z:-5.66 [[ 9.78319103e-01 2.04885949e-01 3.02238515e-02 1.77413452e+02] [-2.04787093e-01 9.78785853e-01 -6.36395773e-03 -3.18152330e+01] [-3.08865638e-02 3.65267157e-05 9.99522896e-01 -5.65877474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934012739 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:177.44, Y:-31.83, Z:-5.66 [[ 9.78737885e-01 2.02721171e-01 3.12454586e-02 1.77438816e+02] [-2.02614502e-01 9.79236496e-01 -6.57629752e-03 -3.18264323e+01] [-3.19298482e-02 1.05688471e-04 9.99490107e-01 -5.65842221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:177.46, Y:-31.83, Z:-5.66 [[ 9.78892764e-01 2.02126346e-01 3.02307222e-02 1.77464709e+02] [-2.02026288e-01 9.79359447e-01 -6.36026080e-03 -3.18348906e+01] [-3.08923196e-02 1.18612691e-04 9.99522711e-01 -5.65976926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99401273899997 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:177.49, Y:-31.84, Z:-5.66 [[ 9.79086744e-01 2.01421403e-01 2.86105950e-02 1.77491625e+02] [-2.01331551e-01 9.79504671e-01 -6.01710393e-03 -3.18428000e+01] [-2.92361850e-02 1.31051237e-04 9.99572523e-01 -5.66090397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:177.52, Y:-31.85, Z:-5.66 [[ 9.79233549e-01 2.00930027e-01 2.69959553e-02 1.77518665e+02] [-2.00849895e-01 9.79605587e-01 -5.67572431e-03 -3.18508910e+01] [-2.75858121e-02 1.35724867e-04 9.99619430e-01 -5.66232403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05401273899997 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:177.54, Y:-31.86, Z:-5.66 [[ 9.79205122e-01 2.01038832e-01 2.72161136e-02 1.77544712e+02] [-2.00957486e-01 9.79583264e-01 -5.71999192e-03 -3.18605232e+01] [-2.78103899e-02 1.31763610e-04 9.99613208e-01 -5.66343350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:177.57, Y:-31.87, Z:-5.66 [[ 9.78524572e-01 2.03857810e-01 3.05230144e-02 1.77570684e+02] [-2.03756938e-01 9.79000506e-01 -6.41247422e-03 -3.18693094e+01] [-3.11892795e-02 5.54876175e-05 9.99513495e-01 -5.66243572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11401273899997 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:177.60, Y:-31.88, Z:-5.66 [[ 9.78022597e-01 2.06220968e-01 3.07361637e-02 1.77598263e+02] [-2.06119933e-01 9.78505448e-01 -6.45456913e-03 -3.18750783e+01] [-3.14065711e-02 -2.26215341e-05 9.99506692e-01 -5.66302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:177.63, Y:-31.88, Z:-5.66 [[ 9.77557812e-01 2.08497299e-01 3.01595771e-02 1.77626094e+02] [-2.08401166e-01 9.78022938e-01 -6.33140200e-03 -3.18799623e+01] [-3.08168384e-02 -9.59795551e-05 9.99525044e-01 -5.66472243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17401273899998 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:177.65, Y:-31.88, Z:-5.67 [[ 9.76941040e-01 2.11535874e-01 2.89616576e-02 1.77652790e+02] [-2.11448614e-01 9.77370216e-01 -6.07815616e-03 -3.18832888e+01] [-2.95920096e-02 -1.85902164e-04 9.99562043e-01 -5.66624120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:177.68, Y:-31.89, Z:-5.67 [[ 9.76827566e-01 2.11984712e-01 2.95023254e-02 1.77680283e+02] [-2.11894486e-01 9.77272960e-01 -6.18770905e-03 -3.18886044e+01] [-3.01435246e-02 -2.07055307e-04 9.99545559e-01 -5.66740252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23401273899998 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:177.71, Y:-31.89, Z:-5.67 [[ 9.77184964e-01 2.10235240e-01 3.01776512e-02 1.77708456e+02] [-2.10140068e-01 9.77650816e-01 -6.32718733e-03 -3.18929557e+01] [-3.08334030e-02 -1.58701344e-04 9.99524525e-01 -5.66734276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:177.74, Y:-31.90, Z:-5.67 [[ 9.77663589e-01 2.08008662e-01 3.01048786e-02 1.77735018e+02] [-2.07912960e-01 9.78126980e-01 -6.30971971e-03 -3.18974186e+01] [-3.07588703e-02 -9.04111969e-05 9.99526830e-01 -5.66814683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29401273899998 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:177.76, Y:-31.90, Z:-5.67 [[ 9.78304006e-01 2.05016655e-01 2.98235418e-02 1.77762463e+02] [-2.04921422e-01 9.78758485e-01 -6.24817744e-03 -3.19023807e+01] [-3.04710250e-02 1.13442208e-06 9.99535651e-01 -5.66977548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:177.79, Y:-31.91, Z:-5.67 [[ 9.79451106e-01 1.99526389e-01 2.94066559e-02 1.77789696e+02] [-1.99431386e-01 9.79892439e-01 -6.15875300e-03 -3.19099933e+01] [-3.00441935e-02 1.67587286e-04 9.99548557e-01 -5.67118752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35401273899998 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:177.82, Y:-31.92, Z:-5.67 [[ 9.79919414e-01 1.97233558e-01 2.92722835e-02 1.77815903e+02] [-1.97138460e-01 9.80356501e-01 -6.12852928e-03 -3.19165513e+01] [-2.99060250e-02 2.34771930e-04 9.99552687e-01 -5.67121120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters Centerline goodness : 0.983161 Centerline is valid? [True, True] Translation: X:177.84, Y:-31.92, Z:-5.66 [[ 9.80482006e-01 1.94676424e-01 2.74977368e-02 1.77843712e+02] [-1.94591566e-01 9.80867476e-01 -5.75479630e-03 -3.19242003e+01] [-2.80919588e-02 2.91646566e-04 9.99605301e-01 -5.65898343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414012739 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:177.87, Y:-31.93, Z:-5.67 [[ 9.80671247e-01 1.93761629e-01 2.72091034e-02 1.77869921e+02] [-1.93678244e-01 9.81048589e-01 -5.69249564e-03 -3.19300945e+01] [-2.77964397e-02 3.12655425e-04 9.99613555e-01 -5.67272331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:177.90, Y:-31.94, Z:-5.67 [[ 9.80775776e-01 1.93276643e-01 2.68889730e-02 1.77897419e+02] [-1.93195090e-01 9.81144249e-01 -5.62322951e-03 -3.19368751e+01] [-2.74688001e-02 3.20309727e-04 9.99622610e-01 -5.67446890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474012739 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:177.92, Y:-31.94, Z:-5.67 [[ 9.80506695e-01 1.94375680e-01 2.87178504e-02 1.77924138e+02] [-1.94283189e-01 9.80927113e-01 -6.00347663e-03 -3.19445575e+01] [-2.93370479e-02 3.07053470e-04 9.99569529e-01 -5.67366778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:177.95, Y:-31.95, Z:-5.67 [[ 9.80241963e-01 1.95610437e-01 2.93641060e-02 1.77950561e+02] [-1.95514354e-01 9.80681642e-01 -6.13641362e-03 -3.19497883e+01] [-2.99971862e-02 2.74065933e-04 9.99549946e-01 -5.67398566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534012739 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:177.98, Y:-31.95, Z:-5.68 [[ 9.79516544e-01 1.99441878e-01 2.77538842e-02 1.77976683e+02] [-1.99357645e-01 9.79909647e-01 -5.79770797e-03 -3.19546986e+01] [-2.83526046e-02 1.46001900e-04 9.99597973e-01 -5.67619266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:178.00, Y:-31.96, Z:-5.68 [[ 9.79114492e-01 2.01500839e-01 2.70596289e-02 1.78004074e+02] [-2.01421618e-01 9.79488338e-01 -5.65038128e-03 -3.19601696e+01] [-2.76431476e-02 8.19759546e-05 9.99617852e-01 -5.67798980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594012739 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:178.03, Y:-31.96, Z:-5.68 [[ 9.78826491e-01 2.02990411e-01 2.63361650e-02 1.78032063e+02] [-2.02915948e-01 9.79180725e-01 -5.49786193e-03 -3.19647099e+01] [-2.69038784e-02 3.74250150e-05 9.99638024e-01 -5.67940311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:178.06, Y:-31.97, Z:-5.68 [[ 9.78497898e-01 2.04548137e-01 2.64938337e-02 1.78059110e+02] [-2.04473395e-01 9.78856506e-01 -5.52912372e-03 -3.19655269e+01] [-2.70646334e-02 -7.04817173e-06 9.99633686e-01 -5.67961967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654012739 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:178.09, Y:-31.97, Z:-5.68 [[ 9.78403881e-01 2.05018622e-01 2.63289080e-02 1.78087362e+02] [-2.04945069e-01 9.78758072e-01 -5.49130705e-03 -3.19690202e+01] [-2.68954514e-02 -2.32637353e-05 9.99638252e-01 -5.68022755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:178.11, Y:-31.97, Z:-5.68 [[ 9.78420065e-01 2.04898258e-01 2.66623318e-02 1.78114939e+02] [-2.04822838e-01 9.78783277e-01 -5.55892140e-03 -3.19734408e+01] [-2.72356578e-02 -2.20942353e-05 9.99629040e-01 -5.68065078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71401273899997 meters Centerline goodness : 0.990901 Centerline is valid? [True, True] Translation: X:178.14, Y:-31.98, Z:-5.68 [[ 9.78464351e-01 2.04594883e-01 2.73577756e-02 1.78141558e+02] [-2.04515414e-01 9.78846737e-01 -5.70192359e-03 -3.19777196e+01] [-2.79456537e-02 -1.59578310e-05 9.99609444e-01 -5.68046544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:178.17, Y:-31.98, Z:-5.68 [[ 9.78414253e-01 2.04696777e-01 2.83686279e-02 1.78168694e+02] [-2.04611441e-01 9.78825433e-01 -5.91009862e-03 -3.19804340e+01] [-2.89777126e-02 -2.20211047e-05 9.99580058e-01 -5.67999238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77401273899997 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:178.20, Y:-31.98, Z:-5.68 [[ 9.78350488e-01 2.04780012e-01 2.99243790e-02 1.78196526e+02] [-2.04685177e-01 9.78808023e-01 -6.23158300e-03 -3.19826141e+01] [-3.05663259e-02 -2.84045320e-05 9.99532740e-01 -5.68125844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:178.23, Y:-31.98, Z:-5.68 [[ 9.78533189e-01 2.03588486e-01 3.20082089e-02 1.78225032e+02] [-2.03479421e-01 9.79056550e-01 -6.66312039e-03 -3.19847953e+01] [-3.26943812e-02 7.07263467e-06 9.99465396e-01 -5.68221478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83401273899997 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:178.25, Y:-31.99, Z:-5.68 [[ 9.79262285e-01 2.00344845e-01 3.01217443e-02 1.78251737e+02] [-2.00246786e-01 9.79725437e-01 -6.26841030e-03 -3.19883538e+01] [-3.07668828e-02 1.06635298e-04 9.99526582e-01 -5.68332657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:178.28, Y:-31.99, Z:-5.69 [[ 9.79727834e-01 1.98312137e-01 2.83842835e-02 1.78279638e+02] [-1.98224279e-01 9.80138904e-01 -5.90457071e-03 -3.19925532e+01] [-2.89914885e-02 1.58418146e-04 9.99579646e-01 -5.68511560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89401273899998 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:178.31, Y:-32.00, Z:-5.69 [[ 9.80200296e-01 1.96128607e-01 2.72203964e-02 1.78307744e+02] [-1.96047015e-01 9.80578158e-01 -5.66068360e-03 -3.19971174e+01] [-2.78019482e-02 2.12126269e-04 9.99613429e-01 -5.68615233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:178.33, Y:-32.00, Z:-5.69 [[ 9.80503394e-01 1.94577091e-01 2.74381279e-02 1.78334975e+02] [-1.94493636e-01 9.80887195e-01 -5.70401277e-03 -3.20030322e+01] [-2.80235785e-02 2.56262638e-04 9.99607230e-01 -5.68697143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95401273899998 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:178.36, Y:-32.01, Z:-5.69 [[ 9.80797497e-01 1.92937298e-01 2.84862791e-02 1.78360298e+02] [-1.92846712e-01 9.81211038e-01 -5.91984908e-03 -3.20117228e+01] [-2.90932112e-02 3.12687903e-04 9.99576654e-01 -5.68629469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:178.39, Y:-32.02, Z:-5.69 [[ 9.81232441e-01 1.90506207e-01 2.98375857e-02 1.78387871e+02] [-1.90405776e-01 9.81685909e-01 -6.19805849e-03 -3.20178965e+01] [-3.04719061e-02 4.00487417e-04 9.99535543e-01 -5.68685206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01401273899998 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:178.42, Y:-32.02, Z:-5.69 [[ 9.81432535e-01 1.89399400e-01 3.02992924e-02 1.78415171e+02] [-1.89295377e-01 9.81900033e-01 -6.29175503e-03 -3.20243895e+01] [-3.09425308e-02 4.39417108e-04 9.99521069e-01 -5.68747412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:178.44, Y:-32.03, Z:-5.69 [[ 9.81598863e-01 1.88452923e-01 3.08085688e-02 1.78440987e+02] [-1.88344976e-01 9.82082110e-01 -6.39528483e-03 -3.20324199e+01] [-3.14617544e-02 4.74965166e-04 9.99504844e-01 -5.68881104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07401273899998 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:178.47, Y:-32.04, Z:-5.69 [[ 9.81794412e-01 1.87377364e-01 3.11360831e-02 1.78467058e+02] [-1.87266677e-01 9.82287871e-01 -6.45988544e-03 -3.20446588e+01] [-3.17950330e-02 5.11528622e-04 9.99494279e-01 -5.68942429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:178.49, Y:-32.05, Z:-5.69 [[ 9.81726959e-01 1.87731258e-01 3.11312138e-02 1.78494070e+02] [-1.87620854e-01 9.82220305e-01 -6.45664871e-03 -3.20516132e+01] [-3.17898251e-02 4.97801195e-04 9.99494452e-01 -5.69041568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13401273899999 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:178.52, Y:-32.06, Z:-5.69 [[ 9.81553925e-01 1.88643831e-01 3.10708469e-02 1.78521682e+02] [-1.88534370e-01 9.82045462e-01 -6.44228514e-03 -3.20579373e+01] [-3.17282815e-02 4.65527745e-04 9.99496423e-01 -5.69108814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:178.55, Y:-32.07, Z:-5.69 [[ 9.80876855e-01 1.92361960e-01 2.96221446e-02 1.78548177e+02] [-1.92264205e-01 9.81323988e-01 -6.14058018e-03 -3.20663282e+01] [-3.02501351e-02 3.27874895e-04 9.99542306e-01 -5.69230502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194012739 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:178.58, Y:-32.07, Z:-5.69 [[ 9.80466252e-01 1.94525757e-01 2.90802243e-02 1.78575120e+02] [-1.94432547e-01 9.80897377e-01 -6.02656940e-03 -3.20740264e+01] [-2.96970388e-02 2.54705825e-04 9.99558913e-01 -5.69331603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:178.60, Y:-32.08, Z:-5.69 [[ 9.79628975e-01 1.98656873e-01 2.93686641e-02 1.78601042e+02] [-1.98563723e-01 9.80069095e-01 -6.08422226e-03 -3.20802900e+01] [-2.99919926e-02 1.28729121e-04 9.99550131e-01 -5.69324710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254012739 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:178.63, Y:-32.09, Z:-5.70 [[ 9.79178734e-01 2.00807162e-01 2.97572009e-02 1.78628850e+02] [-2.00712601e-01 9.79630788e-01 -6.16213564e-03 -3.20851943e+01] [-3.03884711e-02 6.11869891e-05 9.99538162e-01 -5.69502372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters Centerline goodness : 0.990029 Centerline is valid? [True, True] Translation: X:178.66, Y:-32.09, Z:-5.70 [[ 9.78324979e-01 2.04884377e-01 3.00437572e-02 1.78656349e+02] [-2.04789973e-01 9.78786181e-01 -6.21927665e-03 -3.20889422e+01] [-3.06806470e-02 -6.81865425e-05 9.99529236e-01 -5.69594859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314012739 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:178.68, Y:-32.09, Z:-5.70 [[ 9.78076383e-01 2.06029291e-01 3.03071081e-02 1.78683220e+02] [-2.05933842e-01 9.78545819e-01 -6.27160146e-03 -3.20928018e+01] [-3.09490276e-02 -1.07153962e-04 9.99520958e-01 -5.69694176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:178.71, Y:-32.10, Z:-5.70 [[ 9.78039261e-01 2.06222801e-01 3.01887618e-02 1.78711546e+02] [-2.06128267e-01 9.78505055e-01 -6.24455034e-03 -3.20965416e+01] [-3.08276247e-02 -1.15341760e-04 9.99524709e-01 -5.69694680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374012739 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:178.74, Y:-32.10, Z:-5.70 [[ 9.78285816e-01 2.04796137e-01 3.18654186e-02 1.78739036e+02] [-2.04690130e-01 9.78804647e-01 -6.58896290e-03 -3.20982159e+01] [-3.25394139e-02 -7.66477234e-05 9.99470450e-01 -5.69574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:178.77, Y:-32.10, Z:-5.70 [[ 9.78482195e-01 2.03651376e-01 3.31468042e-02 1.78766986e+02] [-2.03536148e-01 9.79043470e-01 -6.84991229e-03 -3.21026420e+01] [-3.38471563e-02 -4.40556389e-05 9.99427020e-01 -5.69660142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434012739 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:178.79, Y:-32.11, Z:-5.70 [[ 9.79231798e-01 1.99916427e-01 3.37417745e-02 1.78793236e+02] [-1.99794892e-01 9.79812949e-01 -6.97036149e-03 -3.21063514e+01] [-3.44541173e-02 8.41654203e-05 9.99406277e-01 -5.69934564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:178.82, Y:-32.11, Z:-5.70 [[ 9.79699035e-01 1.97750484e-01 3.29324547e-02 1.78820993e+02] [-1.97633602e-01 9.80252377e-01 -6.79977199e-03 -3.21117276e+01] [-3.36267752e-02 1.53170410e-04 9.99434448e-01 -5.70120963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49401273899997 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:178.85, Y:-32.12, Z:-5.70 [[ 9.80534477e-01 1.93866070e-01 3.11140704e-02 1.78847308e+02] [-1.93759851e-01 9.81027968e-01 -6.42228137e-03 -3.21154496e+01] [-3.17688357e-02 2.68610677e-04 9.99495207e-01 -5.70220732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters Centerline goodness : 0.991360 Centerline is valid? [True, True] Translation: X:178.88, Y:-32.12, Z:-5.70 [[ 9.80545125e-01 1.93812107e-01 3.11147055e-02 1.78875222e+02] [-1.93705957e-01 9.81038631e-01 -6.41920303e-03 -3.21210781e+01] [-3.17688473e-02 2.67214434e-04 9.99495207e-01 -5.70315050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55401273899997 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:178.90, Y:-32.13, Z:-5.70 [[ 9.80915567e-01 1.92055701e-01 3.03192777e-02 1.78902343e+02] [-1.91954124e-01 9.81383976e-01 -6.25344528e-03 -3.21262940e+01] [-3.09558632e-02 3.14191432e-04 9.99520703e-01 -5.70404493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:178.93, Y:-32.13, Z:-5.71 [[ 9.81334810e-01 1.90054753e-01 2.93458900e-02 1.78929568e+02] [-1.89958762e-01 9.81773426e-01 -6.05058938e-03 -3.21316528e+01] [-2.99609583e-02 3.63145035e-04 9.99551004e-01 -5.70546011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61401273899997 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:178.96, Y:-32.14, Z:-5.71 [[ 9.81793496e-01 1.87795140e-01 2.85397479e-02 1.78956413e+02] [-1.87703456e-01 9.82208130e-01 -5.88236578e-03 -3.21370090e+01] [-2.91366521e-02 4.18259166e-04 9.99575350e-01 -5.70654268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:178.98, Y:-32.14, Z:-5.71 [[ 9.82251324e-01 1.85267873e-01 2.92942375e-02 1.78983449e+02] [-1.85170231e-01 9.82687927e-01 -6.03525365e-03 -3.21411786e+01] [-2.99052321e-02 5.03715185e-04 9.99552612e-01 -5.70714923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67401273899998 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:179.01, Y:-32.15, Z:-5.71 [[ 9.81842432e-01 1.87107459e-01 3.12447842e-02 1.79010850e+02] [-1.86997397e-01 9.82339337e-01 -6.43430010e-03 -3.21483564e+01] [-3.18968862e-02 4.74775536e-04 9.99491052e-01 -5.70694077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:179.04, Y:-32.15, Z:-5.71 [[ 9.81588767e-01 1.88504648e-01 3.08138138e-02 1.79037873e+02] [-1.88353419e-01 9.82070614e-01 -7.76519592e-03 -3.21536419e+01] [-3.17251166e-02 1.81834191e-03 9.99494978e-01 -5.70742515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73401273899998 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:179.07, Y:-32.16, Z:-5.71 [[ 9.81490485e-01 1.88835674e-01 3.18985167e-02 1.79065910e+02] [-1.88768728e-01 9.82008200e-01 -5.12469506e-03 -3.21601909e+01] [-3.22923303e-02 -9.91602991e-04 9.99477975e-01 -5.70912969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:179.09, Y:-32.16, Z:-5.71 [[ 9.81455481e-01 1.89259689e-01 3.04287445e-02 1.79093878e+02] [-1.89074085e-01 9.81922567e-01 -8.89166908e-03 -3.21614232e+01] [-3.15615054e-02 2.97349032e-03 9.99497389e-01 -5.70985550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79401273899998 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:179.12, Y:-32.17, Z:-5.71 [[ 9.81506152e-01 1.88822673e-01 3.14908118e-02 1.79120446e+02] [-1.88795870e-01 9.82008809e-01 -3.84938547e-03 -3.21689664e+01] [-3.16511058e-02 -2.16713967e-03 9.99496629e-01 -5.71197847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:179.15, Y:-32.17, Z:-5.71 [[ 9.81327350e-01 1.89674671e-01 3.19398130e-02 1.79147136e+02] [-1.89616451e-01 9.81846163e-01 -4.86973335e-03 -3.21740957e+01] [-3.22836480e-02 -1.27751147e-03 9.99477931e-01 -5.71331685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85401273899998 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:179.18, Y:-32.18, Z:-5.71 [[ 9.81307996e-01 1.90088972e-01 3.00133094e-02 1.79176820e+02] [-1.89940210e-01 9.81765005e-01 -7.75835135e-03 -3.21776278e+01] [-3.09407938e-02 1.91259794e-03 9.99519389e-01 -5.71253156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:179.20, Y:-32.18, Z:-5.71 [[ 9.81295956e-01 1.90235650e-01 2.94727629e-02 1.79202809e+02] [-1.90139425e-01 9.81738397e-01 -6.05962321e-03 -3.21841629e+01] [-3.00872994e-02 3.42349559e-04 9.99547216e-01 -5.71371554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914012739 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:179.23, Y:-32.19, Z:-5.72 [[ 9.81346200e-01 1.90090638e-01 2.87260374e-02 1.79230505e+02] [-1.89999236e-01 9.81766488e-01 -5.90370183e-03 -3.21906820e+01] [-2.93244993e-02 3.35650212e-04 9.99569888e-01 -5.71522838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:179.26, Y:-32.20, Z:-5.72 [[ 9.81758340e-01 1.87670800e-01 3.04997256e-02 1.79257640e+02] [-1.87566662e-01 9.82231890e-01 -6.26596053e-03 -3.21982686e+01] [-3.11337409e-02 4.30927303e-04 9.99515135e-01 -5.71661339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974012739 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:179.29, Y:-32.21, Z:-5.72 [[ 9.82263813e-01 1.84455851e-01 3.36725612e-02 1.79285805e+02] [-1.84327112e-01 9.82840626e-01 -6.91519003e-03 -3.22055866e+01] [-3.43703084e-02 5.85774966e-04 9.99408995e-01 -5.71637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:179.31, Y:-32.21, Z:-5.72 [[ 9.82556437e-01 1.82916538e-01 3.35318860e-02 1.79312517e+02] [-1.82788033e-01 9.83128240e-01 -6.88466746e-03 -3.22126757e+01] [-3.42254636e-02 6.35346850e-04 9.99413935e-01 -5.71709975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034012739 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:179.34, Y:-32.22, Z:-5.72 [[ 9.82899443e-01 1.81245104e-01 3.25406919e-02 1.79339981e+02] [-1.81123234e-01 9.83437726e-01 -6.67925732e-03 -3.22208679e+01] [-3.32123267e-02 6.71162960e-04 9.99448093e-01 -5.71848115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:179.37, Y:-32.23, Z:-5.72 [[ 9.83666239e-01 1.77350571e-01 3.07815683e-02 1.79367100e+02] [-1.77239664e-01 9.84147449e-01 -6.31673935e-03 -3.22324907e+01] [-3.14138792e-02 7.57848433e-04 9.99506175e-01 -5.72099960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:179.39, Y:-32.24, Z:-5.72 [[ 9.83958433e-01 1.75682934e-01 3.10049634e-02 1.79394713e+02] [-1.75569619e-01 9.84446464e-01 -6.36145706e-03 -3.22413237e+01] [-3.16403260e-02 8.15879727e-04 9.99498987e-01 -5.72206456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:179.42, Y:-32.25, Z:-5.72 [[ 9.84140129e-01 1.74331106e-01 3.28157214e-02 1.79421821e+02] [-1.74203468e-01 9.84686672e-01 -6.73130970e-03 -3.22545159e+01] [-3.34866801e-02 9.07939525e-04 9.99438751e-01 -5.72203394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154012739 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:179.45, Y:-32.26, Z:-5.72 [[ 9.84094611e-01 1.74447296e-01 3.35549929e-02 1.79449105e+02] [-1.74313936e-01 9.84666079e-01 -6.88212041e-03 -3.22636682e+01] [-3.42410306e-02 9.23554708e-04 9.99413177e-01 -5.72269315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:179.48, Y:-32.27, Z:-5.72 [[ 9.84003873e-01 1.74920653e-01 3.37511793e-02 1.79478185e+02] [-1.74786034e-01 9.84582111e-01 -6.92156517e-03 -3.22723379e+01] [-3.44415320e-02 9.11612157e-04 9.99406299e-01 -5.72378714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21401273899997 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:179.51, Y:-32.28, Z:-5.73 [[ 9.83678489e-01 1.77044169e-01 3.21246495e-02 1.79506947e+02] [-1.76923348e-01 9.84202584e-01 -6.58800255e-03 -3.22825136e+01] [-3.27835305e-02 7.96875864e-04 9.99462158e-01 -5.72576028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:179.54, Y:-32.29, Z:-5.73 [[ 9.83527927e-01 1.77917327e-01 3.19099081e-02 1.79536516e+02] [-1.77798576e-01 9.84045143e-01 -6.54396419e-03 -3.22917105e+01] [-3.25650747e-02 7.62635322e-04 9.99469326e-01 -5.72676433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27401273899997 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:179.56, Y:-32.30, Z:-5.73 [[ 9.83254363e-01 1.79072300e-01 3.38226160e-02 1.79564096e+02] [-1.78939562e-01 9.83835617e-01 -6.93623146e-03 -3.23036519e+01] [-3.45179812e-02 7.67875741e-04 9.99403782e-01 -5.72745993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:179.59, Y:-32.31, Z:-5.73 [[ 9.82958334e-01 1.80660998e-01 3.39781977e-02 1.79594013e+02] [-1.80527971e-01 9.83545165e-01 -6.96852455e-03 -3.23117009e+01] [-3.46780327e-02 7.15754198e-04 9.99398280e-01 -5.72813358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33401273899997 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:179.62, Y:-32.32, Z:-5.73 [[ 9.82631022e-01 1.82587373e-01 3.31379885e-02 1.79623554e+02] [-1.82461939e-01 9.83189428e-01 -6.79620762e-03 -3.23190030e+01] [-3.38218217e-02 6.31742793e-04 9.99427679e-01 -5.72902889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:179.65, Y:-32.33, Z:-5.73 [[ 9.82044809e-01 1.86253736e-01 2.99589661e-02 1.79652266e+02] [-1.86152924e-01 9.82501571e-01 -6.14422791e-03 -3.23297420e+01] [-3.05791167e-02 4.56957968e-04 9.99532245e-01 -5.73103395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39401273899998 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:179.68, Y:-32.34, Z:-5.73 [[ 9.81542767e-01 1.88653148e-01 3.13653651e-02 1.79678915e+02] [-1.88543869e-01 9.82043700e-01 -6.43271659e-03 -3.23394109e+01] [-3.20157115e-02 4.00239148e-04 9.99487286e-01 -5.73086671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:179.71, Y:-32.35, Z:-5.73 [[ 9.81301266e-01 1.89581228e-01 3.32683414e-02 1.79706802e+02] [-1.89458874e-01 9.81864963e-01 -6.82127646e-03 -3.23461779e+01] [-3.39582047e-02 3.90744750e-04 9.99423177e-01 -5.73165415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45401273899998 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:179.74, Y:-32.35, Z:-5.73 [[ 9.81077971e-01 1.90498988e-01 3.45854133e-02 1.79735597e+02] [-1.90367380e-01 9.81687322e-01 -7.08965994e-03 -3.23529659e+01] [-3.53026348e-02 3.71574668e-04 9.99376599e-01 -5.73233832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:179.76, Y:-32.36, Z:-5.74 [[ 9.80552121e-01 1.93653761e-01 3.18709663e-02 1.79764944e+02] [-1.93543694e-01 9.81069908e-01 -6.53252724e-03 -3.23627967e+01] [-3.25326944e-02 2.37058890e-04 9.99470644e-01 -5.73576387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51401273899998 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:179.79, Y:-32.37, Z:-5.74 [[ 9.80238702e-01 1.95582468e-01 2.96577925e-02 1.79792338e+02] [-1.95488039e-01 9.80687245e-01 -6.07899731e-03 -3.23707138e+01] [-3.02739641e-02 1.61124738e-04 9.99541626e-01 -5.73716365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:179.82, Y:-32.38, Z:-5.74 [[ 9.79454611e-01 1.99461740e-01 2.97267247e-02 1.79819650e+02] [-1.99368688e-01 9.79905614e-01 -6.09209235e-03 -3.23806117e+01] [-3.03445238e-02 4.03498277e-05 9.99539498e-01 -5.73735719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57401273899998 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:179.85, Y:-32.39, Z:-5.74 [[ 9.79029976e-01 2.01399335e-01 3.06368214e-02 1.79848289e+02] [-2.01301492e-01 9.79509218e-01 -6.27706798e-03 -3.23880267e+01] [-3.12732463e-02 -2.18001664e-05 9.99510872e-01 -5.73762831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:179.88, Y:-32.39, Z:-5.74 [[ 9.78667608e-01 2.03045454e-01 3.13409625e-02 1.79877212e+02] [-2.02943930e-01 9.79169310e-01 -6.42055137e-03 -3.23946074e+01] [-3.19917724e-02 -7.68724405e-05 9.99488129e-01 -5.73923267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63401273899999 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:179.91, Y:-32.40, Z:-5.74 [[ 9.78010911e-01 2.06342150e-01 3.02915115e-02 1.79905740e+02] [-2.06248914e-01 9.78479885e-01 -6.20486456e-03 -3.24001678e+01] [-3.09199598e-02 -1.79166117e-04 9.99521848e-01 -5.74139786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:179.93, Y:-32.41, Z:-5.74 [[ 9.77191050e-01 2.10369717e-01 2.90212787e-02 1.79933333e+02] [-2.10285940e-01 9.77621857e-01 -5.94373659e-03 -3.24058608e+01] [-2.96222185e-02 -2.94600681e-04 9.99561122e-01 -5.74247132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694012739 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:179.96, Y:-32.41, Z:-5.74 [[ 9.76769634e-01 2.12310930e-01 2.90714846e-02 1.79961281e+02] [-2.12227776e-01 9.77202099e-01 -5.95221116e-03 -3.24125164e+01] [-2.96724353e-02 -3.55837392e-04 9.99559613e-01 -5.74337252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:179.99, Y:-32.42, Z:-5.74 [[ 9.76537687e-01 2.13407662e-01 2.88325475e-02 1.79989029e+02] [-2.13326388e-01 9.76963162e-01 -5.90190994e-03 -3.24185460e+01] [-2.94278496e-02 -3.87305738e-04 9.99566832e-01 -5.74380968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:180.02, Y:-32.42, Z:-5.75 [[ 9.76198818e-01 2.14880234e-01 2.93658323e-02 1.80016521e+02] [-2.14796633e-01 9.76640308e-01 -6.00966853e-03 -3.24206654e+01] [-2.99712144e-02 -4.41050574e-04 9.99550665e-01 -5.74533560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:180.05, Y:-32.42, Z:-5.75 [[ 9.76115091e-01 2.15095327e-01 3.05504502e-02 1.80045478e+02] [-2.15005014e-01 9.76592946e-01 -6.24999673e-03 -3.24248906e+01] [-3.11796993e-02 -4.67783864e-04 9.99513686e-01 -5.74570484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814012739 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:180.07, Y:-32.43, Z:-5.75 [[ 9.76020742e-01 2.15153347e-01 3.30537159e-02 1.80072654e+02] [-2.15047716e-01 9.76580144e-01 -6.76036795e-03 -3.24309727e+01] [-3.37341184e-02 -5.09866765e-04 9.99430713e-01 -5.74543957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:180.10, Y:-32.44, Z:-5.75 [[ 9.76108045e-01 2.14747445e-01 3.31152392e-02 1.80100891e+02] [-2.14641254e-01 9.76669487e-01 -6.77095226e-03 -3.24364324e+01] [-3.37966884e-02 -4.98715493e-04 9.99428604e-01 -5.74679735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874012739 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:180.13, Y:-32.44, Z:-5.75 [[ 9.76208826e-01 2.14398996e-01 3.23944216e-02 1.80128203e+02] [-2.14297239e-01 9.76746048e-01 -6.62200675e-03 -3.24407872e+01] [-3.30608749e-02 -4.77573677e-04 9.99453226e-01 -5.74810240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:180.16, Y:-32.45, Z:-5.75 [[ 9.76735599e-01 2.12368502e-01 2.97857289e-02 1.80155992e+02] [-2.12281573e-01 9.77189581e-01 -6.08744292e-03 -3.24455515e+01] [-3.03990851e-02 -3.77139171e-04 9.99537770e-01 -5.75149834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934012739 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:180.18, Y:-32.45, Z:-5.75 [[ 9.76959979e-01 2.11407444e-01 2.92590660e-02 1.80183438e+02] [-2.11323183e-01 9.77397962e-01 -5.97805382e-03 -3.24524263e+01] [-2.98615566e-02 -3.42799631e-04 9.99553986e-01 -5.75260498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:180.21, Y:-32.46, Z:-5.75 [[ 9.77369176e-01 2.09232337e-01 3.11660680e-02 1.80211656e+02] [-2.09135691e-01 9.77865912e-01 -6.36566270e-03 -3.24587088e+01] [-3.18081380e-02 -2.96334661e-04 9.99493949e-01 -5.75180033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99401273899997 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:180.24, Y:-32.46, Z:-5.75 [[ 9.77625117e-01 2.07840791e-01 3.24243266e-02 1.80239677e+02] [-2.07735471e-01 9.78162633e-01 -6.62099821e-03 -3.24624860e+01] [-3.30923781e-02 -2.62828590e-04 9.99452263e-01 -5.75224003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:180.27, Y:-32.47, Z:-5.75 [[ 9.77715300e-01 2.07294730e-01 3.31916736e-02 1.80267495e+02] [-2.07184121e-01 9.78278504e-01 -6.77560445e-03 -3.24671116e+01] [-3.38752479e-02 -2.52175576e-04 9.99426037e-01 -5.75336117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05401273899997 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:180.29, Y:-32.47, Z:-5.76 [[ 9.77690600e-01 2.07724856e-01 3.11684960e-02 1.80294863e+02] [-2.07627598e-01 9.78187262e-01 -6.36084091e-03 -3.24741905e+01] [-3.18099306e-02 -2.52505587e-04 9.99493904e-01 -5.75543095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:180.32, Y:-32.48, Z:-5.76 [[ 9.77703343e-01 2.07961402e-01 2.91243741e-02 1.80323355e+02] [-2.07876643e-01 9.78137002e-01 -5.94189529e-03 -3.24803900e+01] [-2.97233129e-02 -2.44866221e-04 9.99558135e-01 -5.75759895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11401273899997 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:180.35, Y:-32.48, Z:-5.76 [[ 9.77973937e-01 2.06731015e-01 2.87969656e-02 1.80351117e+02] [-2.06647657e-01 9.78397795e-01 -5.87375189e-03 -3.24846515e+01] [-2.93891744e-02 -2.06449216e-04 9.99568024e-01 -5.75823845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:180.38, Y:-32.49, Z:-5.76 [[ 9.78154510e-01 2.05636475e-01 3.04531574e-02 1.80379884e+02] [-2.05542782e-01 9.78628431e-01 -6.20957660e-03 -3.24897626e+01] [-3.10792411e-02 -1.85501348e-04 9.99516906e-01 -5.75806016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17401273899998 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:180.41, Y:-32.50, Z:-5.76 [[ 9.78299840e-01 2.04695026e-01 3.20837837e-02 1.80408153e+02] [-2.04590574e-01 9.78825786e-01 -6.54048916e-03 -3.24956543e+01] [-3.27432404e-02 -1.65480224e-04 9.99463783e-01 -5.75750662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:180.44, Y:-32.50, Z:-5.76 [[ 9.77965486e-01 2.06170607e-01 3.28205738e-02 1.80436640e+02] [-2.06062184e-01 9.78516036e-01 -6.68912062e-03 -3.25014643e+01] [-3.34945578e-02 -2.21350027e-04 9.99438875e-01 -5.75825374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23401273899998 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:180.46, Y:-32.50, Z:-5.76 [[ 9.77669982e-01 2.07742738e-01 3.16916573e-02 1.80464134e+02] [-2.07642520e-01 9.78183461e-01 -6.45760739e-03 -3.25044492e+01] [-3.23417760e-02 -2.67126672e-04 9.99476832e-01 -5.75929309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:180.49, Y:-32.51, Z:-5.76 [[ 9.77053238e-01 2.11006595e-01 2.90376989e-02 1.80492800e+02] [-2.10923949e-01 9.77484577e-01 -5.91524949e-03 -3.25063509e+01] [-2.96320594e-02 -3.45232434e-04 9.99560814e-01 -5.76220090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29401273899998 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:180.52, Y:-32.51, Z:-5.76 [[ 9.76914272e-01 2.11691384e-01 2.87273928e-02 1.80519787e+02] [-2.11610828e-01 9.77336496e-01 -5.85079296e-03 -3.25126257e+01] [-2.93148919e-02 -3.63304228e-04 9.99570160e-01 -5.76375926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:180.55, Y:-32.52, Z:-5.76 [[ 9.76989742e-01 2.11117148e-01 3.03412824e-02 1.80548127e+02] [-2.11027079e-01 9.77460697e-01 -6.17715588e-03 -3.25190109e+01] [-3.09615146e-02 -3.67814287e-04 9.99520510e-01 -5.76367134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35401273899998 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:180.58, Y:-32.52, Z:-5.76 [[ 9.77210448e-01 2.10094991e-01 3.03287791e-02 1.80575261e+02] [-2.10004550e-01 9.77680920e-01 -6.17315311e-03 -3.25233561e+01] [-3.09488172e-02 -3.36711881e-04 9.99520914e-01 -5.76447750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:180.60, Y:-32.53, Z:-5.77 [[ 9.77503114e-01 2.08769329e-01 3.00504481e-02 1.80603690e+02] [-2.08679970e-01 9.77964867e-01 -6.11466029e-03 -3.25292658e+01] [-3.06648360e-02 -2.93827150e-04 9.99529680e-01 -5.76575222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:180.63, Y:-32.54, Z:-5.77 [[ 9.77510385e-01 2.08735240e-01 3.00507377e-02 1.80632432e+02] [-2.08645909e-01 9.77972143e-01 -6.11323696e-03 -3.25350276e+01] [-3.06648323e-02 -2.94210849e-04 9.99529680e-01 -5.76672378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:180.66, Y:-32.55, Z:-5.77 [[ 9.78473834e-01 2.04197116e-01 2.98746413e-02 1.80658933e+02] [-2.04106743e-01 9.78929780e-01 -6.07639821e-03 -3.25455192e+01] [-3.04859590e-02 -1.52019071e-04 9.99535184e-01 -5.76766038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474012739 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:180.69, Y:-32.55, Z:-5.77 [[ 9.79069012e-01 2.01198662e-01 3.07077911e-02 1.80686844e+02] [-2.01101762e-01 9.79550455e-01 -6.24393502e-03 -3.25529866e+01] [-3.13361021e-02 -6.21476001e-05 9.99508902e-01 -5.76838083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:180.71, Y:-32.56, Z:-5.77 [[ 9.79899109e-01 1.96742567e-01 3.30166364e-02 1.80714179e+02] [-1.96628071e-01 9.80455177e-01 -6.71168920e-03 -3.25602027e+01] [-3.36918070e-02 8.47807547e-05 9.99432266e-01 -5.76848236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534012739 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:180.74, Y:-32.57, Z:-5.77 [[ 9.80156525e-01 1.95470446e-01 3.29316084e-02 1.80742303e+02] [-1.95355860e-01 9.80709584e-01 -6.69322713e-03 -3.25679491e+01] [-3.36046720e-02 1.27027572e-04 9.99435195e-01 -5.76958289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:180.77, Y:-32.58, Z:-5.77 [[ 9.80594411e-01 1.93604164e-01 3.08549612e-02 1.80773321e+02] [-1.93502674e-01 9.81079709e-01 -6.27050983e-03 -3.25790506e+01] [-3.14851732e-02 1.78309395e-04 9.99504203e-01 -5.77127032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594012739 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:180.80, Y:-32.59, Z:-5.77 [[ 9.80695351e-01 1.93204336e-01 3.01448629e-02 1.80802624e+02] [-1.93107104e-01 9.81158523e-01 -6.13177841e-03 -3.25857018e+01] [-3.07615753e-02 1.92219407e-04 9.99526732e-01 -5.77155690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:180.83, Y:-32.59, Z:-5.77 [[ 9.80787690e-01 1.92774612e-01 2.98907496e-02 1.80831767e+02] [-1.92678800e-01 9.81243042e-01 -6.08052604e-03 -3.25915189e+01] [-3.05022611e-02 2.04391328e-04 9.99534677e-01 -5.77245276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654012739 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:180.86, Y:-32.60, Z:-5.77 [[ 9.80910815e-01 1.92077203e-01 3.03368033e-02 1.80863040e+02] [-1.91978201e-01 9.81379792e-01 -6.17047147e-03 -3.26012884e+01] [-3.09571326e-02 2.28677276e-04 9.99520687e-01 -5.77394906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:180.89, Y:-32.61, Z:-5.77 [[ 9.80870004e-01 1.92236737e-01 3.06442708e-02 1.80893210e+02] [-1.92135616e-01 9.81348553e-01 -6.23872742e-03 -3.26103738e+01] [-3.12720234e-02 2.31524753e-04 9.99510884e-01 -5.77482566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71401273899997 meters Centerline goodness : 0.989896 Centerline is valid? [True, True] Translation: X:180.92, Y:-32.62, Z:-5.77 [[ 9.80601164e-01 1.93527949e-01 3.11173726e-02 1.80923098e+02] [-1.93424226e-01 9.81094743e-01 -6.33832957e-03 -3.26187590e+01] [-3.17557346e-02 1.96519639e-04 9.99495640e-01 -5.76574246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:180.95, Y:-32.62, Z:-5.78 [[ 9.80381423e-01 1.94495045e-01 3.19991140e-02 1.80953084e+02] [-1.94385874e-01 9.80903486e-01 -6.51792685e-03 -3.26245327e+01] [-3.26557470e-02 1.69878668e-04 9.99466644e-01 -5.77500506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77401273899997 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:180.98, Y:-32.63, Z:-5.78 [[ 9.80215334e-01 1.95266516e-01 3.23865155e-02 1.80982364e+02] [-1.95155093e-01 9.80750206e-01 -6.59722888e-03 -3.26310242e+01] [-3.30512996e-02 1.46311481e-04 9.99453646e-01 -5.77661234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:181.01, Y:-32.64, Z:-5.78 [[ 9.80094410e-01 1.95838738e-01 3.25904256e-02 1.81013107e+02] [-1.95726164e-01 9.80636106e-01 -6.64054367e-03 -3.26382005e+01] [-3.32598238e-02 1.29560741e-04 9.99446731e-01 -5.77787404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83401273899997 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:181.04, Y:-32.64, Z:-5.78 [[ 9.79916581e-01 1.96697897e-01 3.27632617e-02 1.81043912e+02] [-1.96584579e-01 9.80464138e-01 -6.67657024e-03 -3.26441251e+01] [-3.34364705e-02 1.01729875e-04 9.99440840e-01 -5.77778903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:181.08, Y:-32.65, Z:-5.78 [[ 9.79909539e-01 1.96808106e-01 3.23088963e-02 1.81075297e+02] [-1.96697944e-01 9.80442023e-01 -6.58476139e-03 -3.26491874e+01] [-3.29729341e-02 9.73770289e-05 9.99456240e-01 -5.77915475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89401273899998 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:181.11, Y:-32.65, Z:-5.78 [[ 9.80014772e-01 1.96390503e-01 3.16515015e-02 1.81106516e+02] [-1.96284537e-01 9.80525756e-01 -6.45153927e-03 -3.26544375e+01] [-3.23021335e-02 1.09903474e-04 9.99478144e-01 -5.78059014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:181.14, Y:-32.66, Z:-5.78 [[ 9.80287915e-01 1.95177711e-01 3.06800482e-02 1.81136912e+02] [-1.95077543e-01 9.80767883e-01 -6.25398916e-03 -3.26638431e+01] [-3.13106452e-02 1.45721588e-04 9.99509691e-01 -5.78244232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95401273899998 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:181.17, Y:-32.67, Z:-5.78 [[ 9.80502364e-01 1.94120632e-01 3.05334951e-02 1.81167299e+02] [-1.94020741e-01 9.80977648e-01 -6.22941860e-03 -3.26716172e+01] [-3.11619348e-02 1.83828325e-04 9.99514332e-01 -5.78319364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:181.20, Y:-32.68, Z:-5.78 [[ 9.80981730e-01 1.91724749e-01 3.02731783e-02 1.81199177e+02] [-1.91625264e-01 9.81448701e-01 -6.18111863e-03 -3.26771603e+01] [-3.08966449e-02 2.62458651e-04 9.99522550e-01 -5.78386685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01401273899998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:181.23, Y:-32.68, Z:-5.78 [[ 9.81170944e-01 1.90798918e-01 2.99891718e-02 1.81229631e+02] [-1.90700692e-01 9.81629098e-01 -6.12860759e-03 -3.26832253e+01] [-3.06075754e-02 2.94255871e-04 9.99531435e-01 -5.78470939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:181.26, Y:-32.69, Z:-5.79 [[ 9.81168338e-01 1.90847616e-01 2.97637503e-02 1.81260860e+02] [-1.90750874e-01 9.81619632e-01 -6.08287063e-03 -3.26916593e+01] [-3.03775830e-02 2.90858681e-04 9.99538452e-01 -5.78590422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07401273899998 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:181.29, Y:-32.70, Z:-5.79 [[ 9.81087493e-01 1.91339575e-01 2.92659911e-02 1.81291704e+02] [-1.91246114e-01 9.81523862e-01 -5.98605549e-03 -3.27007786e+01] [-2.98706379e-02 2.75837088e-04 9.99553735e-01 -5.78733868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:181.32, Y:-32.71, Z:-5.79 [[ 9.80731616e-01 1.93085033e-01 2.97265567e-02 1.81320205e+02] [-1.93070563e-01 9.81179040e-01 -3.38357755e-03 -3.27117776e+01] [-2.98203926e-02 -2.42094156e-03 9.99552341e-01 -5.78933252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13401273899999 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:181.35, Y:-32.72, Z:-5.79 [[ 9.80519126e-01 1.94530582e-01 2.72047128e-02 1.81350449e+02] [-1.94374018e-01 9.80892280e-01 -8.31118681e-03 -3.27150798e+01] [-2.83016728e-02 2.86138829e-03 9.99595332e-01 -5.79057574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:181.38, Y:-32.73, Z:-5.79 [[ 9.79901317e-01 1.97568922e-01 2.75668329e-02 1.81379118e+02] [-1.97488225e-01 9.80288995e-01 -5.64692732e-03 -3.27252307e+01] [-2.81391203e-02 8.93066003e-05 9.99604013e-01 -5.79165543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:181.41, Y:-32.73, Z:-5.79 [[ 9.79634145e-01 1.98809593e-01 2.81369553e-02 1.81408897e+02] [-1.98726023e-01 9.80038133e-01 -5.76411167e-03 -3.27327968e+01] [-2.87212499e-02 5.51753726e-05 9.99587458e-01 -5.79230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:181.44, Y:-32.74, Z:-5.79 [[ 9.79029259e-01 2.01613662e-01 2.92171338e-02 1.81439217e+02] [-2.01524801e-01 9.79465125e-01 -5.98531518e-03 -3.27404928e+01] [-2.98238849e-02 -2.81783736e-05 9.99555169e-01 -5.79197240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254012739 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:181.47, Y:-32.75, Z:-5.79 [[ 9.78490203e-01 2.04093114e-01 3.00486756e-02 1.81468824e+02] [-2.04000268e-01 9.78951475e-01 -6.15637522e-03 -3.27461416e+01] [-3.06726690e-02 -1.05985033e-04 9.99529477e-01 -5.79300564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:181.50, Y:-32.75, Z:-5.79 [[ 9.77869301e-01 2.07040012e-01 3.01009045e-02 1.81497709e+02] [-2.06948178e-01 9.78332456e-01 -6.16903213e-03 -3.27511432e+01] [-3.07259283e-02 -1.96820191e-04 9.99527828e-01 -5.79355254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314012739 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:181.53, Y:-32.75, Z:-5.80 [[ 9.76685303e-01 2.12642289e-01 2.94800867e-02 1.81526097e+02] [-2.12556761e-01 9.77130044e-01 -6.04151874e-03 -3.27542348e+01] [-3.00905608e-02 -3.65529182e-04 9.99547110e-01 -5.79632392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:181.56, Y:-32.76, Z:-5.80 [[ 9.76406786e-01 2.13938345e-01 2.93287039e-02 1.81555696e+02] [-2.13854310e-01 9.76847082e-01 -6.00941016e-03 -3.27578911e+01] [-2.99353021e-02 -4.04440869e-04 9.99551757e-01 -5.79731503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:181.58, Y:-32.76, Z:-5.80 [[ 9.76240408e-01 2.14698086e-01 2.93154822e-02 1.81583151e+02] [-2.14614487e-01 9.76680372e-01 -6.00610395e-03 -3.27608132e+01] [-2.99213551e-02 -4.28125811e-04 9.99552164e-01 -5.79776846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:181.61, Y:-32.76, Z:-5.80 [[ 9.76200188e-01 2.14845866e-01 2.95710584e-02 1.81611159e+02] [-2.14760925e-01 9.76647870e-01 -6.05667953e-03 -3.27634267e+01] [-3.01817637e-02 -4.38176158e-04 9.99544331e-01 -5.79838894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:181.64, Y:-32.77, Z:-5.80 [[ 9.76322765e-01 2.14231455e-01 2.99790375e-02 1.81639881e+02] [-2.14143920e-01 9.76782832e-01 -6.13841922e-03 -3.27652130e+01] [-3.05980516e-02 -4.26750169e-04 9.99531679e-01 -5.79943484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:181.67, Y:-32.77, Z:-5.80 [[ 9.76490917e-01 2.13505495e-01 2.96798213e-02 1.81668373e+02] [-2.13419405e-01 9.76941780e-01 -6.07578432e-03 -3.27682180e+01] [-3.02926709e-02 -4.01301609e-04 9.99540991e-01 -5.79994024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49401273899997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:181.70, Y:-32.77, Z:-5.80 [[ 9.76610829e-01 2.13005664e-01 2.93236426e-02 1.81697236e+02] [-2.12921445e-01 9.77050889e-01 -6.00146334e-03 -3.27707602e+01] [-2.99290368e-02 -3.82538270e-04 9.99551953e-01 -5.80160152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:181.73, Y:-32.77, Z:-5.80 [[ 9.77043347e-01 2.11056632e-01 2.90068481e-02 1.81726200e+02] [-2.10973405e-01 9.77473782e-01 -5.93522097e-03 -3.27686024e+01] [-2.96061013e-02 -3.20705360e-04 9.99561592e-01 -5.80274854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55401273899997 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:181.75, Y:-32.77, Z:-5.80 [[ 9.77356371e-01 2.09558726e-01 2.93200349e-02 1.81754230e+02] [-2.09473074e-01 9.77796023e-01 -5.99743567e-03 -3.27706179e+01] [-2.99258285e-02 -2.80125888e-04 9.99552083e-01 -5.80333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:181.78, Y:-32.77, Z:-5.80 [[ 9.77683550e-01 2.07935389e-01 2.99624845e-02 1.81783482e+02] [-2.07845238e-01 9.78142534e-01 -6.12694139e-03 -3.27730621e+01] [-3.05815885e-02 -2.37349923e-04 9.99532246e-01 -5.80438619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61401273899997 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:181.81, Y:-32.77, Z:-5.81 [[ 9.78577989e-01 2.03551968e-01 3.08498815e-02 1.81812006e+02] [-2.03454266e-01 9.79064138e-01 -6.30685426e-03 -3.27734877e+01] [-3.14877852e-02 -1.04791223e-04 9.99504131e-01 -5.80528393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:181.84, Y:-32.78, Z:-5.81 [[ 9.79213554e-01 2.00477304e-01 3.08166745e-02 1.81840976e+02] [-2.00378348e-01 9.79698347e-01 -6.29816508e-03 -3.27776863e+01] [-3.14536842e-02 -7.74571452e-06 9.99505210e-01 -5.80638317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67401273899998 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:181.87, Y:-32.78, Z:-5.81 [[ 9.80523405e-01 1.93996270e-01 3.06479858e-02 1.81869460e+02] [-1.93895273e-01 9.81002247e-01 -6.26217290e-03 -3.27815222e+01] [-3.12805811e-02 1.97707530e-04 9.99510623e-01 -5.80715301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:181.90, Y:-32.79, Z:-5.81 [[ 9.81150062e-01 1.90850805e-01 3.03401753e-02 1.81897559e+02] [-1.90750358e-01 9.81619011e-01 -6.19817796e-03 -3.27858367e+01] [-3.09654202e-02 2.93943397e-04 9.99520413e-01 -5.80802111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73401273899998 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:181.93, Y:-32.79, Z:-5.81 [[ 9.81683319e-01 1.88082405e-01 3.03787726e-02 1.81927011e+02] [-1.87980411e-01 9.82153177e-01 -6.20494472e-03 -3.27910864e+01] [-3.10036489e-02 3.80676581e-04 9.99519199e-01 -5.80888662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:181.96, Y:-32.80, Z:-5.81 [[ 9.82596383e-01 1.83342727e-01 2.98293977e-02 1.81955186e+02] [-1.83242227e-01 9.83048917e-01 -6.09197351e-03 -3.27980434e+01] [-3.04406761e-02 5.19945876e-04 9.99536440e-01 -5.81066018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79401273899998 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:181.98, Y:-32.81, Z:-5.81 [[ 9.82956559e-01 1.81495032e-01 2.92567186e-02 1.81984115e+02] [-1.81397548e-01 9.83391699e-01 -5.97466118e-03 -3.28054050e+01] [-2.98551855e-02 5.65735395e-04 9.99554074e-01 -5.81182858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:182.01, Y:-32.81, Z:-5.81 [[ 9.83308483e-01 1.79543483e-01 2.94714165e-02 1.82012791e+02] [-1.79443695e-01 9.83749837e-01 -6.01818528e-03 -3.28121177e+01] [-3.00730271e-02 6.29272756e-04 9.99547506e-01 -5.81184925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85401273899998 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:182.04, Y:-32.82, Z:-5.81 [[ 9.83432737e-01 1.78697284e-01 3.04521302e-02 1.82042430e+02] [-1.78590362e-01 9.83903869e-01 -6.21765544e-03 -3.28181722e+01] [-3.10730468e-02 6.76188971e-04 9.99516888e-01 -5.81216472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:182.07, Y:-32.82, Z:-5.81 [[ 9.83552155e-01 1.77856391e-01 3.15002156e-02 1.82072518e+02] [-1.77741550e-01 9.84056185e-01 -6.43160039e-03 -3.28249542e+01] [-3.21418832e-02 7.26917278e-04 9.99483052e-01 -5.81221540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:182.10, Y:-32.83, Z:-5.81 [[ 9.83673776e-01 1.77022011e-01 3.23899805e-02 1.82102194e+02] [-1.76900073e-01 9.84206586e-01 -6.61519486e-03 -3.28327399e+01] [-3.30494672e-02 7.77403808e-04 9.99453415e-01 -5.81314398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:182.13, Y:-32.84, Z:-5.81 [[ 9.83677648e-01 1.76787144e-01 3.35349029e-02 1.82131870e+02] [-1.76656293e-01 9.84248772e-01 -6.84905744e-03 -3.28419864e+01] [-3.42175123e-02 8.13113092e-04 9.99414079e-01 -5.81349648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974012739 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:182.16, Y:-32.85, Z:-5.82 [[ 9.83681530e-01 1.76867885e-01 3.29908845e-02 1.82163122e+02] [-1.76741263e-01 9.84234278e-01 -6.73880794e-03 -3.28492288e+01] [-3.36626381e-02 7.97990320e-04 9.99432934e-01 -5.81519507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:182.19, Y:-32.86, Z:-5.82 [[ 9.83783491e-01 1.76899844e-01 2.96055465e-02 1.82194546e+02] [-1.76797803e-01 9.84228596e-01 -6.05039243e-03 -3.28577368e+01] [-3.02089389e-02 7.18080618e-04 9.99543348e-01 -5.81783592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034012739 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:182.22, Y:-32.87, Z:-5.82 [[ 9.83763603e-01 1.77239678e-01 2.82005340e-02 1.82224465e+02] [-1.77147088e-01 9.84167484e-01 -5.76834374e-03 -3.28653764e+01] [-2.87764280e-02 6.79044148e-04 9.99585642e-01 -5.81919745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:182.25, Y:-32.87, Z:-5.82 [[ 9.83591244e-01 1.78311640e-01 2.74449101e-02 1.82253586e+02] [-1.78224343e-01 9.83973862e-01 -5.61450737e-03 -3.28729556e+01] [-2.80062062e-02 6.31029217e-04 9.99607550e-01 -5.81963390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094012739 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:182.28, Y:-32.88, Z:-5.82 [[ 9.82839590e-01 1.82334104e-01 2.79394788e-02 1.82283133e+02] [-1.82245243e-01 9.83236491e-01 -5.71609266e-03 -3.28811515e+01] [-2.85133537e-02 5.26165070e-04 9.99593273e-01 -5.82020335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:182.31, Y:-32.89, Z:-5.82 [[ 9.82347042e-01 1.84824723e-01 2.88809879e-02 1.82312187e+02] [-1.84730847e-01 9.82771388e-01 -5.90867222e-03 -3.28874030e+01] [-2.94754773e-02 4.69157317e-04 9.99565394e-01 -5.82104695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154012739 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:182.34, Y:-32.89, Z:-5.82 [[ 9.81868446e-01 1.87168258e-01 3.00399408e-02 1.82341360e+02] [-1.87067777e-01 9.82327782e-01 -6.14624146e-03 -3.28933306e+01] [-3.06594497e-02 4.15295618e-04 9.99529802e-01 -5.82191269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:182.37, Y:-32.90, Z:-5.82 [[ 9.81118693e-01 1.90799594e-01 3.16484708e-02 1.82370907e+02] [-1.90689973e-01 9.81628960e-01 -6.47455327e-03 -3.28987205e+01] [-3.23023976e-02 3.17259188e-04 9.99478091e-01 -5.82130922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21401273899997 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:182.40, Y:-32.90, Z:-5.82 [[ 9.80840058e-01 1.92204910e-01 3.17813461e-02 1.82401202e+02] [-1.92095130e-01 9.81354777e-01 -6.50094144e-03 -3.29046136e+01] [-3.24382887e-02 2.71341974e-04 9.99473703e-01 -5.82203133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:182.43, Y:-32.91, Z:-5.82 [[ 9.80425930e-01 1.94578194e-01 3.00719446e-02 1.82430021e+02] [-1.94481011e-01 9.80886993e-01 -6.15168183e-03 -3.29089910e+01] [-3.06941624e-02 1.82846195e-04 9.99528806e-01 -5.82439765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27401273899997 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:182.46, Y:-32.91, Z:-5.83 [[ 9.80311521e-01 1.95319127e-01 2.89786324e-02 1.82459512e+02] [-1.95229216e-01 9.80739729e-01 -5.92772939e-03 -3.29144944e+01] [-2.95782950e-02 1.53545733e-04 9.99562455e-01 -5.82659378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:182.49, Y:-32.92, Z:-5.83 [[ 9.80248489e-01 1.95715277e-01 2.84329108e-02 1.82488733e+02] [-1.95628908e-01 9.80660752e-01 -5.81542410e-03 -3.29212364e+01] [-2.90212071e-02 1.38261396e-04 9.99578787e-01 -5.82821795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33401273899997 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:182.52, Y:-32.93, Z:-5.83 [[ 9.80263725e-01 1.95638940e-01 2.84330016e-02 1.82517470e+02] [-1.95552551e-01 9.80675984e-01 -5.81498047e-03 -3.29270069e+01] [-2.90211984e-02 1.40068422e-04 9.99578787e-01 -5.82918722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:182.55, Y:-32.93, Z:-5.83 [[ 9.80246722e-01 1.95553299e-01 2.95849768e-02 1.82545540e+02] [-1.95459809e-01 9.80693064e-01 -6.04791002e-03 -3.29345244e+01] [-3.01964703e-02 1.45770058e-04 9.99543972e-01 -5.82849646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39401273899998 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:182.58, Y:-32.94, Z:-5.83 [[ 9.79990332e-01 1.96682408e-01 3.05774382e-02 1.82575177e+02] [-1.96583111e-01 9.80467245e-01 -6.25002935e-03 -3.29401273e+01] [-3.12094474e-02 1.13960413e-04 9.99512860e-01 -5.82794416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:182.60, Y:-32.94, Z:-5.83 [[ 9.79526723e-01 1.98857517e-01 3.13542213e-02 1.82604794e+02] [-1.98754248e-01 9.80028411e-01 -6.40801849e-03 -3.29447078e+01] [-3.20023103e-02 4.50406668e-05 9.99487794e-01 -5.82842167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45401273899998 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:182.63, Y:-32.95, Z:-5.83 [[ 9.78484262e-01 2.03906646e-01 3.14742685e-02 1.82631791e+02] [-2.03805217e-01 9.78990329e-01 -6.43181785e-03 -3.29497290e+01] [-3.21244949e-02 -1.21187584e-04 9.99483868e-01 -5.83033404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:182.66, Y:-32.96, Z:-5.83 [[ 9.77960228e-01 2.06446538e-01 3.12028643e-02 1.82660985e+02] [-2.06348204e-01 9.78457861e-01 -6.37444432e-03 -3.29560132e+01] [-3.18466698e-02 -2.04701985e-04 9.99492745e-01 -5.83167720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51401273899998 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:182.69, Y:-32.96, Z:-5.83 [[ 9.76987416e-01 2.11074137e-01 3.07131526e-02 1.82688705e+02] [-2.10981175e-01 9.77469992e-01 -6.27362618e-03 -3.29609997e+01] [-3.13453853e-02 -3.50643183e-04 9.99508551e-01 -5.83310357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:182.72, Y:-32.97, Z:-5.83 [[ 9.76699484e-01 2.12444279e-01 3.04227894e-02 1.82716739e+02] [-2.12353753e-01 9.77173104e-01 -6.21358346e-03 -3.29664308e+01] [-3.10483718e-02 -3.91589756e-04 9.99517806e-01 -5.83395584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57401273899998 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:182.74, Y:-32.97, Z:-5.83 [[ 9.76516600e-01 2.13331766e-01 3.00813565e-02 1.82744212e+02] [-2.13243725e-01 9.76979726e-01 -6.14243115e-03 -3.29718917e+01] [-3.06992511e-02 -4.16474544e-04 9.99528580e-01 -5.83462515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:182.77, Y:-32.98, Z:-5.84 [[ 9.76487718e-01 2.13501729e-01 2.98118927e-02 1.82772449e+02] [-2.13415393e-01 9.76942596e-01 -6.08559585e-03 -3.29767908e+01] [-3.04237931e-02 -4.19807199e-04 9.99537001e-01 -5.83508569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63401273899999 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:182.80, Y:-32.98, Z:-5.84 [[ 9.76629604e-01 2.12951040e-01 2.90941784e-02 1.82800659e+02] [-2.12868608e-01 9.77062792e-01 -5.93772690e-03 -3.29784718e+01] [-2.96912843e-02 -3.94277400e-04 9.99559039e-01 -5.83701213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:182.83, Y:-32.98, Z:-5.84 [[ 9.76685420e-01 2.12743704e-01 2.87351287e-02 1.82828505e+02] [-2.12663255e-01 9.77107961e-01 -5.86274294e-03 -3.29816664e+01] [-2.93245847e-02 -3.84850449e-04 9.99569868e-01 -5.83816150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694012739 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:182.86, Y:-32.98, Z:-5.84 [[ 9.76835933e-01 2.11954259e-01 2.94440369e-02 1.82857201e+02] [-2.11869495e-01 9.77279517e-01 -6.00525974e-03 -3.29830024e+01] [-3.00478945e-02 -3.72139742e-04 9.99548391e-01 -5.83926004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:182.89, Y:-32.99, Z:-5.84 [[ 9.76916358e-01 2.11458988e-01 3.03236910e-02 1.82885580e+02] [-2.11368916e-01 9.77386801e-01 -6.18239426e-03 -3.29866943e+01] [-3.09452982e-02 -3.69803595e-04 9.99521011e-01 -5.83966392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754012739 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:182.91, Y:-32.99, Z:-5.84 [[ 9.77010971e-01 2.10889336e-01 3.12290103e-02 1.82913306e+02] [-2.10793563e-01 9.77509875e-01 -6.36539603e-03 -3.29905863e+01] [-3.18690601e-02 -3.63812582e-04 9.99491986e-01 -5.83987101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:182.94, Y:-33.00, Z:-5.84 [[ 9.77406230e-01 2.09063687e-01 3.11357664e-02 1.82941685e+02] [-2.08967619e-01 9.77901980e-01 -6.34446894e-03 -3.29969460e+01] [-3.17741257e-02 -3.05243507e-04 9.99495028e-01 -5.84140796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:182.97, Y:-33.00, Z:-5.84 [[ 9.77788197e-01 2.07390539e-01 3.03217118e-02 1.82968676e+02] [-2.07298670e-01 9.78258199e-01 -6.17718299e-03 -3.30028222e+01] [-3.09435525e-02 -2.45673906e-04 9.99521103e-01 -5.84279923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:183.00, Y:-33.01, Z:-5.84 [[ 9.78515497e-01 2.04138463e-01 2.88948109e-02 1.82997253e+02] [-2.04053670e-01 9.78942015e-01 -5.88480024e-03 -3.30081663e+01] [-2.94876585e-02 -1.37723967e-04 9.99565135e-01 -5.84434175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874012739 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:183.03, Y:-33.01, Z:-5.85 [[ 9.78846403e-01 2.02577460e-01 2.86721308e-02 1.83025492e+02] [-2.02493339e-01 9.79266238e-01 -5.83808123e-03 -3.30149258e+01] [-2.92603133e-02 -9.13306906e-05 9.99571821e-01 -5.84536518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:183.05, Y:-33.02, Z:-5.85 [[ 9.79201156e-01 2.00810359e-01 2.89878676e-02 1.83051851e+02] [-2.00723641e-01 9.79630133e-01 -5.90100525e-03 -3.30224764e+01] [-2.95823716e-02 -4.02791627e-05 9.99562345e-01 -5.84593117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:183.08, Y:-33.03, Z:-5.85 [[ 9.79899096e-01 1.97197069e-01 3.01840637e-02 1.83079100e+02] [-1.97101388e-01 9.80363867e-01 -6.14261214e-03 -3.30335688e+01] [-3.08026705e-02 6.98192498e-05 9.99525483e-01 -5.84538089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:183.11, Y:-33.04, Z:-5.85 [[ 9.80213756e-01 1.95570030e-01 3.05508606e-02 1.83106576e+02] [-1.95471264e-01 9.80689731e-01 -6.21578895e-03 -3.30424590e+01] [-3.11765373e-02 1.20986481e-04 9.99513886e-01 -5.84603230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99401273899997 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:183.13, Y:-33.06, Z:-5.85 [[ 9.80869201e-01 1.92047210e-01 3.18351935e-02 1.83133631e+02] [-1.91938159e-01 9.81385659e-01 -6.47551500e-03 -3.30562848e+01] [-3.24862070e-02 2.41244792e-04 9.99472155e-01 -5.84663851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:183.16, Y:-33.07, Z:-5.85 [[ 9.81138065e-01 1.90543171e-01 3.25790847e-02 1.83161850e+02] [-1.90428159e-01 9.81678772e-01 -6.62604913e-03 -3.30673158e+01] [-3.32447442e-02 2.97093911e-04 9.99447197e-01 -5.84710053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05401273899997 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:183.19, Y:-33.08, Z:-5.85 [[ 9.81343306e-01 1.89500539e-01 3.24786421e-02 1.83191544e+02] [-1.89385676e-01 9.81880561e-01 -6.60524554e-03 -3.30775706e+01] [-3.31418449e-02 3.31023895e-04 9.99450603e-01 -5.84790064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:183.22, Y:-33.09, Z:-5.85 [[ 9.81366126e-01 1.89522003e-01 3.16533875e-02 1.83221210e+02] [-1.89412893e-01 9.81876421e-01 -6.43812721e-03 -3.30869910e+01] [-3.22998816e-02 3.22600244e-04 9.99478171e-01 -5.84895188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11401273899997 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:183.25, Y:-33.10, Z:-5.85 [[ 9.80543302e-01 1.93989369e-01 3.00492693e-02 1.83250170e+02] [-1.93893115e-01 9.81003617e-01 -6.11254351e-03 -3.30982840e+01] [-3.06642104e-02 1.67267162e-04 9.99529729e-01 -5.84986973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:183.28, Y:-33.11, Z:-5.85 [[ 9.79729378e-01 1.97996617e-01 3.04579438e-02 1.83278344e+02] [-1.97899647e-01 9.80202702e-01 -6.19609870e-03 -3.31067003e+01] [-3.10817654e-02 4.28835889e-05 9.99516844e-01 -5.85033056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17401273899998 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:183.31, Y:-33.12, Z:-5.85 [[ 9.78038839e-01 2.05921728e-01 3.21911544e-02 1.83306170e+02] [-2.05817715e-01 9.78568441e-01 -6.54791242e-03 -3.31164210e+01] [-3.28496052e-02 -2.21397180e-04 9.99460282e-01 -5.85058719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:183.34, Y:-33.12, Z:-5.85 [[ 9.77225952e-01 2.09647252e-01 3.28248095e-02 1.83335277e+02] [-2.09541253e-01 9.77777022e-01 -6.67528073e-03 -3.31238951e+01] [-3.34947988e-02 -3.54894158e-04 9.99438829e-01 -5.85121159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23401273899998 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:183.36, Y:-33.13, Z:-5.85 [[ 9.76459808e-01 2.13204345e-01 3.27131418e-02 1.83364436e+02] [-2.13101085e-01 9.77007513e-01 -6.65182615e-03 -3.31309159e+01] [-3.33791836e-02 -4.75965141e-04 9.99442646e-01 -5.85202961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:183.39, Y:-33.14, Z:-5.85 [[ 9.74543766e-01 2.22078454e-01 3.07507356e-02 1.83391680e+02] [-2.21991639e-01 9.75028524e-01 -6.25219332e-03 -3.31353403e+01] [-3.13713218e-02 -7.33370162e-04 9.99507530e-01 -5.85296129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29401273899998 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:183.42, Y:-33.14, Z:-5.85 [[ 9.73451384e-01 2.26948080e-01 2.97820905e-02 1.83420832e+02] [-2.26868973e-01 9.73906475e-01 -6.05359486e-03 -3.31383637e+01] [-3.03788225e-02 -8.63752002e-04 9.99538084e-01 -5.85492605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:183.45, Y:-33.14, Z:-5.86 [[ 9.72320685e-01 2.31834774e-01 2.90710033e-02 1.83448786e+02] [-2.31761615e-01 9.72754672e-01 -5.90785878e-03 -3.31407823e+01] [-2.96486014e-02 -9.93209383e-04 9.99559890e-01 -5.85675271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35401273899998 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:183.48, Y:-33.14, Z:-5.86 [[ 9.70300612e-01 2.40194738e-01 2.86916522e-02 1.83477701e+02] [-2.40127172e-01 9.70723939e-01 -5.82887621e-03 -3.31398294e+01] [-2.92517390e-02 -1.23388315e-03 9.99571315e-01 -5.85857779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:183.51, Y:-33.14, Z:-5.86 [[ 9.69625350e-01 2.42894116e-01 2.87946061e-02 1.83505346e+02] [-2.42827306e-01 9.70051906e-01 -5.84790644e-03 -3.31417765e+01] [-2.93526846e-02 -1.32183831e-03 9.99568243e-01 -5.85923997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414012739 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:183.53, Y:-33.14, Z:-5.86 [[ 9.68912402e-01 2.45625136e-01 2.96150209e-02 1.83534400e+02] [-2.45555809e-01 9.69363811e-01 -6.01214157e-03 -3.31389731e+01] [-3.01844626e-02 -1.44690188e-03 9.99543298e-01 -5.85900147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:183.56, Y:-33.14, Z:-5.86 [[ 9.68882105e-01 2.45674193e-01 3.01936650e-02 1.83563018e+02] [-2.45602216e-01 9.69351332e-01 -6.12759918e-03 -3.31401306e+01] [-3.07736624e-02 -1.47870983e-03 9.99525285e-01 -5.86015193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474012739 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:183.59, Y:-33.14, Z:-5.86 [[ 9.69006868e-01 2.45152428e-01 3.04298813e-02 1.83591468e+02] [-2.45079125e-01 9.69483424e-01 -6.17354361e-03 -3.31415877e+01] [-3.10147247e-02 -1.47552252e-03 9.99517839e-01 -5.86122025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:183.62, Y:-33.14, Z:-5.86 [[ 9.69150840e-01 2.44657017e-01 2.98260509e-02 1.83619118e+02] [-2.44586420e-01 9.69608628e-01 -6.04907628e-03 -3.31393675e+01] [-3.03995452e-02 -1.43257966e-03 9.99536800e-01 -5.86231481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534012739 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:183.65, Y:-33.14, Z:-5.86 [[ 9.69214512e-01 2.44396578e-01 2.98921756e-02 1.83647989e+02] [-2.44325617e-01 9.69674310e-01 -6.06008465e-03 -3.31402171e+01] [-3.04667387e-02 -1.42990226e-03 9.99534758e-01 -5.86331840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:183.68, Y:-33.14, Z:-5.86 [[ 9.69819242e-01 2.41893701e-01 3.06280187e-02 1.83675854e+02] [-2.41818018e-01 9.70301765e-01 -6.20733304e-03 -3.31373235e+01] [-3.12199354e-02 -1.38641576e-03 9.99511577e-01 -5.86409385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594012739 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:183.70, Y:-33.14, Z:-5.86 [[ 9.70330634e-01 2.39780875e-01 3.10417748e-02 1.83703887e+02] [-2.39702173e-01 9.70826110e-01 -6.28742351e-03 -3.31399832e+01] [-3.16437694e-02 -1.33990122e-03 9.99498312e-01 -5.86484296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:183.73, Y:-33.14, Z:-5.87 [[ 9.70873485e-01 2.37549368e-01 3.12245770e-02 1.83732042e+02] [-2.37468648e-01 9.71374628e-01 -6.32243366e-03 -3.31429782e+01] [-3.18326519e-02 -1.27657489e-03 9.99492397e-01 -5.86543818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654012739 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:183.76, Y:-33.14, Z:-5.87 [[ 9.72117423e-01 2.32247099e-01 3.23882868e-02 1.83760746e+02] [-2.32157379e-01 9.72656143e-01 -6.55590836e-03 -3.31426240e+01] [-3.30252568e-02 -1.14606702e-03 9.99453860e-01 -5.86592298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:183.79, Y:-33.15, Z:-5.87 [[ 9.72757573e-01 2.29456319e-01 3.30530290e-02 1.83788194e+02] [-2.29361341e-01 9.73318366e-01 -6.68829075e-03 -3.31457524e+01] [-3.37057908e-02 -1.07500158e-03 9.99431220e-01 -5.86594912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71401273899997 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:183.82, Y:-33.15, Z:-5.87 [[ 9.74146154e-01 2.23487370e-01 3.30555074e-02 1.83815907e+02] [-2.23389012e-01 9.74706437e-01 -6.68666974e-03 -3.31479412e+01] [-3.37138020e-02 -8.70443507e-04 9.99431149e-01 -5.86776614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:183.84, Y:-33.15, Z:-5.87 [[ 9.74821293e-01 2.20667281e-01 3.20842419e-02 1.83843749e+02] [-2.20573147e-01 9.75348853e-01 -6.48852543e-03 -3.31530188e+01] [-3.27251338e-02 -7.51769451e-04 9.99464107e-01 -5.86968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77401273899997 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:183.87, Y:-33.16, Z:-5.87 [[ 9.75485864e-01 2.17934520e-01 3.05266210e-02 1.83871704e+02] [-2.17848027e-01 9.75963190e-01 -6.17164359e-03 -3.31582373e+01] [-3.11378726e-02 -6.29813053e-04 9.99514900e-01 -5.87114694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:183.90, Y:-33.16, Z:-5.87 [[ 9.76600951e-01 2.13168167e-01 2.84590006e-02 1.83899104e+02] [-2.13091019e-01 9.77015421e-01 -5.75194860e-03 -3.31638592e+01] [-2.90310148e-02 -4.46998951e-04 9.99578411e-01 -5.87323812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83401273899997 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:183.93, Y:-33.17, Z:-5.87 [[ 9.77074584e-01 2.10996614e-01 2.83846239e-02 1.83926243e+02] [-2.10919011e-01 9.77486717e-01 -5.73490029e-03 -3.31696148e+01] [-2.89556374e-02 -3.83431479e-04 9.99580624e-01 -5.87414711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:183.95, Y:-33.18, Z:-5.88 [[ 9.77477557e-01 2.09103340e-01 2.85205104e-02 1.83952251e+02] [-2.09024240e-01 9.77893493e-01 -5.76048598e-03 -3.31753451e+01] [-2.90945584e-02 -3.30732253e-04 9.99576609e-01 -5.87595471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89401273899998 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:183.98, Y:-33.18, Z:-5.88 [[ 9.77951686e-01 2.06910242e-01 2.82604321e-02 1.83979497e+02] [-2.06831760e-01 9.78359893e-01 -5.70459503e-03 -3.31810411e+01] [-2.88292125e-02 -2.66336565e-04 9.99584316e-01 -5.87675204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:184.01, Y:-33.19, Z:-5.88 [[ 9.77919778e-01 2.07009510e-01 2.86351172e-02 1.84006936e+02] [-2.06929034e-01 9.78338892e-01 -5.77818809e-03 -3.31866768e+01] [-2.92109887e-02 -2.74832734e-04 9.99573230e-01 -5.87780758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95401273899998 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:184.03, Y:-33.19, Z:-5.88 [[ 9.77324848e-01 2.09750656e-01 2.89966350e-02 1.84034852e+02] [-2.09669401e-01 9.77754842e-01 -5.84907258e-03 -3.31916889e+01] [-2.95784471e-02 -3.63263141e-04 9.99562396e-01 -5.87823343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:184.06, Y:-33.20, Z:-5.88 [[ 9.76869156e-01 2.11841391e-01 2.91526523e-02 1.84062666e+02] [-2.11760252e-01 9.77303965e-01 -5.87845995e-03 -3.31962074e+01] [-2.97363038e-02 -4.30886790e-04 9.99557685e-01 -5.87904670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01401273899998 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:184.09, Y:-33.20, Z:-5.88 [[ 9.76420785e-01 2.13862048e-01 2.94189472e-02 1.84089508e+02] [-2.13780402e-01 9.76863744e-01 -5.92997384e-03 -3.32003866e+01] [-3.00064992e-02 -4.99044636e-04 9.99549579e-01 -5.87989379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:184.12, Y:-33.21, Z:-5.88 [[ 9.75968706e-01 2.15811328e-01 3.01754180e-02 1.84117286e+02] [-2.15726443e-01 9.76434913e-01 -6.07972525e-03 -3.32055077e+01] [-3.07764052e-02 -5.76013996e-04 9.99526128e-01 -5.88071085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07401273899998 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:184.14, Y:-33.21, Z:-5.88 [[ 9.76152514e-01 2.14913542e-01 3.06339595e-02 1.84144976e+02] [-2.14825685e-01 9.76632919e-01 -6.16986998e-03 -3.32116184e+01] [-3.12441219e-02 -5.58227247e-04 9.99511627e-01 -5.88147625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:184.17, Y:-33.22, Z:-5.88 [[ 9.76480263e-01 2.13330944e-01 3.12442771e-02 1.84171818e+02] [-2.13238815e-01 9.76979856e-01 -6.29043914e-03 -3.32170444e+01] [-3.18669746e-02 -5.20002957e-04 9.99491984e-01 -5.88288965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13401273899999 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:184.20, Y:-33.22, Z:-5.88 [[ 9.77590460e-01 2.08052416e-01 3.21105028e-02 1.84199134e+02] [-2.07952351e-01 9.78117612e-01 -6.46198253e-03 -3.32229243e+01] [-3.27522794e-02 -3.60282081e-04 9.99463435e-01 -5.88407620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:184.23, Y:-33.23, Z:-5.89 [[ 9.78182132e-01 2.05242781e-01 3.21732412e-02 1.84226311e+02] [-2.05140883e-01 9.78711055e-01 -6.47221760e-03 -3.32295639e+01] [-3.28166828e-02 -2.69039510e-04 9.99461351e-01 -5.88518811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194012739 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:184.25, Y:-33.24, Z:-5.89 [[ 9.79121526e-01 2.00993304e-01 3.03764504e-02 1.84254476e+02] [-2.00900486e-01 9.79592608e-01 -6.10883782e-03 -3.32374848e+01] [-3.09843818e-02 -1.21349023e-04 9.99519861e-01 -5.88565742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:184.28, Y:-33.24, Z:-5.89 [[ 9.79136656e-01 2.00919542e-01 3.03767302e-02 1.84283228e+02] [-2.00826731e-01 9.79607739e-01 -6.10744601e-03 -3.32431650e+01] [-3.09843853e-02 -1.20435167e-04 9.99519861e-01 -5.88662667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254012739 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:184.31, Y:-33.25, Z:-5.89 [[ 9.79365540e-01 1.99997791e-01 2.90520694e-02 1.84310835e+02] [-1.99912561e-01 9.79796344e-01 -5.83885237e-03 -3.32494915e+01] [-2.96328689e-02 -8.95027862e-05 9.99560846e-01 -5.88815990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:184.34, Y:-33.26, Z:-5.89 [[ 9.79478723e-01 1.99587378e-01 2.80412245e-02 1.84337716e+02] [-1.99507846e-01 9.79880030e-01 -5.63440425e-03 -3.32561473e+01] [-2.86015919e-02 -7.56652159e-05 9.99590888e-01 -5.88963672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314012739 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:184.36, Y:-33.26, Z:-5.89 [[ 9.79502484e-01 1.99428059e-01 2.83431366e-02 1.84364446e+02] [-1.99346787e-01 9.79912467e-01 -5.69338623e-03 -3.32625789e+01] [-2.89092138e-02 -7.34272621e-05 9.99582039e-01 -5.89060815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:184.39, Y:-33.27, Z:-5.89 [[ 9.79176254e-01 2.00611538e-01 3.11267463e-02 1.84391713e+02] [-2.00514204e-01 9.79670861e-01 -6.24962976e-03 -3.32694919e+01] [-3.17477142e-02 -1.21865710e-04 9.99495907e-01 -5.89002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374012739 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:184.42, Y:-33.28, Z:-5.89 [[ 9.78931679e-01 2.01536630e-01 3.27987005e-02 1.84418736e+02] [-2.01429159e-01 9.79480965e-01 -6.58283057e-03 -3.32762674e+01] [-3.34523843e-02 -1.62473262e-04 9.99440299e-01 -5.89091279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:184.45, Y:-33.28, Z:-5.89 [[ 9.78978883e-01 2.01293351e-01 3.28836279e-02 1.84447175e+02] [-2.01185252e-01 9.79530991e-01 -6.59789180e-03 -3.32832760e+01] [-3.35386444e-02 -1.56504220e-04 9.99437409e-01 -5.89186320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434012739 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:184.47, Y:-33.29, Z:-5.89 [[ 9.79066677e-01 2.00941026e-01 3.24213712e-02 1.84474864e+02] [-2.00835839e-01 9.79603330e-01 -6.50250513e-03 -3.32904974e+01] [-3.30667032e-02 -1.44987190e-04 9.99453137e-01 -5.89318315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:184.50, Y:-33.30, Z:-5.89 [[ 9.79728512e-01 1.97814957e-01 3.16430907e-02 1.84501600e+02] [-1.97713179e-01 9.80239379e-01 -6.34489617e-03 -3.32982292e+01] [-3.22729189e-02 -3.99803724e-05 9.99479093e-01 -5.89399032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49401273899997 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:184.53, Y:-33.31, Z:-5.89 [[ 9.80156386e-01 1.95676697e-01 3.16873671e-02 1.84529857e+02] [-1.95573579e-01 9.80668461e-01 -6.35181950e-03 -3.33052542e+01] [-3.23177046e-02 2.85646600e-05 9.99477646e-01 -5.89498565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:184.56, Y:-33.31, Z:-5.90 [[ 9.80545391e-01 1.93703056e-01 3.17783286e-02 1.84556516e+02] [-1.93598358e-01 9.81060201e-01 -6.36852410e-03 -3.33121230e+01] [-3.24100560e-02 9.23947227e-05 9.99474652e-01 -5.89578284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55401273899997 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:184.58, Y:-33.32, Z:-5.90 [[ 9.81054867e-01 1.91059756e-01 3.20549248e-02 1.84583954e+02] [-1.90951879e-01 9.81578391e-01 -6.42201387e-03 -3.33205358e+01] [-3.26914099e-02 1.79399835e-04 9.99465477e-01 -5.89666508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:184.61, Y:-33.33, Z:-5.90 [[ 9.81073654e-01 1.90923372e-01 3.22916636e-02 1.84612267e+02] [-1.90813873e-01 9.81604927e-01 -6.46789250e-03 -3.33274060e+01] [-3.29325279e-02 1.83781525e-04 9.99457560e-01 -5.89737225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61401273899997 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:184.64, Y:-33.33, Z:-5.90 [[ 9.80690235e-01 1.92987243e-01 3.16636587e-02 1.84638936e+02] [-1.92883085e-01 9.81201260e-01 -6.34064436e-03 -3.33345385e+01] [-3.22920852e-02 1.10823829e-04 9.99478468e-01 -5.89782225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:184.67, Y:-33.34, Z:-5.90 [[ 9.80389669e-01 1.94604413e-01 3.10679667e-02 1.84667679e+02] [-1.94505011e-01 9.80881807e-01 -6.21940026e-03 -3.33401307e+01] [-3.16843261e-02 5.45605531e-05 9.99497924e-01 -5.89868531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67401273899998 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:184.69, Y:-33.34, Z:-5.90 [[ 9.80096903e-01 1.96074833e-01 3.10599424e-02 1.84694736e+02] [-1.95976267e-01 9.80588935e-01 -6.21632985e-03 -3.33448576e+01] [-3.16759017e-02 5.59406398e-06 9.99498193e-01 -5.89987052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:184.72, Y:-33.35, Z:-5.90 [[ 9.79737160e-01 1.97861644e-01 3.10783979e-02 1.84722896e+02] [-1.97763918e-01 9.80229956e-01 -6.21816628e-03 -3.33501961e+01] [-3.16943132e-02 -5.40171589e-05 9.99497608e-01 -5.90072033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73401273899998 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:184.75, Y:-33.36, Z:-5.90 [[ 9.79039838e-01 2.01141052e-01 3.19886444e-02 1.84750095e+02] [-2.01039316e-01 9.79562274e-01 -6.39873335e-03 -3.33557286e+01] [-3.26219172e-02 -1.66360343e-04 9.99467750e-01 -5.90002794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:184.78, Y:-33.36, Z:-5.90 [[ 9.78874298e-01 2.01817348e-01 3.27851748e-02 1.84778431e+02] [-2.01710927e-01 9.79423157e-01 -6.55609050e-03 -3.33617708e+01] [-3.34336922e-02 -1.95539516e-04 9.99440919e-01 -5.90053369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79401273899998 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:184.81, Y:-33.37, Z:-5.90 [[ 9.78872128e-01 2.01494209e-01 3.47770209e-02 1.84805669e+02] [-2.01374317e-01 9.79489686e-01 -6.95268268e-03 -3.33679033e+01] [-3.54646586e-02 -1.97411532e-04 9.99370912e-01 -5.90151380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:184.83, Y:-33.37, Z:-5.90 [[ 9.78797491e-01 2.01692565e-01 3.57152749e-02 1.84834188e+02] [-2.01566322e-01 9.79448857e-01 -7.13819873e-03 -3.33742951e+01] [-3.64210068e-02 -2.12145576e-04 9.99336513e-01 -5.90258254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85401273899998 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:184.86, Y:-33.38, Z:-5.90 [[ 9.78608769e-01 2.02586517e-01 3.58270831e-02 1.84862252e+02] [-2.02460141e-01 9.79264337e-01 -7.15887801e-03 -3.33797031e+01] [-3.65344769e-02 -2.47815505e-04 9.99332362e-01 -5.90349319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:184.89, Y:-33.38, Z:-5.90 [[ 9.78217493e-01 2.04719445e-01 3.43581902e-02 1.84890536e+02] [-2.04604590e-01 9.78820642e-01 -6.86384185e-03 -3.33832870e+01] [-3.50356677e-02 -3.15513272e-04 9.99386013e-01 -5.90498433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914012739 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:184.92, Y:-33.39, Z:-5.91 [[ 9.77940471e-01 2.06243982e-01 3.31037107e-02 1.84918936e+02] [-2.06138286e-01 9.78500532e-01 -6.61175318e-03 -3.33872023e+01] [-3.37556328e-02 -3.58041163e-04 9.99430052e-01 -5.90596802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:184.95, Y:-33.39, Z:-5.91 [[ 9.77129570e-01 2.10394381e-01 3.08546406e-02 1.84946324e+02] [-2.10304671e-01 9.77616482e-01 -6.16120924e-03 -3.33899352e+01] [-3.14602890e-02 -4.68575297e-04 9.99504893e-01 -5.90792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974012739 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:184.97, Y:-33.39, Z:-5.91 [[ 9.76726023e-01 2.12335812e-01 3.03278456e-02 1.84974327e+02] [-2.12250133e-01 9.77196617e-01 -6.05412754e-03 -3.33938969e+01] [-3.09217762e-02 -5.23865359e-04 9.99521670e-01 -5.90947515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:185.00, Y:-33.39, Z:-5.91 [[ 9.75878629e-01 2.16321812e-01 2.94240757e-02 1.85001497e+02] [-2.16243034e-01 9.76321911e-01 -5.87169864e-03 -3.33943643e+01] [-2.99975463e-02 -6.32686195e-04 9.99549772e-01 -5.91171062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034012739 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:185.03, Y:-33.40, Z:-5.91 [[ 9.75574618e-01 2.17652294e-01 2.96924755e-02 1.85028142e+02] [-2.17572781e-01 9.76026133e-01 -5.92218105e-03 -3.33966105e+01] [-3.02696084e-02 -6.82744945e-04 9.99541537e-01 -5.91259702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:185.06, Y:-33.40, Z:-5.91 [[ 9.75400906e-01 2.18353771e-01 3.02440588e-02 1.85055640e+02] [-2.18271694e-01 9.75869413e-01 -6.02956209e-03 -3.33996214e+01] [-3.08308295e-02 -7.20181607e-04 9.99524358e-01 -5.91264060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:185.08, Y:-33.40, Z:-5.91 [[ 9.75446529e-01 2.17986792e-01 3.13978836e-02 1.85084086e+02] [-2.17898217e-01 9.75951440e-01 -6.25726286e-03 -3.34021188e+01] [-3.20068104e-02 -7.37917496e-04 9.99487378e-01 -5.91302392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:185.11, Y:-33.40, Z:-5.92 [[ 9.75901278e-01 2.16011888e-01 3.09121463e-02 1.85112238e+02] [-2.15925110e-01 9.76390507e-01 -6.15828895e-03 -3.34016377e+01] [-3.15125898e-02 -6.64826540e-04 9.99503134e-01 -5.91505169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154012739 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:185.14, Y:-33.40, Z:-5.92 [[ 9.76236236e-01 2.14799809e-01 2.87028539e-02 1.85139467e+02] [-2.14724522e-01 9.76657925e-01 -5.71640417e-03 -3.34043825e+01] [-2.92607523e-02 -5.82645690e-04 9.99571643e-01 -5.91697891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:185.17, Y:-33.41, Z:-5.92 [[ 9.76863942e-01 2.12258486e-01 2.61375779e-02 1.85166498e+02] [-2.12195225e-01 9.77213446e-01 -5.20257294e-03 -3.34050530e+01] [-2.66462828e-02 -4.64063305e-04 9.99644817e-01 -5.91959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21401273899997 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:185.19, Y:-33.41, Z:-5.92 [[ 9.77192755e-01 2.10587445e-01 2.73358445e-02 1.85194020e+02] [-2.10517664e-01 9.77574925e-01 -5.43864810e-03 -3.34083103e+01] [-2.78681471e-02 -4.40070594e-04 9.99611511e-01 -5.91979438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:185.22, Y:-33.41, Z:-5.92 [[ 9.77449661e-01 2.09096065e-01 2.95126493e-02 1.85220730e+02] [-2.09014116e-01 9.77895009e-01 -5.86941455e-03 -3.34118289e+01] [-3.00875439e-02 -4.31503036e-04 9.99547174e-01 -5.91865820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27401273899997 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:185.25, Y:-33.41, Z:-5.92 [[ 9.77634974e-01 2.07798380e-01 3.23989353e-02 1.85247617e+02] [-2.07699002e-01 9.78171583e-01 -6.44040284e-03 -3.34139427e+01] [-3.30300231e-02 -4.32863467e-04 9.99454266e-01 -5.91800835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:185.28, Y:-33.42, Z:-5.92 [[ 9.77734251e-01 2.07383313e-01 3.20608150e-02 1.85275943e+02] [-2.07285898e-01 9.78259672e-01 -6.36946215e-03 -3.34176199e+01] [-3.26847226e-02 -4.18113517e-04 9.99465624e-01 -5.91562275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33401273899997 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:185.30, Y:-33.42, Z:-5.92 [[ 9.77566241e-01 2.08224664e-01 3.17290733e-02 1.85302827e+02] [-2.08129770e-01 9.78080923e-01 -6.30129592e-03 -3.34189017e+01] [-3.23456865e-02 -4.43830565e-04 9.99476643e-01 -5.92090487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:185.33, Y:-33.42, Z:-5.92 [[ 9.77393473e-01 2.09012010e-01 3.18744092e-02 1.85330102e+02] [-2.08916751e-01 9.77912958e-01 -6.32746850e-03 -3.34227580e+01] [-3.24929147e-02 -4.74671605e-04 9.99471853e-01 -5.92193436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39401273899998 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:185.36, Y:-33.43, Z:-5.92 [[ 9.77237573e-01 2.09719295e-01 3.20084948e-02 1.85356508e+02] [-2.09623686e-01 9.77761507e-01 -6.35180802e-03 -3.34267646e+01] [-3.26287709e-02 -5.02513220e-04 9.99467414e-01 -5.92263906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:185.38, Y:-33.43, Z:-5.92 [[ 9.77240465e-01 2.09687748e-01 3.21266604e-02 1.85384364e+02] [-2.09591502e-01 9.77768271e-01 -6.37259480e-03 -3.34284407e+01] [-3.27486843e-02 -5.05917494e-04 9.99463490e-01 -5.92290282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45401273899998 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:185.41, Y:-33.43, Z:-5.92 [[ 9.77408495e-01 2.08948100e-01 3.18327625e-02 1.85411934e+02] [-2.08853287e-01 9.77926614e-01 -6.31208081e-03 -3.34312148e+01] [-3.24490030e-02 -4.78895682e-04 9.99473278e-01 -5.92422138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:185.44, Y:-33.43, Z:-5.93 [[ 9.77734340e-01 2.07538662e-01 3.10364874e-02 1.85439790e+02] [-2.07447891e-01 9.78226725e-01 -6.15205935e-03 -3.34342148e+01] [-3.16375116e-02 -4.23374172e-04 9.99499319e-01 -5.92589733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51401273899998 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:185.47, Y:-33.43, Z:-5.93 [[ 9.78460056e-01 2.04213834e-01 3.02097366e-02 1.85467945e+02] [-2.04126314e-01 9.78926256e-01 -5.98611710e-03 -3.34347057e+01] [-3.07955523e-02 -3.09425713e-04 9.99525657e-01 -5.92654161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:185.50, Y:-33.44, Z:-5.93 [[ 9.78720314e-01 2.02923316e-01 3.04741523e-02 1.85496251e+02] [-2.02833700e-01 9.79194594e-01 -6.03630613e-03 -3.34367354e+01] [-3.10650324e-02 -2.73329632e-04 9.99517328e-01 -5.92647599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57401273899998 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:185.52, Y:-33.44, Z:-5.93 [[ 9.78934518e-01 2.01692595e-01 3.17381057e-02 1.85523890e+02] [-2.01594820e-01 9.79448843e-01 -6.28428946e-03 -3.34360147e+01] [-3.23533455e-02 -2.46329817e-04 9.99476463e-01 -5.92706232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:185.55, Y:-33.44, Z:-5.93 [[ 9.78966522e-01 2.01484882e-01 3.20685355e-02 1.85551904e+02] [-2.01385037e-01 9.79491594e-01 -6.34699792e-03 -3.34386299e+01] [-3.26896851e-02 -2.44624729e-04 9.99465519e-01 -5.92787676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63401273899999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:185.58, Y:-33.44, Z:-5.93 [[ 9.78971927e-01 2.01500117e-01 3.18067527e-02 1.85579693e+02] [-2.01401973e-01 9.79488460e-01 -6.29303460e-03 -3.34408346e+01] [-3.24223944e-02 -2.45238543e-04 9.99474226e-01 -5.92887430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:185.61, Y:-33.44, Z:-5.93 [[ 9.79172826e-01 2.01020438e-01 2.84843934e-02 1.85607309e+02] [-2.00941571e-01 9.79587026e-01 -5.63419643e-03 -3.34396446e+01] [-2.90355308e-02 -2.06846710e-04 9.99578359e-01 -5.93213541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694012739 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:185.63, Y:-33.44, Z:-5.93 [[ 9.79398854e-01 2.00148794e-01 2.68019576e-02 1.85634502e+02] [-2.00078736e-01 9.79765498e-01 -5.29804614e-03 -3.34428870e+01] [-2.73200309e-02 -1.73601484e-04 9.99626723e-01 -5.93317715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:185.66, Y:-33.45, Z:-5.93 [[ 9.79972575e-01 1.97259980e-01 2.72443163e-02 1.85662971e+02] [-1.97186535e-01 9.80351208e-01 -5.38327120e-03 -3.34450326e+01] [-2.77709023e-02 -9.67541828e-05 9.99614309e-01 -5.93367711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754012739 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:185.69, Y:-33.45, Z:-5.93 [[ 9.80234843e-01 1.95678814e-01 2.91453922e-02 1.85689668e+02] [-1.95594123e-01 9.80668037e-01 -5.75681698e-03 -3.34484070e+01] [-2.97084416e-02 -5.76348109e-05 9.99558605e-01 -5.93389761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:185.72, Y:-33.45, Z:-5.93 [[ 9.80497617e-01 1.94138573e-01 3.05718458e-02 1.85717099e+02] [-1.94044772e-01 9.80974115e-01 -6.03423674e-03 -3.34522240e+01] [-3.11616675e-02 -1.57521172e-05 9.99514357e-01 -5.93428808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814012739 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:185.74, Y:-33.46, Z:-5.94 [[ 9.81134040e-01 1.90908452e-01 3.04952302e-02 1.85744635e+02] [-1.90813628e-01 9.81607842e-01 -6.01692535e-03 -3.34570540e+01] [-3.10830390e-02 8.45047528e-05 9.99516802e-01 -5.93595512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:185.77, Y:-33.46, Z:-5.94 [[ 9.81422140e-01 1.89525815e-01 2.98420672e-02 1.85772401e+02] [-1.89434438e-01 9.81875730e-01 -5.88588403e-03 -3.34622095e+01] [-3.04167285e-02 1.23421672e-04 9.99537297e-01 -5.93712807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874012739 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:185.80, Y:-33.47, Z:-5.94 [[ 9.81600840e-01 1.88550222e-01 3.01430774e-02 1.85799816e+02] [-1.88456600e-01 9.82063537e-01 -5.94301264e-03 -3.34665208e+01] [-3.07229736e-02 1.53004309e-04 9.99527926e-01 -5.93748520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:185.83, Y:-33.47, Z:-5.94 [[ 9.81824836e-01 1.87236428e-01 3.10243768e-02 1.85827148e+02] [-1.87136668e-01 9.82314858e-01 -6.11444002e-03 -3.34699524e+01] [-3.16205522e-02 1.97510557e-04 9.99499926e-01 -5.93636291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934012739 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:185.85, Y:-33.47, Z:-5.94 [[ 9.81960933e-01 1.86497177e-01 3.11693719e-02 1.85853311e+02] [-1.86396194e-01 9.82455472e-01 -6.14034933e-03 -3.34747651e+01] [-3.17676778e-02 2.19730853e-04 9.99495256e-01 -5.93724547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:185.88, Y:-33.48, Z:-5.94 [[ 9.82408650e-01 1.83944676e-01 3.22118144e-02 1.85880668e+02] [-1.83835544e-01 9.82936549e-01 -6.34291674e-03 -3.34805343e+01] [-3.28289154e-02 3.09659861e-04 9.99460938e-01 -5.93837626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99401273899997 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:185.91, Y:-33.49, Z:-5.94 [[ 9.82768667e-01 1.81915692e-01 3.27479498e-02 1.85907902e+02] [-1.81801847e-01 9.83314057e-01 -6.44614608e-03 -3.34863637e+01] [-3.33741745e-02 3.81432626e-04 9.99442854e-01 -5.93912900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:185.93, Y:-33.49, Z:-5.94 [[ 9.83145724e-01 1.79842771e-01 3.28795138e-02 1.85934082e+02] [-1.79726929e-01 9.83695265e-01 -6.46967835e-03 -3.34927316e+01] [-3.35069470e-02 4.51302549e-04 9.99438383e-01 -5.93981883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05401273899997 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:185.96, Y:-33.50, Z:-5.94 [[ 9.83484881e-01 1.77964354e-01 3.29571970e-02 1.85961281e+02] [-1.77847001e-01 9.84036801e-01 -6.48223212e-03 -3.35000929e+01] [-3.35847009e-02 5.13838620e-04 9.99435743e-01 -5.93979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:185.99, Y:-33.51, Z:-5.94 [[ 9.84124515e-01 1.74483052e-01 3.24746686e-02 1.85987390e+02] [-1.74367292e-01 9.84659981e-01 -6.38506616e-03 -3.35097466e+01] [-3.30905924e-02 6.21180131e-04 9.99452163e-01 -5.94088159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11401273899997 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:186.01, Y:-33.52, Z:-5.94 [[ 9.84390405e-01 1.73100198e-01 3.18096340e-02 1.86013434e+02] [-1.72988480e-01 9.84904004e-01 -6.25212744e-03 -3.35169864e+01] [-3.24116803e-02 6.51834023e-04 9.99474391e-01 -5.94224649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:186.04, Y:-33.52, Z:-5.94 [[ 9.84409735e-01 1.72990122e-01 3.18102530e-02 1.86041392e+02] [-1.72878449e-01 9.84923343e-01 -6.24897604e-03 -3.35223271e+01] [-3.24116719e-02 6.52245633e-04 9.99474391e-01 -5.94318807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17401273899998 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:186.07, Y:-33.53, Z:-5.94 [[ 9.84526749e-01 1.72607763e-01 3.02264816e-02 1.86067998e+02] [-1.72506862e-01 9.84990439e-01 -5.93442735e-03 -3.35314670e+01] [-3.07971237e-02 6.28326977e-04 9.99525459e-01 -5.94400264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:186.09, Y:-33.54, Z:-5.94 [[ 9.84224695e-01 1.74448511e-01 2.94867185e-02 1.86094996e+02] [-1.74353374e-01 9.84666141e-01 -5.78719497e-03 -3.35385117e+01] [-3.00441408e-02 5.54791350e-04 9.99548419e-01 -5.94480850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23401273899998 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:186.12, Y:-33.55, Z:-5.95 [[ 9.83333083e-01 1.79583385e-01 2.83876005e-02 1.86120761e+02] [-1.79497400e-01 9.83742681e-01 -5.56963366e-03 -3.35462062e+01] [-2.89263078e-02 3.81304561e-04 9.99581474e-01 -5.94574132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:186.15, Y:-33.55, Z:-5.95 [[ 9.82953265e-01 1.81593797e-01 2.87501615e-02 1.86148055e+02] [-1.81506531e-01 9.83373575e-01 -5.63837402e-03 -3.35528718e+01] [-2.92960428e-02 3.23916064e-04 9.99570726e-01 -5.94643919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29401273899998 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:186.17, Y:-33.56, Z:-5.95 [[ 9.82310516e-01 1.84667311e-01 3.10489090e-02 1.86174732e+02] [-1.84567135e-01 9.82801060e-01 -6.08687479e-03 -3.35606394e+01] [-3.16389474e-02 2.48592939e-04 9.99499332e-01 -5.94620927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:186.20, Y:-33.57, Z:-5.95 [[ 9.82032346e-01 1.86020638e-01 3.17615124e-02 1.86201249e+02] [-1.85916593e-01 9.82545815e-01 -6.22422865e-03 -3.35665102e+01] [-3.23649760e-02 2.07401680e-04 9.99476095e-01 -5.94672391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35401273899998 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:186.23, Y:-33.57, Z:-5.95 [[ 9.81756128e-01 1.87477093e-01 3.17371209e-02 1.86228350e+02] [-1.87374055e-01 9.82268963e-01 -6.21676472e-03 -3.35724965e+01] [-3.23398898e-02 1.56633802e-04 9.99476917e-01 -5.94725915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:186.25, Y:-33.58, Z:-5.95 [[ 9.81528857e-01 1.88760143e-01 3.11562411e-02 1.86254527e+02] [-1.88661559e-01 9.82023216e-01 -6.10082268e-03 -3.35785845e+01] [-3.17477442e-02 1.10148508e-04 9.99495907e-01 -5.94844263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414012739 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:186.28, Y:-33.58, Z:-5.95 [[ 9.81580329e-01 1.88556381e-01 3.07660237e-02 1.86282074e+02] [-1.88460252e-01 9.82062360e-01 -6.02120754e-03 -3.35836197e+01] [-3.13494909e-02 1.12126314e-04 9.99508478e-01 -5.95008945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:186.31, Y:-33.59, Z:-5.95 [[ 9.81579619e-01 1.88541882e-01 3.08773383e-02 1.86308845e+02] [-1.88445117e-01 9.82065144e-01 -6.04081439e-03 -3.35881560e+01] [-3.14625042e-02 1.10856648e-04 9.99504927e-01 -5.95102070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474012739 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:186.34, Y:-33.59, Z:-5.95 [[ 9.81458573e-01 1.88997405e-01 3.19225734e-02 1.86336563e+02] [-1.88894327e-01 9.81977582e-01 -6.24191484e-03 -3.35930189e+01] [-3.25269571e-02 9.61878059e-05 9.99470854e-01 -5.95190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:186.36, Y:-33.60, Z:-5.95 [[ 9.81434029e-01 1.89160923e-01 3.17079062e-02 1.86363275e+02] [-1.89059384e-01 9.81946097e-01 -6.19772136e-03 -3.35977650e+01] [-3.23078215e-02 8.79774153e-05 9.99477962e-01 -5.95196731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534012739 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:186.39, Y:-33.60, Z:-5.95 [[ 9.81613955e-01 1.88411069e-01 3.05828907e-02 1.86390604e+02] [-1.88316322e-01 9.82090249e-01 -5.97539005e-03 -3.36028775e+01] [-3.11609884e-02 1.06268779e-04 9.99514373e-01 -5.95334493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:186.42, Y:-33.61, Z:-5.95 [[ 9.81902258e-01 1.86999701e-01 2.99844471e-02 1.86416824e+02] [-1.86908032e-01 9.82359960e-01 -5.85636238e-03 -3.36075306e+01] [-3.05506583e-02 1.46041434e-04 9.99533209e-01 -5.95470052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594012739 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:186.44, Y:-33.61, Z:-5.96 [[ 9.82227877e-01 1.85288938e-01 2.99400593e-02 1.86444187e+02] [-1.85196823e-01 9.82684065e-01 -5.84515969e-03 -3.36122972e+01] [-3.05046626e-02 1.96474924e-04 9.99534605e-01 -5.95621535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:186.47, Y:-33.62, Z:-5.96 [[ 9.83070703e-01 1.80848659e-01 2.94237277e-02 1.86471910e+02] [-1.80757768e-01 9.83510883e-01 -5.74224534e-03 -3.36169266e+01] [-2.99770337e-02 3.26465837e-04 9.99550534e-01 -5.95830634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654012739 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:186.50, Y:-33.62, Z:-5.96 [[ 9.83558303e-01 1.78297097e-01 2.86916157e-02 1.86499746e+02] [-1.78209648e-01 9.83976621e-01 -5.59732736e-03 -3.36227886e+01] [-2.92298663e-02 3.92175065e-04 9.99572639e-01 -5.95893620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:186.53, Y:-33.63, Z:-5.96 [[ 9.84239654e-01 1.74716962e-01 2.73182411e-02 1.86525611e+02] [-1.74636357e-01 9.84618586e-01 -5.32758580e-03 -3.36290945e+01] [-2.78288675e-02 4.72863097e-04 9.99612590e-01 -5.95961813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71401273899997 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:186.55, Y:-33.64, Z:-5.96 [[ 9.84368744e-01 1.73997608e-01 2.72581873e-02 1.86551762e+02] [-1.73917146e-01 9.84745953e-01 -5.31357315e-03 -3.36351743e+01] [-2.77669387e-02 4.89849187e-04 9.99614304e-01 -5.96025858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:186.58, Y:-33.64, Z:-5.96 [[ 9.84384714e-01 1.73809396e-01 2.78752245e-02 1.86578946e+02] [-1.73725242e-01 9.84779183e-01 -5.43142167e-03 -3.36413060e+01] [-2.83949729e-02 5.03978336e-04 9.99596654e-01 -5.96121408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77401273899997 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:186.61, Y:-33.65, Z:-5.96 [[ 9.84179675e-01 1.74661513e-01 2.97274738e-02 1.86605241e+02] [-1.74566256e-01 9.84628405e-01 -5.79014067e-03 -3.36483947e+01] [-3.02818299e-02 5.09124951e-04 9.99541271e-01 -5.96202810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:186.63, Y:-33.65, Z:-5.96 [[ 9.84037268e-01 1.75412815e-01 3.00166498e-02 1.86631949e+02] [-1.75316144e-01 9.84494848e-01 -5.84319151e-03 -3.36538719e+01] [-3.05762078e-02 4.87514901e-04 9.99532320e-01 -5.96356413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83401273899997 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:186.66, Y:-33.66, Z:-5.96 [[ 9.83887856e-01 1.76402953e-01 2.90978455e-02 1.86659445e+02] [-1.76312613e-01 9.84317939e-01 -5.66201311e-03 -3.36599054e+01] [-2.96403271e-02 4.40468767e-04 9.99560532e-01 -5.96481784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:186.69, Y:-33.67, Z:-5.97 [[ 9.83855220e-01 1.76082604e-01 3.19972285e-02 1.86685907e+02] [-1.76196884e-01 9.84354648e-01 7.65529142e-04 -3.36701140e+01] [-3.13618242e-02 -6.39098180e-03 9.99487664e-01 -5.96672026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89401273899998 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:186.71, Y:-33.67, Z:-5.97 [[ 9.83979270e-01 1.76122979e-01 2.76675422e-02 1.86714793e+02] [-1.75841039e-01 9.84341331e-01 -1.23317894e-02 -3.36674121e+01] [-2.94062168e-02 7.26913580e-03 9.99541112e-01 -5.96525775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:186.74, Y:-33.68, Z:-5.97 [[ 9.84191516e-01 1.74509976e-01 3.02213226e-02 1.86740109e+02] [-1.74411921e-01 9.84655275e-01 -5.87120914e-03 -3.36817108e+01] [-3.07821693e-02 5.07435301e-04 9.99525988e-01 -5.96746516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95401273899998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:186.77, Y:-33.69, Z:-5.97 [[ 9.84403139e-01 1.73217278e-01 3.07609313e-02 1.86768204e+02] [-1.73115115e-01 9.84883478e-01 -5.97420903e-03 -3.36896609e+01] [-3.13307692e-02 5.55847961e-04 9.99508916e-01 -5.96922564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:186.79, Y:-33.70, Z:-5.97 [[ 9.85008760e-01 1.69786645e-01 3.04998155e-02 1.86794623e+02] [-1.69684610e-01 9.85480625e-01 -5.92205795e-03 -3.36996417e+01] [-3.10624636e-02 6.57929656e-04 9.99517229e-01 -5.97017649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01401273899998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:186.82, Y:-33.71, Z:-5.97 [[ 9.85304726e-01 1.68131304e-01 3.01074918e-02 1.86822182e+02] [-1.68031161e-01 9.85764361e-01 -5.84407323e-03 -3.37072822e+01] [-3.06614641e-02 6.99196153e-04 9.99529582e-01 -5.97069482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:186.85, Y:-33.71, Z:-5.97 [[ 9.85515549e-01 1.66863079e-01 3.02624564e-02 1.86848725e+02] [-1.66761349e-01 9.85979799e-01 -5.87271012e-03 -3.37146159e+01] [-3.08181092e-02 7.41039059e-04 9.99524735e-01 -5.97186530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07401273899998 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:186.87, Y:-33.72, Z:-5.97 [[ 9.85554922e-01 1.66408051e-01 3.14619793e-02 1.86874961e+02] [-1.66297925e-01 9.86056665e-01 -6.10351891e-03 -3.37244488e+01] [-3.20389691e-02 7.83291216e-04 9.99486314e-01 -5.97295560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:186.90, Y:-33.73, Z:-5.97 [[ 9.85297420e-01 1.67900964e-01 3.15952532e-02 1.86902972e+02] [-1.67790729e-01 9.85803593e-01 -6.12753946e-03 -3.37332458e+01] [-3.21755339e-02 7.36058244e-04 9.99481962e-01 -5.97325746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13401273899999 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:186.93, Y:-33.74, Z:-5.97 [[ 9.84993392e-01 1.69762383e-01 3.11247510e-02 1.86930913e+02] [-1.69656359e-01 9.85484800e-01 -6.03557528e-03 -3.37418312e+01] [-3.16975827e-02 6.64489851e-04 9.99497284e-01 -5.97391635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:186.96, Y:-33.75, Z:-5.97 [[ 9.84337933e-01 1.73650012e-01 3.04057121e-02 1.86957794e+02] [-1.73550715e-01 9.84807289e-01 -5.89511586e-03 -3.37526739e+01] [-3.09674538e-02 5.25853087e-04 9.99520255e-01 -5.97422572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194012739 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:186.99, Y:-33.76, Z:-5.98 [[ 9.83984319e-01 1.75485469e-01 3.13003299e-02 1.86985387e+02] [-1.75381218e-01 9.84481904e-01 -6.06702358e-03 -3.37611814e+01] [-3.18792829e-02 4.80366074e-04 9.99491611e-01 -5.97520577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:187.01, Y:-33.77, Z:-5.98 [[ 9.83589563e-01 1.77378648e-01 3.29907173e-02 1.87011211e+02] [-1.77326149e-01 9.84141698e-01 -4.53382457e-03 -3.37745994e+01] [-3.32717442e-02 -1.39069433e-03 9.99445375e-01 -5.97706431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254012739 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:187.04, Y:-33.78, Z:-5.98 [[ 9.83511505e-01 1.78036385e-01 3.17516073e-02 1.87040437e+02] [-1.77871804e-01 9.84021493e-01 -7.95753145e-03 -3.37814486e+01] [-3.26609942e-02 2.17860807e-03 9.99464113e-01 -5.97843174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:187.07, Y:-33.79, Z:-5.98 [[ 9.83372784e-01 1.78768497e-01 3.19341731e-02 1.87069037e+02] [-1.78661809e-01 9.83891092e-01 -6.18683104e-03 -3.37915345e+01] [-3.25257590e-02 3.78544110e-04 9.99470826e-01 -5.97920897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314012739 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:187.10, Y:-33.80, Z:-5.98 [[ 9.82858316e-01 1.81731652e-01 3.10344636e-02 1.87096120e+02] [-1.81632390e-01 9.83348124e-01 -6.01184020e-03 -3.38023530e+01] [-3.16102232e-02 2.71923342e-04 9.99500235e-01 -5.97903404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:187.12, Y:-33.81, Z:-5.98 [[ 9.82365558e-01 1.84463526e-01 3.05142325e-02 1.87124957e+02] [-1.84368914e-01 9.82839344e-01 -5.90999932e-03 -3.38103074e+01] [-3.10807675e-02 1.79903869e-04 9.99516860e-01 -5.98022796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374012739 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:187.15, Y:-33.82, Z:-5.98 [[ 9.81242622e-01 1.90368297e-01 3.03780823e-02 1.87151780e+02] [-1.90277374e-01 9.81712744e-01 -5.88298576e-03 -3.38175600e+01] [-3.09424845e-02 -7.62536490e-06 9.99521167e-01 -5.98140893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:187.18, Y:-33.82, Z:-5.98 [[ 9.80639867e-01 1.93389324e-01 3.07574349e-02 1.87179087e+02] [-1.93297658e-01 9.81122091e-01 -5.95460261e-03 -3.38226821e+01] [-3.13283555e-02 -1.06019442e-04 9.99509141e-01 -5.98231604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434012739 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:187.21, Y:-33.83, Z:-5.98 [[ 9.80150756e-01 1.95835546e-01 3.08696406e-02 1.87207475e+02] [-1.95744479e-01 9.80636734e-01 -5.97452631e-03 -3.38281911e+01] [-3.14419282e-02 -1.86625226e-04 9.99505563e-01 -5.98352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:187.24, Y:-33.83, Z:-5.99 [[ 9.79729464e-01 1.97941022e-01 3.08144320e-02 1.87235186e+02] [-1.97851365e-01 9.80213898e-01 -5.96243351e-03 -3.38342468e+01] [-3.13849447e-02 -2.55105659e-04 9.99507339e-01 -5.98511811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49401273899997 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:187.26, Y:-33.84, Z:-5.99 [[ 9.79742483e-01 1.97950537e-01 3.03356630e-02 1.87262568e+02] [-1.97863693e-01 9.80211978e-01 -5.86840361e-03 -3.38394614e+01] [-3.08970338e-02 -2.52801981e-04 9.99522541e-01 -5.98613968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:187.29, Y:-33.84, Z:-5.99 [[ 9.80032266e-01 1.96506494e-01 3.03637311e-02 1.87291428e+02] [-1.96418852e-01 9.80502501e-01 -5.87201310e-03 -3.38437300e+01] [-3.09256029e-02 -2.09246879e-04 9.99521667e-01 -5.98709488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55401273899997 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:187.32, Y:-33.85, Z:-5.99 [[ 9.80287966e-01 1.95135677e-01 3.09446364e-02 1.87318514e+02] [-1.95044014e-01 9.80776243e-01 -5.98282018e-03 -3.38484864e+01] [-3.15172259e-02 -1.70679472e-04 9.99503194e-01 -5.98792836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:187.35, Y:-33.85, Z:-5.99 [[ 9.80492274e-01 1.93940061e-01 3.19711391e-02 1.87346329e+02] [-1.93841645e-01 9.81013371e-01 -6.17926727e-03 -3.38537658e+01] [-3.25625224e-02 -1.38614383e-04 9.99469691e-01 -5.98779035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61401273899997 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:187.37, Y:-33.86, Z:-5.99 [[ 9.80646432e-01 1.92909930e-01 3.34415173e-02 1.87373404e+02] [-1.92801721e-01 9.81216463e-01 -6.46141162e-03 -3.38580414e+01] [-3.40598378e-02 -1.11221854e-04 9.99419789e-01 -5.98798356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:187.40, Y:-33.86, Z:-5.99 [[ 9.80662293e-01 1.92860440e-01 3.32613411e-02 1.87401485e+02] [-1.92753431e-01 9.81226191e-01 -6.42468821e-03 -3.38632312e+01] [-3.38759672e-02 -1.10788138e-04 9.99426039e-01 -5.98965854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67401273899998 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:187.43, Y:-33.87, Z:-5.99 [[ 9.80773315e-01 1.92510782e-01 3.19891069e-02 1.87428353e+02] [-1.92411664e-01 9.81294854e-01 -6.17752941e-03 -3.38707045e+01] [-3.25799870e-02 -9.63212904e-05 9.99469127e-01 -5.99105432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:187.46, Y:-33.88, Z:-5.99 [[ 9.80834307e-01 1.92223281e-01 3.18476507e-02 1.87455487e+02] [-1.92124947e-01 9.81351213e-01 -6.14838097e-03 -3.38773820e+01] [-3.24355926e-02 -8.81852011e-05 9.99473824e-01 -5.99160440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73401273899998 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:187.48, Y:-33.88, Z:-5.99 [[ 9.80862459e-01 1.92290236e-01 3.05499898e-02 1.87483194e+02] [-1.92139604e-01 9.81336448e-01 -7.81972073e-03 -3.38832401e+01] [-3.14834744e-02 1.80020756e-03 9.99502651e-01 -5.99253734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:187.51, Y:-33.89, Z:-5.99 [[ 9.80854189e-01 1.92533888e-01 2.92534228e-02 1.87509213e+02] [-1.92387391e-01 9.81288302e-01 -7.76914828e-03 -3.38894346e+01] [-3.02018659e-02 1.99241194e-03 9.99541834e-01 -5.99294124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79401273899998 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:187.54, Y:-33.90, Z:-6.00 [[ 9.80802360e-01 1.92186370e-01 3.30322645e-02 1.87535366e+02] [-1.92343402e-01 9.81326353e-01 1.61396526e-03 -3.39027420e+01] [-3.21052495e-02 -7.93651906e-03 9.99452983e-01 -5.99576448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:187.56, Y:-33.90, Z:-6.00 [[ 9.80599564e-01 1.93748774e-01 2.97641890e-02 1.87564149e+02] [-1.93549626e-01 9.81044879e-01 -9.45979897e-03 -3.39028526e+01] [-3.10328297e-02 3.51542709e-03 9.99512184e-01 -5.99615446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85401273899998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:187.59, Y:-33.91, Z:-6.00 [[ 9.80140065e-01 1.95814674e-01 3.13379238e-02 1.87591974e+02] [-1.95721540e-01 9.80640897e-01 -6.04234897e-03 -3.39109121e+01] [-3.19144303e-02 -2.11158405e-04 9.99490583e-01 -5.99641032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:187.62, Y:-33.92, Z:-6.00 [[ 9.78850875e-01 2.01916268e-01 3.28753117e-02 1.87620879e+02] [-2.01817256e-01 9.79402693e-01 -6.33723686e-03 -3.39152809e+01] [-3.34777600e-02 -4.31595364e-04 9.99439370e-01 -5.99645872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914012739 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:187.65, Y:-33.92, Z:-6.00 [[ 9.78247674e-01 2.04778923e-01 3.31221987e-02 1.87648643e+02] [-2.04680112e-01 9.78808105e-01 -6.38321323e-03 -3.39192498e+01] [-3.37274240e-02 -5.35091836e-04 9.99430925e-01 -5.99768712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:187.68, Y:-33.92, Z:-6.00 [[ 9.77752145e-01 2.07134257e-01 3.31080313e-02 1.87677529e+02] [-2.07036951e-01 9.78312331e-01 -6.37836322e-03 -3.39223278e+01] [-3.37111729e-02 -6.18127537e-04 9.99431426e-01 -5.99834697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974012739 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:187.71, Y:-33.92, Z:-6.00 [[ 9.76682329e-01 2.12159804e-01 3.28610027e-02 1.87705761e+02] [-2.12066837e-01 9.77234669e-01 -6.32918673e-03 -3.39220936e+01] [-3.34557101e-02 -7.87124083e-04 9.99439891e-01 -5.99966937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:187.73, Y:-33.92, Z:-6.00 [[ 9.76375657e-01 2.13622517e-01 3.24961032e-02 1.87734118e+02] [-2.13532477e-01 9.76915929e-01 -6.25697460e-03 -3.39247992e+01] [-3.30825915e-02 -8.29815717e-04 9.99452277e-01 -6.00083455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034012739 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:187.76, Y:-33.93, Z:-6.00 [[ 9.76392434e-01 2.13545779e-01 3.24963941e-02 1.87762918e+02] [-2.13455746e-01 9.76932707e-01 -6.25546341e-03 -3.39302376e+01] [-3.30826180e-02 -8.28754901e-04 9.99452277e-01 -6.00180545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:187.79, Y:-33.93, Z:-6.00 [[ 9.76177836e-01 2.14604547e-01 3.19643651e-02 1.87790987e+02] [-2.14518090e-01 9.76700651e-01 -6.15047862e-03 -3.39317559e+01] [-3.25395369e-02 -8.52973630e-04 9.99470085e-01 -6.00265651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:187.82, Y:-33.94, Z:-6.00 [[ 9.76161488e-01 2.14669738e-01 3.20258214e-02 1.87819056e+02] [-2.14583050e-01 9.76686319e-01 -6.16022198e-03 -3.39351217e+01] [-3.26015948e-02 -8.58826979e-04 9.99468058e-01 -6.00396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:187.85, Y:-33.94, Z:-6.00 [[ 9.76105754e-01 2.14934265e-01 3.19502658e-02 1.87848004e+02] [-2.14848190e-01 9.76628132e-01 -6.14379595e-03 -3.39380356e+01] [-3.25240407e-02 -8.67462208e-04 9.99470577e-01 -6.00470926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154012739 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:187.88, Y:-33.94, Z:-6.01 [[ 9.75896933e-01 2.16015264e-01 3.10255030e-02 1.87875340e+02] [-2.15934692e-01 9.76389591e-01 -5.96450519e-03 -3.39359709e+01] [-3.15814023e-02 -8.78740105e-04 9.99500797e-01 -6.00650273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:187.90, Y:-33.94, Z:-6.01 [[ 9.75803633e-01 2.16526886e-01 3.03871250e-02 1.87903248e+02] [-2.16449926e-01 9.76276259e-01 -5.83914098e-03 -3.39377140e+01] [-3.09305597e-02 -8.79435969e-04 9.99521149e-01 -6.00798218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21401273899997 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:187.93, Y:-33.94, Z:-6.01 [[ 9.75760660e-01 2.16789285e-01 2.98921610e-02 1.87930497e+02] [-2.16714996e-01 9.76218029e-01 -5.74200558e-03 -3.39366472e+01] [-3.04260718e-02 -8.75256394e-04 9.99536637e-01 -6.00888073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:187.96, Y:-33.94, Z:-6.01 [[ 9.75793742e-01 2.16627560e-01 2.99845479e-02 1.87958743e+02] [-2.16552847e-01 9.76253928e-01 -5.75608512e-03 -3.39381366e+01] [-3.05194593e-02 -8.76487353e-04 9.99533789e-01 -6.00981185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27401273899997 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:187.99, Y:-33.94, Z:-6.01 [[ 9.75869882e-01 2.16217309e-01 3.04638958e-02 1.87986952e+02] [-2.16140055e-01 9.76344868e-01 -5.84595668e-03 -3.39389380e+01] [-3.10072653e-02 -8.79575039e-04 9.99518772e-01 -6.01023335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:188.02, Y:-33.94, Z:-6.01 [[ 9.76148100e-01 2.14772837e-01 3.17413701e-02 1.88015390e+02] [-2.14688280e-01 9.76663642e-01 -6.08872721e-03 -3.39354039e+01] [-3.23083353e-02 -8.71000652e-04 9.99477570e-01 -6.01041758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33401273899997 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:188.04, Y:-33.94, Z:-6.01 [[ 9.76387637e-01 2.13607010e-01 3.22370536e-02 1.88043712e+02] [-2.13519246e-01 9.76919304e-01 -6.18106796e-03 -3.39376857e+01] [-3.28133194e-02 -8.48113045e-04 9.99461138e-01 -6.01157890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:188.07, Y:-33.94, Z:-6.01 [[ 9.77026277e-01 2.10565928e-01 3.28883579e-02 1.88072426e+02] [-2.10472940e-01 9.77579361e-01 -6.30353556e-03 -3.39369412e+01] [-3.34782897e-02 -7.63389498e-04 9.99439153e-01 -6.01232437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39401273899998 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:188.10, Y:-33.94, Z:-6.01 [[ 9.77418301e-01 2.08716413e-01 3.30291375e-02 1.88099626e+02] [-2.08621652e-01 9.77975951e-01 -6.32808665e-03 -3.39378874e+01] [-3.36224777e-02 -7.05405541e-04 9.99434356e-01 -6.01278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:188.13, Y:-33.94, Z:-6.01 [[ 9.77888485e-01 2.06521275e-01 3.29100844e-02 1.88127403e+02] [-2.06426047e-01 9.78441907e-01 -6.30249114e-03 -3.39390715e+01] [-3.35022043e-02 -6.30365130e-04 9.99438445e-01 -6.01368627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45401273899998 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:188.16, Y:-33.94, Z:-6.01 [[ 9.78969308e-01 2.01485692e-01 3.19782753e-02 1.88155770e+02] [-2.01393168e-01 9.79491356e-01 -6.12178791e-03 -3.39412615e+01] [-3.25558969e-02 -4.47163680e-04 9.99469816e-01 -6.01461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:188.18, Y:-33.95, Z:-6.02 [[ 9.79687995e-01 1.97818433e-01 3.28527041e-02 1.88182343e+02] [-1.97718799e-01 9.80238621e-01 -6.28668255e-03 -3.39464311e+01] [-3.34471111e-02 -3.36609764e-04 9.99440432e-01 -6.01503325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51401273899998 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:188.21, Y:-33.95, Z:-6.02 [[ 9.80446953e-01 1.93733448e-01 3.45126675e-02 1.88210353e+02] [-1.93621064e-01 9.81054181e-01 -6.60126453e-03 -3.39514615e+01] [-3.51376825e-02 -2.10189708e-04 9.99382459e-01 -6.01535690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters Centerline goodness : 0.992826 Centerline is valid? [True, True] Translation: X:188.24, Y:-33.96, Z:-6.02 [[ 9.81884625e-01 1.86225249e-01 3.49676821e-02 1.88237074e+02] [-1.86105208e-01 9.82507075e-01 -6.68567211e-03 -3.39558216e+01] [-3.56010361e-02 5.68908920e-05 9.99366081e-01 -6.01662188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57401273899998 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:188.26, Y:-33.96, Z:-6.02 [[ 9.82544563e-01 1.82938279e-01 3.37604607e-02 1.88263262e+02] [-1.82824540e-01 9.83124386e-01 -6.45209641e-03 -3.39621156e+01] [-3.43710676e-02 1.67231562e-04 9.99409126e-01 -6.01872034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:188.29, Y:-33.97, Z:-6.02 [[ 9.83755997e-01 1.76526649e-01 3.25957093e-02 1.88290967e+02] [-1.76417188e-01 9.84295790e-01 -6.22691320e-03 -3.39713333e+01] [-3.31830355e-02 3.75319828e-04 9.99449221e-01 -6.02037345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63401273899999 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:188.32, Y:-33.98, Z:-6.02 [[ 9.84191765e-01 1.74052108e-01 3.27480393e-02 1.88318819e+02] [-1.73940303e-01 9.84736337e-01 -6.25444878e-03 -3.39773675e+01] [-3.33367843e-02 4.59373095e-04 9.99444069e-01 -6.02080408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:188.35, Y:-33.98, Z:-6.02 [[ 9.84584684e-01 1.71809317e-01 3.27804648e-02 1.88345944e+02] [-1.71696101e-01 9.85130079e-01 -6.25904938e-03 -3.39827862e+01] [-3.33683849e-02 5.34286160e-04 9.99442978e-01 -6.02164086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694012739 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:188.37, Y:-33.99, Z:-6.02 [[ 9.85447755e-01 1.66700308e-01 3.32224317e-02 1.88372783e+02] [-1.66581182e-01 9.86007351e-01 -6.34141985e-03 -3.39947552e+01] [-3.38146785e-02 7.14906001e-04 9.99427865e-01 -6.02430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:188.40, Y:-34.01, Z:-6.03 [[ 9.85909239e-01 1.63985633e-01 3.30406476e-02 1.88400462e+02] [-1.63866336e-01 9.86462401e-01 -6.30517794e-03 -3.40056817e+01] [-3.36273152e-02 8.02083321e-04 9.99434120e-01 -6.02522155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754012739 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:188.43, Y:-34.02, Z:-6.03 [[ 9.86556793e-01 1.60293574e-01 3.18066854e-02 1.88428556e+02] [-1.60181130e-01 9.87068981e-01 -6.06894486e-03 -3.40187234e+01] [-3.23682054e-02 8.92527979e-04 9.99475614e-01 -6.02545304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:188.46, Y:-34.03, Z:-6.03 [[ 9.86731223e-01 1.59233118e-01 3.17223492e-02 1.88456440e+02] [-1.59120722e-01 9.87240578e-01 -6.05286255e-03 -3.40275042e+01] [-3.22814066e-02 9.24865353e-04 9.99478392e-01 -6.02704715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814012739 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:188.49, Y:-34.04, Z:-6.03 [[ 9.86791642e-01 1.58905828e-01 3.14832206e-02 1.88485772e+02] [-1.58794967e-01 9.87293308e-01 -6.00684575e-03 -3.40373792e+01] [-3.20376958e-02 9.28128211e-04 9.99486230e-01 -6.02809381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:188.51, Y:-34.05, Z:-6.03 [[ 9.86823333e-01 1.58563555e-01 3.22072654e-02 1.88514849e+02] [-1.58447353e-01 9.87348305e-01 -6.14495952e-03 -3.40532137e+01] [-3.27741556e-02 9.60833502e-04 9.99462321e-01 -6.02915870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874012739 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:188.54, Y:-34.06, Z:-6.03 [[ 9.86760524e-01 1.58925910e-01 3.23453801e-02 1.88544678e+02] [-1.58808800e-01 9.87290049e-01 -6.17445404e-03 -3.40635873e+01] [-3.29155526e-02 9.55976507e-04 9.99457679e-01 -6.02961761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:188.57, Y:-34.08, Z:-6.03 [[ 9.86381341e-01 1.61035113e-01 3.34595546e-02 1.88574415e+02] [-1.60910821e-01 9.86948247e-01 -6.39254600e-03 -3.40756444e+01] [-3.40522731e-02 9.21483707e-04 9.99419628e-01 -6.02979447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934012739 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:188.61, Y:-34.08, Z:-6.03 [[ 9.86090782e-01 1.62864982e-01 3.31657468e-02 1.88605484e+02] [-1.62743726e-01 9.86647995e-01 -6.34148307e-03 -3.40846137e+01] [-3.37557231e-02 8.55760795e-04 9.99429747e-01 -6.03121502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:188.64, Y:-34.10, Z:-6.03 [[ 9.85797570e-01 1.65079943e-01 3.08506676e-02 1.88636886e+02] [-1.64976010e-01 9.86279921e-01 -5.90208867e-03 -3.40959679e+01] [-3.14017104e-02 7.28644641e-04 9.99506579e-01 -6.03373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99401273899997 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:188.67, Y:-34.10, Z:-6.03 [[ 9.85650465e-01 1.66114684e-01 2.99845413e-02 1.88667109e+02] [-1.66016807e-01 9.86106205e-01 -5.74220700e-03 -3.41037405e+01] [-3.05218072e-02 6.81871193e-04 9.99533869e-01 -6.03476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:188.70, Y:-34.11, Z:-6.04 [[ 9.85318485e-01 1.68009390e-01 3.03369252e-02 1.88697519e+02] [-1.67909935e-01 9.85785190e-01 -5.81489130e-03 -3.41106912e+01] [-3.08826479e-02 6.35648751e-04 9.99522815e-01 -6.03583940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05401273899997 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:188.73, Y:-34.12, Z:-6.04 [[ 9.85124389e-01 1.69085717e-01 3.06587582e-02 1.88728116e+02] [-1.68984638e-01 9.85601161e-01 -5.87729994e-03 -3.41176659e+01] [-3.12110751e-02 6.09012349e-04 9.99512630e-01 -6.03696156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:188.76, Y:-34.13, Z:-6.04 [[ 9.84930969e-01 1.70174060e-01 3.08508566e-02 1.88758642e+02] [-1.70072208e-01 9.85413849e-01 -5.91525870e-03 -3.41250302e+01] [-3.14074849e-02 5.79248179e-04 9.99506495e-01 -6.03841754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11401273899997 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:188.79, Y:-34.13, Z:-6.04 [[ 9.84633537e-01 1.71927871e-01 3.06203403e-02 1.88788459e+02] [-1.71828360e-01 9.85109403e-01 -5.87182421e-03 -3.41327139e+01] [-3.11739154e-02 5.20152184e-04 9.99513840e-01 -6.03864342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:188.82, Y:-34.14, Z:-6.04 [[ 9.84582281e-01 1.72273732e-01 3.03231378e-02 1.88819367e+02] [-1.72176296e-01 9.85048987e-01 -5.81516780e-03 -3.41388577e+01] [-3.08715768e-02 5.04585620e-04 9.99523232e-01 -6.03931562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17401273899998 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:188.85, Y:-34.14, Z:-6.04 [[ 9.84489039e-01 1.72579979e-01 3.15829459e-02 1.88848646e+02] [-1.72474409e-01 9.84995373e-01 -6.05758054e-03 -3.41449293e+01] [-3.21544727e-02 5.16371725e-04 9.99482778e-01 -6.04058820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:188.88, Y:-34.15, Z:-6.04 [[ 9.84444835e-01 1.72831105e-01 3.15875856e-02 1.88879524e+02] [-1.72725646e-01 9.84951345e-01 -6.05806275e-03 -3.41516586e+01] [-3.21592566e-02 5.07842469e-04 9.99482628e-01 -6.04145276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23401273899998 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:188.91, Y:-34.16, Z:-6.04 [[ 9.84331549e-01 1.73483856e-01 3.15397173e-02 1.88910011e+02] [-1.73379027e-01 9.84836593e-01 -6.04962354e-03 -3.41575726e+01] [-3.21109797e-02 4.86509810e-04 9.99484191e-01 -6.04283617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:188.94, Y:-34.16, Z:-6.04 [[ 9.84055176e-01 1.74956248e-01 3.20268823e-02 1.88940611e+02] [-1.74848908e-01 9.84576108e-01 -6.14384518e-03 -3.41631125e+01] [-3.26078072e-02 4.46017251e-04 9.99468125e-01 -6.04260988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29401273899998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:188.97, Y:-34.17, Z:-6.04 [[ 9.83919566e-01 1.75452362e-01 3.34478068e-02 1.88971369e+02] [-1.75335542e-01 9.84487819e-01 -6.41726352e-03 -3.41691365e+01] [-3.40548824e-02 4.49481818e-04 9.99419863e-01 -6.04302284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:189.00, Y:-34.18, Z:-6.04 [[ 9.83538514e-01 1.77386960e-01 3.44362811e-02 1.89002039e+02] [-1.77264286e-01 9.84141103e-01 -6.60775764e-03 -3.41756666e+01] [-3.50622897e-02 3.94661362e-04 9.99385051e-01 -6.04303286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35401273899998 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:189.03, Y:-34.18, Z:-6.05 [[ 9.83397466e-01 1.78270506e-01 3.38976597e-02 1.89032608e+02] [-1.78152134e-01 9.83981452e-01 -6.50529970e-03 -3.41817369e+01] [-3.45143715e-02 3.58354821e-04 9.99404137e-01 -6.04531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:189.06, Y:-34.19, Z:-6.05 [[ 9.83290976e-01 1.79053884e-01 3.28414921e-02 1.89063944e+02] [-1.78943112e-01 9.83839215e-01 -6.30560650e-03 -3.41880829e+01] [-3.34397912e-02 3.23487155e-04 9.99440681e-01 -6.04680982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414012739 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:189.09, Y:-34.20, Z:-6.05 [[ 9.83233927e-01 1.79516010e-01 3.20163582e-02 1.89093396e+02] [-1.79410806e-01 9.83755005e-01 -6.15253006e-03 -3.41973608e+01] [-3.26007302e-02 3.05295669e-04 9.99468408e-01 -6.04907737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:189.12, Y:-34.21, Z:-6.05 [[ 9.83299164e-01 1.79088303e-01 3.24057564e-02 1.89122998e+02] [-1.78980189e-01 9.83832950e-01 -6.23048821e-03 -3.42055712e+01] [-3.29976585e-02 3.26445461e-04 9.99455376e-01 -6.04899574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474012739 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:189.15, Y:-34.21, Z:-6.05 [[ 9.83301860e-01 1.78778065e-01 3.39978647e-02 1.89153781e+02] [-1.78658868e-01 9.83889363e-01 -6.53684435e-03 -3.42145728e+01] [-3.46187818e-02 3.53671185e-04 9.99400528e-01 -6.04823765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:189.18, Y:-34.22, Z:-6.05 [[ 9.83255774e-01 1.79071159e-01 3.37876064e-02 1.89184240e+02] [-1.78953412e-01 9.83836063e-01 -6.50204445e-03 -3.42212291e+01] [-3.44057943e-02 3.46765292e-04 9.99407885e-01 -6.04925562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:189.22, Y:-34.23, Z:-6.05 [[ 9.83047626e-01 1.80346781e-01 3.30515400e-02 1.89215284e+02] [-1.80234662e-01 9.83603044e-01 -6.36540390e-03 -3.42282653e+01] [-3.36575755e-02 3.00462064e-04 9.99433378e-01 -6.05138536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:189.25, Y:-34.24, Z:-6.05 [[ 9.82624316e-01 1.82913273e-01 3.14990229e-02 1.89246028e+02] [-1.82812596e-01 9.83129031e-01 -6.07149113e-03 -3.42365408e+01] [-3.20781602e-02 2.07576650e-04 9.99485342e-01 -6.05375007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594012739 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:189.28, Y:-34.24, Z:-6.05 [[ 9.82409041e-01 1.84208641e-01 3.06537574e-02 1.89277000e+02] [-1.84113766e-01 9.82887150e-01 -5.91373394e-03 -3.42429228e+01] [-3.12185451e-02 1.65926978e-04 9.99512569e-01 -6.05425258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:189.31, Y:-34.25, Z:-6.06 [[ 9.82165636e-01 1.85684221e-01 2.95302186e-02 1.89306734e+02] [-1.85596691e-01 9.82609463e-01 -5.70198345e-03 -3.42494729e+01] [-3.00754405e-02 1.19581361e-04 9.99547624e-01 -6.05612294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654012739 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:189.34, Y:-34.26, Z:-6.06 [[ 9.82135803e-01 1.85863731e-01 2.93928178e-02 1.89336487e+02] [-1.85777093e-01 9.82575524e-01 -5.67545276e-03 -3.42562636e+01] [-2.99355242e-02 1.13553102e-04 9.99551825e-01 -6.05760366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:189.37, Y:-34.26, Z:-6.06 [[ 9.82145220e-01 1.85797168e-01 2.94988028e-02 1.89365633e+02] [-1.85709874e-01 9.82588113e-01 -5.69595426e-03 -3.42630024e+01] [-3.00434651e-02 1.16035304e-04 9.99548586e-01 -6.05854596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71401273899997 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:189.40, Y:-34.27, Z:-6.06 [[ 9.82180559e-01 1.85344698e-01 3.11238354e-02 1.89395688e+02] [-1.85247305e-01 9.82673559e-01 -6.00931313e-03 -3.42698366e+01] [-3.16983644e-02 1.36623891e-04 9.99497471e-01 -6.05879887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:189.43, Y:-34.28, Z:-6.06 [[ 9.82174230e-01 1.85250813e-01 3.18734582e-02 1.89427673e+02] [-1.85148624e-01 9.82691262e-01 -6.15393771e-03 -3.42765485e+01] [-3.24617909e-02 1.42912085e-04 9.99472967e-01 -6.05903890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77401273899997 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:189.46, Y:-34.29, Z:-6.06 [[ 9.82217636e-01 1.85031095e-01 3.18121051e-02 1.89458657e+02] [-1.84929003e-01 9.82732654e-01 -6.14767406e-03 -3.42855471e+01] [-3.24003054e-02 1.55372987e-04 9.99474960e-01 -6.06041598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:189.49, Y:-34.29, Z:-6.06 [[ 9.82157190e-01 1.85475506e-01 3.10819968e-02 1.89488667e+02] [-1.85378152e-01 9.82648878e-01 -6.01030871e-03 -3.42926632e+01] [-3.16574543e-02 1.41144783e-04 9.99498767e-01 -6.06138703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83401273899997 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:189.52, Y:-34.30, Z:-6.06 [[ 9.81997447e-01 1.86415180e-01 3.05023834e-02 1.89519324e+02] [-1.86321725e-01 9.82471052e-01 -5.90313480e-03 -3.42991034e+01] [-3.10681426e-02 1.13606624e-04 9.99517262e-01 -6.06239344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:189.55, Y:-34.30, Z:-6.06 [[ 9.81135446e-01 1.90825676e-01 3.09644674e-02 1.89551091e+02] [-1.90731538e-01 9.81623941e-01 -5.99331322e-03 -3.43023580e+01] [-3.15391405e-02 -2.56484505e-05 9.99502517e-01 -6.06323586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89401273899998 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:189.58, Y:-34.31, Z:-6.06 [[ 9.80575454e-01 1.93541155e-01 3.18371011e-02 1.89580245e+02] [-1.93443037e-01 9.81092151e-01 -6.16306122e-03 -3.43059273e+01] [-3.24279359e-02 -1.15318957e-04 9.99474070e-01 -6.06379358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:189.61, Y:-34.31, Z:-6.06 [[ 9.79740804e-01 1.97626707e-01 3.24290312e-02 1.89611420e+02] [-1.97527155e-01 9.80277318e-01 -6.27723426e-03 -3.43069199e+01] [-3.30299929e-02 -2.55551727e-04 9.99454328e-01 -6.06411474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95401273899998 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:189.64, Y:-34.31, Z:-6.07 [[ 9.79738422e-01 1.97638514e-01 3.24290314e-02 1.89641838e+02] [-1.97538968e-01 9.80274937e-01 -6.27723335e-03 -3.43128133e+01] [-3.30299898e-02 -2.55950708e-04 9.99454328e-01 -6.06514111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:189.67, Y:-34.32, Z:-6.07 [[ 9.79437361e-01 1.99328062e-01 3.11573335e-02 1.89671227e+02] [-1.99237013e-01 9.79932770e-01 -6.03148037e-03 -3.43156963e+01] [-3.17343354e-02 -3.00236858e-04 9.99496294e-01 -6.06677220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01401273899998 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:189.70, Y:-34.32, Z:-6.07 [[ 9.79345504e-01 2.00025266e-01 2.95343306e-02 1.89700138e+02] [-1.99943784e-01 9.79790691e-01 -5.71702303e-03 -3.43183121e+01] [-3.00810113e-02 -3.06265004e-04 9.99547417e-01 -6.06858642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:189.73, Y:-34.32, Z:-6.07 [[ 9.79711689e-01 1.98471437e-01 2.78225719e-02 1.89727957e+02] [-1.98398525e-01 9.80106642e-01 -5.38482656e-03 -3.43202376e+01] [-2.83378218e-02 -2.44379710e-04 9.99598373e-01 -6.07088015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07401273899998 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:189.76, Y:-34.32, Z:-6.07 [[ 9.80212407e-01 1.95981353e-01 2.78378528e-02 1.89755425e+02] [-1.95907404e-01 9.80607607e-01 -5.38611358e-03 -3.43235447e+01] [-2.83535881e-02 -1.74106132e-04 9.99597941e-01 -6.07177313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:189.78, Y:-34.32, Z:-6.07 [[ 9.81508688e-01 1.89162038e-01 2.92987707e-02 1.89784620e+02] [-1.89077136e-01 9.81945886e-01 -5.66689930e-03 -3.43228665e+01] [-2.98417696e-02 2.23832452e-05 9.99554635e-01 -6.07067940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13401273899999 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:189.81, Y:-34.33, Z:-6.07 [[ 9.82130073e-01 1.85759103e-01 3.02336702e-02 1.89812930e+02] [-1.85667130e-01 9.82595308e-01 -5.84617215e-03 -3.43252844e+01] [-3.07934422e-02 1.28302706e-04 9.99525761e-01 -6.07108455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:189.84, Y:-34.33, Z:-6.07 [[ 9.82640512e-01 1.82910435e-01 3.10063964e-02 1.89842040e+02] [-1.82812317e-01 9.83129556e-01 -5.99441628e-03 -3.43291281e+01] [-3.15797460e-02 2.22005095e-04 9.99501211e-01 -6.07213459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194012739 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:189.87, Y:-34.33, Z:-6.07 [[ 9.83538205e-01 1.78133589e-01 3.03483672e-02 1.89871074e+02] [-1.78037341e-01 9.84006245e-01 -5.86645839e-03 -3.43343743e+01] [-3.09079962e-02 3.66743355e-04 9.99522166e-01 -6.07432517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:189.90, Y:-34.34, Z:-6.08 [[ 9.84198247e-01 1.74701703e-01 2.88639287e-02 1.89899129e+02] [-1.74613178e-01 9.84621304e-01 -5.57909335e-03 -3.43421118e+01] [-2.93947162e-02 4.50911574e-04 9.99567780e-01 -6.07608543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:189.93, Y:-34.35, Z:-6.08 [[ 9.84487396e-01 1.73098443e-01 2.86617363e-02 1.89928550e+02] [-1.73010464e-01 9.84904403e-01 -5.54040983e-03 -3.43490474e+01] [-2.91881066e-02 4.95683356e-04 9.99573814e-01 -6.07594263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:189.96, Y:-34.36, Z:-6.08 [[ 9.84651231e-01 1.72198174e-01 2.84559766e-02 1.89957578e+02] [-1.72111076e-01 9.85062191e-01 -5.50068499e-03 -3.43552723e+01] [-2.89781145e-02 5.18667501e-04 9.99579912e-01 -6.07620857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314012739 meters Centerline goodness : 0.989452 Centerline is valid? [True, True] Translation: X:189.99, Y:-34.36, Z:-6.07 [[ 9.84505475e-01 1.73302039e-01 2.67464661e-02 1.89987009e+02] [-1.73225509e-01 9.84868618e-01 -5.16992531e-03 -3.43612221e+01] [-2.72377137e-02 4.56649563e-04 9.99628880e-01 -6.06780715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:190.02, Y:-34.37, Z:-6.08 [[ 9.84252471e-01 1.74561739e-01 2.78437051e-02 1.90015350e+02] [-1.74479312e-01 9.84646133e-01 -5.38172140e-03 -3.43667337e+01] [-2.83556392e-02 4.38822073e-04 9.99597802e-01 -6.07864795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374012739 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:190.04, Y:-34.37, Z:-6.08 [[ 9.83859206e-01 1.76333387e-01 3.04565230e-02 1.90044448e+02] [-1.76235633e-01 9.84330411e-01 -5.88594688e-03 -3.43745708e+01] [-3.10171708e-02 4.23418421e-04 9.99518762e-01 -6.07848790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:190.07, Y:-34.38, Z:-6.08 [[ 9.83712346e-01 1.76956015e-01 3.15687880e-02 1.90074753e+02] [-1.76851336e-01 9.84218672e-01 -6.10006567e-03 -3.43817554e+01] [-3.21500339e-02 4.17727569e-04 9.99482967e-01 -6.07914508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434012739 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:190.10, Y:-34.39, Z:-6.08 [[ 9.83589478e-01 1.77563059e-01 3.19859161e-02 1.90104560e+02] [-1.77455890e-01 9.84109342e-01 -6.18145621e-03 -3.43892810e+01] [-3.25752372e-02 4.03926076e-04 9.99469205e-01 -6.07994010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:190.13, Y:-34.40, Z:-6.08 [[ 9.83526075e-01 1.78088513e-01 3.09990571e-02 1.90133584e+02] [-1.77988060e-01 9.84014400e-01 -5.99253749e-03 -3.43986870e+01] [-3.15707207e-02 3.76354835e-04 9.99501450e-01 -6.08137686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49401273899997 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:190.16, Y:-34.41, Z:-6.08 [[ 9.83641919e-01 1.77401102e-01 3.12637970e-02 1.90164836e+02] [-1.77298573e-01 9.84138551e-01 -6.04389417e-03 -3.44072642e+01] [-3.18401014e-02 4.02001058e-04 9.99492895e-01 -6.08169570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:190.20, Y:-34.42, Z:-6.07 [[ 9.83763183e-01 1.76811087e-01 3.07870091e-02 1.90195671e+02] [-1.76711209e-01 9.84244717e-01 -5.95695890e-03 -3.44150073e+01] [-3.13552075e-02 4.19827258e-04 9.99508216e-01 -6.07219508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55401273899997 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:190.23, Y:-34.42, Z:-6.08 [[ 9.83758568e-01 1.76838107e-01 3.07792630e-02 1.90225804e+02] [-1.76738139e-01 9.84239861e-01 -5.96035749e-03 -3.44230064e+01] [-3.13481959e-02 4.23683081e-04 9.99508435e-01 -6.08267810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:190.26, Y:-34.43, Z:-6.08 [[ 9.83701110e-01 1.77345204e-01 2.96783550e-02 1.90255805e+02] [-1.77252345e-01 9.84148627e-01 -5.75204180e-03 -3.44321023e+01] [-3.02280093e-02 3.97731900e-04 9.99542950e-01 -6.08401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61401273899997 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:190.29, Y:-34.44, Z:-6.09 [[ 9.83281934e-01 1.79802888e-01 2.87673309e-02 1.90286364e+02] [-1.79716691e-01 9.83702609e-01 -5.57559074e-03 -3.44432198e+01] [-2.93010058e-02 3.12408120e-04 9.99570585e-01 -6.08582203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:190.32, Y:-34.45, Z:-6.08 [[ 9.82558873e-01 1.83727817e-01 2.86731751e-02 1.90315126e+02] [-1.83643692e-01 9.82977136e-01 -5.56286252e-03 -3.44496350e+01] [-2.92071281e-02 2.00192197e-04 9.99573361e-01 -6.07877271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67401273899998 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:190.34, Y:-34.45, Z:-6.09 [[ 9.81953033e-01 1.86893075e-01 2.89692792e-02 1.90344979e+02] [-1.86808591e-01 9.82380256e-01 -5.61991308e-03 -3.44549476e+01] [-2.95091708e-02 1.06780465e-04 9.99564504e-01 -6.08678040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:190.38, Y:-34.46, Z:-6.09 [[ 9.81292072e-01 1.90404484e-01 2.84956396e-02 1.90375192e+02] [-1.90324220e-01 9.81705726e-01 -5.52802906e-03 -3.44600525e+01] [-2.90268941e-02 1.20073027e-06 9.99578631e-01 -6.08759214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73401273899998 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:190.40, Y:-34.46, Z:-6.09 [[ 9.80555412e-01 1.94257073e-01 2.78437527e-02 1.90404445e+02] [-1.94181989e-01 9.80950650e-01 -5.40162412e-03 -3.44649323e+01] [-2.83626510e-02 -1.10163532e-04 9.99597693e-01 -6.08862382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:190.43, Y:-34.47, Z:-6.09 [[ 9.79322360e-01 2.00374452e-01 2.78889745e-02 1.90432956e+02] [-2.00301607e-01 9.79719346e-01 -5.41021273e-03 -3.44692736e+01] [-2.84074362e-02 -2.87864107e-04 9.99596386e-01 -6.08975564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79401273899998 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:190.46, Y:-34.47, Z:-6.09 [[ 9.78972228e-01 2.02051170e-01 2.80838126e-02 1.90461697e+02] [-2.01978032e-01 9.79374907e-01 -5.44664386e-03 -3.44738499e+01] [-2.86050821e-02 -3.40200114e-04 9.99590733e-01 -6.09022516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:190.49, Y:-34.48, Z:-6.09 [[ 9.78840715e-01 2.02792000e-01 2.73177479e-02 1.90490820e+02] [-2.02723122e-01 9.79221773e-01 -5.29678656e-03 -3.44769486e+01] [-2.78242794e-02 -3.53228787e-04 9.99612767e-01 -6.09072782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85401273899998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:190.52, Y:-34.48, Z:-6.09 [[ 9.79015260e-01 2.01911444e-01 2.75842205e-02 1.90518461e+02] [-2.01840903e-01 9.79403726e-01 -5.34714897e-03 -3.44813150e+01] [-2.80957389e-02 -3.32683537e-04 9.99605181e-01 -6.09168731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:190.55, Y:-34.49, Z:-6.09 [[ 9.79303211e-01 2.00391379e-01 2.84344162e-02 1.90546531e+02] [-2.00315834e-01 9.79715880e-01 -5.51011115e-03 -3.44857243e+01] [-2.89618278e-02 -2.99794241e-04 9.99580473e-01 -6.09286775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914012739 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:190.57, Y:-34.49, Z:-6.09 [[ 9.79882199e-01 1.97268213e-01 3.02676199e-02 1.90574853e+02] [-1.97181168e-01 9.80349531e-01 -5.86380779e-03 -3.44892182e+01] [-3.08295899e-02 -2.22363795e-04 9.99524630e-01 -6.09441657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:190.60, Y:-34.50, Z:-6.10 [[ 9.79955632e-01 1.96332267e-01 3.37727730e-02 1.90600167e+02] [-1.96464112e-01 9.80510834e-01 5.98058932e-04 -3.44984335e+01] [-3.29971516e-02 -7.22120907e-03 9.99429358e-01 -6.09582728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974012739 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:190.63, Y:-34.49, Z:-6.10 [[ 9.80807572e-01 1.92853557e-01 2.87056117e-02 1.90633826e+02] [-1.92565877e-01 9.81204481e-01 -1.24959673e-02 -3.44929938e+01] [-3.05759666e-02 6.72841804e-03 9.99509799e-01 -6.09591684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:190.66, Y:-34.50, Z:-6.10 [[ 9.80877672e-01 1.92442837e-01 2.90645185e-02 1.90661615e+02] [-1.92360512e-01 9.81308183e-01 -5.62884379e-03 -3.45019733e+01] [-2.96044805e-02 -6.96584518e-05 9.99561689e-01 -6.09719726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034012739 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:190.69, Y:-34.51, Z:-6.10 [[ 9.80744770e-01 1.93245317e-01 2.82124728e-02 1.90689053e+02] [-1.93168106e-01 9.81150467e-01 -5.46296722e-03 -3.45056700e+01] [-2.87363736e-02 -9.19733879e-05 9.99587021e-01 -6.09850148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:190.72, Y:-34.51, Z:-6.10 [[ 9.80304668e-01 1.95534889e-01 2.77284322e-02 1.90716924e+02] [-1.95461270e-01 9.80696733e-01 -5.36748820e-03 -3.45068433e+01] [-2.82427141e-02 -1.58060836e-04 9.99601082e-01 -6.09888365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094012739 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:190.75, Y:-34.51, Z:-6.10 [[ 9.80199392e-01 1.96006847e-01 2.81152514e-02 1.90745625e+02] [-1.95931402e-01 9.80602511e-01 -5.44066038e-03 -3.45107197e+01] [-2.86362928e-02 -1.75728631e-04 9.99589882e-01 -6.09963927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:190.77, Y:-34.51, Z:-6.10 [[ 9.80129732e-01 1.96115828e-01 2.97370271e-02 1.90773817e+02] [-1.96031521e-01 9.80580719e-01 -5.75300860e-03 -3.45136465e+01] [-3.02878114e-02 -1.90699855e-04 9.99541201e-01 -6.09983954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:190.80, Y:-34.52, Z:-6.10 [[ 9.80240378e-01 1.95459717e-01 3.04023143e-02 1.90802694e+02] [-1.95371338e-01 9.80711715e-01 -5.87982058e-03 -3.45166784e+01] [-3.09651738e-02 -1.76103271e-04 9.99520449e-01 -6.10048064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:190.83, Y:-34.52, Z:-6.10 [[ 9.80301650e-01 1.95042409e-01 3.10987907e-02 1.90831301e+02] [-1.94949772e-01 9.80794795e-01 -6.01297620e-03 -3.45200562e+01] [-3.16743175e-02 -1.68171676e-04 9.99498229e-01 -6.10178281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21401273899997 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:190.86, Y:-34.52, Z:-6.10 [[ 9.80526813e-01 1.93763037e-01 3.19852292e-02 1.90860314e+02] [-1.93664414e-01 9.81048352e-01 -6.18277473e-03 -3.45236863e+01] [-3.25770496e-02 -1.32024282e-04 9.99469218e-01 -6.10310144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:190.89, Y:-34.53, Z:-6.10 [[ 9.80798030e-01 1.92441197e-01 3.16482150e-02 1.90888153e+02] [-1.92344004e-01 9.81308503e-01 -6.11609750e-03 -3.45292904e+01] [-3.22336516e-02 -8.86879930e-05 9.99480357e-01 -6.10396625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27401273899997 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:190.92, Y:-34.54, Z:-6.11 [[ 9.81640375e-01 1.88579942e-01 2.86318016e-02 1.90916006e+02] [-1.88498791e-01 9.82057842e-01 -5.53187215e-03 -3.45353891e+01] [-2.91612854e-02 3.32490737e-05 9.99574719e-01 -6.10575280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:190.95, Y:-34.54, Z:-6.11 [[ 9.81960989e-01 1.87052228e-01 2.76420138e-02 1.90945464e+02] [-1.86976015e-01 9.82349967e-01 -5.33961671e-03 -3.45413544e+01] [-2.81529186e-02 7.49017109e-05 9.99603625e-01 -6.10695256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33401273899997 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:190.97, Y:-34.55, Z:-6.11 [[ 9.82015303e-01 1.86731048e-01 2.78829758e-02 1.90973554e+02] [-1.86653391e-01 9.82411069e-01 -5.38545893e-03 -3.45478235e+01] [-2.83981765e-02 8.41511024e-05 9.99596687e-01 -6.10782003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:191.00, Y:-34.55, Z:-6.11 [[ 9.81733774e-01 1.87538134e-01 3.20662532e-02 1.91001312e+02] [-1.87435880e-01 9.82257320e-01 -6.19252580e-03 -3.45532495e+01] [-3.26586467e-02 6.90453476e-05 9.99466562e-01 -6.10511998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39401273899998 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:191.03, Y:-34.56, Z:-6.10 [[ 9.81400391e-01 1.88882580e-01 3.43022430e-02 1.91030245e+02] [-1.88766463e-01 9.81999679e-01 -6.62209551e-03 -3.45581384e+01] [-3.49355901e-02 2.38140304e-05 9.99389566e-01 -6.10494071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:191.06, Y:-34.56, Z:-6.11 [[ 9.80934336e-01 1.91053331e-01 3.55872668e-02 1.91058735e+02] [-1.90929809e-01 9.81579656e-01 -6.86924607e-03 -3.45635978e+01] [-3.62441295e-02 -5.63907143e-05 9.99342964e-01 -6.10620247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45401273899998 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:191.09, Y:-34.57, Z:-6.11 [[ 9.80895363e-01 1.91405573e-01 3.47590862e-02 1.91087174e+02] [-1.91287999e-01 9.81511030e-01 -6.70816216e-03 -3.45696020e+01] [-3.54004061e-02 -6.89908986e-05 9.99373207e-01 -6.10780298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:191.12, Y:-34.57, Z:-6.11 [[ 9.80964716e-01 1.91331550e-01 3.31732567e-02 1.91116840e+02] [-1.91224458e-01 9.81525463e-01 -6.40099362e-03 -3.45747393e+01] [-3.37851081e-02 -6.43891464e-05 9.99429118e-01 -6.10956877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51401273899998 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:191.14, Y:-34.58, Z:-6.11 [[ 9.81002571e-01 1.91661634e-01 2.99962403e-02 1.91144551e+02] [-1.91574251e-01 9.81461061e-01 -5.78732140e-03 -3.45800434e+01] [-3.05493493e-02 -6.91301000e-05 9.99533257e-01 -6.11218755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:191.17, Y:-34.59, Z:-6.11 [[ 9.80961174e-01 1.91965177e-01 2.94031526e-02 1.91171445e+02] [-1.91881370e-01 9.81401735e-01 -5.67231223e-03 -3.45864567e+01] [-2.99451914e-02 -7.75991380e-05 9.99551539e-01 -6.11289010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57401273899998 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:191.20, Y:-34.59, Z:-6.11 [[ 9.80859074e-01 1.92470827e-01 2.95035253e-02 1.91199746e+02] [-1.92386729e-01 9.81302691e-01 -5.68988382e-03 -3.45929942e+01] [-3.00470255e-02 -9.51125475e-05 9.99548482e-01 -6.11242282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:191.23, Y:-34.60, Z:-6.11 [[ 9.80316312e-01 1.95045810e-01 3.06114302e-02 1.91227905e+02] [-1.94956578e-01 9.80794116e-01 -5.90202656e-03 -3.45962978e+01] [-3.11746762e-02 -1.82046760e-04 9.99513935e-01 -6.11182271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63401273899999 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:191.26, Y:-34.60, Z:-6.11 [[ 9.79454747e-01 1.99584821e-01 2.88841965e-02 1.91256775e+02] [-1.99507397e-01 9.79880505e-01 -5.56733760e-03 -3.45971140e+01] [-2.94142171e-02 -3.09655625e-04 9.99567260e-01 -6.11418589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:191.28, Y:-34.60, Z:-6.12 [[ 9.78926120e-01 2.02254962e-01 2.82237865e-02 1.91284274e+02] [-2.02182182e-01 9.79332826e-01 -5.43883213e-03 -3.46017409e+01] [-2.87405114e-02 -3.82131891e-04 9.99586833e-01 -6.11589792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694012739 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:191.31, Y:-34.61, Z:-6.12 [[ 9.78501301e-01 2.04320081e-01 2.80803922e-02 1.91311014e+02] [-2.04248945e-01 9.78904034e-01 -5.40924449e-03 -3.46068409e+01] [-2.85932265e-02 -4.42437713e-04 9.99591032e-01 -6.11693483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:191.34, Y:-34.61, Z:-6.12 [[ 9.78090733e-01 2.06205383e-01 2.85982264e-02 1.91337651e+02] [-2.06132474e-01 9.78508600e-01 -5.50656401e-03 -3.46108016e+01] [-2.91190936e-02 -5.09103938e-04 9.99575820e-01 -6.11796405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754012739 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:191.37, Y:-34.61, Z:-6.12 [[ 9.78083826e-01 2.06227489e-01 2.86749326e-02 1.91365863e+02] [-2.06154269e-01 9.78503939e-01 -5.51890655e-03 -3.46147282e+01] [-2.91966848e-02 -5.13506524e-04 9.99573554e-01 -6.11860826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:191.39, Y:-34.62, Z:-6.12 [[ 9.78096459e-01 2.06207069e-01 2.83894717e-02 1.91393181e+02] [-2.06135349e-01 9.78508245e-01 -5.46194689e-03 -3.46190600e+01] [-2.89056241e-02 -5.09762742e-04 9.99582015e-01 -6.11964080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814012739 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:191.42, Y:-34.62, Z:-6.12 [[ 9.78034030e-01 2.06527768e-01 2.82084562e-02 1.91420220e+02] [-2.06457139e-01 9.78440603e-01 -5.42554343e-03 -3.46244884e+01] [-2.87208243e-02 -5.17471050e-04 9.99587338e-01 -6.12013799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:191.45, Y:-34.63, Z:-6.12 [[ 9.78045636e-01 2.06472750e-01 2.82088310e-02 1.91448210e+02] [-2.06402155e-01 9.78452214e-01 -5.42359386e-03 -3.46297368e+01] [-2.87208175e-02 -5.17841205e-04 9.99587338e-01 -6.12108278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874012739 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:191.47, Y:-34.63, Z:-6.12 [[ 9.77750811e-01 2.07833495e-01 2.84357202e-02 1.91474377e+02] [-2.07762379e-01 9.78164056e-01 -5.46563855e-03 -3.46348622e+01] [-2.89507422e-02 -5.63840356e-04 9.99580680e-01 -6.12161397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:191.50, Y:-34.64, Z:-6.12 [[ 9.77083933e-01 2.10876420e-01 2.89503565e-02 1.91501131e+02] [-2.10804111e-01 9.77512501e-01 -5.56215598e-03 -3.46375495e+01] [-2.94722629e-02 -6.68160936e-04 9.99565375e-01 -6.12216361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934012739 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:191.53, Y:-34.64, Z:-6.12 [[ 9.76551817e-01 2.13407371e-01 2.83521255e-02 1.91527661e+02] [-2.13339150e-01 9.76963029e-01 -5.44498051e-03 -3.46410182e+01] [-2.88609773e-02 -7.31312736e-04 9.99583168e-01 -6.12298326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:191.56, Y:-34.64, Z:-6.12 [[ 9.75585751e-01 2.17848909e-01 2.78261771e-02 1.91555041e+02] [-2.17785061e-01 9.75982137e-01 -5.34176866e-03 -3.46449448e+01] [-2.83215503e-02 -8.48772292e-04 9.99598504e-01 -6.12293789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99401273899997 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:191.58, Y:-34.65, Z:-6.12 [[ 9.75303545e-01 2.19051861e-01 2.82714824e-02 1.91582121e+02] [-2.18986517e-01 9.75712802e-01 -5.42521141e-03 -3.46486035e+01] [-2.87732500e-02 -8.99845555e-04 9.99585559e-01 -6.12372504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:191.61, Y:-34.65, Z:-6.12 [[ 9.75134591e-01 2.19634998e-01 2.95465243e-02 1.91609237e+02] [-2.19563972e-01 9.75581644e-01 -5.66727967e-03 -3.46522079e+01] [-3.00697797e-02 -9.60991805e-04 9.99547340e-01 -6.12480695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05401273899997 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:191.64, Y:-34.66, Z:-6.13 [[ 9.75525479e-01 2.17566561e-01 3.18564330e-02 1.91636769e+02] [-2.17482985e-01 9.76045004e-01 -6.10745335e-03 -3.46565563e+01] [-3.24220899e-02 -9.70255794e-04 9.99473795e-01 -6.12630731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:191.66, Y:-34.66, Z:-6.13 [[ 9.76054917e-01 2.15187327e-01 3.17995885e-02 1.91664801e+02] [-2.15102860e-01 9.76572383e-01 -6.09429180e-03 -3.46614377e+01] [-3.23660143e-02 -8.91818974e-04 9.99475685e-01 -6.12706873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11401273899997 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:191.69, Y:-34.66, Z:-6.13 [[ 9.77207286e-01 2.10064163e-01 3.06425898e-02 1.91691904e+02] [-2.09983277e-01 9.77687353e-01 -5.87052229e-03 -3.46633753e+01] [-3.11920588e-02 -6.97714255e-04 9.99513166e-01 -6.12712609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:191.72, Y:-34.67, Z:-6.13 [[ 9.77863814e-01 2.06952049e-01 3.08740961e-02 1.91719967e+02] [-2.06868490e-01 9.78350899e-01 -5.91152292e-03 -3.46675470e+01] [-3.14291015e-02 -6.06213282e-04 9.99505800e-01 -6.12794689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17401273899998 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:191.75, Y:-34.67, Z:-6.13 [[ 9.78559743e-01 2.03550255e-01 3.14344376e-02 1.91747401e+02] [-2.03461951e-01 9.79064367e-01 -6.01655679e-03 -3.46724546e+01] [-3.20010094e-02 -5.08151746e-04 9.99487707e-01 -6.12813898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:191.77, Y:-34.67, Z:-6.13 [[ 9.79721759e-01 1.97720671e-01 3.24316481e-02 1.91774949e+02] [-1.97623559e-01 9.80258347e-01 -6.20496147e-03 -3.46749583e+01] [-3.30182429e-02 -3.30121953e-04 9.99454695e-01 -6.12822137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23401273899998 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:191.80, Y:-34.68, Z:-6.13 [[ 9.80012093e-01 1.96227096e-01 3.27295619e-02 1.91801959e+02] [-1.96143660e-01 9.80558180e-01 -5.77229878e-03 -3.46770912e+01] [-3.32259211e-02 -7.62773460e-04 9.99447576e-01 -6.12902182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:191.83, Y:-34.68, Z:-6.13 [[ 9.80743182e-01 1.92725570e-01 3.16174784e-02 1.91832498e+02] [-1.92618326e-01 9.81252672e-01 -6.43222042e-03 -3.46766822e+01] [-3.22643885e-02 2.18250561e-04 9.99479345e-01 -6.13014268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29401273899998 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:191.86, Y:-34.68, Z:-6.13 [[ 9.81032966e-01 1.91322791e-01 3.11433719e-02 1.91859363e+02] [-1.91230021e-01 9.81527166e-01 -5.95832530e-03 -3.46819343e+01] [-3.17080290e-02 -1.10234115e-04 9.99497168e-01 -6.13199353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:191.89, Y:-34.69, Z:-6.13 [[ 9.81445067e-01 1.89290152e-01 3.05748095e-02 1.91888131e+02] [-1.89199817e-01 9.81921197e-01 -5.84748199e-03 -3.46871956e+01] [-3.11289243e-02 -4.57660155e-05 9.99515377e-01 -6.13273048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35401273899998 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:191.92, Y:-34.69, Z:-6.13 [[ 9.82104446e-01 1.85814266e-01 3.07232212e-02 1.91915963e+02] [-1.85721396e-01 9.82584884e-01 -5.87440048e-03 -3.46909923e+01] [-3.12797201e-02 6.33152915e-05 9.99510668e-01 -6.13334433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:191.94, Y:-34.70, Z:-6.13 [[ 9.82301143e-01 1.84709240e-01 3.10960062e-02 1.91944320e+02] [-1.84613608e-01 9.82793207e-01 -5.94377758e-03 -3.46963835e+01] [-3.16588142e-02 9.78336107e-05 9.99498729e-01 -6.13404366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414012739 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:191.97, Y:-34.70, Z:-6.14 [[ 9.82541592e-01 1.83436863e-01 3.10312305e-02 1.91972420e+02] [-1.83341043e-01 9.83031484e-01 -5.92987612e-03 -3.47049923e+01] [-3.15924345e-02 1.37051741e-04 9.99500825e-01 -6.13511353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:192.00, Y:-34.71, Z:-6.14 [[ 9.82656478e-01 1.82949819e-01 3.02590382e-02 1.91999884e+02] [-1.82858522e-01 9.83122242e-01 -5.78090011e-03 -3.47110030e+01] [-3.08059481e-02 1.47515928e-04 9.99525373e-01 -6.13585830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474012739 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:192.03, Y:-34.72, Z:-6.14 [[ 9.82709719e-01 1.82772052e-01 2.95970618e-02 1.92027789e+02] [-1.82684681e-01 9.83155306e-01 -5.65263085e-03 -3.47160062e+01] [-3.01316513e-02 1.47965471e-04 9.99545928e-01 -6.13637531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:192.05, Y:-34.72, Z:-6.14 [[ 9.82424197e-01 1.84354665e-01 2.92584099e-02 1.92054278e+02] [-1.84270024e-01 9.82859780e-01 -5.58659400e-03 -3.47228879e+01] [-2.97868290e-02 9.69572116e-05 9.99556269e-01 -6.13757641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:192.08, Y:-34.73, Z:-6.14 [[ 9.82243398e-01 1.85211588e-01 2.99094380e-02 1.92081994e+02] [-1.85123592e-01 9.82698663e-01 -5.70903157e-03 -3.47304070e+01] [-3.04493435e-02 7.07159883e-05 9.99536309e-01 -6.13871000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:192.11, Y:-34.74, Z:-6.14 [[ 9.82090027e-01 1.85827080e-01 3.11042779e-02 1.92108897e+02] [-1.85732270e-01 9.82582462e-01 -5.93550898e-03 -3.47365600e+01] [-3.16654962e-02 5.21360428e-05 9.99498521e-01 -6.13882904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594012739 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:192.14, Y:-34.74, Z:-6.14 [[ 9.82200765e-01 1.85218174e-01 3.12391643e-02 1.92136246e+02] [-1.85122299e-01 9.82697422e-01 -5.95913156e-03 -3.47408601e+01] [-3.18023857e-02 6.99976588e-05 9.99494174e-01 -6.13968618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:192.16, Y:-34.75, Z:-6.14 [[ 9.82741017e-01 1.82388042e-01 3.08981363e-02 1.92164850e+02] [-1.82292906e-01 9.83226615e-01 -5.89229406e-03 -3.47464844e+01] [-3.14545539e-02 1.58087997e-04 9.99505171e-01 -6.13997775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654012739 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:192.19, Y:-34.75, Z:-6.14 [[ 9.83055018e-01 1.80701397e-01 3.08194172e-02 1.92192566e+02] [-1.80605963e-01 9.83537982e-01 -5.87580687e-03 -3.47515283e+01] [-3.13738339e-02 2.10070913e-04 9.99507698e-01 -6.14047335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:192.22, Y:-34.76, Z:-6.14 [[ 9.83360002e-01 1.79007058e-01 3.09770816e-02 1.92221381e+02] [-1.78909865e-01 9.83847754e-01 -5.90396871e-03 -3.47555947e+01] [-3.15335842e-02 2.63621210e-04 9.99502658e-01 -6.14139381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71401273899997 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:192.25, Y:-34.76, Z:-6.14 [[ 9.83612856e-01 1.77535457e-01 3.14151468e-02 1.92249786e+02] [-1.77434793e-01 9.84114355e-01 -5.98591907e-03 -3.47586972e+01] [-3.19788098e-02 3.13686885e-04 9.99488498e-01 -6.14311411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:192.28, Y:-34.76, Z:-6.14 [[ 9.84149538e-01 1.74544196e-01 3.13689320e-02 1.92278545e+02] [-1.74442356e-01 9.84649256e-01 -5.97560714e-03 -3.47629039e+01] [-3.19304031e-02 4.08820605e-04 9.99490011e-01 -6.14469551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77401273899997 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:192.31, Y:-34.77, Z:-6.15 [[ 9.84754545e-01 1.71197119e-01 3.08226023e-02 1.92306498e+02] [-1.71097203e-01 9.85236667e-01 -5.87006307e-03 -3.47695372e+01] [-3.13724959e-02 5.06910251e-04 9.99507634e-01 -6.14513907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:192.33, Y:-34.77, Z:-6.15 [[ 9.84994758e-01 1.69717315e-01 3.13266691e-02 1.92334747e+02] [-1.69613391e-01 9.85492627e-01 -5.96494049e-03 -3.47742295e+01] [-3.18845551e-02 5.62012548e-04 9.99491400e-01 -6.14596612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83401273899997 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:192.36, Y:-34.78, Z:-6.15 [[ 9.85190441e-01 1.68481748e-01 3.18385865e-02 1.92363810e+02] [-1.68373804e-01 9.85704585e-01 -6.06086965e-03 -3.47785387e+01] [-3.24045866e-02 6.10326923e-04 9.99474647e-01 -6.14647939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:192.39, Y:-34.78, Z:-6.15 [[ 9.85342850e-01 1.67428913e-01 3.26653804e-02 1.92392682e+02] [-1.67314736e-01 9.85883929e-01 -6.21747360e-03 -3.47837832e+01] [-3.32452584e-02 6.60943673e-04 9.99447005e-01 -6.14795065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89401273899998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:192.42, Y:-34.79, Z:-6.15 [[ 9.85548413e-01 1.66216006e-01 3.26583208e-02 1.92420578e+02] [-1.66101238e-01 9.86089118e-01 -6.21535736e-03 -3.47920593e+01] [-3.32371067e-02 7.00948064e-04 9.99447249e-01 -6.14902491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:192.45, Y:-34.80, Z:-6.15 [[ 9.85735093e-01 1.65281590e-01 3.17541103e-02 1.92449137e+02] [-1.65172642e-01 9.86246161e-01 -6.04216710e-03 -3.47984582e+01] [-3.23160284e-02 7.11065859e-04 9.99477448e-01 -6.14973321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95401273899998 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:192.48, Y:-34.80, Z:-6.15 [[ 9.85788483e-01 1.65107841e-01 3.09914007e-02 1.92478546e+02] [-1.65003990e-01 9.86275272e-01 -5.89670628e-03 -3.48043647e+01] [-3.15396446e-02 6.99200371e-04 9.99502257e-01 -6.15153528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:192.51, Y:-34.81, Z:-6.15 [[ 9.85776317e-01 1.65252953e-01 3.06025306e-02 1.92507670e+02] [-1.65151785e-01 9.86250978e-01 -5.82202307e-03 -3.48109380e+01] [-3.11438822e-02 6.85149909e-04 9.99514677e-01 -6.15270709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01401273899998 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:192.54, Y:-34.82, Z:-6.15 [[ 9.85966609e-01 1.63831209e-01 3.20808562e-02 1.92536415e+02] [-1.63719301e-01 9.86488089e-01 -6.10246614e-03 -3.48201599e+01] [-3.26471569e-02 7.64572499e-04 9.99466647e-01 -6.15328883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:192.57, Y:-34.83, Z:-6.15 [[ 9.86279426e-01 1.61825097e-01 3.26424900e-02 1.92565489e+02] [-1.61708150e-01 9.86819094e-01 -6.20890951e-03 -3.48268443e+01] [-3.32169898e-02 8.45163016e-04 9.99447806e-01 -6.15389209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07401273899998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:192.60, Y:-34.84, Z:-6.16 [[ 9.87200687e-01 1.56324484e-01 3.15825723e-02 1.92595008e+02] [-1.56212208e-01 9.87705251e-01 -6.00693341e-03 -3.48360407e+01] [-3.21333033e-02 9.96465422e-04 9.99483095e-01 -6.15628112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:192.63, Y:-34.85, Z:-6.16 [[ 9.87714043e-01 1.53293648e-01 3.03649098e-02 1.92625456e+02] [-1.53188425e-01 9.88180119e-01 -5.77563886e-03 -3.48457326e+01] [-3.08913689e-02 1.05312690e-03 9.99522193e-01 -6.15863458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13401273899999 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:192.66, Y:-34.86, Z:-6.16 [[ 9.88098363e-01 1.50980592e-01 2.94361454e-02 1.92655440e+02] [-1.50880677e-01 9.88536125e-01 -5.59923492e-03 -3.48562338e+01] [-2.99440689e-02 1.09124931e-03 9.99550980e-01 -6.15988275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:192.69, Y:-34.87, Z:-6.16 [[ 9.88550026e-01 1.48032256e-01 2.92454681e-02 1.92686081e+02] [-1.47932221e-01 9.88981833e-01 -5.56706132e-03 -3.48709318e+01] [-2.97473413e-02 1.17697156e-03 9.99556757e-01 -6.15955976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:192.72, Y:-34.88, Z:-6.16 [[ 9.88597615e-01 1.47614384e-01 2.97447491e-02 1.92716348e+02] [-1.47510547e-01 9.89044244e-01 -5.66762725e-03 -3.48809997e+01] [-3.02554962e-02 1.21533858e-03 9.99541459e-01 -6.15958625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:192.75, Y:-34.89, Z:-6.16 [[ 9.88437378e-01 1.48025991e-01 3.28611701e-02 1.92747564e+02] [-1.47899268e-01 9.88982570e-01 -6.26759006e-03 -3.48945445e+01] [-3.34268907e-02 1.33497727e-03 9.99440274e-01 -6.15987944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:192.78, Y:-34.90, Z:-6.16 [[ 9.88177377e-01 1.49495800e-01 3.40070294e-02 1.92778272e+02] [-1.49360723e-01 9.88761457e-01 -6.49270209e-03 -3.49042138e+01] [-3.45954717e-02 1.33662683e-03 9.99400504e-01 -6.16075609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:192.81, Y:-34.91, Z:-6.16 [[ 9.87791161e-01 1.51979881e-01 3.42160486e-02 1.92809909e+02] [-1.51844422e-01 9.88382780e-01 -6.53844664e-03 -3.49139257e+01] [-3.48122656e-02 1.26310369e-03 9.99393071e-01 -6.16178755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:192.84, Y:-34.93, Z:-6.16 [[ 9.86870404e-01 1.58005355e-01 3.34830306e-02 1.92840326e+02] [-1.57879006e-01 9.87437717e-01 -6.40109930e-03 -3.49263299e+01] [-3.40738153e-02 1.03078785e-03 9.99418787e-01 -6.16360631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:192.87, Y:-34.94, Z:-6.16 [[ 9.86402271e-01 1.61066759e-01 3.26811604e-02 1.92871812e+02] [-1.60947886e-01 9.86943096e-01 -6.25331156e-03 -3.49363201e+01] [-3.32616463e-02 9.08317042e-04 9.99446266e-01 -6.15579939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374012739 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:192.90, Y:-34.95, Z:-6.17 [[ 9.85727580e-01 1.65396788e-01 3.13853499e-02 1.92902102e+02] [-1.65289163e-01 9.86226829e-01 -6.01118612e-03 -3.49469907e+01] [-3.19473050e-02 7.37733743e-04 9.99489282e-01 -6.16658394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:192.93, Y:-34.96, Z:-6.17 [[ 9.85329295e-01 1.67951624e-01 3.03056568e-02 1.92932989e+02] [-1.67852323e-01 9.85795032e-01 -5.80967272e-03 -3.49554242e+01] [-3.08509098e-02 6.37565841e-04 9.99523794e-01 -6.16720985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43401273899997 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:192.97, Y:-34.96, Z:-6.17 [[ 9.84868165e-01 1.70695898e-01 2.99601178e-02 1.92965355e+02] [-1.70599957e-01 9.85323605e-01 -5.74869476e-03 -3.49636592e+01] [-3.05016899e-02 5.50511662e-04 9.99534564e-01 -6.16795662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:193.00, Y:-34.97, Z:-6.17 [[ 9.83926146e-01 1.75648230e-01 3.22030994e-02 1.92996880e+02] [-1.75539813e-01 9.84452900e-01 -6.18564270e-03 -3.49726510e+01] [-3.27889318e-02 4.33289520e-04 9.99462204e-01 -6.16898490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49401273899997 meters Centerline goodness : 0.996735 Centerline is valid? [True, True] Translation: X:193.03, Y:-34.98, Z:-6.17 [[ 9.83553868e-01 1.77493779e-01 3.34327135e-02 1.93028241e+02] [-1.77377760e-01 9.84121844e-01 -6.42852890e-03 -3.49797164e+01] [-3.40428875e-02 3.92584657e-04 9.99420296e-01 -6.17055186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:193.06, Y:-34.99, Z:-6.17 [[ 9.83359154e-01 1.78618669e-01 3.31684363e-02 1.93059933e+02] [-1.78504915e-01 9.83918312e-01 -6.38368160e-03 -3.49898497e+01] [-3.37752766e-02 3.56722829e-04 9.99429389e-01 -6.17307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55401273899997 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:193.09, Y:-35.00, Z:-6.17 [[ 9.83441374e-01 1.78347547e-01 3.21747881e-02 1.93091750e+02] [-1.78240172e-01 9.83967491e-01 -6.19828141e-03 -3.49998308e+01] [-3.27643938e-02 3.60806605e-04 9.99463038e-01 -6.17448538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:193.12, Y:-35.01, Z:-6.17 [[ 9.83775329e-01 1.76645423e-01 3.13448112e-02 1.93121547e+02] [-1.76542465e-01 9.84274466e-01 -6.04432168e-03 -3.50129832e+01] [-3.19195991e-02 4.12564304e-04 9.99490355e-01 -6.17448989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61401273899997 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:193.15, Y:-35.02, Z:-6.18 [[ 9.83767251e-01 1.76544456e-01 3.21566559e-02 1.93153050e+02] [-1.76435843e-01 9.84292572e-01 -6.20685525e-03 -3.50218976e+01] [-3.27473435e-02 4.32514220e-04 9.99463568e-01 -6.17522447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:193.18, Y:-35.03, Z:-6.18 [[ 9.83717207e-01 1.76705104e-01 3.27988087e-02 1.93184116e+02] [-1.76591983e-01 9.84263740e-01 -6.33724999e-03 -3.50308328e+01] [-3.34025026e-02 4.42055174e-04 9.99441883e-01 -6.17668285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67401273899998 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:193.22, Y:-35.04, Z:-6.18 [[ 9.83529564e-01 1.77700255e-01 3.30486787e-02 1.93215224e+02] [-1.77585829e-01 9.84084573e-01 -6.38957059e-03 -3.50444751e+01] [-3.36581232e-02 4.15354593e-04 9.99433319e-01 -6.17782763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:193.25, Y:-35.05, Z:-6.18 [[ 9.83305793e-01 1.79031859e-01 3.25163083e-02 1.93246360e+02] [-1.78921614e-01 9.83843207e-01 -6.29280588e-03 -3.50539905e+01] [-3.31175618e-02 3.69882099e-04 9.99451395e-01 -6.17842557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73401273899998 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:193.28, Y:-35.06, Z:-6.18 [[ 9.82661321e-01 1.82638919e-01 3.19335746e-02 1.93277212e+02] [-1.82534309e-01 9.83180026e-01 -6.18568330e-03 -3.50642041e+01] [-3.25261992e-02 2.49458742e-04 9.99470852e-01 -6.17854898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:193.31, Y:-35.07, Z:-6.18 [[ 9.82646666e-01 1.82717876e-01 3.19328596e-02 1.93310058e+02] [-1.82613188e-01 9.83165355e-01 -6.18937170e-03 -3.50707135e+01] [-3.25261901e-02 2.50604154e-04 9.99470852e-01 -6.17966089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79401273899998 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:193.34, Y:-35.08, Z:-6.18 [[ 9.82347258e-01 1.84266726e-01 3.22434237e-02 1.93340919e+02] [-1.84160738e-01 9.82876255e-01 -6.25224734e-03 -3.50790534e+01] [-3.28433767e-02 2.03905318e-04 9.99460490e-01 -6.18152710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:193.37, Y:-35.09, Z:-6.18 [[ 9.82215812e-01 1.84928115e-01 3.24605956e-02 1.93372468e+02] [-1.84820863e-01 9.82752032e-01 -6.30014919e-03 -3.50883641e+01] [-3.30657910e-02 1.88710867e-04 9.99453159e-01 -6.18285477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85401273899998 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:193.40, Y:-35.10, Z:-6.18 [[ 9.82143392e-01 1.85108286e-01 3.36047744e-02 1.93403763e+02] [-1.84993217e-01 9.82718110e-01 -6.52879985e-03 -3.51006497e+01] [-3.42325553e-02 1.95562294e-04 9.99413875e-01 -6.18348975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] Translation: X:193.43, Y:-35.11, Z:-6.18 [[ 9.82133830e-01 1.85213982e-01 3.33004517e-02 1.93434279e+02] [-1.85100839e-01 9.82698195e-01 -6.47587870e-03 -3.51088748e+01] [-3.39237170e-02 1.96237989e-04 9.99424406e-01 -6.18419426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914012739 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:193.47, Y:-35.12, Z:-6.18 [[ 9.82047075e-01 1.85816683e-01 3.24915677e-02 1.93466434e+02] [-1.85709116e-01 9.82584413e-01 -6.32416490e-03 -3.51183520e+01] [-3.31008433e-02 1.76647324e-04 9.99452001e-01 -6.17607086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:193.50, Y:-35.13, Z:-6.19 [[ 9.82150474e-01 1.85275734e-01 3.24553311e-02 1.93496804e+02] [-1.85167897e-01 9.82686553e-01 -6.32361413e-03 -3.51271580e+01] [-3.30650297e-02 2.01055206e-04 9.99453182e-01 -6.18597212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974012739 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:193.53, Y:-35.14, Z:-6.19 [[ 9.82072029e-01 1.85719415e-01 3.22928479e-02 1.93527857e+02] [-1.85612696e-01 9.82602800e-01 -6.29797258e-03 -3.51355937e+01] [-3.29006985e-02 1.91100143e-04 9.99458607e-01 -6.18731925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:193.56, Y:-35.15, Z:-6.19 [[ 9.81688891e-01 1.87797036e-01 3.19248122e-02 1.93559382e+02] [-1.87693649e-01 9.82207848e-01 -6.23190360e-03 -3.51459644e+01] [-3.25271341e-02 1.25706030e-04 9.99470845e-01 -6.18852221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:193.59, Y:-35.15, Z:-6.19 [[ 9.81324944e-01 1.89666738e-01 3.20606089e-02 1.93590226e+02] [-1.89563375e-01 9.81848524e-01 -6.26120606e-03 -3.51537634e+01] [-3.26662040e-02 6.67604597e-05 9.99466315e-01 -6.18965718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:193.62, Y:-35.16, Z:-6.19 [[ 9.80931516e-01 1.91712688e-01 3.19312696e-02 1.93621377e+02] [-1.91611045e-01 9.81451092e-01 -6.24196417e-03 -3.51615056e+01] [-3.25356431e-02 4.55542521e-06 9.99470576e-01 -6.19074915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:193.65, Y:-35.17, Z:-6.19 [[ 9.80240236e-01 1.95428200e-01 3.06088071e-02 1.93652715e+02] [-1.95336451e-01 9.80718006e-01 -5.98865976e-03 -3.51701102e+01] [-3.11889613e-02 -1.08690507e-04 9.99513500e-01 -6.19344130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:193.68, Y:-35.18, Z:-6.19 [[ 9.79851635e-01 1.97504170e-01 2.97132465e-02 1.93684503e+02] [-1.97418520e-01 9.80302033e-01 -5.81826163e-03 -3.51776332e+01] [-3.02770869e-02 -1.64911976e-04 9.99541530e-01 -6.19429541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154012739 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:193.72, Y:-35.19, Z:-6.20 [[ 9.78754692e-01 2.02705558e-01 3.08173430e-02 1.93715362e+02] [-2.02615803e-01 9.79239678e-01 -6.04068551e-03 -3.51858372e+01] [-3.14020456e-02 -3.31731411e-04 9.99506779e-01 -6.19516578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:193.75, Y:-35.19, Z:-6.20 [[ 9.77954006e-01 2.06270842e-01 3.25315562e-02 1.93747979e+02] [-2.06172585e-01 9.78494826e-01 -6.38290832e-03 -3.51926536e+01] [-3.31485673e-02 -4.64924293e-04 9.99450327e-01 -6.19518613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21401273899997 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:193.78, Y:-35.20, Z:-6.20 [[ 9.77036965e-01 2.10320091e-01 3.41207812e-02 1.93780319e+02] [-2.10214225e-01 9.77632379e-01 -6.70155152e-03 -3.51989046e+01] [-3.47670514e-02 -6.25010023e-04 9.99395248e-01 -6.19593157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:193.81, Y:-35.20, Z:-6.20 [[ 9.75135114e-01 2.18892350e-01 3.46070552e-02 1.93811803e+02] [-2.18788585e-01 9.75748565e-01 -6.80393860e-03 -3.52029847e+01] [-3.52571146e-02 -9.36869187e-04 9.99377836e-01 -6.19651821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27401273899997 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:193.84, Y:-35.21, Z:-6.20 [[ 9.74339184e-01 2.22613386e-01 3.32631329e-02 1.93844909e+02] [-2.22519490e-01 9.74906268e-01 -6.54557909e-03 -3.52072548e+01] [-3.38855703e-02 -1.02408120e-03 9.99425194e-01 -6.19865176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:193.88, Y:-35.21, Z:-6.20 [[ 9.73143325e-01 2.28178672e-01 3.04394972e-02 1.93877897e+02] [-2.28102606e-01 9.73618643e-01 -5.99489522e-03 -3.52078464e+01] [-3.10043692e-02 -1.10943636e-03 9.99518633e-01 -6.20073877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33401273899997 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:193.91, Y:-35.21, Z:-6.20 [[ 9.72608777e-01 2.30469270e-01 3.02668626e-02 1.93911080e+02] [-2.30394998e-01 9.73078900e-01 -5.96649539e-03 -3.52108299e+01] [-3.08271392e-02 -1.17026795e-03 9.99524046e-01 -6.20195172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:193.94, Y:-35.21, Z:-6.20 [[ 9.71720021e-01 2.34048692e-01 3.13274803e-02 1.93942603e+02] [-2.33970773e-01 9.72223977e-01 -6.18199078e-03 -3.52105882e+01] [-3.19042144e-02 -1.32255057e-03 9.99490056e-01 -6.20312015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39401273899998 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:193.97, Y:-35.21, Z:-6.20 [[ 9.71387335e-01 2.35350504e-01 3.18870845e-02 1.93973445e+02] [-2.35270371e-01 9.71909573e-01 -6.29560516e-03 -3.52130949e+01] [-3.24730366e-02 -1.38661511e-03 9.99471650e-01 -6.20407341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:194.00, Y:-35.21, Z:-6.20 [[ 9.71221146e-01 2.36013463e-01 3.20488792e-02 1.94004163e+02] [-2.35932875e-01 9.71748754e-01 -6.32754898e-03 -3.52147848e+01] [-3.26368452e-02 -1.41593484e-03 9.99466273e-01 -6.20469122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45401273899998 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:194.04, Y:-35.21, Z:-6.21 [[ 9.70881368e-01 2.37391333e-01 3.21671277e-02 1.94036100e+02] [-2.37310904e-01 9.71412992e-01 -6.35089529e-03 -3.52113730e+01] [-3.27552132e-02 -1.46764425e-03 9.99462326e-01 -6.20599143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:194.07, Y:-35.21, Z:-6.21 [[ 9.70686997e-01 2.38166919e-01 3.22997287e-02 1.94065549e+02] [-2.38086253e-01 9.71223079e-01 -6.37707836e-03 -3.52128774e+01] [-3.28890511e-02 -1.49997435e-03 9.99457883e-01 -6.20740411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51401273899998 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:194.10, Y:-35.21, Z:-6.21 [[ 9.70673013e-01 2.38209437e-01 3.24062513e-02 1.94096121e+02] [-2.38128275e-01 9.71212641e-01 -6.39772251e-03 -3.52093498e+01] [-3.29973588e-02 -1.50674813e-03 9.99454303e-01 -6.20778275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:194.13, Y:-35.21, Z:-6.21 [[ 9.70874738e-01 2.37437247e-01 3.20280814e-02 1.94125214e+02] [-2.37357597e-01 9.71401775e-01 -6.32158606e-03 -3.52092679e+01] [-3.26131151e-02 -1.46464023e-03 9.99466978e-01 -6.20960509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57401273899998 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:194.16, Y:-35.21, Z:-6.21 [[ 9.71451724e-01 2.35191886e-01 3.10857789e-02 1.94155802e+02] [-2.35115751e-01 9.71948021e-01 -6.13419675e-03 -3.52051207e+01] [-3.16564746e-02 -1.34968025e-03 9.99497897e-01 -6.21134773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:194.18, Y:-35.21, Z:-6.21 [[ 9.71967864e-01 2.32981464e-01 3.15928511e-02 1.94183852e+02] [-2.32901709e-01 9.72480307e-01 -6.23271630e-03 -3.52071739e+01] [-3.21755329e-02 -1.30002907e-03 9.99481388e-01 -6.21216577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63401273899999 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:194.21, Y:-35.21, Z:-6.21 [[ 9.72616155e-01 2.30081588e-01 3.28675822e-02 1.94212982e+02] [-2.29993685e-01 9.73170534e-01 -6.48203042e-03 -3.52098307e+01] [-3.34771584e-02 -1.25480884e-03 9.99438695e-01 -6.21281206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:194.24, Y:-35.21, Z:-6.21 [[ 9.74123370e-01 2.23277127e-01 3.50853864e-02 1.94242574e+02] [-2.23172609e-01 9.74754396e-01 -6.91761968e-03 -3.52068265e+01] [-3.57441808e-02 -1.09148220e-03 9.99360377e-01 -6.21276483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694012739 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:194.27, Y:-35.21, Z:-6.21 [[ 9.74879375e-01 2.19905349e-01 3.53813712e-02 1.94270451e+02] [-2.19796903e-01 9.75520723e-01 -6.97422039e-03 -3.52074382e+01] [-3.60489292e-02 -9.77692224e-04 9.99349548e-01 -6.21305958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:194.30, Y:-35.21, Z:-6.21 [[ 9.76530799e-01 2.12527536e-01 3.49234182e-02 1.94298438e+02] [-2.12417232e-01 9.77154829e-01 -6.88186734e-03 -3.52065651e+01] [-3.55881731e-02 -6.97980436e-04 9.99366297e-01 -6.21477562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754012739 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:194.33, Y:-35.21, Z:-6.22 [[ 9.77428487e-01 2.08474759e-01 3.42319669e-02 1.94326956e+02] [-2.08366364e-01 9.78027598e-01 -6.74361634e-03 -3.52107290e+01] [-3.48856822e-02 -5.41387773e-04 9.99391163e-01 -6.21586517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:194.36, Y:-35.21, Z:-6.22 [[ 9.79025983e-01 2.00963407e-01 3.34937718e-02 1.94356020e+02] [-2.00855291e-01 9.79598712e-01 -6.59663979e-03 -3.52134913e+01] [-3.41361390e-02 -2.69119523e-04 9.99417156e-01 -6.21657741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814012739 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:194.39, Y:-35.22, Z:-6.22 [[ 9.79620095e-01 1.98068388e-01 3.33673913e-02 1.94385755e+02] [-1.97959446e-01 9.80188189e-01 -6.57057014e-03 -3.52173684e+01] [-3.40077450e-02 -1.68727757e-04 9.99421555e-01 -6.21715443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:194.41, Y:-35.22, Z:-6.22 [[ 9.80201718e-01 1.95119600e-01 3.36590947e-02 1.94414810e+02] [-1.95007034e-01 9.80779454e-01 -6.62718046e-03 -3.52214577e+01] [-3.43052413e-02 -6.77865624e-05 9.99411400e-01 -6.21765060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874012739 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:194.44, Y:-35.23, Z:-6.22 [[ 9.81107194e-01 1.90202924e-01 3.53768436e-02 1.94444277e+02] [-1.90075405e-01 9.81744792e-01 -6.96450838e-03 -3.52264922e+01] [-3.60557018e-02 1.08661377e-04 9.99349776e-01 -6.21835711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:194.47, Y:-35.23, Z:-6.22 [[ 9.81513805e-01 1.88054924e-01 3.55808479e-02 1.94473742e+02] [-1.87924531e-01 9.82158496e-01 -7.00430365e-03 -3.52324203e+01] [-3.62632258e-02 1.88306563e-04 9.99342255e-01 -6.21979200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93401273899997 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:194.50, Y:-35.24, Z:-6.22 [[ 9.81781820e-01 1.86782288e-01 3.48831540e-02 1.94503039e+02] [-1.86656145e-01 9.82401305e-01 -6.86731859e-03 -3.52387711e+01] [-3.55519494e-02 2.31053513e-04 9.99367803e-01 -6.22067311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:194.53, Y:-35.24, Z:-6.22 [[ 9.81718182e-01 1.87138308e-01 3.47658634e-02 1.94533001e+02] [-1.87013249e-01 9.82333552e-01 -6.84384978e-03 -3.52449638e+01] [-3.54324205e-02 2.17054708e-04 9.99372051e-01 -6.22141158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99401273899997 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:194.56, Y:-35.25, Z:-6.22 [[ 9.81618208e-01 1.87720663e-01 3.44477324e-02 1.94561418e+02] [-1.87598241e-01 9.82222437e-01 -6.78120128e-03 -3.52518225e+01] [-3.51083073e-02 1.94216622e-04 9.99383494e-01 -6.22232067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:194.59, Y:-35.26, Z:-6.22 [[ 9.81595415e-01 1.88190173e-01 3.24792267e-02 1.94590515e+02] [-1.88081617e-01 9.82132593e-01 -6.39332291e-03 -3.52599183e+01] [-3.31020677e-02 1.66910996e-04 9.99451962e-01 -6.22420647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05401273899997 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:194.62, Y:-35.27, Z:-6.23 [[ 9.81644404e-01 1.88017340e-01 3.19959970e-02 1.94619674e+02] [-1.87911898e-01 9.82165694e-01 -6.29820913e-03 -3.52657186e+01] [-3.26095431e-02 1.70173209e-04 9.99468153e-01 -6.22621579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:194.65, Y:-35.27, Z:-6.23 [[ 9.81418709e-01 1.89293013e-01 3.13922255e-02 1.94648232e+02] [-1.89192179e-01 9.81920638e-01 -6.17900135e-03 -3.52716138e+01] [-3.19943159e-02 1.25023989e-04 9.99488043e-01 -6.22863669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11401273899997 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:194.68, Y:-35.28, Z:-6.23 [[ 9.81215006e-01 1.90489794e-01 3.05082160e-02 1.94675977e+02] [-1.90395160e-01 9.81689173e-01 -6.00431402e-03 -3.52781596e+01] [-3.10933459e-02 8.29063555e-05 9.99516482e-01 -6.22958600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:194.70, Y:-35.28, Z:-6.23 [[ 9.80799726e-01 1.92827345e-01 2.91464058e-02 1.94704694e+02] [-1.92742035e-01 9.81232702e-01 -5.73522231e-03 -3.52840120e+01] [-2.97053142e-02 7.36689568e-06 9.99558700e-01 -6.23105566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17401273899998 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:194.73, Y:-35.29, Z:-6.23 [[ 9.80711847e-01 1.93304978e-01 2.89388762e-02 1.94732269e+02] [-1.93221093e-01 9.81138719e-01 -5.69421423e-03 -3.52882054e+01] [-2.94937718e-02 -7.21792104e-06 9.99564964e-01 -6.23239118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:194.76, Y:-35.29, Z:-6.23 [[ 9.80599956e-01 1.93827944e-01 2.92310625e-02 1.94760560e+02] [-1.93742642e-01 9.81035538e-01 -5.74987161e-03 -3.52926553e+01] [-2.97911970e-02 -2.49794561e-05 9.99556143e-01 -6.23263653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23401273899998 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:194.79, Y:-35.30, Z:-6.23 [[ 9.80307988e-01 1.94997994e-01 3.11774033e-02 1.94788465e+02] [-1.94901592e-01 9.80803639e-01 -6.13119471e-03 -3.52986496e+01] [-3.17744812e-02 -6.60663640e-05 9.99495062e-01 -6.23378429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:194.82, Y:-35.30, Z:-6.23 [[ 9.80212040e-01 1.95318152e-01 3.21741488e-02 1.94816957e+02] [-1.95215712e-01 9.80739931e-01 -6.32559132e-03 -3.53043820e+01] [-3.27899753e-02 -8.04785742e-05 9.99462261e-01 -6.23422227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29401273899998 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:194.85, Y:-35.31, Z:-6.24 [[ 9.80109565e-01 1.95723210e-01 3.28278037e-02 1.94845536e+02] [-1.95616818e-01 9.80659174e-01 -6.45329168e-03 -3.53091090e+01] [-3.34559459e-02 -9.67375976e-05 9.99440188e-01 -6.23536324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:194.87, Y:-35.32, Z:-6.24 [[ 9.80179893e-01 1.95149123e-01 3.41203366e-02 1.94873731e+02] [-1.95215771e-01 9.80759320e-01 -1.39939427e-03 -3.53186012e+01] [-3.37369287e-02 -5.28916969e-03 9.99416752e-01 -6.23708117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35401273899998 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:194.90, Y:-35.32, Z:-6.24 [[ 9.80176378e-01 1.95928281e-01 2.94342896e-02 1.94902147e+02] [-1.95678813e-01 9.80604563e-01 -1.11576027e-02 -3.53184417e+01] [-3.10494886e-02 5.17675174e-03 9.99504442e-01 -6.23701309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:194.93, Y:-35.33, Z:-6.24 [[ 9.80000852e-01 1.96671716e-01 3.03078486e-02 1.94929570e+02] [-1.96581589e-01 9.80469388e-01 -5.95464791e-03 -3.53275610e+01] [-3.08870286e-02 -1.22405014e-04 9.99522874e-01 -6.23773851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:194.96, Y:-35.33, Z:-6.24 [[ 9.79828083e-01 1.97372552e-01 3.13209680e-02 1.94958724e+02] [-1.97276707e-01 9.80328543e-01 -6.15208440e-03 -3.53335906e+01] [-3.19190916e-02 -1.50912357e-04 9.99490445e-01 -6.23805141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:194.99, Y:-35.34, Z:-6.24 [[ 9.79808441e-01 1.97244410e-01 3.27117885e-02 1.94986360e+02] [-1.97139818e-01 9.80354333e-01 -6.42441600e-03 -3.53419069e+01] [-3.33363237e-02 -1.54098985e-04 9.99444178e-01 -6.23969328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474012739 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:195.02, Y:-35.35, Z:-6.24 [[ 9.80039022e-01 1.96090007e-01 3.27448244e-02 1.95015446e+02] [-1.95984600e-01 9.80585894e-01 -6.42969310e-03 -3.53494689e+01] [-3.33699115e-02 -1.16131175e-04 9.99443063e-01 -6.24065681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:195.04, Y:-35.36, Z:-6.24 [[ 9.80246802e-01 1.95021086e-01 3.29087084e-02 1.95044473e+02] [-1.94914019e-01 9.80799046e-01 -6.46186852e-03 -3.53565931e+01] [-3.35370304e-02 -8.01426580e-05 9.99437472e-01 -6.24192164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534012739 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:195.07, Y:-35.36, Z:-6.24 [[ 9.80271267e-01 1.94885117e-01 3.29853553e-02 1.95074053e+02] [-1.94777487e-01 9.80826073e-01 -6.47650803e-03 -3.53640262e+01] [-3.36150716e-02 -7.60698751e-05 9.99434851e-01 -6.24077077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:195.10, Y:-35.37, Z:-6.24 [[ 9.80071766e-01 1.95427343e-01 3.56017906e-02 1.95102721e+02] [-1.95523293e-01 9.80698731e-01 -8.00218318e-04 -3.53743728e+01] [-3.50710154e-02 -6.17670794e-03 9.99365735e-01 -6.24228940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594012739 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:195.13, Y:-35.37, Z:-6.24 [[ 9.79348958e-01 1.99892548e-01 3.03082153e-02 1.95132903e+02] [-1.99606169e-01 9.79799906e-01 -1.22279301e-02 -3.53717069e+01] [-3.21402586e-02 5.92570384e-03 9.99465802e-01 -6.24354817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:195.16, Y:-35.38, Z:-6.25 [[ 9.78895805e-01 2.02057106e-01 3.05929402e-02 1.95160926e+02] [-2.01967998e-01 9.79373696e-01 -6.00755506e-03 -3.53799330e+01] [-3.11757902e-02 -2.98024455e-04 9.99513872e-01 -6.24554724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:195.19, Y:-35.39, Z:-6.25 [[ 9.78902851e-01 2.02022938e-01 3.05931523e-02 1.95189707e+02] [-2.01933847e-01 9.79380745e-01 -6.00647503e-03 -3.53854984e+01] [-3.11757900e-02 -2.98037393e-04 9.99513872e-01 -6.24652182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:195.22, Y:-35.39, Z:-6.25 [[ 9.78335549e-01 2.04820067e-01 3.01379104e-02 1.95218760e+02] [-2.04734967e-01 9.78799568e-01 -5.91605053e-03 -3.53893783e+01] [-3.07106995e-02 -3.82401541e-04 9.99528242e-01 -6.24740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71401273899997 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:195.25, Y:-35.39, Z:-6.25 [[ 9.77458912e-01 2.08881260e-01 3.07033158e-02 1.95247119e+02] [-2.08794983e-01 9.77940871e-01 -6.02556338e-03 -3.53915036e+01] [-3.12846547e-02 -5.20957681e-04 9.99510380e-01 -6.24810159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:195.28, Y:-35.39, Z:-6.25 [[ 9.77223280e-01 2.09913576e-01 3.11600825e-02 1.95276318e+02] [-2.09825302e-01 9.77719782e-01 -6.11314851e-03 -3.53946154e+01] [-3.17490619e-02 -5.64262677e-04 9.99495712e-01 -6.24950740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77401273899997 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:195.30, Y:-35.40, Z:-6.25 [[ 9.77365145e-01 2.09307311e-01 3.07867185e-02 1.95303608e+02] [-2.09220886e-01 9.77849763e-01 -6.03842410e-03 -3.53986835e+01] [-3.13686717e-02 -5.39479274e-04 9.99507737e-01 -6.25083147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:195.33, Y:-35.40, Z:-6.25 [[ 9.77638827e-01 2.08065190e-01 3.05155650e-02 1.95331901e+02] [-2.07979739e-01 9.78114835e-01 -5.98319004e-03 -3.54031386e+01] [-3.10926204e-02 -4.97220348e-04 9.99516384e-01 -6.25267363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83401273899997 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:195.36, Y:-35.41, Z:-6.25 [[ 9.78510072e-01 2.04067726e-01 2.95702885e-02 1.95360879e+02] [-2.03985704e-01 9.78956707e-01 -5.79647726e-03 -3.54069585e+01] [-3.01309062e-02 -3.60004723e-04 9.99545896e-01 -6.25484708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:195.39, Y:-35.41, Z:-6.25 [[ 9.79001382e-01 2.01675796e-01 2.97181397e-02 1.95387950e+02] [-2.01591893e-01 9.79452291e-01 -5.82401021e-03 -3.54110814e+01] [-3.02820619e-02 -2.89221996e-04 9.99541351e-01 -6.25489695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89401273899998 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:195.42, Y:-35.41, Z:-6.25 [[ 9.79393848e-01 1.99697919e-01 3.01402058e-02 1.95416851e+02] [-1.99610737e-01 9.79857483e-01 -5.90480370e-03 -3.54144166e+01] [-3.07122832e-02 -2.33180281e-04 9.99528239e-01 -6.25408352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:195.44, Y:-35.42, Z:-6.25 [[ 9.79207164e-01 2.00615908e-01 3.01095996e-02 1.95444821e+02] [-2.00529382e-01 9.79669938e-01 -5.89735015e-03 -3.54187675e+01] [-3.06805718e-02 -2.63131874e-04 9.99529206e-01 -6.25498952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95401273899998 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:195.47, Y:-35.42, Z:-6.26 [[ 9.78913841e-01 2.02026188e-01 3.02177386e-02 1.95472156e+02] [-2.01939768e-01 9.79380071e-01 -5.91666129e-03 -3.54227629e+01] [-3.07899715e-02 -3.10261509e-04 9.99525828e-01 -6.25580281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:195.50, Y:-35.42, Z:-6.26 [[ 9.78351754e-01 2.04565522e-01 3.13175952e-02 1.95501359e+02] [-2.04474058e-01 9.78852789e-01 -6.13003580e-03 -3.54238183e+01] [-3.19093094e-02 -4.06304510e-04 9.99490686e-01 -6.25630507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01401273899998 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:195.53, Y:-35.43, Z:-6.26 [[ 9.78123759e-01 2.05541959e-01 3.20377314e-02 1.95529768e+02] [-2.05446814e-01 9.78648201e-01 -6.26941360e-03 -3.54268549e+01] [-3.26422958e-02 -4.49787463e-04 9.99466997e-01 -6.25719464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:195.56, Y:-35.43, Z:-6.26 [[ 9.77988603e-01 2.05741025e-01 3.47695690e-02 1.95557678e+02] [-2.05629149e-01 9.78606348e-01 -6.80217468e-03 -3.54304053e+01] [-3.54252073e-02 -4.97187571e-04 9.99372207e-01 -6.25632700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07401273899998 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:195.59, Y:-35.43, Z:-6.26 [[ 9.78051016e-01 2.05257981e-01 3.58520849e-02 1.95586469e+02] [-2.05138784e-01 9.78707778e-01 -7.01178883e-03 -3.54349093e+01] [-3.65279400e-02 -4.96765898e-04 9.99332509e-01 -6.25671768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:195.61, Y:-35.44, Z:-6.26 [[ 9.78153175e-01 2.04768846e-01 3.58620476e-02 1.95614286e+02] [-2.04649317e-01 9.78810242e-01 -7.01198651e-03 -3.54387592e+01] [-3.65379759e-02 -4.80346693e-04 9.99332150e-01 -6.25760989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13401273899999 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:195.64, Y:-35.44, Z:-6.26 [[ 9.78330786e-01 2.04460652e-01 3.26299848e-02 1.95643495e+02] [-2.04361589e-01 9.78874690e-01 -6.37827155e-03 -3.54409674e+01] [-3.32447718e-02 -4.28256127e-04 9.99447148e-01 -6.25998289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:195.67, Y:-35.44, Z:-6.26 [[ 9.78534752e-01 2.03757180e-01 3.08666534e-02 1.95671951e+02] [-2.03668230e-01 9.79021381e-01 -6.03222407e-03 -3.54449936e+01] [-3.14482226e-02 -3.83815790e-04 9.99505309e-01 -6.26145459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194012739 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:195.70, Y:-35.45, Z:-6.26 [[ 9.78655321e-01 2.03304513e-01 3.00173032e-02 1.95698040e+02] [-2.03218616e-01 9.79115509e-01 -5.91733536e-03 -3.54462492e+01] [-3.05934281e-02 -3.09043065e-04 9.99531864e-01 -6.26203466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:195.73, Y:-35.45, Z:-6.26 [[ 9.78773047e-01 2.02632601e-01 3.07140128e-02 1.95727599e+02] [-2.02548696e-01 9.79254709e-01 -5.85156239e-03 -3.54496666e+01] [-3.12625590e-02 -4.93731682e-04 9.99511085e-01 -6.26292987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254012739 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:195.75, Y:-35.45, Z:-6.26 [[ 9.78641458e-01 2.03098484e-01 3.18104262e-02 1.95754761e+02] [-2.03003757e-01 9.79158243e-01 -6.21372981e-03 -3.54522117e+01] [-3.24094402e-02 -3.76622455e-04 9.99474605e-01 -6.26343740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:195.78, Y:-35.46, Z:-6.26 [[ 9.78489430e-01 2.03725859e-01 3.24685838e-02 1.95782546e+02] [-2.03627611e-01 9.79027889e-01 -6.33944803e-03 -3.54556458e+01] [-3.30791586e-02 -4.08417255e-04 9.99452651e-01 -6.26399190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314012739 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:195.81, Y:-35.46, Z:-6.26 [[ 9.78324472e-01 2.04451885e-01 3.28732998e-02 1.95810659e+02] [-2.04351660e-01 9.78876515e-01 -6.41610771e-03 -3.54589615e+01] [-3.34906865e-02 -4.40678216e-04 9.99438932e-01 -6.26482011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:195.84, Y:-35.46, Z:-6.27 [[ 9.78289986e-01 2.04742079e-01 3.20840251e-02 1.95838506e+02] [-2.04646840e-01 9.78815859e-01 -6.25981296e-03 -3.54614367e+01] [-3.26859997e-02 -4.41982018e-04 9.99465572e-01 -6.26661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374012739 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:195.87, Y:-35.47, Z:-6.27 [[ 9.78365893e-01 2.04473003e-01 3.14796954e-02 1.95866408e+02] [-2.04381251e-01 9.78872110e-01 -6.13968005e-03 -3.54667513e+01] [-3.20699946e-02 -4.27005969e-04 9.99485534e-01 -6.26847268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:195.89, Y:-35.48, Z:-6.27 [[ 9.78765237e-01 2.01909853e-01 3.53697809e-02 1.95893228e+02] [-2.02211607e-01 9.79328389e-01 5.13546833e-03 -3.54805723e+01] [-3.36017289e-02 -1.21785981e-02 9.99361099e-01 -6.27200055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43401273899997 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:195.92, Y:-35.47, Z:-6.27 [[ 9.79011806e-01 2.01800058e-01 2.85064919e-02 1.95923477e+02] [-2.01370042e-01 9.79363230e-01 -1.72560108e-02 -3.54713223e+01] [-3.14004739e-02 1.11534849e-02 9.99444651e-01 -6.27047548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:195.95, Y:-35.48, Z:-6.27 [[ 9.79329596e-01 2.00122540e-01 2.94025616e-02 1.95948918e+02] [-1.99924569e-01 9.79764697e-01 -9.55536225e-03 -3.54821787e+01] [-3.07198352e-02 3.47955461e-03 9.99521978e-01 -6.27093409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49401273899997 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:195.98, Y:-35.49, Z:-6.27 [[ 9.79758811e-01 1.97449269e-01 3.29614765e-02 1.95976042e+02] [-1.97476408e-01 9.80304547e-01 -2.46243990e-03 -3.54936625e+01] [-3.27984923e-02 -4.09651681e-03 9.99453589e-01 -6.27252630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:196.00, Y:-35.50, Z:-6.27 [[ 9.79893540e-01 1.96961958e-01 3.18533726e-02 1.96002965e+02] [-1.96864450e-01 9.80411112e-01 -6.19994513e-03 -3.54960215e+01] [-3.24505538e-02 -1.95510496e-04 9.99473323e-01 -6.27314948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55401273899997 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:196.03, Y:-35.50, Z:-6.28 [[ 9.79988429e-01 1.96700871e-01 3.05196246e-02 1.96030432e+02] [-1.96611308e-01 9.80463530e-01 -5.93792568e-03 -3.55020430e+01] [-3.10913740e-02 -1.81404846e-04 9.99516530e-01 -6.27553311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:196.06, Y:-35.51, Z:-6.28 [[ 9.79950552e-01 1.96921529e-01 3.03121623e-02 1.96058482e+02] [-1.96833353e-01 9.80419235e-01 -5.89538363e-03 -3.55091819e+01] [-3.08795549e-02 -1.89260084e-04 9.99523095e-01 -6.27708013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61401273899997 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:196.09, Y:-35.52, Z:-6.28 [[ 9.79898786e-01 1.97192978e-01 3.02208150e-02 1.96086658e+02] [-1.97105507e-01 9.80364672e-01 -5.87614146e-03 -3.55161418e+01] [-3.07861532e-02 -1.98665185e-04 9.99525974e-01 -6.27758464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:196.11, Y:-35.52, Z:-6.28 [[ 9.79767277e-01 1.97916754e-01 2.97496478e-02 1.96113726e+02] [-1.97832366e-01 9.80218807e-01 -5.78313531e-03 -3.55230392e+01] [-3.03057437e-02 -2.19316463e-04 9.99540651e-01 -6.27820234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67401273899998 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:196.14, Y:-35.53, Z:-6.28 [[ 9.79708997e-01 1.98359916e-01 2.86988793e-02 1.96140318e+02] [-1.98281621e-01 9.80129222e-01 -5.57730017e-03 -3.55280367e+01] [-2.92349230e-02 -2.26329141e-04 9.99572543e-01 -6.27964305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:196.17, Y:-35.53, Z:-6.28 [[ 9.79536626e-01 1.99234077e-01 2.85268556e-02 1.96167146e+02] [-1.99157159e-01 9.79951896e-01 -5.54142725e-03 -3.55342575e+01] [-2.90589874e-02 -2.53296584e-04 9.99577666e-01 -6.28044519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73401273899998 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:196.19, Y:-35.54, Z:-6.28 [[ 9.79527448e-01 1.98943606e-01 3.07802017e-02 1.96194633e+02] [-1.98853986e-01 9.80010903e-01 -5.97676325e-03 -3.55399218e+01] [-3.13539721e-02 -2.66362140e-04 9.99508308e-01 -6.28041544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:196.22, Y:-35.54, Z:-6.28 [[ 9.79591912e-01 1.98364402e-01 3.24229871e-02 1.96221230e+02] [-1.98211557e-01 9.80127470e-01 -7.89441921e-03 -3.55444017e+01] [-3.33446320e-02 1.30669845e-03 9.99443059e-01 -6.27864482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79401273899998 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:196.25, Y:-35.55, Z:-6.28 [[ 9.79751089e-01 1.97037821e-01 3.55513720e-02 1.96249021e+02] [-1.96974403e-01 9.80394239e-01 -5.31227133e-03 -3.55527372e+01] [-3.59010787e-02 -1.79800665e-03 9.99353731e-01 -6.27917893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:196.28, Y:-35.56, Z:-6.28 [[ 9.79842921e-01 1.96488442e-01 3.60574792e-02 1.96275774e+02] [-1.96476691e-01 9.80500724e-01 -3.90388848e-03 -3.55597300e+01] [-3.61214535e-02 -3.25925672e-03 9.99342093e-01 -6.28143437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85401273899998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:196.30, Y:-35.56, Z:-6.28 [[ 9.80430155e-01 1.94319464e-01 3.15698723e-02 1.96303331e+02] [-1.94123762e-01 9.80934096e-01 -9.17955127e-03 -3.55624115e+01] [-3.27517296e-02 2.87144649e-03 9.99459393e-01 -6.28380187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:196.33, Y:-35.57, Z:-6.28 [[ 9.80733031e-01 1.92841987e-01 3.12200133e-02 1.96329762e+02] [-1.92746878e-01 9.81229821e-01 -6.05631319e-03 -3.55697644e+01] [-3.18019195e-02 -7.79337034e-05 9.99494188e-01 -6.28478182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:196.36, Y:-35.58, Z:-6.29 [[ 9.80856563e-01 1.92235173e-01 3.10811951e-02 1.96357490e+02] [-1.92140662e-01 9.81348885e-01 -6.02752623e-03 -3.55756959e+01] [-3.16601988e-02 -5.98227607e-05 9.99498688e-01 -6.28521699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:196.39, Y:-35.58, Z:-6.29 [[ 9.80634990e-01 1.93370655e-01 3.10291338e-02 1.96385904e+02] [-1.93277075e-01 9.81125772e-01 -6.01596925e-03 -3.55822356e+01] [-3.16067948e-02 -9.77502790e-05 9.99500376e-01 -6.28558095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974012739 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:196.41, Y:-35.59, Z:-6.29 [[ 9.80456557e-01 1.94353913e-01 3.05204241e-02 1.96414398e+02] [-1.94263898e-01 9.80931465e-01 -5.91591743e-03 -3.55873491e+01] [-3.10882261e-02 -1.28716528e-04 9.99516636e-01 -6.28667935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:196.44, Y:-35.59, Z:-6.29 [[ 9.80019883e-01 1.96632158e-01 2.99469998e-02 1.96442414e+02] [-1.96546599e-01 9.80477310e-01 -5.80341069e-03 -3.55911244e+01] [-3.05034909e-02 -1.98523082e-04 9.99534641e-01 -6.28914169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034012739 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:196.47, Y:-35.60, Z:-6.29 [[ 9.79921020e-01 1.97035265e-01 3.05270115e-02 1.96470575e+02] [-1.96946612e-01 9.80396378e-01 -5.91394268e-03 -3.55965287e+01] [-3.10938268e-02 -2.16994771e-04 9.99516447e-01 -6.29080139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:196.50, Y:-35.60, Z:-6.29 [[ 9.79964932e-01 1.96642961e-01 3.16271596e-02 1.96498149e+02] [-1.96547649e-01 9.80475140e-01 -6.12546157e-03 -3.56021224e+01] [-3.22141726e-02 -2.13506342e-04 9.99480966e-01 -6.29094207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094012739 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:196.53, Y:-35.61, Z:-6.29 [[ 9.80230587e-01 1.94828804e-01 3.44925012e-02 1.96526223e+02] [-1.94714376e-01 9.80837249e-01 -6.67857569e-03 -3.56080135e+01] [-3.51327089e-02 -1.69641674e-04 9.99382641e-01 -6.29143951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:196.55, Y:-35.61, Z:-6.29 [[ 9.80663418e-01 1.92649843e-01 3.44281670e-02 1.96554489e+02] [-1.92534559e-01 9.81267562e-01 -6.66440124e-03 -3.56135260e+01] [-3.50671394e-02 -9.30774690e-05 9.99384954e-01 -6.29281434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:196.58, Y:-35.62, Z:-6.30 [[ 9.81887799e-01 1.86975811e-01 3.06005819e-02 1.96582591e+02] [-1.86882026e-01 9.82364513e-01 -5.92211072e-03 -3.56211156e+01] [-3.11682172e-02 9.61495059e-05 9.99514148e-01 -6.29554046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:196.61, Y:-35.63, Z:-6.30 [[ 9.82521564e-01 1.83889251e-01 2.89157448e-02 1.96611045e+02] [-1.83804203e-01 9.82946952e-01 -5.59508641e-03 -3.56277435e+01] [-2.94515194e-02 1.82457636e-04 9.99566193e-01 -6.29689166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21401273899997 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:196.64, Y:-35.63, Z:-6.30 [[ 9.83118547e-01 1.80685342e-01 2.88223693e-02 1.96640351e+02] [-1.80599509e-01 9.83540915e-01 -5.57552707e-03 -3.56349463e+01] [-2.93553955e-02 2.76098324e-04 9.99568999e-01 -6.29782117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:196.67, Y:-35.64, Z:-6.30 [[ 9.84124813e-01 1.74696576e-01 3.12962928e-02 1.96668794e+02] [-1.74592367e-01 9.84622193e-01 -6.05326881e-03 -3.56443793e+01] [-3.18725097e-02 4.93078196e-04 9.99491821e-01 -6.29761310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27401273899997 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:196.70, Y:-35.65, Z:-6.30 [[ 9.84449329e-01 1.72569575e-01 3.28521023e-02 1.96697047e+02] [-1.72453589e-01 9.84997155e-01 -6.35334265e-03 -3.56522218e+01] [-3.34556209e-02 5.89080961e-04 9.99440030e-01 -6.29722665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:196.73, Y:-35.66, Z:-6.30 [[ 9.84801678e-01 1.70376234e-01 3.37282325e-02 1.96726591e+02] [-1.70252702e-01 9.85378849e-01 -6.52242973e-03 -3.56626733e+01] [-3.43463539e-02 6.80977015e-04 9.99409758e-01 -6.29858855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33401273899997 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:196.76, Y:-35.67, Z:-6.30 [[ 9.84885338e-01 1.70100257e-01 3.26614844e-02 1.96756727e+02] [-1.69984169e-01 9.85426533e-01 -6.31907933e-03 -3.56708220e+01] [-3.32603704e-02 6.71633282e-04 9.99446495e-01 -6.30014713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:196.79, Y:-35.68, Z:-6.30 [[ 9.84704349e-01 1.71600590e-01 3.01758712e-02 1.96788091e+02] [-1.71502081e-01 9.85166435e-01 -5.84230117e-03 -3.56818096e+01] [-3.07307977e-02 5.77714669e-04 9.99527531e-01 -6.30279557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39401273899998 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:196.82, Y:-35.69, Z:-6.30 [[ 9.84385047e-01 1.73527639e-01 2.95675214e-02 1.96817371e+02] [-1.73433740e-01 9.84828866e-01 -5.73086341e-03 -3.56893491e+01] [-3.01134117e-02 5.13370442e-04 9.99546357e-01 -6.30350508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:196.85, Y:-35.70, Z:-6.30 [[ 9.84027618e-01 1.75619939e-01 2.91081488e-02 1.96846245e+02] [-1.75529837e-01 9.84457943e-01 -5.64227233e-03 -3.56952366e+01] [-2.96466438e-02 4.42803183e-04 9.99560344e-01 -6.30311124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45401273899998 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:196.88, Y:-35.70, Z:-6.30 [[ 9.83105294e-01 1.80567678e-01 2.99882319e-02 1.96875569e+02] [-1.80474353e-01 9.83562516e-01 -5.81253278e-03 -3.57008639e+01] [-3.05448563e-02 3.02224992e-04 9.99533351e-01 -6.30376431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:196.91, Y:-35.71, Z:-6.30 [[ 9.82722965e-01 1.82422016e-01 3.12694956e-02 1.96905532e+02] [-1.82321508e-01 9.83220292e-01 -6.06004671e-03 -3.57076788e+01] [-3.18502885e-02 2.54245468e-04 9.99492619e-01 -6.30486489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51401273899998 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:196.93, Y:-35.72, Z:-6.31 [[ 9.82490709e-01 1.83235361e-01 3.37166063e-02 1.96934839e+02] [-1.83118980e-01 9.83069042e-01 -6.53429821e-03 -3.57174646e+01] [-3.43430664e-02 2.45736733e-04 9.99410073e-01 -6.30539385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:196.97, Y:-35.73, Z:-6.31 [[ 9.82473057e-01 1.83222955e-01 3.42934533e-02 1.96966283e+02] [-1.83102542e-01 9.83071353e-01 -6.64630251e-03 -3.57256806e+01] [-3.49306668e-02 2.50594669e-04 9.99389707e-01 -6.30595515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57401273899998 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:197.00, Y:-35.73, Z:-6.31 [[ 9.82462376e-01 1.83280416e-01 3.42923902e-02 1.96998322e+02] [-1.83159846e-01 9.83060641e-01 -6.65178329e-03 -3.57319856e+01] [-3.49306407e-02 2.54137906e-04 9.99389707e-01 -6.30705506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:197.03, Y:-35.74, Z:-6.31 [[ 9.82326481e-01 1.84003056e-01 3.43156071e-02 1.97029357e+02] [-1.83882686e-01 9.82925644e-01 -6.65850318e-03 -3.57404892e+01] [-3.49548752e-02 2.30777970e-04 9.99388865e-01 -6.30762373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63401273899999 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:197.06, Y:-35.75, Z:-6.31 [[ 9.82110056e-01 1.85169947e-01 3.42334490e-02 1.97060766e+02] [-1.85050659e-01 9.82706494e-01 -6.64835458e-03 -3.57495930e+01] [-3.48725081e-02 1.94493598e-04 9.99391750e-01 -6.30834325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:197.09, Y:-35.76, Z:-6.31 [[ 9.81674463e-01 1.87421896e-01 3.44714620e-02 1.97090713e+02] [-1.87302123e-01 9.82279501e-01 -6.70050019e-03 -3.57613160e+01] [-3.51164310e-02 1.21131912e-04 9.99383221e-01 -6.30988082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694012739 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:197.12, Y:-35.77, Z:-6.31 [[ 9.81366039e-01 1.89114214e-01 3.40075198e-02 1.97121911e+02] [-1.88998475e-01 9.81955096e-01 -6.61565147e-03 -3.57697849e+01] [-3.46449711e-02 6.50063093e-05 9.99399681e-01 -6.31124432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:197.15, Y:-35.78, Z:-6.31 [[ 9.80661298e-01 1.93035296e-01 3.22613249e-02 1.97151765e+02] [-1.92933090e-01 9.81191811e-01 -6.28111698e-03 -3.57806422e+01] [-3.28670251e-02 -6.46287829e-05 9.99459731e-01 -6.31341022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754012739 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:197.18, Y:-35.79, Z:-6.31 [[ 9.80253521e-01 1.95160904e-01 3.18630716e-02 1.97182212e+02] [-1.95062152e-01 9.80771230e-01 -6.20902238e-03 -3.57897072e+01] [-3.24621423e-02 -1.28863269e-04 9.99472957e-01 -6.31472519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:197.21, Y:-35.80, Z:-6.32 [[ 9.79773491e-01 1.97540098e-01 3.19658410e-02 1.97211533e+02] [-1.97441948e-01 9.80294785e-01 -6.22983583e-03 -3.57982881e+01] [-3.25665896e-02 -2.07569895e-04 9.99469546e-01 -6.31537153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814012739 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:197.24, Y:-35.81, Z:-6.32 [[ 9.78759299e-01 2.02293165e-01 3.32822887e-02 1.97240844e+02] [-2.02189491e-01 9.79324936e-01 -6.48681110e-03 -3.58075810e+01] [-3.39064128e-02 -3.80302331e-04 9.99424940e-01 -6.31650977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:197.27, Y:-35.81, Z:-6.32 [[ 9.78356545e-01 2.04286769e-01 3.29452037e-02 1.97271170e+02] [-2.04186315e-01 9.78910986e-01 -6.42110989e-03 -3.58140751e+01] [-3.35621696e-02 -4.44824841e-04 9.99436533e-01 -6.31748900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:197.30, Y:-35.82, Z:-6.32 [[ 9.77516858e-01 2.08582923e-01 3.08861943e-02 1.97301711e+02] [-2.08496755e-01 9.78004528e-01 -6.02050334e-03 -3.58190342e+01] [-3.14626120e-02 -5.54527771e-04 9.99504776e-01 -6.31942123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:197.33, Y:-35.82, Z:-6.32 [[ 9.77292468e-01 2.09715999e-01 3.03089518e-02 1.97330733e+02] [-2.09633541e-01 9.77762172e-01 -5.90881623e-03 -3.58238520e+01] [-3.08741199e-02 -5.79131311e-04 9.99523113e-01 -6.32126665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93401273899997 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:197.36, Y:-35.83, Z:-6.32 [[ 9.77269824e-01 2.09864139e-01 3.00122206e-02 1.97359457e+02] [-2.09783367e-01 9.77730386e-01 -5.85067138e-03 -3.58286207e+01] [-3.05717061e-02 -5.78380104e-04 9.99532409e-01 -6.32270524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:197.39, Y:-35.83, Z:-6.32 [[ 9.77701636e-01 2.07705799e-01 3.09485258e-02 1.97387950e+02] [-2.07618862e-01 9.78191199e-01 -6.03206783e-03 -3.58323049e+01] [-3.15264711e-02 -5.27935109e-04 9.99502778e-01 -6.32246119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99401273899997 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:197.42, Y:-35.84, Z:-6.32 [[ 9.78039212e-01 2.06020504e-01 3.15412623e-02 1.97418130e+02] [-2.05929355e-01 9.78547555e-01 -6.14672963e-03 -3.58369717e+01] [-3.21309774e-02 -4.83529206e-04 9.99483550e-01 -6.32287685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:197.45, Y:-35.84, Z:-6.32 [[ 9.78846278e-01 2.02064872e-01 3.20897302e-02 1.97448772e+02] [-2.01968400e-01 9.79372073e-01 -6.25359078e-03 -3.58415157e+01] [-3.26914166e-02 -3.59807392e-04 9.99465428e-01 -6.32456426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05401273899997 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:197.48, Y:-35.85, Z:-6.33 [[ 9.79249894e-01 2.00087088e-01 3.21683328e-02 1.97478480e+02] [-1.99989050e-01 9.79778072e-01 -6.26968168e-03 -3.58472384e+01] [-3.27723094e-02 -2.93729182e-04 9.99462800e-01 -6.32545098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:197.51, Y:-35.85, Z:-6.33 [[ 9.79632134e-01 1.98171787e-01 3.23855715e-02 1.97508992e+02] [-1.98071310e-01 9.80167277e-01 -6.31393193e-03 -3.58526356e+01] [-3.29945206e-02 -2.29321972e-04 9.99455506e-01 -6.32579475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11401273899997 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:197.54, Y:-35.85, Z:-6.33 [[ 9.80163291e-01 1.95481229e-01 3.26651425e-02 1.97539641e+02] [-1.95377489e-01 9.80707433e-01 -6.36923033e-03 -3.58540739e+01] [-3.32800131e-02 -1.39147764e-04 9.99446057e-01 -6.32673192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:197.57, Y:-35.86, Z:-6.33 [[ 9.80324920e-01 1.94698006e-01 3.24921035e-02 1.97568787e+02] [-1.94594919e-01 9.80863229e-01 -6.33588794e-03 -3.58571979e+01] [-3.31038943e-02 -1.11569415e-04 9.99451910e-01 -6.32791503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17401273899998 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:197.60, Y:-35.86, Z:-6.33 [[ 9.80329728e-01 1.94613344e-01 3.28522541e-02 1.97598787e+02] [-1.94507924e-01 9.80880030e-01 -6.40572228e-03 -3.58620359e+01] [-3.34707590e-02 -1.10303769e-04 9.99439691e-01 -6.32930501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:197.63, Y:-35.87, Z:-6.33 [[ 9.80339641e-01 1.94552151e-01 3.29188232e-02 1.97629234e+02] [-1.94446269e-01 9.80892170e-01 -6.41869928e-03 -3.58676277e+01] [-3.35385877e-02 -1.08437008e-04 9.99437417e-01 -6.32995410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23401273899998 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:197.66, Y:-35.87, Z:-6.33 [[ 9.80394702e-01 1.94392060e-01 3.22172990e-02 1.97659387e+02] [-1.94290532e-01 9.80923910e-01 -6.28270038e-03 -3.58703675e+01] [-3.28240260e-02 -9.99899837e-05 9.99461141e-01 -6.33118746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:197.69, Y:-35.87, Z:-6.33 [[ 9.80409473e-01 1.94370391e-01 3.18969714e-02 1.97688665e+02] [-1.94270860e-01 9.80928204e-01 -6.22024716e-03 -3.58744782e+01] [-3.24976708e-02 -9.82628232e-05 9.99471806e-01 -6.33266931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29401273899998 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:197.72, Y:-35.88, Z:-6.33 [[ 9.80480399e-01 1.93977083e-01 3.21104208e-02 1.97718655e+02] [-1.93876017e-01 9.81006057e-01 -6.26146855e-03 -3.58795192e+01] [-3.27150987e-02 -8.61933335e-05 9.99464714e-01 -6.33419043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:197.75, Y:-35.89, Z:-6.34 [[ 9.81083231e-01 1.90823412e-01 3.25901818e-02 1.97749176e+02] [-1.90717563e-01 9.81624381e-01 -6.35500990e-03 -3.58862900e+01] [-3.32040017e-02 1.92735814e-05 9.99448595e-01 -6.33642373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35401273899998 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:197.78, Y:-35.89, Z:-6.34 [[ 9.81586686e-01 1.88182158e-01 3.27879939e-02 1.97778457e+02] [-1.88073519e-01 9.82134137e-01 -6.39438181e-03 -3.58922165e+01] [-3.34055166e-02 1.10086660e-04 9.99441874e-01 -6.33729757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:197.81, Y:-35.90, Z:-6.34 [[ 9.82567945e-01 1.83029354e-01 3.25651387e-02 1.97808710e+02] [-1.82919296e-01 9.83107407e-01 -6.35271251e-03 -3.58983182e+01] [-3.31777619e-02 2.85179423e-04 9.99449426e-01 -6.33791581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414012739 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:197.84, Y:-35.91, Z:-6.34 [[ 9.83022008e-01 1.80497798e-01 3.29890528e-02 1.97840382e+02] [-1.80383254e-01 9.83575315e-01 -6.44062307e-03 -3.59065670e+01] [-3.36097363e-02 3.80601522e-04 9.99434961e-01 -6.33935553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:197.87, Y:-35.92, Z:-6.34 [[ 9.84098654e-01 1.74499091e-01 3.31648327e-02 1.97871075e+02] [-1.74379693e-01 9.84657155e-01 -6.48149303e-03 -3.59177357e+01] [-3.37870044e-02 5.95155223e-04 9.99428879e-01 -6.34086331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474012739 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:197.90, Y:-35.92, Z:-6.34 [[ 9.84509484e-01 1.72180363e-01 3.30907565e-02 1.97902650e+02] [-1.72059984e-01 9.85065207e-01 -6.47305821e-03 -3.59249776e+01] [-3.37110864e-02 6.79192167e-04 9.99431389e-01 -6.34165385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:197.94, Y:-35.93, Z:-6.34 [[ 9.84688800e-01 1.71223673e-01 3.27172934e-02 1.97935183e+02] [-1.71105339e-01 9.85231929e-01 -6.40390473e-03 -3.59310256e+01] [-3.33306222e-02 7.07749688e-04 9.99444130e-01 -6.34175960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:197.97, Y:-35.94, Z:-6.34 [[ 9.84582225e-01 1.71988962e-01 3.19004516e-02 1.97966891e+02] [-1.71876669e-01 9.85098648e-01 -6.25009530e-03 -3.59382029e+01] [-3.25000391e-02 6.70789376e-04 9.99471509e-01 -6.34238160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:198.00, Y:-35.95, Z:-6.34 [[ 9.84389820e-01 1.73279375e-01 3.08373222e-02 1.97998690e+02] [-1.73174969e-01 9.84872522e-01 -6.04520748e-03 -3.59459536e+01] [-3.14183410e-02 6.10588389e-04 9.99506136e-01 -6.34414930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594012739 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:198.03, Y:-35.95, Z:-6.35 [[ 9.84225155e-01 1.74441959e-01 2.95101122e-02 1.98030381e+02] [-1.74346705e-01 9.84667302e-01 -5.79054728e-03 -3.59531180e+01] [-3.00677570e-02 5.54211456e-04 9.99547709e-01 -6.34576626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:198.06, Y:-35.96, Z:-6.35 [[ 9.83917739e-01 1.76141913e-01 2.96632762e-02 1.98063378e+02] [-1.76046277e-01 9.84364651e-01 -5.82598873e-03 -3.59580839e+01] [-3.02256813e-02 5.10184318e-04 9.99542970e-01 -6.34680201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654012739 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:198.10, Y:-35.96, Z:-6.35 [[ 9.83717098e-01 1.77013883e-01 3.10926989e-02 1.98095968e+02] [-1.76909041e-01 9.84208221e-01 -6.11303410e-03 -3.59636109e+01] [-3.16837818e-02 5.12916625e-04 9.99497811e-01 -6.34722521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:198.13, Y:-35.97, Z:-6.35 [[ 9.83399301e-01 1.78398729e-01 3.31618431e-02 1.98127152e+02] [-1.78280012e-01 9.83958148e-01 -6.52689052e-03 -3.59700464e+01] [-3.37942547e-02 5.06445784e-04 9.99428683e-01 -6.34686591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71401273899997 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:198.16, Y:-35.98, Z:-6.35 [[ 9.83418396e-01 1.78370770e-01 3.27433401e-02 1.98158140e+02] [-1.78254815e-01 9.83963216e-01 -6.45054538e-03 -3.59764820e+01] [-3.33688310e-02 5.06926961e-04 9.99442977e-01 -6.34824935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:198.19, Y:-35.98, Z:-6.35 [[ 9.83627485e-01 1.77479990e-01 3.12701676e-02 1.98190552e+02] [-1.77373616e-01 9.84124273e-01 -6.16568980e-03 -3.59828676e+01] [-3.18680175e-02 5.18239253e-04 9.99491951e-01 -6.34781709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77401273899997 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:198.22, Y:-35.99, Z:-6.35 [[ 9.84159157e-01 1.74986802e-01 2.84670608e-02 1.98221458e+02] [-1.74897460e-01 9.84570625e-01 -5.61801816e-03 -3.59888132e+01] [-2.90109109e-02 5.50207383e-04 9.99578944e-01 -6.35375401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:198.25, Y:-36.00, Z:-6.35 [[ 9.84350609e-01 1.73900573e-01 2.85038423e-02 1.98254066e+02] [-1.73810395e-01 9.84763040e-01 -5.63042825e-03 -3.59960480e+01] [-2.90486650e-02 5.88051386e-04 9.99577826e-01 -6.35481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83401273899997 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:198.29, Y:-36.00, Z:-6.35 [[ 9.84572724e-01 1.72272783e-01 3.06372175e-02 1.98286013e+02] [-1.72167609e-01 9.85049040e-01 -6.05822633e-03 -3.60037095e+01] [-3.12228292e-02 6.90027909e-04 9.99512210e-01 -6.35411793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:198.32, Y:-36.01, Z:-6.36 [[ 9.84632724e-01 1.71833914e-01 3.11689746e-02 1.98318223e+02] [-1.71724641e-01 9.85125669e-01 -6.16952697e-03 -3.60110747e+01] [-3.17654909e-02 7.22237169e-04 9.99495089e-01 -6.35532591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89401273899998 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:198.35, Y:-36.02, Z:-6.36 [[ 9.84725828e-01 1.71369608e-01 3.07814995e-02 1.98350160e+02] [-1.71262626e-01 9.85206536e-01 -6.09871543e-03 -3.60182877e+01] [-3.13712690e-02 7.33842186e-04 9.99507531e-01 -6.35630646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:198.38, Y:-36.03, Z:-6.36 [[ 9.84858297e-01 1.70784299e-01 2.97801549e-02 1.98381603e+02] [-1.70683728e-01 9.85308168e-01 -5.90590158e-03 -3.60267802e+01] [-3.03512651e-02 7.33488308e-04 9.99539025e-01 -6.35729112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95401273899998 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:198.41, Y:-36.04, Z:-6.36 [[ 9.84796384e-01 1.71039269e-01 3.03586826e-02 1.98413488e+02] [-1.70934701e-01 9.85263931e-01 -6.02617811e-03 -3.60350384e+01] [-3.09420280e-02 7.45206074e-04 9.99520903e-01 -6.35809269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:198.44, Y:-36.05, Z:-6.36 [[ 9.84708634e-01 1.70991418e-01 3.33292669e-02 1.98443599e+02] [-1.70865114e-01 9.85272171e-01 -6.62280970e-03 -3.60470530e+01] [-3.39708428e-02 8.26728925e-04 9.99422482e-01 -6.35784228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01401273899998 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:198.48, Y:-36.06, Z:-6.36 [[ 9.84826281e-01 1.70241706e-01 3.36891456e-02 1.98475385e+02] [-1.70112079e-01 9.85401954e-01 -6.69841639e-03 -3.60563592e+01] [-3.43376997e-02 8.65845913e-04 9.99409912e-01 -6.35932137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:198.51, Y:-36.07, Z:-6.36 [[ 9.85050754e-01 1.69217118e-01 3.22580005e-02 1.98507558e+02] [-1.69097533e-01 9.85578415e-01 -6.41967293e-03 -3.60659045e+01] [-3.28791076e-02 8.68955349e-04 9.99458958e-01 -6.36119931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07401273899998 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:198.54, Y:-36.08, Z:-6.36 [[ 9.85449080e-01 1.67727267e-01 2.75258954e-02 1.98536980e+02] [-1.67639495e-01 9.85833121e-01 -5.48241056e-03 -3.60800723e+01] [-2.80554892e-02 7.88209226e-04 9.99606057e-01 -6.36430375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:198.57, Y:-36.10, Z:-6.36 [[ 9.85255742e-01 1.68724502e-01 2.83401610e-02 1.98566912e+02] [-1.68631721e-01 9.85662935e-01 -5.64982069e-03 -3.60967783e+01] [-2.88871095e-02 7.87468153e-04 9.99582370e-01 -6.36417479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13401273899999 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:198.60, Y:-36.11, Z:-6.36 [[ 9.84930850e-01 1.70377605e-01 2.97101469e-02 1.98597097e+02] [-1.70276200e-01 9.85378537e-01 -5.92905677e-03 -3.61071738e+01] [-3.02859196e-02 7.80780010e-04 9.99540971e-01 -6.36458188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:198.63, Y:-36.12, Z:-6.37 [[ 9.84535357e-01 1.72506075e-01 3.05251531e-02 1.98628411e+02] [-1.72399873e-01 9.85008175e-01 -6.09739090e-03 -3.61170757e+01] [-3.11193623e-02 7.40564413e-04 9.99515401e-01 -6.36523344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194012739 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:198.66, Y:-36.13, Z:-6.37 [[ 9.84028601e-01 1.75336527e-01 3.07378467e-02 1.98659559e+02] [-1.75230038e-01 9.84508337e-01 -6.14564522e-03 -3.61265436e+01] [-3.13392224e-02 6.61296627e-04 9.99508587e-01 -6.36588113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:198.69, Y:-36.14, Z:-6.37 [[ 9.82551293e-01 1.83409951e-01 3.08827912e-02 1.98691063e+02] [-1.83306255e-01 9.83036429e-01 -6.18033764e-03 -3.61382263e+01] [-3.14924442e-02 4.11489942e-04 9.99503905e-01 -6.36614255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254012739 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:198.72, Y:-36.15, Z:-6.37 [[ 9.80689667e-01 1.92944715e-01 3.19392251e-02 1.98723271e+02] [-1.92838630e-01 9.81209623e-01 -6.39837098e-03 -3.61457071e+01] [-3.25736069e-02 1.15699871e-04 9.99469333e-01 -6.36629509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:198.75, Y:-36.15, Z:-6.37 [[ 9.79849635e-01 1.97119050e-01 3.22300091e-02 1.98754486e+02] [-1.97013191e-01 9.80379559e-01 -6.45934596e-03 -3.61520903e+01] [-3.28709022e-02 -2.05491383e-05 9.99459606e-01 -6.36750178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314012739 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:198.79, Y:-36.16, Z:-6.37 [[ 9.79243417e-01 2.00195778e-01 3.16856536e-02 1.98786664e+02] [-2.00094889e-01 9.79755907e-01 -6.35595898e-03 -3.61583751e+01] [-3.23166424e-02 -1.16106363e-04 9.99477674e-01 -6.36902127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:198.82, Y:-36.16, Z:-6.37 [[ 9.78700693e-01 2.02944115e-01 3.09619124e-02 1.98818062e+02] [-2.02848967e-01 9.79190302e-01 -6.21681465e-03 -3.61648128e+01] [-3.15792703e-02 -1.96191155e-04 9.99501231e-01 -6.37026183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374012739 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:198.85, Y:-36.17, Z:-6.37 [[ 9.77940225e-01 2.06649681e-01 3.04766479e-02 1.98850475e+02] [-2.06559119e-01 9.78414951e-01 -6.12491840e-03 -3.61695925e+01] [-3.10845204e-02 -3.05425457e-04 9.99516713e-01 -6.37001479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:198.88, Y:-36.17, Z:-6.37 [[ 9.77303828e-01 2.09396274e-01 3.21002744e-02 1.98884014e+02] [-2.09297067e-01 9.77830780e-01 -6.45778790e-03 -3.61722863e+01] [-3.27408731e-02 -4.07272442e-04 9.99463791e-01 -6.37067357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43401273899997 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:198.92, Y:-36.18, Z:-6.37 [[ 9.76876766e-01 2.11272748e-01 3.27965034e-02 1.98915441e+02] [-2.11170029e-01 9.77427031e-01 -6.60434527e-03 -3.61768381e+01] [-3.34515071e-02 -4.74007130e-04 9.99440229e-01 -6.37190907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:198.95, Y:-36.18, Z:-6.37 [[ 9.76859966e-01 2.11350589e-01 3.27953527e-02 1.98948238e+02] [-2.11247722e-01 9.77410204e-01 -6.61005435e-03 -3.61835895e+01] [-3.34515512e-02 -4.70846099e-04 9.99440229e-01 -6.37303730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49401273899997 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:198.98, Y:-36.19, Z:-6.37 [[ 9.76351971e-01 2.13640404e-01 3.30848286e-02 1.98981313e+02] [-2.13536933e-01 9.76912214e-01 -6.67117151e-03 -3.61877478e+01] [-3.37462049e-02 -5.51421363e-04 9.99430283e-01 -6.37441235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:199.01, Y:-36.19, Z:-6.38 [[ 9.75707493e-01 2.16672165e-01 3.23737633e-02 1.99013394e+02] [-2.16574555e-01 9.76244215e-01 -6.53404975e-03 -3.61912221e+01] [-3.30204458e-02 -6.36012075e-04 9.99454474e-01 -6.37556570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55401273899997 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:199.04, Y:-36.19, Z:-6.38 [[ 9.74440295e-01 2.22714001e-01 2.94038420e-02 1.99044660e+02] [-2.22636061e-01 9.74883531e-01 -5.94012918e-03 -3.61889264e+01] [-2.99882713e-02 -7.58054341e-04 9.99549963e-01 -6.37681971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:199.08, Y:-36.19, Z:-6.38 [[ 9.73931695e-01 2.25054297e-01 2.84185881e-02 1.99075042e+02] [-2.24982485e-01 9.74345893e-01 -5.74119951e-03 -3.61906660e+01] [-2.89816163e-02 -8.02148408e-04 9.99579623e-01 -6.37766444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61401273899997 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:199.11, Y:-36.19, Z:-6.38 [[ 9.73411791e-01 2.27099340e-01 2.99228345e-02 1.99105199e+02] [-2.27020709e-01 9.73871174e-01 -6.04440313e-03 -3.61890644e+01] [-3.05136659e-02 -9.09409814e-04 9.99533936e-01 -6.37898491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:199.13, Y:-36.19, Z:-6.38 [[ 9.73354723e-01 2.27128671e-01 3.15142799e-02 1.99133139e+02] [-2.27041519e-01 9.73864284e-01 -6.36430135e-03 -3.61905362e+01] [-3.21361470e-02 -9.60327187e-04 9.99483039e-01 -6.37974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67401273899998 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:199.16, Y:-36.19, Z:-6.38 [[ 9.73461827e-01 2.26538566e-01 3.24399334e-02 1.99161789e+02] [-2.26445960e-01 9.74001713e-01 -6.54915430e-03 -3.61922133e+01] [-3.30801867e-02 -9.70540139e-04 9.99452230e-01 -6.38015017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:199.19, Y:-36.19, Z:-6.38 [[ 9.73975861e-01 2.24252494e-01 3.28913670e-02 1.99191122e+02] [-2.24156042e-01 9.74530654e-01 -6.63870569e-03 -3.61902705e+01] [-3.35423917e-02 -9.06859553e-04 9.99436884e-01 -6.38173629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73401273899998 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:199.22, Y:-36.19, Z:-6.38 [[ 9.74444211e-01 2.22304985e-01 3.22331036e-02 1.99220124e+02] [-2.22211340e-01 9.74976827e-01 -6.50433926e-03 -3.61927475e+01] [-3.28724762e-02 -8.24445400e-04 9.99459214e-01 -6.38246815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:199.25, Y:-36.19, Z:-6.38 [[ 9.75415268e-01 2.18047089e-01 3.19456186e-02 1.99248593e+02] [-2.17952872e-01 9.75938015e-01 -6.44482525e-03 -3.61912932e+01] [-3.25822190e-02 -6.76258374e-04 9.99468830e-01 -6.38295974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79401273899998 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:199.28, Y:-36.19, Z:-6.38 [[ 9.75708156e-01 2.16734286e-01 3.19349949e-02 1.99277217e+02] [-2.16639492e-01 9.76230427e-01 -6.44076149e-03 -3.61930572e+01] [-3.25718476e-02 -6.34077561e-04 9.99469195e-01 -6.38402303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:199.31, Y:-36.19, Z:-6.38 [[ 9.75881995e-01 2.16074758e-01 3.10810385e-02 1.99306108e+02] [-2.15984679e-01 9.76376640e-01 -6.26705797e-03 -3.61949910e+01] [-3.17009530e-02 -5.97119110e-04 9.99497220e-01 -6.38448144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85401273899998 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:199.33, Y:-36.19, Z:-6.39 [[ 9.76080274e-01 2.15265403e-01 3.04648307e-02 1.99334871e+02] [-2.15178512e-01 9.76555422e-01 -6.14136855e-03 -3.61935806e+01] [-3.10726197e-02 -5.60908227e-04 9.99516972e-01 -6.38603562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:199.36, Y:-36.19, Z:-6.39 [[ 9.76257139e-01 2.14255950e-01 3.18808228e-02 1.99362938e+02] [-2.14160319e-01 9.76777395e-01 -6.42480717e-03 -3.61928016e+01] [-3.25170202e-02 -5.55343328e-04 9.99471028e-01 -6.38648207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914012739 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:199.39, Y:-36.20, Z:-6.39 [[ 9.76231568e-01 2.14260901e-01 3.26219695e-02 1.99391352e+02] [-2.14160887e-01 9.76776300e-01 -6.57077008e-03 -3.61953455e+01] [-3.32722257e-02 -5.71756734e-04 9.99446163e-01 -6.38662004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:199.42, Y:-36.20, Z:-6.39 [[ 9.76149781e-01 2.14598806e-01 3.28474784e-02 1.99418733e+02] [-2.14497672e-01 9.76702107e-01 -6.61391473e-03 -3.61974636e+01] [-3.35015395e-02 -5.89536219e-04 9.99438492e-01 -6.38690944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974012739 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:199.45, Y:-36.19, Z:-6.39 [[ 9.76018848e-01 2.15264208e-01 3.23809927e-02 1.99447332e+02] [-2.15166400e-01 9.76555658e-01 -6.51673279e-03 -3.61949954e+01] [-3.30246610e-02 -6.06847599e-04 9.99454353e-01 -6.38813462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:199.48, Y:-36.20, Z:-6.39 [[ 9.76053009e-01 2.15171430e-01 3.19652733e-02 1.99475503e+02] [-2.15076138e-01 9.76576110e-01 -6.43091226e-03 -3.61963856e+01] [-3.26002708e-02 -5.98056278e-04 9.99468291e-01 -6.38934428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034012739 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:199.50, Y:-36.20, Z:-6.39 [[ 9.76278053e-01 2.14075291e-01 3.24489245e-02 1.99504403e+02] [-2.13976562e-01 9.76816995e-01 -6.52597240e-03 -3.61957165e+01] [-3.30937104e-02 -5.72145682e-04 9.99452089e-01 -6.39058280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:199.53, Y:-36.20, Z:-6.39 [[ 9.76616401e-01 2.12462813e-01 3.28627330e-02 1.99532243e+02] [-2.12360716e-01 9.77169011e-01 -6.60681799e-03 -3.61983463e+01] [-3.35161474e-02 -5.26426713e-04 9.99438037e-01 -6.39101201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:199.56, Y:-36.20, Z:-6.39 [[ 9.77075101e-01 2.10334127e-01 3.29211531e-02 1.99558922e+02] [-2.10230539e-01 9.77629453e-01 -6.61617456e-03 -3.62003182e+01] [-3.35762962e-02 -4.56532346e-04 9.99436053e-01 -6.39176418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:199.59, Y:-36.20, Z:-6.39 [[ 9.78146577e-01 2.05435348e-01 3.20248639e-02 1.99586632e+02] [-2.05334784e-01 9.78670648e-01 -6.43342794e-03 -3.61985358e+01] [-3.26634479e-02 -2.82983004e-04 9.99466367e-01 -6.39353249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154012739 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:199.62, Y:-36.20, Z:-6.39 [[ 9.78769605e-01 2.02509785e-01 3.16203634e-02 1.99615048e+02] [-2.02410303e-01 9.79280222e-01 -6.34956318e-03 -3.62007883e+01] [-3.22510451e-02 -1.85527873e-04 9.99479783e-01 -6.39489607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:199.64, Y:-36.20, Z:-6.40 [[ 9.80172401e-01 1.95665154e-01 3.12603738e-02 1.99642967e+02] [-1.95564503e-01 9.80670763e-01 -6.27526034e-03 -3.62011129e+01] [-3.18839844e-02 3.74175237e-05 9.99491576e-01 -6.39662331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21401273899997 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:199.67, Y:-36.21, Z:-6.40 [[ 9.80976889e-01 1.91674913e-01 3.07420019e-02 1.99671011e+02] [-1.91575687e-01 9.81458456e-01 -6.16886869e-03 -3.62053721e+01] [-3.13544151e-02 1.62097493e-04 9.99508316e-01 -6.39730374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:199.70, Y:-36.21, Z:-6.40 [[ 9.81775713e-01 1.87639843e-01 3.01286922e-02 1.99698477e+02] [-1.87542695e-01 9.82237858e-01 -6.04389557e-03 -3.62103401e+01] [-3.07276177e-02 2.83333766e-04 9.99527755e-01 -6.39784169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27401273899997 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:199.73, Y:-36.22, Z:-6.40 [[ 9.83228588e-01 1.80011769e-01 2.92797890e-02 1.99725785e+02] [-1.79916695e-01 9.83664327e-01 -5.87154305e-03 -3.62157678e+01] [-2.98584308e-02 5.05146124e-04 9.99554010e-01 -6.39870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:199.75, Y:-36.22, Z:-6.40 [[ 9.84603135e-01 1.71963176e-01 3.13900224e-02 1.99753292e+02] [-1.71849876e-01 9.85103053e-01 -6.29254420e-03 -3.62222577e+01] [-3.20044928e-02 8.01287291e-04 9.99487404e-01 -6.39940573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33401273899997 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:199.78, Y:-36.23, Z:-6.40 [[ 9.85201840e-01 1.68272913e-01 3.25815951e-02 1.99780854e+02] [-1.68148893e-01 9.85739984e-01 -6.52946517e-03 -3.62292022e+01] [-3.32157132e-02 9.54281962e-04 9.99447750e-01 -6.40014712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:199.81, Y:-36.24, Z:-6.40 [[ 9.85669325e-01 1.65378527e-01 3.32554430e-02 1.99808140e+02] [-1.65247730e-01 9.86229585e-01 -6.66289051e-03 -3.62372504e+01] [-3.38994007e-02 1.07202034e-03 9.99424675e-01 -6.40023554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39401273899998 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:199.84, Y:-36.25, Z:-6.40 [[ 9.86082719e-01 1.62816733e-01 3.36390125e-02 1.99836641e+02] [-1.62681453e-01 9.86655632e-01 -6.73854108e-03 -3.62455636e+01] [-3.42872684e-02 1.17231549e-03 9.99411331e-01 -6.40064187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:199.87, Y:-36.26, Z:-6.40 [[ 9.86761725e-01 1.58871171e-01 3.25768046e-02 1.99865279e+02] [-1.58742180e-01 9.87298509e-01 -6.52497114e-03 -3.62572361e+01] [-3.31996604e-02 1.26727879e-03 9.99447936e-01 -6.40122657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45401273899998 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:199.89, Y:-36.27, Z:-6.40 [[ 9.87115392e-01 1.57111559e-01 3.03176569e-02 1.99893360e+02] [-1.56998964e-01 9.87580088e-01 -6.07414765e-03 -3.62720603e+01] [-3.08954330e-02 1.23604393e-03 9.99521858e-01 -6.40411828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:199.92, Y:-36.28, Z:-6.41 [[ 9.87017722e-01 1.57660170e-01 3.06477913e-02 1.99923292e+02] [-1.57545361e-01 9.87492659e-01 -6.14062694e-03 -3.62831715e+01] [-3.12326012e-02 1.23249027e-03 9.99511383e-01 -6.40523944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51401273899998 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:199.95, Y:-36.29, Z:-6.40 [[ 9.86678778e-01 1.59526387e-01 3.18797839e-02 1.99953113e+02] [-1.59403106e-01 9.87192909e-01 -6.38825490e-03 -3.62936833e+01] [-3.24905919e-02 1.22141897e-03 9.99471295e-01 -6.40499960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:199.98, Y:-36.31, Z:-6.40 [[ 9.85546033e-01 1.65957449e-01 3.40167991e-02 1.99981918e+02] [-1.65820871e-01 9.86132325e-01 -6.81731053e-03 -3.63053595e+01] [-3.46764486e-02 1.07807808e-03 9.99398010e-01 -6.40456115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57401273899998 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:200.01, Y:-36.31, Z:-6.41 [[ 9.84808601e-01 1.70310482e-01 3.38579366e-02 2.00012209e+02] [-1.70177745e-01 9.85390020e-01 -6.78549307e-03 -3.63144404e+01] [-3.45189135e-02 9.20544639e-04 9.99403621e-01 -6.40570862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:200.04, Y:-36.33, Z:-6.41 [[ 9.83018615e-01 1.80681950e-01 3.20692394e-02 2.00039861e+02] [-1.80568351e-01 9.83541435e-01 -6.42777370e-03 -3.63270496e+01] [-3.27028084e-02 5.27931506e-04 9.99464981e-01 -6.40734383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63401273899999 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:200.07, Y:-36.33, Z:-6.41 [[ 9.82072055e-01 1.85982680e-01 3.07395655e-02 2.00068090e+02] [-1.85880912e-01 9.82552965e-01 -6.16093750e-03 -3.63347823e+01] [-3.13490789e-02 3.36586084e-04 9.99508440e-01 -6.40879714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:200.10, Y:-36.34, Z:-6.41 [[ 9.81070559e-01 1.91286964e-01 3.01638216e-02 2.00097336e+02] [-1.91191498e-01 9.81534141e-01 -6.04486530e-03 -3.63420720e+01] [-3.07631246e-02 1.63373134e-04 9.99526690e-01 -6.41032165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694012739 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:200.13, Y:-36.35, Z:-6.41 [[ 9.80059374e-01 1.96409748e-01 3.01136967e-02 2.00125447e+02] [-1.96317034e-01 9.80521907e-01 -6.03417328e-03 -3.63481735e+01] [-3.07123098e-02 2.01644912e-06 9.99528266e-01 -6.41129945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:200.15, Y:-36.36, Z:-6.41 [[ 9.78456476e-01 2.04136081e-01 3.08445388e-02 2.00152608e+02] [-2.04042690e-01 9.78942490e-01 -6.17908916e-03 -3.63550274e+01] [-3.14564046e-02 -2.47632879e-04 9.99505094e-01 -6.41205776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754012739 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:200.18, Y:-36.36, Z:-6.41 [[ 9.77201249e-01 2.09899895e-01 3.19335588e-02 2.00180720e+02] [-2.09802931e-01 9.77722778e-01 -6.39521433e-03 -3.63598554e+01] [-3.25645226e-02 -4.50342809e-04 9.99469534e-01 -6.41212036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:200.21, Y:-36.36, Z:-6.41 [[ 9.76590313e-01 2.12634786e-01 3.25239788e-02 2.00208270e+02] [-2.12535772e-01 9.77131589e-01 -6.51183366e-03 -3.63638575e+01] [-3.31648494e-02 -5.53115255e-04 9.99449742e-01 -6.41252696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:200.24, Y:-36.37, Z:-6.41 [[ 9.76013343e-01 2.15291498e-01 3.23654936e-02 2.00237071e+02] [-2.15194971e-01 9.76549619e-01 -6.47812583e-03 -3.63683172e+01] [-3.30011958e-02 -6.42154192e-04 9.99455106e-01 -6.41353856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:200.26, Y:-36.37, Z:-6.41 [[ 9.74859887e-01 2.20585873e-01 3.14654383e-02 2.00264940e+02] [-2.20497440e-01 9.75367230e-01 -6.29648633e-03 -3.63717215e+01] [-3.20792733e-02 -7.99856651e-04 9.99485008e-01 -6.41498383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874012739 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:200.29, Y:-36.38, Z:-6.42 [[ 9.74368100e-01 2.22752376e-01 3.14354054e-02 2.00292974e+02] [-2.22665300e-01 9.74874668e-01 -6.28855215e-03 -3.63754021e+01] [-3.20463703e-02 -8.72209352e-04 9.99486003e-01 -6.41667070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:200.32, Y:-36.38, Z:-6.42 [[ 9.73716828e-01 2.25485920e-01 3.21191368e-02 2.00322061e+02] [-2.25396564e-01 9.74245929e-01 -6.42335603e-03 -3.63751530e+01] [-3.27403146e-02 -9.85013206e-04 9.99463407e-01 -6.41756788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93401273899997 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:200.35, Y:-36.38, Z:-6.42 [[ 9.73552926e-01 2.26173422e-01 3.22534419e-02 2.00349278e+02] [-2.26083771e-01 9.74086523e-01 -6.44784884e-03 -3.63774136e+01] [-3.28759751e-02 -1.01465766e-03 9.99458924e-01 -6.41803509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:200.38, Y:-36.38, Z:-6.42 [[ 9.73534275e-01 2.26334574e-01 3.16808356e-02 2.00377307e+02] [-2.26248251e-01 9.74049101e-01 -6.33070985e-03 -3.63804235e+01] [-3.22915479e-02 -1.00457060e-03 9.99477987e-01 -6.41968941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99401273899997 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:200.40, Y:-36.38, Z:-6.42 [[ 9.74091907e-01 2.23960214e-01 3.14130355e-02 2.00404530e+02] [-2.23874181e-01 9.74597853e-01 -6.27498605e-03 -3.63813911e+01] [-3.20204242e-02 -9.20154467e-04 9.99486791e-01 -6.42102603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:200.43, Y:-36.38, Z:-6.42 [[ 9.74531912e-01 2.22024385e-01 3.15075338e-02 2.00432108e+02] [-2.21936907e-01 9.75040732e-01 -6.29120504e-03 -3.63839043e+01] [-3.21179298e-02 -8.61704533e-04 9.99483715e-01 -6.42159028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05401273899997 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:200.46, Y:-36.38, Z:-6.42 [[ 9.75390469e-01 2.18253766e-01 3.12846203e-02 2.00460211e+02] [-2.18165651e-01 9.75891774e-01 -6.24452554e-03 -3.63837033e+01] [-3.18932948e-02 -7.34378865e-04 9.99491010e-01 -6.42218547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:200.49, Y:-36.39, Z:-6.42 [[ 9.75884460e-01 2.16077587e-01 3.09838326e-02 2.00487472e+02] [-2.15990134e-01 9.76375974e-01 -6.18224185e-03 -3.63861644e+01] [-3.15877136e-02 -6.59048402e-04 9.99500766e-01 -6.42305255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11401273899997 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:200.52, Y:-36.39, Z:-6.42 [[ 9.76368078e-01 2.13892153e-01 3.09115220e-02 2.00515723e+02] [-2.13804097e-01 9.76857103e-01 -6.16512829e-03 -3.63880883e+01] [-3.15148124e-02 -5.89575603e-04 9.99503111e-01 -6.42457189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:200.54, Y:-36.39, Z:-6.43 [[ 9.77246070e-01 2.09820149e-01 3.10744982e-02 2.00543332e+02] [-2.09729175e-01 9.77739889e-01 -6.19534050e-03 -3.63864143e+01] [-3.16826837e-02 -4.62856726e-04 9.99497871e-01 -6.42610684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17401273899998 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:200.57, Y:-36.39, Z:-6.43 [[ 9.77874107e-01 2.06864645e-01 3.11327841e-02 2.00570669e+02] [-2.06771917e-01 9.78369502e-01 -6.20426771e-03 -3.63892083e+01] [-3.17428101e-02 -3.70392687e-04 9.99496001e-01 -6.42740268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:200.60, Y:-36.39, Z:-6.43 [[ 9.79353968e-01 1.99719107e-01 3.12743344e-02 2.00598753e+02] [-1.99621972e-01 9.79853182e-01 -6.22978306e-03 -3.63911591e+01] [-3.18884628e-02 -1.41881548e-04 9.99491424e-01 -6.42820208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23401273899998 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:200.63, Y:-36.40, Z:-6.43 [[ 9.80250047e-01 1.95289938e-01 3.11718735e-02 2.00626048e+02] [-1.95191269e-01 9.80745553e-01 -6.20713234e-03 -3.63952056e+01] [-3.17838668e-02 6.42307556e-08 9.99494765e-01 -6.42900773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:200.65, Y:-36.40, Z:-6.43 [[ 9.81119365e-01 1.90880010e-01 3.11386181e-02 2.00652726e+02] [-1.90779399e-01 9.81613367e-01 -6.19827183e-03 -3.64002767e+01] [-3.17492100e-02 1.40637658e-04 9.99495857e-01 -6.43011247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29401273899998 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:200.68, Y:-36.41, Z:-6.43 [[ 9.82821208e-01 1.82013646e-01 3.05533273e-02 2.00679301e+02] [-1.81912574e-01 9.83295916e-01 -6.07919267e-03 -3.64077679e+01] [-3.11494580e-02 4.16725069e-04 9.99514651e-01 -6.43138131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:200.71, Y:-36.41, Z:-6.43 [[ 9.83535269e-01 1.78217382e-01 2.99489429e-02 2.00706756e+02] [-1.78118563e-01 9.83991001e-01 -5.95717334e-03 -3.64149409e+01] [-3.05311622e-02 5.24627404e-04 9.99533678e-01 -6.43219480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35401273899998 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:200.73, Y:-36.42, Z:-6.43 [[ 9.84450047e-01 1.73154215e-01 2.95926061e-02 2.00733803e+02] [-1.73055487e-01 9.84894495e-01 -5.88492567e-03 -3.64237920e+01] [-3.01645945e-02 6.72252487e-04 9.99544719e-01 -6.43216398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:200.76, Y:-36.43, Z:-6.43 [[ 9.84455965e-01 1.73120507e-01 2.95929601e-02 2.00762568e+02] [-1.73021817e-01 9.84900421e-01 -5.88314466e-03 -3.64294282e+01] [-3.01646119e-02 6.71469109e-04 9.99544719e-01 -6.43315145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414012739 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:200.79, Y:-36.44, Z:-6.43 [[ 9.84564751e-01 1.72469356e-01 2.97753617e-02 2.00789217e+02] [-1.72369179e-01 9.85014639e-01 -5.91841669e-03 -3.64370445e+01] [-3.03499127e-02 6.94709817e-04 9.99539094e-01 -6.43468298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:200.82, Y:-36.45, Z:-6.44 [[ 9.84576336e-01 1.72306913e-01 3.03276479e-02 2.00817150e+02] [-1.72202964e-01 9.85043056e-01 -6.02634049e-03 -3.64454400e+01] [-3.09124191e-02 7.10881381e-04 9.99521844e-01 -6.43549813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474012739 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:200.84, Y:-36.46, Z:-6.44 [[ 9.84266456e-01 1.73687090e-01 3.24397552e-02 2.00844218e+02] [-1.73568957e-01 9.84800633e-01 -6.44436059e-03 -3.64571485e+01] [-3.30659937e-02 7.12433485e-04 9.99452917e-01 -6.43538833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:200.87, Y:-36.47, Z:-6.44 [[ 9.84070954e-01 1.74665996e-01 3.31081179e-02 2.00872189e+02] [-1.74543552e-01 9.84627499e-01 -6.57551525e-03 -3.64651512e+01] [-3.37476822e-02 6.91965061e-04 9.99430145e-01 -6.43647140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534012739 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:200.90, Y:-36.47, Z:-6.44 [[ 9.83695826e-01 1.76932235e-01 3.22103566e-02 2.00900505e+02] [-1.76817594e-01 9.84222855e-01 -6.39608178e-03 -3.64744671e+01] [-3.28338422e-02 5.96441176e-04 9.99460646e-01 -6.43874354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:200.93, Y:-36.48, Z:-6.44 [[ 9.83503773e-01 1.78131082e-01 3.14586396e-02 2.00929538e+02] [-1.78022370e-01 9.84006617e-01 -6.24603082e-03 -3.64824855e+01] [-3.20681218e-02 5.42653308e-04 9.99485538e-01 -6.44016124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594012739 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:200.96, Y:-36.49, Z:-6.44 [[ 9.82977795e-01 1.81222560e-01 3.02165317e-02 2.00957207e+02] [-1.81123722e-01 9.83442018e-01 -5.99948447e-03 -3.64909825e+01] [-3.08034489e-02 4.24429316e-04 9.99525371e-01 -6.44053284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:200.99, Y:-36.50, Z:-6.44 [[ 9.82587864e-01 1.83350234e-01 3.00629703e-02 2.00985165e+02] [-1.83253416e-01 9.83047591e-01 -5.96823873e-03 -3.64968984e+01] [-3.06476084e-02 3.55176950e-04 9.99530189e-01 -6.44155322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654012739 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:201.01, Y:-36.50, Z:-6.44 [[ 9.82256704e-01 1.85054016e-01 3.04430337e-02 2.01013972e+02] [-1.84955577e-01 9.82728303e-01 -6.04290908e-03 -3.65029527e+01] [-3.10354955e-02 3.05079102e-04 9.99518236e-01 -6.44260752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:201.04, Y:-36.51, Z:-6.44 [[ 9.81928602e-01 1.86655316e-01 3.12412315e-02 2.01041711e+02] [-1.86552479e-01 9.82425430e-01 -6.20058260e-03 -3.65109792e+01] [-3.18495520e-02 2.60400199e-04 9.99492640e-01 -6.44374997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71401273899997 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:201.07, Y:-36.52, Z:-6.44 [[ 9.81876239e-01 1.86870646e-01 3.15976689e-02 2.01070112e+02] [-1.86765599e-01 9.82384495e-01 -6.27013336e-03 -3.65186770e+01] [-3.22127638e-02 2.55137419e-04 9.99481002e-01 -6.44478969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:201.10, Y:-36.53, Z:-6.45 [[ 9.81615761e-01 1.88192317e-01 3.18457112e-02 2.01098232e+02] [-1.88086334e-01 9.82132174e-01 -6.31856443e-03 -3.65268623e+01] [-3.24658028e-02 2.12659357e-04 9.99472824e-01 -6.44559637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77401273899997 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:201.13, Y:-36.53, Z:-6.45 [[ 9.81342715e-01 1.89751070e-01 3.10001104e-02 2.01126872e+02] [-1.89651443e-01 9.81832219e-01 -6.15004428e-03 -3.65333486e+01] [-3.16038847e-02 1.56085475e-04 9.99500460e-01 -6.44709115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:201.16, Y:-36.54, Z:-6.45 [[ 9.81007088e-01 1.91654900e-01 2.98913615e-02 2.01155946e+02] [-1.91563179e-01 9.81462374e-01 -5.92936787e-03 -3.65400191e+01] [-3.04736390e-02 9.06676771e-05 9.99535567e-01 -6.44870558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83401273899997 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:201.18, Y:-36.55, Z:-6.45 [[ 9.80345809e-01 1.95051110e-01 2.96168697e-02 2.01183281e+02] [-1.94962635e-01 9.80793079e-01 -5.87422463e-03 -3.65470941e+01] [-3.01937949e-02 -1.54114684e-05 9.99544063e-01 -6.45019280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:201.21, Y:-36.55, Z:-6.45 [[ 9.80135888e-01 1.96000786e-01 3.02875045e-02 2.01210646e+02] [-1.95908745e-01 9.80603737e-01 -6.00613334e-03 -3.65526221e+01] [-3.08772470e-02 -4.67601809e-05 9.99523183e-01 -6.45049749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89401273899998 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:201.24, Y:-36.56, Z:-6.45 [[ 9.79986415e-01 1.96688447e-01 3.06640162e-02 2.01238829e+02] [-1.96594500e-01 9.80466037e-01 -6.07889243e-03 -3.65593249e+01] [-3.12606744e-02 -7.11449316e-05 9.99511263e-01 -6.45103248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:201.27, Y:-36.57, Z:-6.45 [[ 9.80067188e-01 1.96309692e-01 3.05092035e-02 2.01265363e+02] [-1.96216552e-01 9.80541943e-01 -6.04676375e-03 -3.65666309e+01] [-3.11025920e-02 -6.01759703e-05 9.99516196e-01 -6.45265490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95401273899998 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:201.29, Y:-36.57, Z:-6.45 [[ 9.80256956e-01 1.95365109e-01 3.04758072e-02 2.01292755e+02] [-1.95271774e-01 9.80730581e-01 -6.03828480e-03 -3.65745021e+01] [-3.10682262e-02 -3.19942645e-05 9.99517266e-01 -6.45360662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:201.32, Y:-36.58, Z:-6.45 [[ 9.80531492e-01 1.93729939e-01 3.20422158e-02 2.01321240e+02] [-1.93625942e-01 9.81054897e-01 -6.34698958e-03 -3.65841549e+01] [-3.26647746e-02 1.92189471e-05 9.99466364e-01 -6.45357907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01401273899998 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:201.35, Y:-36.59, Z:-6.45 [[ 9.80147490e-01 1.95367460e-01 3.38001879e-02 2.01349582e+02] [-1.95252739e-01 9.80730113e-01 -6.69430944e-03 -3.65910184e+01] [-3.44567124e-02 -3.81686644e-05 9.99406190e-01 -6.45223191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:201.38, Y:-36.60, Z:-6.45 [[ 9.79762240e-01 1.97270164e-01 3.39180560e-02 2.01378831e+02] [-1.97155825e-01 9.80349158e-01 -6.71639066e-03 -3.65967589e+01] [-3.45764811e-02 -1.06676347e-04 9.99402049e-01 -6.45347841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07401273899998 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:201.41, Y:-36.60, Z:-6.45 [[ 9.79242115e-01 1.99918849e-01 3.34265547e-02 2.01407528e+02] [-1.99809369e-01 9.79812439e-01 -6.61825883e-03 -3.66020743e+01] [-3.40748688e-02 -1.98061031e-04 9.99419263e-01 -6.45418488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:201.43, Y:-36.61, Z:-6.46 [[ 9.78094490e-01 2.05783407e-01 3.13744778e-02 2.01434460e+02] [-2.05689993e-01 9.78597489e-01 -6.21131454e-03 -3.66064827e+01] [-3.19811707e-02 -3.78163592e-04 9.99488400e-01 -6.45690941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13401273899999 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:201.46, Y:-36.61, Z:-6.46 [[ 9.77593963e-01 2.08350525e-01 3.00017153e-02 2.01463264e+02] [-2.08266374e-01 9.78054120e-01 -5.93762806e-03 -3.66116959e+01] [-3.05804092e-02 -4.43759138e-04 9.99532211e-01 -6.45889458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:201.49, Y:-36.62, Z:-6.46 [[ 9.77154668e-01 2.10515275e-01 2.91902868e-02 2.01491771e+02] [-2.10436622e-01 9.77590441e-01 -5.77566973e-03 -3.66165044e+01] [-2.97520120e-02 -4.98982700e-04 9.99557186e-01 -6.46020526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194012739 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:201.52, Y:-36.62, Z:-6.46 [[ 9.76523027e-01 2.13397160e-01 2.94011905e-02 2.01520744e+02] [-2.13318714e-01 9.76965353e-01 -5.81591394e-03 -3.66192948e+01] [-2.99650440e-02 -5.92450280e-04 9.99550772e-01 -6.46042157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:201.55, Y:-36.62, Z:-6.46 [[ 9.76396908e-01 2.13880295e-01 3.00715484e-02 2.01549775e+02] [-2.13798507e-01 9.76859679e-01 -5.94696947e-03 -3.66235011e+01] [-3.06476227e-02 -6.22649559e-04 9.99530057e-01 -6.46150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254012739 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:201.58, Y:-36.63, Z:-6.46 [[ 9.76188597e-01 2.14649702e-01 3.13261673e-02 2.01577386e+02] [-2.14561395e-01 9.76690867e-01 -6.19343368e-03 -3.66250849e+01] [-3.19254002e-02 -6.75426830e-04 9.99490026e-01 -6.46088587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:201.60, Y:-36.63, Z:-6.46 [[ 9.76014527e-01 2.15373718e-01 3.17774138e-02 2.01604473e+02] [-2.15283297e-01 9.76531441e-01 -6.28063284e-03 -3.66274356e+01] [-3.23843270e-02 -7.11157526e-04 9.99475237e-01 -6.46133043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314012739 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:201.63, Y:-36.63, Z:-6.46 [[ 9.75554214e-01 2.17480892e-01 3.15600500e-02 2.01632571e+02] [-2.17392893e-01 9.76064268e-01 -6.23494980e-03 -3.66275947e+01] [-3.21606195e-02 -7.78398996e-04 9.99482410e-01 -6.46254893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:201.66, Y:-36.63, Z:-6.46 [[ 9.75354814e-01 2.18410941e-01 3.12993323e-02 2.01659769e+02] [-2.18324940e-01 9.75856554e-01 -6.18118149e-03 -3.66305888e+01] [-3.18936962e-02 -8.04579715e-04 9.99490943e-01 -6.46315656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:201.69, Y:-36.63, Z:-6.46 [[ 9.75202920e-01 2.19130122e-01 3.10040963e-02 2.01688001e+02] [-2.19046183e-01 9.75695297e-01 -6.12022525e-03 -3.66333146e+01] [-3.15916767e-02 -8.22867427e-04 9.99500520e-01 -6.46424169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:201.72, Y:-36.63, Z:-6.47 [[ 9.75075627e-01 2.19722149e-01 3.08171824e-02 2.01716713e+02] [-2.19639585e-01 9.75562132e-01 -6.08111783e-03 -3.66324983e+01] [-3.14002325e-02 -8.39123363e-04 9.99506539e-01 -6.46650325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43401273899997 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:201.74, Y:-36.64, Z:-6.47 [[ 9.75181654e-01 2.19221795e-01 3.10249395e-02 2.01744773e+02] [-2.19137931e-01 9.75674697e-01 -6.11986665e-03 -3.66351917e+01] [-3.16118566e-02 -8.30759367e-04 9.99499875e-01 -6.46701585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:201.77, Y:-36.64, Z:-6.47 [[ 9.75763049e-01 2.16403306e-01 3.24973998e-02 2.01773190e+02] [-2.16309810e-01 9.76303746e-01 -6.40785131e-03 -3.66352307e+01] [-3.31140134e-02 -7.76961866e-04 9.99451279e-01 -6.46586954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49401273899997 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:201.80, Y:-36.64, Z:-6.47 [[ 9.76107962e-01 2.14803595e-01 3.27515247e-02 2.01800166e+02] [-2.14707814e-01 9.76656993e-01 -6.45545443e-03 -3.66368371e+01] [-3.33736604e-02 -7.30787812e-04 9.99442677e-01 -6.46603891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:201.83, Y:-36.64, Z:-6.47 [[ 9.76345650e-01 2.13625873e-01 3.33640254e-02 2.01827957e+02] [-2.13525910e-01 9.76915292e-01 -6.57259470e-03 -3.66385498e+01] [-3.39979029e-02 -7.06959638e-04 9.99421654e-01 -6.46672242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55401273899997 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:201.86, Y:-36.64, Z:-6.47 [[ 9.76660524e-01 2.12177429e-01 3.33910067e-02 2.01856116e+02] [-2.12076540e-01 9.77230937e-01 -6.57551387e-03 -3.66383057e+01] [-3.40259004e-02 -6.59404350e-04 9.99420734e-01 -6.46745293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:201.88, Y:-36.64, Z:-6.47 [[ 9.76942918e-01 2.10951594e-01 3.28931632e-02 2.01882937e+02] [-2.10853077e-01 9.77496319e-01 -6.47510250e-03 -3.66403307e+01] [-3.35188792e-02 -6.09819153e-04 9.99437898e-01 -6.46832337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61401273899997 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:201.91, Y:-36.64, Z:-6.47 [[ 9.77601589e-01 2.08017101e-01 3.20002809e-02 2.01912027e+02] [-2.07922375e-01 9.78125062e-01 -6.29668637e-03 -3.66363622e+01] [-3.26100952e-02 -4.97923819e-04 9.99468025e-01 -6.46942979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:201.94, Y:-36.64, Z:-6.47 [[ 9.77885483e-01 2.06653277e-01 3.21621852e-02 2.01940755e+02] [-2.06556929e-01 9.78414132e-01 -6.32619426e-03 -3.66367033e+01] [-3.27752653e-02 -4.57028677e-04 9.99462642e-01 -6.47024147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67401273899998 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:201.97, Y:-36.64, Z:-6.47 [[ 9.78684605e-01 2.02904162e-01 3.17229350e-02 2.01968924e+02] [-2.02808532e-01 9.79198546e-01 -6.23752632e-03 -3.66355910e+01] [-3.23286718e-02 -3.29110881e-04 9.99477238e-01 -6.47171677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:202.00, Y:-36.64, Z:-6.47 [[ 9.79268894e-01 2.00106631e-01 3.14606015e-02 2.01996378e+02] [-2.00011218e-01 9.79774096e-01 -6.18328071e-03 -3.66392306e+01] [-3.20615979e-02 -2.37378758e-04 9.99485867e-01 -6.47294575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73401273899998 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:202.02, Y:-36.64, Z:-6.47 [[ 9.80031421e-01 1.96404726e-01 3.10418506e-02 2.02023946e+02] [-1.96310049e-01 9.80522906e-01 -6.09877528e-03 -3.66427854e+01] [-3.16350739e-02 -1.16835803e-04 9.99499479e-01 -6.47392513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:202.05, Y:-36.65, Z:-6.48 [[ 9.81671461e-01 1.88091396e-01 3.07045374e-02 2.02051850e+02] [-1.87994761e-01 9.82151518e-01 -6.03031343e-03 -3.66455447e+01] [-3.12907581e-02 1.47494430e-04 9.99510313e-01 -6.47528095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79401273899998 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:202.08, Y:-36.65, Z:-6.48 [[ 9.82407965e-01 1.84157076e-01 3.09961513e-02 2.02079261e+02] [-1.84056709e-01 9.82896788e-01 -6.08531538e-03 -3.66503569e+01] [-3.15866714e-02 2.73212693e-04 9.99500979e-01 -6.47636477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:202.11, Y:-36.66, Z:-6.48 [[ 9.83555709e-01 1.77838982e-01 3.14875037e-02 2.02106937e+02] [-1.77732241e-01 9.84059482e-01 -6.17947235e-03 -3.66563082e+01] [-3.20845277e-02 4.81510716e-04 9.99485043e-01 -6.47717770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85401273899998 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:202.13, Y:-36.66, Z:-6.48 [[ 9.83872877e-01 1.75986592e-01 3.19825236e-02 2.02133982e+02] [-1.75875567e-01 9.84392411e-01 -6.27422525e-03 -3.66625213e+01] [-3.25875331e-02 5.48095573e-04 9.99468735e-01 -6.47793596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:202.16, Y:-36.67, Z:-6.48 [[ 9.83932018e-01 1.75670920e-01 3.18984680e-02 2.02161494e+02] [-1.75560375e-01 9.84448790e-01 -6.25579544e-03 -3.66700282e+01] [-3.25013696e-02 5.55170408e-04 9.99471537e-01 -6.47849119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914012739 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:202.19, Y:-36.68, Z:-6.48 [[ 9.83882359e-01 1.76069805e-01 3.12238203e-02 2.02189522e+02] [-1.75964135e-01 9.84377541e-01 -6.12202599e-03 -3.66763781e+01] [-3.18139314e-02 5.29080836e-04 9.99493669e-01 -6.47946546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:202.22, Y:-36.68, Z:-6.48 [[ 9.83888837e-01 1.76208102e-01 3.02235200e-02 2.02216980e+02] [-1.76109203e-01 9.84352807e-01 -5.92455047e-03 -3.66818444e+01] [-3.07945605e-02 5.06459068e-04 9.99525607e-01 -6.48018339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974012739 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:202.24, Y:-36.69, Z:-6.48 [[ 9.83966569e-01 1.75909011e-01 2.94246795e-02 2.02244321e+02] [-1.75815193e-01 9.84406303e-01 -5.76613553e-03 -3.66874008e+01] [-2.99801551e-02 5.00378880e-04 9.99550369e-01 -6.48157680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:202.27, Y:-36.69, Z:-6.48 [[ 9.83943301e-01 1.75845466e-01 3.05606227e-02 2.02271397e+02] [-1.75744303e-01 9.84417646e-01 -5.98646757e-03 -3.66937528e+01] [-3.11371094e-02 5.19489336e-04 9.99514988e-01 -6.48242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034012739 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:202.30, Y:-36.70, Z:-6.48 [[ 9.83650055e-01 1.76918385e-01 3.36519520e-02 2.02297284e+02] [-1.76796431e-01 9.84225382e-01 -6.58938143e-03 -3.67020492e+01] [-3.42868880e-02 5.32100407e-04 9.99411890e-01 -6.48172666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:202.32, Y:-36.71, Z:-6.48 [[ 9.83440449e-01 1.77979568e-01 3.41782982e-02 2.02324970e+02] [-1.77854532e-01 9.84034056e-01 -6.68887949e-03 -3.67075319e+01] [-3.48230933e-02 4.99349397e-04 9.99393367e-01 -6.48174776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:202.35, Y:-36.71, Z:-6.48 [[ 9.83155560e-01 1.79603328e-01 3.38790349e-02 2.02353123e+02] [-1.79481505e-01 9.83739017e-01 -6.62836725e-03 -3.67127475e+01] [-3.45186053e-02 4.36055961e-04 9.99403960e-01 -6.48291460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:202.38, Y:-36.72, Z:-6.48 [[ 9.82612519e-01 1.82778366e-01 3.26298230e-02 2.02379327e+02] [-1.82667161e-01 9.83154094e-01 -6.38251583e-03 -3.67178604e+01] [-3.32467299e-02 3.11142841e-04 9.99447126e-01 -6.48474777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:202.41, Y:-36.72, Z:-6.49 [[ 9.82383724e-01 1.84026823e-01 3.25014851e-02 2.02406956e+02] [-1.83917261e-01 9.82921186e-01 -6.35477710e-03 -3.67236671e+01] [-3.31158477e-02 2.65245481e-04 9.99451485e-01 -6.48654442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:202.43, Y:-36.73, Z:-6.49 [[ 9.82053302e-01 1.85594984e-01 3.35531478e-02 2.02433247e+02] [-1.85479212e-01 9.82626305e-01 -6.55799164e-03 -3.67297938e+01] [-3.41873360e-02 2.16885935e-04 9.99415419e-01 -6.48683227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21401273899997 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:202.46, Y:-36.74, Z:-6.49 [[ 9.82075046e-01 1.85454778e-01 3.36916955e-02 2.02459917e+02] [-1.85338058e-01 9.82652775e-01 -6.58233325e-03 -3.67354593e+01] [-3.43279632e-02 2.19991814e-04 9.99410598e-01 -6.48752976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:202.49, Y:-36.74, Z:-6.49 [[ 9.82122203e-01 1.85211970e-01 3.36526958e-02 2.02486907e+02] [-1.85095491e-01 9.82698568e-01 -6.57143266e-03 -3.67417023e+01] [-3.42875639e-02 2.24987676e-04 9.99411983e-01 -6.48869501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27401273899997 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:202.51, Y:-36.75, Z:-6.49 [[ 9.82132346e-01 1.85158100e-01 3.36531261e-02 2.02514879e+02] [-1.85041664e-01 9.82708720e-01 -6.56922831e-03 -3.67470320e+01] [-3.42875663e-02 2.24621154e-04 9.99411983e-01 -6.48965435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:202.54, Y:-36.76, Z:-6.49 [[ 9.82588671e-01 1.82936041e-01 3.24639440e-02 2.02540965e+02] [-1.82826538e-01 9.83124774e-01 -6.33532749e-03 -3.67551795e+01] [-3.30750674e-02 2.89750530e-04 9.99452828e-01 -6.49201535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33401273899997 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:202.57, Y:-36.76, Z:-6.49 [[ 9.83329343e-01 1.78953428e-01 3.22346758e-02 2.02568852e+02] [-1.78843409e-01 9.83857457e-01 -6.28802118e-03 -3.67630683e+01] [-3.28395891e-02 4.18236413e-04 9.99460548e-01 -6.49292151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:202.60, Y:-36.77, Z:-6.49 [[ 9.83514629e-01 1.77962056e-01 3.20699488e-02 2.02596067e+02] [-1.77852679e-01 9.84037248e-01 -6.25446012e-03 -3.67692413e+01] [-3.26710808e-02 4.47626712e-04 9.99466058e-01 -6.49349092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39401273899998 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:202.62, Y:-36.78, Z:-6.49 [[ 9.83502328e-01 1.78031505e-01 3.20617102e-02 2.02623023e+02] [-1.77922280e-01 9.84024688e-01 -6.25106998e-03 -3.67752956e+01] [-3.26624018e-02 4.43449298e-04 9.99466343e-01 -6.49443560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:202.65, Y:-36.78, Z:-6.50 [[ 9.83318990e-01 1.79151034e-01 3.14431390e-02 2.02649680e+02] [-1.79046621e-01 9.83821503e-01 -6.12842553e-03 -3.67808393e+01] [-3.20323501e-02 3.96409415e-04 9.99486754e-01 -6.49571272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45401273899998 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:202.68, Y:-36.78, Z:-6.50 [[ 9.82542882e-01 1.83582139e-01 3.01178233e-02 2.02676910e+02] [-1.83488494e-01 9.83004344e-01 -5.86784240e-03 -3.67845745e+01] [-3.06831822e-02 2.39132754e-04 9.99529132e-01 -6.49611106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:202.70, Y:-36.79, Z:-6.50 [[ 9.82158711e-01 1.85743473e-01 2.93875495e-02 2.02704427e+02] [-1.85655339e-01 9.82598257e-01 -5.72367413e-03 -3.67876134e+01] [-2.99392901e-02 1.65600930e-04 9.99551705e-01 -6.49733650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51401273899998 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:202.73, Y:-36.79, Z:-6.50 [[ 9.81488384e-01 1.89079429e-01 3.04880411e-02 2.02732381e+02] [-1.88986242e-01 9.81961794e-01 -5.93590489e-03 -3.67906595e+01] [-3.10604490e-02 6.42013927e-05 9.99517506e-01 -6.50011278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:202.76, Y:-36.80, Z:-6.50 [[ 9.81397077e-01 1.89440715e-01 3.11768043e-02 2.02759214e+02] [-1.89343518e-01 9.81892159e-01 -6.06791801e-03 -3.67961032e+01] [-3.17617704e-02 5.19112128e-05 9.99495466e-01 -6.50180853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57401273899998 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:202.79, Y:-36.80, Z:-6.50 [[ 9.81551246e-01 1.88728571e-01 3.06378466e-02 2.02786177e+02] [-1.88634432e-01 9.82029287e-01 -5.96068045e-03 -3.68017413e+01] [-3.12122134e-02 7.13605257e-05 9.99512778e-01 -6.50270719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:202.81, Y:-36.80, Z:-6.50 [[ 9.81943314e-01 1.86990064e-01 2.86713169e-02 2.02814514e+02] [-1.86906933e-01 9.82361798e-01 -5.57636359e-03 -3.68043601e+01] [-2.92083310e-02 1.16805021e-04 9.99573339e-01 -6.50436169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63401273899999 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:202.84, Y:-36.81, Z:-6.51 [[ 9.82122224e-01 1.86103306e-01 2.83107235e-02 2.02841512e+02] [-1.86021935e-01 9.82530173e-01 -5.50449971e-03 -3.68082857e+01] [-2.88405456e-02 1.39675926e-04 9.99584015e-01 -6.50621038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:202.87, Y:-36.81, Z:-6.51 [[ 9.82641208e-01 1.83173136e-01 2.93914715e-02 2.02869038e+02] [-1.83084231e-01 9.83080642e-01 -5.71096020e-03 -3.68127057e+01] [-2.99402812e-02 2.30709859e-04 9.99551663e-01 -6.50636762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694012739 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:202.90, Y:-36.82, Z:-6.51 [[ 9.82915124e-01 1.81455508e-01 3.08505837e-02 2.02896289e+02] [-1.81356774e-01 9.83399111e-01 -5.99238344e-03 -3.68167983e+01] [-3.14257876e-02 2.95041957e-04 9.99506044e-01 -6.50656455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:202.92, Y:-36.82, Z:-6.51 [[ 9.83128819e-01 1.80124149e-01 3.18279185e-02 2.02923883e+02] [-1.80018429e-01 9.83643823e-01 -6.18011863e-03 -3.68206259e+01] [-3.24205240e-02 3.46240832e-04 9.99474257e-01 -6.50635090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754012739 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:202.95, Y:-36.83, Z:-6.51 [[ 9.83445812e-01 1.78377052e-01 3.18741705e-02 2.02950882e+02] [-1.78270181e-01 9.83962126e-01 -6.18685041e-03 -3.68262620e+01] [-3.24665688e-02 4.02217973e-04 9.99472741e-01 -6.50703364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:202.98, Y:-36.83, Z:-6.51 [[ 9.83577607e-01 1.77592175e-01 3.21886798e-02 2.02978697e+02] [-1.77482840e-01 9.84104077e-01 -6.24558767e-03 -3.68327298e+01] [-3.27861785e-02 4.30081890e-04 9.99462296e-01 -6.50816075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:203.01, Y:-36.84, Z:-6.51 [[ 9.83810916e-01 1.76083424e-01 3.33272971e-02 2.03007162e+02] [-1.75965403e-01 9.84375123e-01 -6.46490544e-03 -3.68375369e+01] [-3.39449249e-02 4.95793281e-04 9.99423582e-01 -6.50831599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:203.03, Y:-36.84, Z:-6.51 [[ 9.83827243e-01 1.75847031e-01 3.40848717e-02 2.03034800e+02] [-1.75723499e-01 9.84417370e-01 -6.61013059e-03 -3.68412768e+01] [-3.47161116e-02 5.13713616e-04 9.99397082e-01 -6.50889318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874012739 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:203.06, Y:-36.85, Z:-6.51 [[ 9.83723873e-01 1.76263197e-01 3.49088467e-02 2.03062338e+02] [-1.76133964e-01 9.84342942e-01 -6.76758371e-03 -3.68454658e+01] [-3.55551528e-02 5.08800116e-04 9.99367586e-01 -6.51000716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:203.09, Y:-36.85, Z:-6.51 [[ 9.83435249e-01 1.77757817e-01 3.54579856e-02 2.03089495e+02] [-1.77625532e-01 9.84074157e-01 -6.87193108e-03 -3.68510918e+01] [-3.61148268e-02 4.59855703e-04 9.99347541e-01 -6.51078414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93401273899997 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:203.12, Y:-36.86, Z:-6.51 [[ 9.83521899e-01 1.77849548e-01 3.24686362e-02 2.03117640e+02] [-1.77738745e-01 9.84057603e-01 -6.29073581e-03 -3.68575302e+01] [-3.30698128e-02 4.16141787e-04 9.99452958e-01 -6.51315703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:203.15, Y:-36.86, Z:-6.51 [[ 9.83671126e-01 1.77340256e-01 3.06846651e-02 2.03145951e+02] [-1.77241092e-01 9.84149515e-01 -5.94374275e-03 -3.68629666e+01] [-3.12523632e-02 4.08104558e-04 9.99511442e-01 -6.51490262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99401273899997 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:203.17, Y:-36.87, Z:-6.52 [[ 9.83732678e-01 1.77054026e-01 3.03626442e-02 2.03173197e+02] [-1.76956839e-01 9.84201048e-01 -5.88003161e-03 -3.68673911e+01] [-3.09240295e-02 4.11501699e-04 9.99521653e-01 -6.51588529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:203.20, Y:-36.87, Z:-6.52 [[ 9.83680705e-01 1.77128317e-01 3.15884466e-02 2.03201735e+02] [-1.77023235e-01 9.84187675e-01 -6.11510185e-03 -3.68715674e+01] [-3.21721176e-02 4.23418696e-04 9.99482254e-01 -6.51648961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05401273899997 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:203.23, Y:-36.87, Z:-6.52 [[ 9.83416684e-01 1.77899853e-01 3.52600098e-02 2.03229864e+02] [-1.77769478e-01 9.84048498e-01 -6.82394257e-03 -3.68734032e+01] [-3.59115381e-02 4.42625423e-04 9.99354875e-01 -6.51550823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:203.26, Y:-36.88, Z:-6.52 [[ 9.83358478e-01 1.78319390e-01 3.47606003e-02 2.03257251e+02] [-1.78193019e-01 9.83972570e-01 -6.72521709e-03 -3.68763971e+01] [-3.54027138e-02 4.19202922e-04 9.99373040e-01 -6.51765673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11401273899997 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:203.29, Y:-36.88, Z:-6.52 [[ 9.83462283e-01 1.78147195e-01 3.26422331e-02 2.03285886e+02] [-1.78035728e-01 9.84003770e-01 -6.31354603e-03 -3.68813760e+01] [-3.32448209e-02 3.97650672e-04 9.99447159e-01 -6.51972467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:203.31, Y:-36.89, Z:-6.52 [[ 9.83700589e-01 1.77132717e-01 3.09378709e-02 2.03312862e+02] [-1.77032127e-01 9.84186890e-01 -5.98264066e-03 -3.68858650e+01] [-3.15083683e-02 4.08130066e-04 9.99503405e-01 -6.52119104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17401273899998 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:203.34, Y:-36.89, Z:-6.52 [[ 9.84056330e-01 1.75146291e-01 3.09340491e-02 2.03340685e+02] [-1.75044847e-01 9.84542308e-01 -5.97867192e-03 -3.68905639e+01] [-3.15030223e-02 4.68504066e-04 9.99503547e-01 -6.52216654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:203.37, Y:-36.90, Z:-6.52 [[ 9.84862159e-01 1.70111583e-01 3.32952980e-02 2.03367551e+02] [-1.69991264e-01 9.85424575e-01 -6.43248132e-03 -3.68969554e+01] [-3.39042444e-02 6.75197658e-04 9.99424858e-01 -6.52166857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23401273899998 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:203.40, Y:-36.91, Z:-6.52 [[ 9.85952049e-01 1.63439472e-01 3.44397550e-02 2.03395570e+02] [-1.63306738e-01 9.86552921e-01 -6.65150389e-03 -3.69060277e+01] [-3.50637592e-02 9.33819844e-04 9.99384641e-01 -6.52244531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:203.42, Y:-36.91, Z:-6.52 [[ 9.86526301e-01 1.59984506e-01 3.42171719e-02 2.03423077e+02] [-1.59851460e-01 9.87118969e-01 -6.60695445e-03 -3.69140362e+01] [-3.48334298e-02 1.04826946e-03 9.99392582e-01 -6.52379249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29401273899998 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:203.45, Y:-36.92, Z:-6.52 [[ 9.87060442e-01 1.56843186e-01 3.33451398e-02 2.03451807e+02] [-1.56715072e-01 9.87622874e-01 -6.43781963e-03 -3.69225604e+01] [-3.39421509e-02 1.12883112e-03 9.99423162e-01 -6.52481617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:203.48, Y:-36.93, Z:-6.53 [[ 9.87423310e-01 1.54697559e-01 3.26170432e-02 2.03480860e+02] [-1.54573836e-01 9.87961175e-01 -6.29651484e-03 -3.69309594e+01] [-3.31984278e-02 1.17558406e-03 9.99448089e-01 -6.52544790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35401273899998 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:203.51, Y:-36.94, Z:-6.53 [[ 9.87692177e-01 1.53017976e-01 3.23985024e-02 2.03510007e+02] [-1.52895028e-01 9.88222649e-01 -6.25357506e-03 -3.69422960e+01] [-3.29738433e-02 1.22303722e-03 9.99455467e-01 -6.52662831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:203.54, Y:-36.95, Z:-6.53 [[ 9.87562141e-01 1.53876093e-01 3.22980836e-02 2.03538172e+02] [-1.53754364e-01 9.88089434e-01 -6.23420140e-03 -3.69512062e+01] [-3.28726897e-02 1.19068998e-03 9.99458838e-01 -6.52737609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:203.57, Y:-36.96, Z:-6.53 [[ 9.86999794e-01 1.57326523e-01 3.28598731e-02 2.03566140e+02] [-1.57202443e-01 9.87546033e-01 -6.34223303e-03 -3.69629342e+01] [-3.34484388e-02 1.09413036e-03 9.99439846e-01 -6.52796366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:203.60, Y:-36.97, Z:-6.53 [[ 9.86648548e-01 1.59394349e-01 3.34377661e-02 2.03595919e+02] [-1.59267076e-01 9.87214443e-01 -6.45301272e-03 -3.69714870e+01] [-3.40388194e-02 1.04132040e-03 9.99419969e-01 -6.52906258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:203.62, Y:-36.98, Z:-6.53 [[ 9.86268215e-01 1.61704355e-01 3.35665076e-02 2.03623954e+02] [-1.61577436e-01 9.86838776e-01 -6.47785195e-03 -3.69800417e+01] [-3.41722282e-02 9.65309257e-04 9.99415493e-01 -6.52977852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:203.65, Y:-36.99, Z:-6.53 [[ 9.85499509e-01 1.66293749e-01 3.37210196e-02 2.03652225e+02] [-1.66168354e-01 9.86075927e-01 -6.50727714e-03 -3.69926565e+01] [-3.43336051e-02 8.09552118e-04 9.99410100e-01 -6.53147927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534012739 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:203.68, Y:-37.00, Z:-6.53 [[ 9.85132672e-01 1.68547092e-01 3.32490082e-02 2.03680270e+02] [-1.68426466e-01 9.85693339e-01 -6.41618893e-03 -3.70013971e+01] [-3.38547559e-02 7.20784412e-04 9.99426504e-01 -6.53308704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:203.71, Y:-37.01, Z:-6.54 [[ 9.84616652e-01 1.71739577e-01 3.21802163e-02 2.03708722e+02] [-1.71628299e-01 9.85142207e-01 -6.20955466e-03 -3.70134033e+01] [-3.27685156e-02 5.90995156e-04 9.99462793e-01 -6.53602022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:203.74, Y:-37.02, Z:-6.54 [[ 9.84468274e-01 1.72743964e-01 3.13327441e-02 2.03736556e+02] [-1.72638979e-01 9.84966613e-01 -6.04604608e-03 -3.70235354e+01] [-3.19061248e-02 5.42887589e-04 9.99490723e-01 -6.53854896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:203.76, Y:-37.04, Z:-6.54 [[ 9.84287618e-01 1.73993183e-01 3.00708704e-02 2.03764023e+02] [-1.73897081e-01 9.84746739e-01 -5.80216101e-03 -3.70397070e+01] [-3.06217280e-02 4.81758670e-04 9.99530929e-01 -6.54004153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654012739 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:203.79, Y:-37.05, Z:-6.54 [[ 9.84007054e-01 1.75532393e-01 3.03067081e-02 2.03793035e+02] [-1.75435506e-01 9.84473559e-01 -5.84766580e-03 -3.70488955e+01] [-3.08626076e-02 4.37271711e-04 9.99523541e-01 -6.54047445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:203.82, Y:-37.06, Z:-6.54 [[ 9.83566800e-01 1.77987910e-01 3.02762778e-02 2.03822316e+02] [-1.77892381e-01 9.84032608e-01 -5.84179428e-03 -3.70572109e+01] [-3.08326134e-02 3.59875772e-04 9.99524497e-01 -6.54100010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71401273899997 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:203.85, Y:-37.07, Z:-6.54 [[ 9.82176962e-01 1.85445299e-01 3.06342289e-02 2.03850463e+02] [-1.85351117e-01 9.82654581e-01 -5.91089070e-03 -3.70674393e+01] [-3.11990122e-02 1.27452147e-04 9.99513184e-01 -6.54156290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:203.88, Y:-37.07, Z:-6.54 [[ 9.81328868e-01 1.89812904e-01 3.10598639e-02 2.03878772e+02] [-1.89718282e-01 9.81820280e-01 -5.99265240e-03 -3.70741939e+01] [-3.16326870e-02 -1.18612326e-05 9.99499561e-01 -6.54225913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77401273899997 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:203.91, Y:-37.08, Z:-6.54 [[ 9.79518636e-01 1.98849864e-01 3.16539638e-02 2.03906767e+02] [-1.98756321e-01 9.80029916e-01 -6.10651050e-03 -3.70791204e+01] [-3.22361102e-02 -3.09984547e-04 9.99480233e-01 -6.54212165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:203.94, Y:-37.08, Z:-6.54 [[ 9.78710761e-01 2.02760909e-01 3.18317448e-02 2.03935184e+02] [-2.02668428e-01 9.79228175e-01 -6.13927253e-03 -3.70837996e+01] [-3.24153459e-02 -4.42717587e-04 9.99474387e-01 -6.54351527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83401273899997 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:203.96, Y:-37.09, Z:-6.54 [[ 9.77865558e-01 2.06738950e-01 3.22173317e-02 2.03963197e+02] [-2.06646422e-01 9.78395966e-01 -6.21206839e-03 -3.70891087e+01] [-3.28055838e-02 -5.83028582e-04 9.99461582e-01 -6.54476801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:203.99, Y:-37.09, Z:-6.54 [[ 9.76337928e-01 2.13655092e-01 3.34028625e-02 2.03990709e+02] [-2.13559724e-01 9.76908790e-01 -6.43893946e-03 -3.70926340e+01] [-3.40072622e-02 -8.46925278e-04 9.99421227e-01 -6.54455555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89401273899998 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:204.02, Y:-37.10, Z:-6.55 [[ 9.75696681e-01 2.16467650e-01 3.40256118e-02 2.04019180e+02] [-2.16370473e-01 9.76289315e-01 -6.55686417e-03 -3.70953235e+01] [-3.46381902e-02 -9.64627128e-04 9.99399452e-01 -6.54512200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:204.05, Y:-37.09, Z:-6.55 [[ 9.74654318e-01 2.21008340e-01 3.47026469e-02 2.04048781e+02] [-2.20910190e-01 9.75271240e-01 -6.68557475e-03 -3.70922004e+01] [-3.53220612e-02 -1.15004401e-03 9.99375320e-01 -6.54606075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95401273899998 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:204.08, Y:-37.09, Z:-6.55 [[ 9.74291821e-01 2.22576243e-01 3.48606410e-02 2.04077349e+02] [-2.22478289e-01 9.74914530e-01 -6.71347453e-03 -3.70932317e+01] [-3.54804053e-02 -1.21485241e-03 9.99369634e-01 -6.54719602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:204.11, Y:-37.09, Z:-6.55 [[ 9.74044092e-01 2.23628549e-01 3.50482282e-02 2.04105822e+02] [-2.23530309e-01 9.74673627e-01 -6.74706120e-03 -3.70940673e+01] [-3.56694192e-02 -1.26240616e-03 9.99362846e-01 -6.54802924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01401273899998 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:204.13, Y:-37.09, Z:-6.55 [[ 9.73853044e-01 2.24600153e-01 3.41323909e-02 2.04134987e+02] [-2.24507659e-01 9.74450187e-01 -6.56835331e-03 -3.70866502e+01] [-3.47355679e-02 -1.26637233e-03 9.99395736e-01 -6.54956955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:204.16, Y:-37.08, Z:-6.55 [[ 9.73943847e-01 2.24334222e-01 3.32797091e-02 2.04163899e+02] [-2.24246229e-01 9.74511492e-01 -6.40156882e-03 -3.70845496e+01] [-3.38675500e-02 -1.22808070e-03 9.99425575e-01 -6.55087192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07401273899998 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:204.19, Y:-37.08, Z:-6.55 [[ 9.74479334e-01 2.21935266e-01 3.36862632e-02 2.04193641e+02] [-2.21843761e-01 9.75060711e-01 -6.47735103e-03 -3.70791506e+01] [-3.42837043e-02 -1.16104260e-03 9.99411467e-01 -6.55330124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:204.22, Y:-37.08, Z:-6.55 [[ 9.74911761e-01 2.19899262e-01 3.45162834e-02 2.04221269e+02] [-2.19802009e-01 9.75521944e-01 -6.63430701e-03 -3.70795259e+01] [-3.51302711e-02 -1.11888452e-03 9.99382115e-01 -6.55319074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13401273899999 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:204.25, Y:-37.08, Z:-6.55 [[ 9.75355048e-01 2.17807459e-01 3.52482740e-02 2.04248850e+02] [-2.17704783e-01 9.75991172e-01 -6.77190120e-03 -3.70784234e+01] [-3.58769749e-02 -1.06870984e-03 9.99355643e-01 -6.55319675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:204.28, Y:-37.07, Z:-6.55 [[ 9.76334981e-01 2.13366238e-01 3.52824838e-02 2.04277530e+02] [-2.13260566e-01 9.76971863e-01 -6.77560917e-03 -3.70705837e+01] [-3.59156802e-02 -9.09098231e-04 9.99354410e-01 -6.55437322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194012739 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:204.31, Y:-37.08, Z:-6.56 [[ 9.76346951e-01 2.13311382e-01 3.52829345e-02 2.04305519e+02] [-2.13205759e-01 9.76983842e-01 -6.77326157e-03 -3.70758231e+01] [-3.59156707e-02 -9.09471540e-04 9.99354410e-01 -6.55533257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:204.33, Y:-37.08, Z:-6.56 [[ 9.76833198e-01 2.11174854e-01 3.46710854e-02 2.04333675e+02] [-2.11071589e-01 9.77447958e-01 -6.65380202e-03 -3.70756503e+01] [-3.52942973e-02 -8.18426405e-04 9.99376627e-01 -6.55651179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254012739 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:204.36, Y:-37.07, Z:-6.56 [[ 9.77930122e-01 2.06310637e-01 3.29939032e-02 2.04362666e+02] [-2.06214427e-01 9.78486354e-01 -6.32974600e-03 -3.70718652e+01] [-3.35899780e-02 -6.13769578e-04 9.99435509e-01 -6.55851803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:204.39, Y:-37.07, Z:-6.56 [[ 9.78544429e-01 2.03355381e-01 3.31268618e-02 2.04390190e+02] [-2.03256784e-01 9.79104858e-01 -6.35276484e-03 -3.70723264e+01] [-3.37265402e-02 -5.16796750e-04 9.99430965e-01 -6.55912563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:204.42, Y:-37.07, Z:-6.56 [[ 9.80146521e-01 1.95383971e-01 3.37327800e-02 2.04418109e+02] [-1.95277110e-01 9.80726793e-01 -6.46597224e-03 -3.70713793e+01] [-3.43459884e-02 -2.49639577e-04 9.99409971e-01 -6.56005995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:204.45, Y:-37.08, Z:-6.56 [[ 9.81052548e-01 1.90774259e-01 3.37798884e-02 2.04445678e+02] [-1.90664509e-01 9.81633930e-01 -6.47081123e-03 -3.70754276e+01] [-3.43939488e-02 -9.24199999e-05 9.99408349e-01 -6.56096645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:204.47, Y:-37.08, Z:-6.56 [[ 9.82424239e-01 1.83655168e-01 3.33675453e-02 2.04473263e+02] [-1.83544048e-01 9.82990720e-01 -6.38958334e-03 -3.70780836e+01] [-3.39734674e-02 1.52867224e-04 9.99422723e-01 -6.56321885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:204.50, Y:-37.08, Z:-6.56 [[ 9.82860588e-01 1.81310255e-01 3.33415010e-02 2.04500939e+02] [-1.81198043e-01 9.83425919e-01 -6.38211408e-03 -3.70806008e+01] [-3.39460390e-02 2.31313680e-04 9.99423640e-01 -6.56358860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43401273899997 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:204.53, Y:-37.08, Z:-6.55 [[ 9.83132618e-01 1.79989968e-01 3.24633190e-02 2.04528810e+02] [-1.79882948e-01 9.83668410e-01 -6.21168601e-03 -3.70826217e+01] [-3.30511825e-02 2.67313630e-04 9.99453625e-01 -6.55244229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:204.56, Y:-37.08, Z:-6.56 [[ 9.83272459e-01 1.78907325e-01 3.41678159e-02 2.04556966e+02] [-1.78788221e-01 9.83865879e-01 -6.53477951e-03 -3.70837373e+01] [-3.47856681e-02 3.16665721e-04 9.99394745e-01 -6.56377401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49401273899997 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:204.59, Y:-37.09, Z:-6.56 [[ 9.83186522e-01 1.79312357e-01 3.45158187e-02 2.04585087e+02] [-1.79191151e-01 9.83792146e-01 -6.59883305e-03 -3.70874093e+01] [-3.51396437e-02 3.02954434e-04 9.99382366e-01 -6.56421359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:204.61, Y:-37.09, Z:-6.57 [[ 9.82744885e-01 1.81784727e-01 3.41585210e-02 2.04612580e+02] [-1.81667597e-01 9.83338329e-01 -6.52801481e-03 -3.70889809e+01] [-3.47760764e-02 2.09876717e-04 9.99395107e-01 -6.56590532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55401273899997 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:204.64, Y:-37.09, Z:-6.57 [[ 9.82622927e-01 1.82567880e-01 3.34836143e-02 2.04640837e+02] [-1.82455885e-01 9.83193236e-01 -6.39622848e-03 -3.70918948e+01] [-3.40886089e-02 1.75798290e-04 9.99418799e-01 -6.56730171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:204.67, Y:-37.09, Z:-6.57 [[ 9.82613284e-01 1.82714923e-01 3.29604407e-02 2.04668371e+02] [-1.82606564e-01 9.83165922e-01 -6.29391588e-03 -3.70946086e+01] [-3.35555745e-02 1.65692520e-04 9.99436839e-01 -6.56897983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61401273899997 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:204.70, Y:-37.10, Z:-6.57 [[ 9.82734077e-01 1.81997539e-01 3.33261248e-02 2.04696019e+02] [-1.81886437e-01 9.83298968e-01 -6.36116573e-03 -3.70961268e+01] [-3.39272606e-02 1.89764249e-04 9.99424287e-01 -6.56993337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:204.72, Y:-37.10, Z:-6.57 [[ 9.82909261e-01 1.80944778e-01 3.38876281e-02 2.04722616e+02] [-1.80829426e-01 9.83493231e-01 -6.46392979e-03 -3.70997624e+01] [-3.44978672e-02 2.25576121e-04 9.99404746e-01 -6.57010209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67401273899998 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:204.75, Y:-37.10, Z:-6.57 [[ 9.83407692e-01 1.78141943e-01 3.42747574e-02 2.04748904e+02] [-1.78022341e-01 9.84004747e-01 -6.53478794e-03 -3.71030283e+01] [-3.48906438e-02 3.24688190e-04 9.99391083e-01 -6.57173780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:204.78, Y:-37.11, Z:-6.57 [[ 9.83706941e-01 1.76467749e-01 3.43480259e-02 2.04775958e+02] [-1.76346759e-01 9.84306349e-01 -6.54462322e-03 -3.71080382e+01] [-3.49638949e-02 3.80828246e-04 9.99388504e-01 -6.57284063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73401273899998 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:204.80, Y:-37.11, Z:-6.57 [[ 9.84040661e-01 1.74506282e-01 3.48071182e-02 2.04802951e+02] [-1.74380895e-01 9.84655956e-01 -6.62963367e-03 -3.71134470e+01] [-3.54299489e-02 4.54132673e-04 9.99372059e-01 -6.57446401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:204.83, Y:-37.12, Z:-6.58 [[ 9.84873071e-01 1.69720790e-01 3.49268854e-02 2.04830476e+02] [-1.69591617e-01 9.85491990e-01 -6.64994359e-03 -3.71207555e+01] [-3.55487995e-02 6.26043384e-04 9.99367746e-01 -6.57529431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79401273899998 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:204.86, Y:-37.13, Z:-6.58 [[ 9.85339845e-01 1.67156604e-01 3.41183225e-02 2.04856406e+02] [-1.67031892e-01 9.85930109e-01 -6.49359310e-03 -3.71274754e+01] [-3.47237284e-02 6.99548069e-04 9.99396705e-01 -6.57615943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:204.88, Y:-37.13, Z:-6.58 [[ 9.85879412e-01 1.64066582e-01 3.35252333e-02 2.04882338e+02] [-1.63944477e-01 9.86448949e-01 -6.37797246e-03 -3.71345679e+01] [-3.41173433e-02 7.91634897e-04 9.99417520e-01 -6.57726929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85401273899998 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:204.91, Y:-37.15, Z:-6.58 [[ 9.86884118e-01 1.57867187e-01 3.37296498e-02 2.04909226e+02] [-1.57740062e-01 9.87459838e-01 -6.41409112e-03 -3.71453478e+01] [-3.43192490e-02 1.00944761e-03 9.99410411e-01 -6.57807654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:204.94, Y:-37.15, Z:-6.58 [[ 9.87250604e-01 1.55453041e-01 3.42139912e-02 2.04936546e+02] [-1.55320847e-01 9.87842662e-01 -6.50453113e-03 -3.71537355e+01] [-3.48091893e-02 1.10745621e-03 9.99393363e-01 -6.57916261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:204.96, Y:-37.17, Z:-6.58 [[ 9.87851680e-01 1.51686376e-01 3.37683535e-02 2.04962186e+02] [-1.51555461e-01 9.88427918e-01 -6.41818782e-03 -3.71666731e+01] [-3.43511350e-02 1.22243923e-03 9.99409078e-01 -6.57962203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:204.99, Y:-37.18, Z:-6.58 [[ 9.88159024e-01 1.49908431e-01 3.26987120e-02 2.04990045e+02] [-1.49784774e-01 9.88699105e-01 -6.21297850e-03 -3.71765027e+01] [-3.32605652e-02 1.24164159e-03 9.99445943e-01 -6.58106370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974012739 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:205.02, Y:-37.19, Z:-6.58 [[ 9.88435609e-01 1.48398065e-01 3.11939169e-02 2.05017810e+02] [-1.48284825e-01 9.88926942e-01 -5.92564064e-03 -3.71869064e+01] [-3.17278585e-02 1.23152971e-03 9.99495786e-01 -6.58243841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:205.04, Y:-37.20, Z:-6.58 [[ 9.88913023e-01 1.45312602e-01 3.05823518e-02 2.05043907e+02] [-1.45202330e-01 9.89384935e-01 -5.80804088e-03 -3.72038194e+01] [-3.11016997e-02 1.30301851e-03 9.99515376e-01 -6.58400331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034012739 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:205.07, Y:-37.22, Z:-6.58 [[ 9.89058402e-01 1.44135593e-01 3.14389714e-02 2.05071715e+02] [-1.44018513e-01 9.89556990e-01 -5.96914178e-03 -3.72155378e+01] [-3.19710197e-02 1.37603593e-03 9.99487849e-01 -6.58448659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:205.10, Y:-37.23, Z:-6.58 [[ 9.89066505e-01 1.43575209e-01 3.36690919e-02 2.05098230e+02] [-1.43440628e-01 9.89638284e-01 -6.39169804e-03 -3.72332194e+01] [-3.42379117e-02 1.49229876e-03 9.99412597e-01 -6.58471563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094012739 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:205.13, Y:-37.24, Z:-6.57 [[ 9.89088779e-01 1.43576274e-01 3.30036444e-02 2.05127970e+02] [-1.43446976e-01 9.89638174e-01 -6.26497933e-03 -3.72439463e+01] [-3.35611688e-02 1.46234777e-03 9.99435595e-01 -6.57424792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:205.16, Y:-37.26, Z:-6.59 [[ 9.89040987e-01 1.43913413e-01 3.29674898e-02 2.05158183e+02] [-1.43784586e-01 9.89589222e-01 -6.25809814e-03 -3.72562789e+01] [-3.35248968e-02 1.44929869e-03 9.99436832e-01 -6.58660664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154012739 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:205.19, Y:-37.27, Z:-6.59 [[ 9.88935634e-01 1.44979623e-01 3.14200714e-02 2.05187275e+02] [-1.44862986e-01 9.89433718e-01 -5.96937253e-03 -3.72742961e+01] [-3.19535155e-02 1.35171983e-03 9.99488442e-01 -6.58841842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters Centerline goodness : 0.989156 Centerline is valid? [True, True] Translation: X:205.22, Y:-37.29, Z:-6.58 [[ 9.88825342e-01 1.45888955e-01 3.06733599e-02 2.05217480e+02] [-1.45778072e-01 9.89300123e-01 -5.83272704e-03 -3.72863062e+01] [-3.11960892e-02 1.29604503e-03 9.99512443e-01 -6.57642819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21401273899997 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:205.25, Y:-37.30, Z:-6.59 [[ 9.88661992e-01 1.46566024e-01 3.26476073e-02 2.05245765e+02] [-1.46440663e-01 9.89199955e-01 -6.21138370e-03 -3.73036804e+01] [-3.32053895e-02 1.36002172e-03 9.99447624e-01 -6.59100605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:205.28, Y:-37.32, Z:-6.59 [[ 9.88563187e-01 1.47230089e-01 3.26515994e-02 2.05276654e+02] [-1.47104894e-01 9.89101359e-01 -6.21710870e-03 -3.73150197e+01] [-3.32110868e-02 1.34279474e-03 9.99447458e-01 -6.59220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27401273899997 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:205.31, Y:-37.33, Z:-6.59 [[ 9.88410401e-01 1.48333640e-01 3.22801770e-02 2.05307542e+02] [-1.48211684e-01 9.88936525e-01 -6.15189716e-03 -3.73268147e+01] [-3.28355794e-02 1.29629973e-03 9.99459926e-01 -6.59302525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:205.34, Y:-37.34, Z:-6.59 [[ 9.88076736e-01 1.50469713e-01 3.26071912e-02 2.05336658e+02] [-1.50346228e-01 9.88613837e-01 -6.22040356e-03 -3.73436058e+01] [-3.31719027e-02 1.24386784e-03 9.99448887e-01 -6.59398213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33401273899997 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:205.37, Y:-37.35, Z:-6.59 [[ 9.87801363e-01 1.52053683e-01 3.35878557e-02 2.05367988e+02] [-1.51923362e-01 9.88371468e-01 -6.41354825e-03 -3.73548939e+01] [-3.41724818e-02 1.23253174e-03 9.99415190e-01 -6.59475646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:205.40, Y:-37.37, Z:-6.60 [[ 9.87183896e-01 1.55612294e-01 3.53944720e-02 2.05398409e+02] [-1.55469601e-01 9.87817509e-01 -6.76551694e-03 -3.73715796e+01] [-3.60160767e-02 1.17604493e-03 9.99350519e-01 -6.59525627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39401273899998 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:205.43, Y:-37.38, Z:-6.60 [[ 9.86797938e-01 1.57985443e-01 3.56430884e-02 2.05428584e+02] [-1.57842032e-01 9.87440824e-01 -6.81995899e-03 -3.73825608e+01] [-3.62728948e-02 1.10394399e-03 9.99341312e-01 -6.59592943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:205.46, Y:-37.39, Z:-6.60 [[ 9.86266050e-01 1.61259027e-01 3.57044089e-02 2.05460113e+02] [-1.61117032e-01 9.86911619e-01 -6.83804857e-03 -3.73929164e+01] [-3.63397931e-02 9.91546768e-04 9.99339000e-01 -6.59770615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45401273899998 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:205.49, Y:-37.40, Z:-6.60 [[ 9.85002869e-01 1.69279471e-01 3.33737821e-02 2.05490112e+02] [-1.69159865e-01 9.85567873e-01 -6.39590957e-03 -3.74043273e+01] [-3.39748236e-02 6.54484793e-04 9.99422475e-01 -6.59925791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:205.52, Y:-37.41, Z:-6.60 [[ 9.84337755e-01 1.73350671e-01 3.20737968e-02 2.05521125e+02] [-1.73242240e-01 9.84860039e-01 -6.15052826e-03 -3.74129945e+01] [-3.26543990e-02 4.97660769e-04 9.99466579e-01 -6.60127826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51401273899998 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:205.55, Y:-37.42, Z:-6.60 [[ 9.83202234e-01 1.79932372e-01 3.06220293e-02 2.05552757e+02] [-1.79836611e-01 9.83678946e-01 -5.87575678e-03 -3.74235672e+01] [-3.11794843e-02 2.70095220e-04 9.99513765e-01 -6.60183664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:205.58, Y:-37.43, Z:-6.60 [[ 9.82706865e-01 1.82633825e-01 3.05303736e-02 2.05584569e+02] [-1.82539869e-01 9.83180986e-01 -5.86046488e-03 -3.74310063e+01] [-3.10872019e-02 1.86108674e-04 9.99516659e-01 -6.60300245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57401273899998 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:205.62, Y:-37.44, Z:-6.60 [[ 9.81892835e-01 1.86931654e-01 3.07085793e-02 2.05615392e+02] [-1.86838504e-01 9.82372920e-01 -5.90085589e-03 -3.74379021e+01] [-3.12703335e-02 5.64631017e-05 9.99510962e-01 -6.60434706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:205.65, Y:-37.44, Z:-6.60 [[ 9.81453554e-01 1.89144378e-01 3.11981726e-02 2.05647013e+02] [-1.89049260e-01 9.81949288e-01 -5.99777222e-03 -3.74442633e+01] [-3.17694682e-02 -1.14565783e-05 9.99495223e-01 -6.60484672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63401273899999 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:205.68, Y:-37.45, Z:-6.61 [[ 9.81041073e-01 1.91138206e-01 3.20093733e-02 2.05677723e+02] [-1.91038957e-01 9.81563131e-01 -6.15922595e-03 -3.74502946e+01] [-3.25964841e-02 -7.25836631e-05 9.99468591e-01 -6.60582971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:205.71, Y:-37.45, Z:-6.61 [[ 9.80624429e-01 1.93174257e-01 3.25489889e-02 2.05708643e+02] [-1.93072581e-01 9.81164455e-01 -6.26825419e-03 -3.74545464e+01] [-3.31467763e-02 -1.37514102e-04 9.99450485e-01 -6.60677223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694012739 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:205.74, Y:-37.46, Z:-6.61 [[ 9.80571682e-01 1.93545956e-01 3.19239592e-02 2.05739827e+02] [-1.93448321e-01 9.81091199e-01 -6.14863393e-03 -3.74592731e+01] [-3.25103587e-02 -1.46459981e-04 9.99471388e-01 -6.60804862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:205.77, Y:-37.46, Z:-6.61 [[ 9.80548885e-01 1.93713107e-01 3.16087881e-02 2.05769781e+02] [-1.93617453e-01 9.81058209e-01 -6.08869234e-03 -3.74642329e+01] [-3.21895206e-02 -1.49752558e-04 9.99481772e-01 -6.60924871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754012739 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:205.80, Y:-37.47, Z:-6.61 [[ 9.80467874e-01 1.93957962e-01 3.26045694e-02 2.05801176e+02] [-1.93856309e-01 9.81009828e-01 -6.28083282e-03 -3.74709063e+01] [-3.32036205e-02 -1.62446682e-04 9.99448595e-01 -6.61092559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:205.83, Y:-37.48, Z:-6.61 [[ 9.80386626e-01 1.94284634e-01 3.30990143e-02 2.05832214e+02] [-1.94179864e-01 9.80945183e-01 -6.38188136e-03 -3.74774205e+01] [-3.37082201e-02 -1.70450981e-04 9.99431702e-01 -6.61086616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814012739 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:205.86, Y:-37.48, Z:-6.61 [[ 9.79959669e-01 1.96368248e-01 3.34448544e-02 2.05863202e+02] [-1.96262289e-01 9.80530190e-01 -6.45442895e-03 -3.74835698e+01] [-3.40611343e-02 -2.38883620e-04 9.99419723e-01 -6.61086876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:205.89, Y:-37.49, Z:-6.61 [[ 9.79584925e-01 1.98208020e-01 3.35701438e-02 2.05894985e+02] [-1.98102161e-01 9.80159932e-01 -6.48401518e-03 -3.74888512e+01] [-3.41892937e-02 -2.98674501e-04 9.99415331e-01 -6.61214239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874012739 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:205.93, Y:-37.49, Z:-6.61 [[ 9.79230082e-01 1.99883026e-01 3.39885608e-02 2.05926508e+02] [-1.99775319e-01 9.79819702e-01 -6.57059358e-03 -3.74932897e+01] [-3.46160116e-02 -3.55952686e-04 9.99400623e-01 -6.61298252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:205.96, Y:-37.50, Z:-6.61 [[ 9.78617303e-01 2.02785425e-01 3.44419069e-02 2.05956389e+02] [-2.02676591e-01 9.79223088e-01 -6.65906703e-03 -3.74961235e+01] [-3.50766722e-02 -4.63890052e-04 9.99384517e-01 -6.61367607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93401273899997 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:205.99, Y:-37.50, Z:-6.61 [[ 9.78482679e-01 2.03456964e-01 3.43061264e-02 2.05985857e+02] [-2.03349386e-01 9.79083770e-01 -6.63318615e-03 -3.75000221e+01] [-3.49381395e-02 -4.85671983e-04 9.99389359e-01 -6.61488647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:206.01, Y:-37.50, Z:-6.62 [[ 9.78333107e-01 2.04168791e-01 3.43429337e-02 2.06014650e+02] [-2.04061449e-01 9.78935566e-01 -6.63950369e-03 -3.75040261e+01] [-3.49750987e-02 -5.12422545e-04 9.99388053e-01 -6.61550675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99401273899997 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:206.04, Y:-37.51, Z:-6.62 [[ 9.78041293e-01 2.05258010e-01 3.61161928e-02 2.06044074e+02] [-2.05140082e-01 9.78707725e-01 -6.98106814e-03 -3.75069391e+01] [-3.67801171e-02 -5.81105840e-04 9.99323214e-01 -6.61598422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:206.07, Y:-37.51, Z:-6.62 [[ 9.78029337e-01 2.05236335e-01 3.65603981e-02 2.06073308e+02] [-2.05115503e-01 9.78712267e-01 -7.06608723e-03 -3.75107072e+01] [-3.72323279e-02 -5.88263846e-04 9.99306463e-01 -6.61661133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05401273899997 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:206.10, Y:-37.51, Z:-6.62 [[ 9.78186003e-01 2.04767044e-01 3.49657237e-02 2.06104305e+02] [-2.04656240e-01 9.78810584e-01 -6.75750544e-03 -3.75108920e+01] [-3.56085349e-02 -5.45856301e-04 9.99365666e-01 -6.61833439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:206.13, Y:-37.52, Z:-6.62 [[ 9.78188425e-01 2.04755470e-01 3.49657281e-02 2.06133913e+02] [-2.04644659e-01 9.78813006e-01 -6.75748281e-03 -3.75165745e+01] [-3.56085410e-02 -5.45458031e-04 9.99365666e-01 -6.61934993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11401273899997 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:206.16, Y:-37.52, Z:-6.62 [[ 9.78296958e-01 2.04297233e-01 3.46078342e-02 2.06162325e+02] [-2.04188409e-01 9.78908763e-01 -6.68785746e-03 -3.75181494e+01] [-3.52442230e-02 -5.23808001e-04 9.99378592e-01 -6.62010129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:206.19, Y:-37.52, Z:-6.62 [[ 9.78426457e-01 2.03805585e-01 3.38371213e-02 2.06191943e+02] [-2.03701303e-01 9.79011255e-01 -6.53770640e-03 -3.75163227e+01] [-3.44593437e-02 -4.96000796e-04 9.99405977e-01 -6.62130736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17401273899998 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:206.22, Y:-37.52, Z:-6.62 [[ 9.78532206e-01 2.03352653e-01 3.35025513e-02 2.06221228e+02] [-2.03250200e-01 9.79105444e-01 -6.47185687e-03 -3.75181373e+01] [-3.41185996e-02 -4.76479862e-04 9.99417678e-01 -6.62278756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:206.25, Y:-37.52, Z:-6.62 [[ 9.78761568e-01 2.02310703e-01 3.31085039e-02 2.06249274e+02] [-2.02210103e-01 9.79321290e-01 -6.39415165e-03 -3.75190100e+01] [-3.37174681e-02 -4.36524095e-04 9.99431309e-01 -6.62363291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23401273899998 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:206.28, Y:-37.52, Z:-6.63 [[ 9.79103978e-01 2.00657302e-01 3.30461307e-02 2.06278521e+02] [-2.00556206e-01 9.79661422e-01 -6.38011934e-03 -3.75202302e+01] [-3.36542370e-02 -3.80806379e-04 9.99433463e-01 -6.62501719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:206.31, Y:-37.52, Z:-6.63 [[ 9.80327015e-01 1.94541314e-01 3.33559580e-02 2.06307396e+02] [-1.94434811e-01 9.80894310e-01 -6.43871947e-03 -3.75212939e+01] [-3.39712663e-02 -1.73508755e-04 9.99422795e-01 -6.62609245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29401273899998 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:206.34, Y:-37.53, Z:-6.63 [[ 9.81210250e-01 1.89982068e-01 3.36639226e-02 2.06335082e+02] [-1.89870960e-01 9.81787560e-01 -6.49652342e-03 -3.75264374e+01] [-3.42850434e-02 -1.73459478e-05 9.99412095e-01 -6.62730740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:206.36, Y:-37.53, Z:-6.63 [[ 9.82972070e-01 1.80533241e-01 3.42587089e-02 2.06362868e+02] [-1.80412496e-01 9.83568833e-01 -6.60926035e-03 -3.75322085e+01] [-3.48889895e-02 3.16019135e-04 9.99391144e-01 -6.62716176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35401273899998 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:206.39, Y:-37.54, Z:-6.62 [[ 9.83698111e-01 1.76426115e-01 3.48116631e-02 2.06394128e+02] [-1.76298907e-01 9.84313775e-01 -6.71481121e-03 -3.75384788e+01] [-3.54502676e-02 4.68088954e-04 9.99371332e-01 -6.62181646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:206.42, Y:-37.55, Z:-6.63 [[ 9.84258226e-01 1.73184249e-01 3.52556456e-02 2.06423755e+02] [-1.73051651e-01 9.84889265e-01 -6.80163743e-03 -3.75457090e+01] [-3.59008433e-02 5.93519906e-04 9.99355181e-01 -6.62964286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414012739 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:206.46, Y:-37.56, Z:-6.63 [[ 9.84843807e-01 1.70079078e-01 3.39968021e-02 2.06455713e+02] [-1.69953751e-01 9.85430178e-01 -6.56407473e-03 -3.75558770e+01] [-3.46178865e-02 6.86704327e-04 9.99400385e-01 -6.63140518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:206.49, Y:-37.56, Z:-6.63 [[ 9.84941539e-01 1.69661785e-01 3.32421972e-02 2.06487522e+02] [-1.69541506e-01 9.85502105e-01 -6.42479759e-03 -3.75642657e+01] [-3.38502980e-02 6.92117832e-04 9.99426675e-01 -6.63248796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474012739 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:206.52, Y:-37.57, Z:-6.63 [[ 9.84940270e-01 1.69679149e-01 3.31911233e-02 2.06518304e+02] [-1.69559029e-01 9.85499112e-01 -6.42146319e-03 -3.75728769e+01] [-3.37994110e-02 6.96903062e-04 9.99428394e-01 -6.63306049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:206.55, Y:-37.59, Z:-6.63 [[ 9.84766344e-01 1.70353362e-01 3.48565503e-02 2.06548101e+02] [-1.70221063e-01 9.85382779e-01 -6.75040563e-03 -3.75864625e+01] [-3.54969987e-02 7.14253219e-04 9.99369528e-01 -6.63275812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534012739 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:206.58, Y:-37.60, Z:-6.63 [[ 9.84695231e-01 1.70595061e-01 3.56739055e-02 2.06578466e+02] [-1.70456400e-01 9.85340953e-01 -6.91532091e-03 -3.75972666e+01] [-3.63306796e-02 7.28638023e-04 9.99339557e-01 -6.63480468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:206.61, Y:-37.61, Z:-6.64 [[ 9.84687166e-01 1.70647026e-01 3.56479617e-02 2.06610383e+02] [-1.70508367e-01 9.85331952e-01 -6.91672098e-03 -3.76077743e+01] [-3.63053936e-02 7.32530653e-04 9.99340473e-01 -6.63618938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594012739 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:206.64, Y:-37.62, Z:-6.64 [[ 9.84918324e-01 1.69219955e-01 3.60624691e-02 2.06640670e+02] [-1.69076833e-01 9.85577985e-01 -7.00426314e-03 -3.76196921e+01] [-3.67276368e-02 8.01299050e-04 9.99324991e-01 -6.63801647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:206.67, Y:-37.63, Z:-6.64 [[ 9.85106480e-01 1.68262120e-01 3.53989047e-02 2.06672538e+02] [-1.68123370e-01 9.85741941e-01 -6.88178874e-03 -3.76294103e+01] [-3.60521294e-02 8.27911527e-04 9.99349568e-01 -6.63956247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654012739 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:206.70, Y:-37.64, Z:-6.64 [[ 9.85353601e-01 1.67180742e-01 3.35988236e-02 2.06704392e+02] [-1.67054907e-01 9.85925916e-01 -6.53809086e-03 -3.76395596e+01] [-3.42189938e-02 8.29483026e-04 9.99414015e-01 -6.64045840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:206.74, Y:-37.65, Z:-6.64 [[ 9.85395177e-01 1.67243858e-01 3.20286934e-02 2.06735306e+02] [-1.67129351e-01 9.85915240e-01 -6.23852854e-03 -3.76521930e+01] [-3.26209325e-02 7.94481202e-04 9.99467480e-01 -6.64088951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71401273899997 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:206.77, Y:-37.66, Z:-6.64 [[ 9.85220190e-01 1.68130585e-01 3.27610117e-02 2.06767512e+02] [-1.68011049e-01 9.85764416e-01 -6.38778299e-03 -3.76613434e+01] [-3.33686213e-02 7.89160832e-04 9.99442801e-01 -6.64179570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:206.80, Y:-37.67, Z:-6.64 [[ 9.84759646e-01 1.70441445e-01 3.46143432e-02 2.06796963e+02] [-1.70309170e-01 9.85367515e-01 -6.75630784e-03 -3.76749245e+01] [-3.52594042e-02 7.58199277e-04 9.99377906e-01 -6.64259729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77401273899997 meters Centerline goodness : 0.985322 Centerline is valid? [True, True] Translation: X:206.83, Y:-37.69, Z:-6.63 [[ 9.84484363e-01 1.72292002e-01 3.32566503e-02 2.06828075e+02] [-1.72170760e-01 9.85045693e-01 -6.49714515e-03 -3.76850609e+01] [-3.38787262e-02 6.70515068e-04 9.99425726e-01 -6.62927716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:206.86, Y:-37.70, Z:-6.65 [[ 9.83838361e-01 1.76203504e-01 3.18497081e-02 2.06858579e+02] [-1.76094176e-01 9.84353624e-01 -6.22775503e-03 -3.76964756e+01] [-3.24487279e-02 5.18556188e-04 9.99473267e-01 -6.64535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83401273899997 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:206.89, Y:-37.71, Z:-6.65 [[ 9.83458952e-01 1.78514208e-01 3.06784474e-02 2.06889197e+02] [-1.78413707e-01 9.83937239e-01 -6.00483187e-03 -3.77050879e+01] [-3.12576146e-02 4.32050128e-04 9.99511268e-01 -6.64686036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:206.92, Y:-37.71, Z:-6.65 [[ 9.83043190e-01 1.80871950e-01 3.01898172e-02 2.06920154e+02] [-1.80775628e-01 9.83506590e-01 -5.91275781e-03 -3.77141035e+01] [-3.07613362e-02 3.54913136e-04 9.99526695e-01 -6.64860986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89401273899998 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:206.95, Y:-37.72, Z:-6.65 [[ 9.82200789e-01 1.85459784e-01 2.97704491e-02 2.06952075e+02] [-1.85368064e-01 9.82651832e-01 -5.83590235e-03 -3.77243394e+01] [-3.03363115e-02 2.13537381e-04 9.99539725e-01 -6.64924211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:206.98, Y:-37.74, Z:-6.65 [[ 9.81567081e-01 1.88144083e-01 3.35837607e-02 2.06982534e+02] [-1.88271314e-01 9.82116849e-01 6.38723156e-04 -3.77353717e+01] [-3.28630053e-02 -6.94980839e-03 9.99435702e-01 -6.65074223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95401273899998 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:207.02, Y:-37.73, Z:-6.65 [[ 9.80526250e-01 1.94066493e-01 3.01076237e-02 2.07016466e+02] [-1.93750751e-01 9.80963319e-01 -1.31001097e-02 -3.77331843e+01] [-3.20767668e-02 7.01162678e-03 9.99460814e-01 -6.65117535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:207.05, Y:-37.75, Z:-6.65 [[ 9.80066638e-01 1.96157708e-01 3.14887179e-02 2.07047262e+02] [-1.96060132e-01 9.80572354e-01 -6.18732406e-03 -3.77452869e+01] [-3.20906576e-02 -1.09692318e-04 9.99484956e-01 -6.65175590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01401273899998 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:207.08, Y:-37.75, Z:-6.65 [[ 9.79593023e-01 1.98469395e-01 3.17396912e-02 2.07079754e+02] [-1.98371263e-01 9.80107069e-01 -6.24302975e-03 -3.77524118e+01] [-3.23473460e-02 -1.80614253e-04 9.99476671e-01 -6.65282870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:207.11, Y:-37.76, Z:-6.65 [[ 9.79135413e-01 2.00670145e-01 3.20208560e-02 2.07111772e+02] [-2.00571237e-01 9.79658834e-01 -6.30462327e-03 -3.77583941e+01] [-3.26346641e-02 -2.49382793e-04 9.99467316e-01 -6.65389347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07401273899998 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:207.14, Y:-37.76, Z:-6.66 [[ 9.78176368e-01 2.04876436e-01 3.45924651e-02 2.07142385e+02] [-2.04947512e-01 9.78771790e-01 -1.51660428e-03 -3.77645911e+01] [-3.41688454e-02 -5.60613316e-03 9.99400351e-01 -6.65548946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:207.17, Y:-37.76, Z:-6.66 [[ 9.77592778e-01 2.08189609e-01 3.11359543e-02 2.07174834e+02] [-2.07936683e-01 9.78078305e-01 -1.11877493e-02 -3.77626569e+01] [-3.27825745e-02 4.46275591e-03 9.99452543e-01 -6.65664366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13401273899999 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:207.21, Y:-37.77, Z:-6.66 [[ 9.76411286e-01 2.13558504e-01 3.18396913e-02 2.07205238e+02] [-2.13467187e-01 9.76930050e-01 -6.27990413e-03 -3.77683007e+01] [-3.24462781e-02 -6.64960050e-04 9.99473260e-01 -6.65651762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:207.24, Y:-37.77, Z:-6.66 [[ 9.75859216e-01 2.15965474e-01 3.25223651e-02 2.07235931e+02] [-2.15871347e-01 9.76400708e-01 -6.42013133e-03 -3.77709435e+01] [-3.31413871e-02 -7.55502446e-04 9.99450388e-01 -6.65689306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194012739 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:207.27, Y:-37.77, Z:-6.66 [[ 9.75354568e-01 2.18071671e-01 3.35888795e-02 2.07267043e+02] [-2.17972501e-01 9.75932384e-01 -6.63109077e-03 -3.77736444e+01] [-3.42265283e-02 -8.53787404e-04 9.99413736e-01 -6.65744287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:207.30, Y:-37.77, Z:-6.66 [[ 9.74516609e-01 2.21705986e-01 3.41150123e-02 2.07295025e+02] [-2.21621199e-01 9.75112517e-01 -6.29466883e-03 -3.77746814e+01] [-3.46615413e-02 -1.42635061e-03 9.99398090e-01 -6.65963552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254012739 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:207.32, Y:-37.78, Z:-6.66 [[ 9.74384867e-01 2.22419124e-01 3.32244370e-02 2.07324863e+02] [-2.22312326e-01 9.74950933e-01 -6.92161998e-03 -3.77772266e+01] [-3.39316965e-02 -6.41880085e-04 9.99423948e-01 -6.66148229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:207.35, Y:-37.78, Z:-6.66 [[ 9.74064201e-01 2.24158333e-01 3.08540810e-02 2.07354155e+02] [-2.24077741e-01 9.74552245e-01 -6.08998367e-03 -3.77767971e+01] [-3.14340345e-02 -9.81677699e-04 9.99505347e-01 -6.66294654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:207.38, Y:-37.78, Z:-6.66 [[ 9.74004029e-01 2.24479734e-01 3.04138183e-02 2.07383703e+02] [-2.24401615e-01 9.74478266e-01 -6.00204165e-03 -3.77783528e+01] [-3.09849416e-02 -9.78897191e-04 9.99519372e-01 -6.66434008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:207.41, Y:-37.78, Z:-6.67 [[ 9.74187764e-01 2.23635227e-01 3.07487472e-02 2.07413115e+02] [-2.23555001e-01 9.74672435e-01 -6.06674988e-03 -3.77773785e+01] [-3.13266953e-02 -9.63882718e-04 9.99508734e-01 -6.66597515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374012739 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:207.44, Y:-37.78, Z:-6.67 [[ 9.74343490e-01 2.22908327e-01 3.10908546e-02 2.07441634e+02] [-2.22826018e-01 9.74838945e-01 -6.13162235e-03 -3.77805734e+01] [-3.16753656e-02 -9.53545017e-04 9.99497755e-01 -6.66715104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:207.47, Y:-37.78, Z:-6.67 [[ 9.74579608e-01 2.21864171e-01 3.11589041e-02 2.07469555e+02] [-2.21781018e-01 9.75077144e-01 -6.14348979e-03 -3.77835422e+01] [-3.17453555e-02 -9.23133589e-04 9.99495563e-01 -6.66746549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43401273899997 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:207.50, Y:-37.79, Z:-6.67 [[ 9.74803986e-01 2.20882205e-01 3.11165720e-02 2.07497403e+02] [-2.20798840e-01 9.75300085e-01 -6.13318914e-03 -3.77865456e+01] [-3.17027077e-02 -8.91845795e-04 9.99496945e-01 -6.66886573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:207.53, Y:-37.79, Z:-6.67 [[ 9.75082635e-01 2.19692969e-01 3.08034663e-02 2.07526785e+02] [-2.19610740e-01 9.75568697e-01 -6.06957935e-03 -3.77866291e+01] [-3.13843414e-02 -8.46430612e-04 9.99507032e-01 -6.67004107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49401273899997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:207.55, Y:-37.79, Z:-6.67 [[ 9.75159390e-01 2.19270206e-01 3.13805948e-02 2.07554498e+02] [-2.19184696e-01 9.75663802e-01 -6.18178055e-03 -3.77894916e+01] [-3.19723908e-02 -8.49924795e-04 9.99488391e-01 -6.67086979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:207.58, Y:-37.79, Z:-6.67 [[ 9.75561522e-01 2.17280385e-01 3.26948224e-02 2.07583988e+02] [-2.17186513e-01 9.76108889e-01 -6.43861811e-03 -3.77902428e+01] [-3.33126922e-02 -8.19606393e-04 9.99444642e-01 -6.67118825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55401273899997 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:207.61, Y:-37.79, Z:-6.67 [[ 9.75953547e-01 2.15477598e-01 3.29253409e-02 2.07611267e+02] [-2.15381426e-01 9.76508484e-01 -6.48240577e-03 -3.77932835e+01] [-3.35486880e-02 -7.64979978e-04 9.99436792e-01 -6.67199564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:207.64, Y:-37.80, Z:-6.67 [[ 9.76448420e-01 2.13266230e-01 3.26496198e-02 2.07640303e+02] [-2.13170492e-01 9.76993882e-01 -6.42615723e-03 -3.77975143e+01] [-3.32689611e-02 -6.85124450e-04 9.99446200e-01 -6.67298968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61401273899997 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:207.67, Y:-37.80, Z:-6.67 [[ 9.77464194e-01 2.08514854e-01 3.29439643e-02 2.07668899e+02] [-2.08414736e-01 9.78019057e-01 -6.48248084e-03 -3.78034505e+01] [-3.35715185e-02 -5.29614727e-04 9.99436177e-01 -6.67390529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:207.70, Y:-37.81, Z:-6.67 [[ 9.77824073e-01 2.06586299e-01 3.43828828e-02 2.07696113e+02] [-2.06476113e-01 9.78428263e-01 -6.76382841e-03 -3.78100374e+01] [-3.50384986e-02 -4.85409733e-04 9.99385845e-01 -6.67424392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67401273899998 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:207.72, Y:-37.82, Z:-6.68 [[ 9.78151732e-01 2.04785231e-01 3.58077982e-02 2.07724131e+02] [-2.04664596e-01 9.78806832e-01 -7.04187015e-03 -3.78162956e+01] [-3.64909886e-02 -4.40571080e-04 9.99333885e-01 -6.67504694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:207.75, Y:-37.82, Z:-6.68 [[ 9.78610307e-01 2.02548218e-01 3.60011933e-02 2.07753807e+02] [-2.02424825e-01 9.79272224e-01 -7.07819812e-03 -3.78213662e+01] [-3.66886450e-02 -3.60737602e-04 9.99326680e-01 -6.67578602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73401273899998 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:207.78, Y:-37.83, Z:-6.68 [[ 9.78721360e-01 2.02135607e-01 3.52944324e-02 2.07782302e+02] [-2.02016776e-01 9.79357484e-01 -6.93836531e-03 -3.78257993e+01] [-3.59683572e-02 -3.39341112e-04 9.99352872e-01 -6.67711041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:207.81, Y:-37.83, Z:-6.68 [[ 9.78523372e-01 2.03464080e-01 3.30813845e-02 2.07811745e+02] [-2.03360485e-01 9.79082343e-01 -6.50216916e-03 -3.78304092e+01] [-3.37123573e-02 -3.64921898e-04 9.99431510e-01 -6.67889883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79401273899998 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:207.84, Y:-37.83, Z:-6.68 [[ 9.78296290e-01 2.04745108e-01 3.18717638e-02 2.07840188e+02] [-2.04649655e-01 9.78815246e-01 -6.26370397e-03 -3.78348161e+01] [-3.24790311e-02 -3.94787092e-04 9.99472339e-01 -6.68019719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:207.87, Y:-37.84, Z:-6.68 [[ 9.78015010e-01 2.06210661e-01 3.10451829e-02 2.07869341e+02] [-2.06120880e-01 9.78507525e-01 -6.09978233e-03 -3.78383785e+01] [-3.16357852e-02 -4.33381737e-04 9.99499369e-01 -6.68152698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85401273899998 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:207.90, Y:-37.84, Z:-6.68 [[ 9.77541435e-01 2.08542312e-01 3.03783994e-02 2.07896498e+02] [-2.08457516e-01 9.78013218e-01 -5.96734387e-03 -3.78418427e+01] [-3.09549198e-02 -4.99279788e-04 9.99520657e-01 -6.68249375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:207.92, Y:-37.84, Z:-6.68 [[ 9.76841994e-01 2.11739884e-01 3.07561547e-02 2.07924942e+02] [-2.11654608e-01 9.77325867e-01 -6.03966495e-03 -3.78443989e+01] [-3.13376235e-02 -6.09883498e-04 9.99508670e-01 -6.68409303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914012739 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:207.95, Y:-37.85, Z:-6.68 [[ 9.76730720e-01 2.12166178e-01 3.13466571e-02 2.07952428e+02] [-2.12077889e-01 9.77233394e-01 -6.15326399e-03 -3.78479355e+01] [-3.19385146e-02 -6.37850912e-04 9.99489632e-01 -6.68479222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:207.98, Y:-37.85, Z:-6.69 [[ 9.76747137e-01 2.11944416e-01 3.23201774e-02 2.07981132e+02] [-2.11850502e-01 9.77281505e-01 -6.34235981e-03 -3.78487882e+01] [-3.29301393e-02 -6.52164023e-04 9.99457443e-01 -6.68538223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974012739 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:208.01, Y:-37.85, Z:-6.69 [[ 9.76887639e-01 2.11357210e-01 3.19166039e-02 2.08009007e+02] [-2.11265391e-01 9.77408685e-01 -6.26081136e-03 -3.78526786e+01] [-3.25188334e-02 -6.26764563e-04 9.99470926e-01 -6.68634847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:208.04, Y:-37.86, Z:-6.69 [[ 9.76900019e-01 2.11299930e-01 3.19169743e-02 2.08036977e+02] [-2.11208142e-01 9.77421069e-01 -6.25892267e-03 -3.78580326e+01] [-3.25188330e-02 -6.26783162e-04 9.99470926e-01 -6.68731788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034012739 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:208.07, Y:-37.86, Z:-6.69 [[ 9.77148110e-01 2.10338673e-01 3.06465884e-02 2.08065261e+02] [-2.10253632e-01 9.77628413e-01 -6.00798523e-03 -3.78637621e+01] [-3.12246872e-02 -5.72865098e-04 9.99512226e-01 -6.68903702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:208.09, Y:-37.87, Z:-6.69 [[ 9.77206947e-01 2.10137327e-01 3.01477469e-02 2.08092985e+02] [-2.10054979e-01 9.77671720e-01 -5.90880044e-03 -3.78696217e+01] [-3.07162591e-02 -5.58563490e-04 9.99527988e-01 -6.69029128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:208.12, Y:-37.87, Z:-6.69 [[ 9.77246815e-01 2.09980653e-01 2.99464352e-02 2.08119394e+02] [-2.09899394e-01 9.77705385e-01 -5.86716768e-03 -3.78747002e+01] [-3.05107826e-02 -5.52067661e-04 9.99534285e-01 -6.69067433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:208.15, Y:-37.88, Z:-6.69 [[ 9.77240431e-01 2.09726849e-01 3.18714268e-02 2.08146088e+02] [-2.09634766e-01 9.77759843e-01 -6.24137208e-03 -3.78799312e+01] [-3.24715845e-02 -5.82037968e-04 9.99472490e-01 -6.69072731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:208.17, Y:-37.89, Z:-6.69 [[ 9.77213195e-01 2.09628543e-01 3.33203546e-02 2.08173544e+02] [-2.09527938e-01 9.77780908e-01 -6.52216573e-03 -3.78859576e+01] [-3.39472387e-02 -6.07998798e-04 9.99423441e-01 -6.69140449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:208.20, Y:-37.89, Z:-6.69 [[ 9.77130778e-01 2.09911892e-01 3.39476111e-02 2.08201414e+02] [-2.09807720e-01 9.77720102e-01 -6.64246851e-03 -3.78922636e+01] [-3.45855949e-02 -6.31910442e-04 9.99401540e-01 -6.69245875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21401273899997 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:208.23, Y:-37.90, Z:-6.69 [[ 9.76611379e-01 2.12424899e-01 3.32547191e-02 2.08229150e+02] [-2.12326447e-01 9.77177139e-01 -6.50528165e-03 -3.78982077e+01] [-3.38776351e-02 -7.07724266e-04 9.99425738e-01 -6.69287243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:208.26, Y:-37.90, Z:-6.69 [[ 9.76160949e-01 2.14556084e-01 3.27946251e-02 2.08257065e+02] [-2.14461593e-01 9.76711365e-01 -6.41366688e-03 -3.79031071e+01] [-3.34069743e-02 -7.72416393e-04 9.99441533e-01 -6.69414708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27401273899997 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:208.28, Y:-37.91, Z:-6.69 [[ 9.74991716e-01 2.20027027e-01 3.12931598e-02 2.08284079e+02] [-2.19943849e-01 9.75493345e-01 -6.11859701e-03 -3.79051826e+01] [-3.18725258e-02 -9.17156601e-04 9.99491521e-01 -6.69430074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:208.31, Y:-37.91, Z:-6.70 [[ 9.74288142e-01 2.23246746e-01 3.03892369e-02 2.08311592e+02] [-2.23169948e-01 9.74761458e-01 -5.93926767e-03 -3.79070940e+01] [-3.09481791e-02 -9.95406361e-04 9.99520495e-01 -6.69600461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33401273899997 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:208.34, Y:-37.91, Z:-6.70 [[ 9.73512940e-01 2.26700226e-01 2.96574411e-02 2.08338411e+02] [-2.26628757e-01 9.73963982e-01 -5.79374458e-03 -3.79080059e+01] [-3.01987227e-02 -1.08094370e-03 9.99543330e-01 -6.69672505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:208.37, Y:-37.90, Z:-6.70 [[ 9.72056169e-01 2.32634132e-01 3.14351027e-02 2.08368002e+02] [-2.32557023e-01 9.72563394e-01 -6.13813031e-03 -3.79048014e+01] [-3.20005687e-02 -1.34384645e-03 9.99486947e-01 -6.69708991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39401273899998 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:208.40, Y:-37.91, Z:-6.70 [[ 9.71556206e-01 2.34514080e-01 3.28889763e-02 2.08395460e+02] [-2.34430831e-01 9.72111607e-01 -6.41948361e-03 -3.79050667e+01] [-3.34772149e-02 -1.47330091e-03 9.99438395e-01 -6.69713325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:208.42, Y:-37.90, Z:-6.70 [[ 9.71364978e-01 2.35125172e-01 3.41501492e-02 2.08423927e+02] [-2.35035898e-01 9.71963855e-01 -6.66261843e-03 -3.78991130e+01] [-3.47592600e-02 -1.55467675e-03 9.99394505e-01 -6.69803153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45401273899998 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:208.45, Y:-37.90, Z:-6.70 [[ 9.71818543e-01 2.33289625e-01 3.38329768e-02 2.08451584e+02] [-2.33200985e-01 9.72406174e-01 -6.59800236e-03 -3.78983175e+01] [-3.44386410e-02 -1.47782246e-03 9.99405721e-01 -6.69975257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:208.48, Y:-37.90, Z:-6.70 [[ 9.72578429e-01 2.30234495e-01 3.29131859e-02 2.08480410e+02] [-2.30148949e-01 9.73134264e-01 -6.41603361e-03 -3.78985025e+01] [-3.35061412e-02 -1.33483927e-03 9.99437620e-01 -6.70071625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51401273899998 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:208.51, Y:-37.90, Z:-6.70 [[ 9.73610849e-01 2.25882221e-01 3.25443827e-02 2.08508851e+02] [-2.25796230e-01 9.74153912e-01 -6.34181468e-03 -3.78990929e+01] [-3.31357409e-02 -1.17393934e-03 9.99450171e-01 -6.70228692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:208.54, Y:-37.90, Z:-6.70 [[ 9.75705641e-01 2.16655619e-01 3.25398863e-02 2.08537026e+02] [-2.16564581e-01 9.76247714e-01 -6.33897335e-03 -3.78951287e+01] [-3.31403639e-02 -8.62014785e-04 9.99450336e-01 -6.70346725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57401273899998 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:208.57, Y:-37.89, Z:-6.70 [[ 9.77255810e-01 2.09634812e-01 3.20051102e-02 2.08565673e+02] [-2.09543062e-01 9.77779559e-01 -6.23209075e-03 -3.78921033e+01] [-3.26004057e-02 -6.16101917e-04 9.99468276e-01 -6.70417075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:208.59, Y:-37.89, Z:-6.71 [[ 9.77892874e-01 2.06767921e-01 3.11857986e-02 2.08593341e+02] [-2.06679422e-01 9.78389885e-01 -6.07032992e-03 -3.78934841e+01] [-3.17670194e-02 -5.09330465e-04 9.99495171e-01 -6.70505191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63401273899999 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:208.62, Y:-37.90, Z:-6.71 [[ 9.78426589e-01 2.04393310e-01 3.00796309e-02 2.08620696e+02] [-2.04309929e-01 9.78888757e-01 -5.85267692e-03 -3.78953137e+01] [-3.06408605e-02 -4.19152553e-04 9.99530371e-01 -6.70629767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:208.65, Y:-37.90, Z:-6.71 [[ 9.78854045e-01 2.02414143e-01 2.95511847e-02 2.08648922e+02] [-2.02332886e-01 9.79299948e-01 -5.74581894e-03 -3.78978290e+01] [-3.01025086e-02 -3.54858372e-04 9.99546754e-01 -6.70740911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694012739 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:208.68, Y:-37.90, Z:-6.70 [[ 9.79574961e-01 1.98760625e-01 3.04484649e-02 2.08676329e+02] [-1.98672662e-01 9.80048035e-01 -5.91800448e-03 -3.78988128e+01] [-3.10172244e-02 -2.52148568e-04 9.99518818e-01 -6.70271097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:208.70, Y:-37.90, Z:-6.71 [[ 9.79949770e-01 1.96771730e-01 3.12943148e-02 2.08704067e+02] [-1.96677886e-01 9.80449309e-01 -6.07962242e-03 -3.79026124e+01] [-3.18787871e-02 -1.97175076e-04 9.99491723e-01 -6.70809088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754012739 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:208.73, Y:-37.91, Z:-6.71 [[ 9.80841081e-01 1.92147116e-01 3.20976442e-02 2.08732348e+02] [-1.92045991e-01 9.81366131e-01 -6.23330075e-03 -3.79055235e+01] [-3.26972517e-02 -5.03464584e-05 9.99465301e-01 -6.70927553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:208.76, Y:-37.91, Z:-6.71 [[ 9.81362535e-01 1.89563506e-01 3.15159043e-02 2.08760006e+02] [-1.89464753e-01 9.81868462e-01 -6.11809037e-03 -3.79100227e+01] [-3.21042391e-02 3.29116513e-05 9.99484526e-01 -6.71078777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814012739 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:208.79, Y:-37.92, Z:-6.71 [[ 9.81911747e-01 1.86796958e-01 3.09227780e-02 2.08787955e+02] [-1.86700586e-01 9.82398535e-01 -6.00072304e-03 -3.79150967e+01] [-3.14994087e-02 1.18879659e-04 9.99503763e-01 -6.71313550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:208.81, Y:-37.92, Z:-6.71 [[ 9.82806351e-01 1.81973811e-01 3.12603371e-02 2.08813889e+02] [-1.81872957e-01 9.83303339e-01 -6.06386872e-03 -3.79221470e+01] [-3.18418591e-02 2.74198750e-04 9.99492882e-01 -6.71343711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874012739 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:208.84, Y:-37.93, Z:-6.71 [[ 9.83250772e-01 1.79504729e-01 3.15590299e-02 2.08840714e+02] [-1.79400757e-01 9.83757046e-01 -6.11899485e-03 -3.79288420e+01] [-3.21448066e-02 3.54792551e-04 9.99483159e-01 -6.71403342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:208.87, Y:-37.94, Z:-6.72 [[ 9.84108336e-01 1.74804083e-01 3.12140413e-02 2.08867649e+02] [-1.74700079e-01 9.84603109e-01 -6.04983415e-03 -3.79380328e+01] [-3.17909778e-02 5.00596749e-04 9.99494414e-01 -6.71501574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93401273899997 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:208.89, Y:-37.95, Z:-6.70 [[ 9.84571312e-01 1.72379586e-01 3.00767437e-02 2.08894324e+02] [-1.72281957e-01 9.85030441e-01 -5.82731068e-03 -3.79457289e+01] [-3.06310175e-02 5.55722646e-04 9.99530606e-01 -6.70309196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:208.92, Y:-37.96, Z:-6.72 [[ 9.85104251e-01 1.69343076e-01 2.98753470e-02 2.08920869e+02] [-1.69245436e-01 9.85556954e-01 -5.78562009e-03 -3.79591686e+01] [-3.04236107e-02 6.43172801e-04 9.99536888e-01 -6.71779736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99401273899997 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:208.95, Y:-37.97, Z:-6.72 [[ 9.85251040e-01 1.68485305e-01 2.98846276e-02 2.08947108e+02] [-1.68387253e-01 9.85703939e-01 -5.78602475e-03 -3.79680919e+01] [-3.04322553e-02 6.68496575e-04 9.99536608e-01 -6.71848897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:208.97, Y:-37.98, Z:-6.71 [[ 9.85247066e-01 1.68437024e-01 3.02851072e-02 2.08974642e+02] [-1.68336360e-01 9.85712184e-01 -5.86169647e-03 -3.79768939e+01] [-3.08397259e-02 6.77134538e-04 9.99524113e-01 -6.70915043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05401273899997 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:209.00, Y:-37.99, Z:-6.72 [[ 9.85043236e-01 1.69384311e-01 3.16034615e-02 2.09002170e+02] [-1.69275227e-01 9.85549847e-01 -6.11530899e-03 -3.79866640e+01] [-3.21826241e-02 6.74160637e-04 9.99481778e-01 -6.71992909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:209.03, Y:-38.00, Z:-6.72 [[ 9.84502889e-01 1.72594222e-01 3.10692091e-02 2.09027832e+02] [-1.72490439e-01 9.84992854e-01 -6.01046213e-03 -3.79994937e+01] [-3.16403200e-02 5.58175825e-04 9.99499164e-01 -6.72085482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11401273899997 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:209.06, Y:-38.01, Z:-6.72 [[ 9.84113311e-01 1.74938121e-01 3.02926586e-02 2.09055737e+02] [-1.74840628e-01 9.84579318e-01 -5.85840629e-03 -3.80082352e+01] [-3.08503837e-02 4.68948164e-04 9.99523904e-01 -6.72244708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:209.08, Y:-38.02, Z:-6.72 [[ 9.83067179e-01 1.80788120e-01 2.99094765e-02 2.09082974e+02] [-1.80695828e-01 9.83522027e-01 -5.78278703e-03 -3.80168629e+01] [-3.04620881e-02 2.80350514e-04 9.99535884e-01 -6.72255925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17401273899998 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:209.11, Y:-38.02, Z:-6.72 [[ 9.82421720e-01 1.84197271e-01 3.03138393e-02 2.09109764e+02] [-1.84104121e-01 9.82889279e-01 -5.85989159e-03 -3.80229503e+01] [-3.08745237e-02 1.75982023e-04 9.99523253e-01 -6.72287790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:209.14, Y:-38.03, Z:-6.72 [[ 9.81863273e-01 1.87014164e-01 3.11482876e-02 2.09135798e+02] [-1.86917292e-01 9.82357213e-01 -6.01924142e-03 -3.80287355e+01] [-3.17244284e-02 8.79185245e-05 9.99496650e-01 -6.72413524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23401273899998 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:209.16, Y:-38.04, Z:-6.72 [[ 9.81006833e-01 1.91378161e-01 3.16226662e-02 2.09163168e+02] [-1.91280668e-01 9.81516376e-01 -6.10818054e-03 -3.80356935e+01] [-3.22071371e-02 -5.66378642e-05 9.99481214e-01 -6.72443099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:209.19, Y:-38.04, Z:-6.73 [[ 9.80816195e-01 1.92496499e-01 3.07357906e-02 2.09191110e+02] [-1.92405016e-01 9.81297656e-01 -5.93471189e-03 -3.80407646e+01] [-3.13033705e-02 -9.28587264e-05 9.99509925e-01 -6.72543533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29401273899998 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:209.22, Y:-38.05, Z:-6.73 [[ 9.80704419e-01 1.93278862e-01 2.93619565e-02 2.09219034e+02] [-1.93195788e-01 9.81143857e-01 -5.66738139e-03 -3.80453457e+01] [-2.99036883e-02 -1.14580359e-04 9.99552778e-01 -6.72645172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:209.25, Y:-38.05, Z:-6.73 [[ 9.80482726e-01 1.94432607e-01 2.91476423e-02 2.09246220e+02] [-1.94351314e-01 9.80915867e-01 -5.62388029e-03 -3.80507120e+01] [-2.96848505e-02 -1.50765102e-04 9.99559296e-01 -6.72785164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35401273899998 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:209.27, Y:-38.06, Z:-6.73 [[ 9.80374842e-01 1.94781527e-01 3.04191573e-02 2.09272868e+02] [-1.94693225e-01 9.80846638e-01 -5.86690155e-03 -3.80550463e+01] [-3.09792922e-02 -1.70641147e-04 9.99520012e-01 -6.72806822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:209.30, Y:-38.06, Z:-6.73 [[ 9.80128219e-01 1.95754281e-01 3.20770249e-02 2.09301127e+02] [-1.95656705e-01 9.80652953e-01 -6.18373935e-03 -3.80568084e+01] [-3.26669226e-02 -2.15227564e-04 9.99466270e-01 -6.72770190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414012739 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:209.33, Y:-38.06, Z:-6.73 [[ 9.79969859e-01 1.96571251e-01 3.19189469e-02 2.09327606e+02] [-1.96475142e-01 9.80489513e-01 -6.15097986e-03 -3.80604649e+01] [-3.25052985e-02 -2.43504755e-04 9.99471533e-01 -6.72872256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:209.35, Y:-38.06, Z:-6.73 [[ 9.79631987e-01 1.98284745e-01 3.16911562e-02 2.09354620e+02] [-1.98190985e-01 9.80144413e-01 -6.10443250e-03 -3.80636831e+01] [-3.22723255e-02 -3.00804121e-04 9.99479068e-01 -6.72955508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474012739 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:209.38, Y:-38.07, Z:-6.73 [[ 9.79482202e-01 1.99012444e-01 3.17594668e-02 2.09382703e+02] [-1.98918749e-01 9.79996908e-01 -6.11491004e-03 -3.80677259e+01] [-3.23411225e-02 -3.28107839e-04 9.99476835e-01 -6.73088184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:209.41, Y:-38.07, Z:-6.73 [[ 9.79420960e-01 1.99299922e-01 3.18453165e-02 2.09410921e+02] [-1.99205945e-01 9.79938480e-01 -6.12915244e-03 -3.80713533e+01] [-3.24279906e-02 -3.40755988e-04 9.99474016e-01 -6.73174658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534012739 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:209.44, Y:-38.07, Z:-6.73 [[ 9.79587089e-01 1.98480115e-01 3.18555894e-02 2.09438006e+02] [-1.98385717e-01 9.80104864e-01 -6.12886842e-03 -3.80741780e+01] [-3.24382766e-02 -3.15933563e-04 9.99473691e-01 -6.73168988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:209.47, Y:-38.08, Z:-6.73 [[ 9.79848656e-01 1.97152870e-01 3.20524158e-02 2.09465768e+02] [-1.97056680e-01 9.80372720e-01 -6.16404410e-03 -3.80791714e+01] [-3.26385730e-02 -2.76312303e-04 9.99467182e-01 -6.73294757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594012739 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:209.49, Y:-38.08, Z:-6.73 [[ 9.80440650e-01 1.94362432e-01 3.09738114e-02 2.09493302e+02] [-1.94271285e-01 9.80929770e-01 -5.95440759e-03 -3.80836069e+01] [-3.15404468e-02 -1.79378900e-04 9.99502460e-01 -6.73420493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:209.52, Y:-38.09, Z:-6.74 [[ 9.80639945e-01 1.93390421e-01 3.07480721e-02 2.09521048e+02] [-1.93300192e-01 9.81121869e-01 -5.90871054e-03 -3.80876276e+01] [-3.13102940e-02 -1.49290682e-04 9.99509701e-01 -6.73518224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:209.55, Y:-38.09, Z:-6.74 [[ 9.80821844e-01 1.92430247e-01 3.09695180e-02 2.09548078e+02] [-1.92338308e-01 9.81310647e-01 -5.94896315e-03 -3.80914355e+01] [-3.15354782e-02 -1.21751708e-04 9.99502626e-01 -6.73577129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:209.58, Y:-38.09, Z:-6.74 [[ 9.81269792e-01 1.90148136e-01 3.08752485e-02 2.09576451e+02] [-1.90055711e-01 9.81755409e-01 -5.92815394e-03 -3.80947841e+01] [-3.14391696e-02 -5.08989077e-05 9.99505666e-01 -6.73554104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71401273899997 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:209.60, Y:-38.10, Z:-6.74 [[ 9.81601191e-01 1.88517432e-01 3.03361206e-02 2.09603512e+02] [-1.88427495e-01 9.82069844e-01 -5.82249855e-03 -3.80995337e+01] [-3.08898317e-02 -7.87697508e-07 9.99522795e-01 -6.73603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:209.63, Y:-38.10, Z:-6.74 [[ 9.82033194e-01 1.86317050e-01 2.99459997e-02 2.09631574e+02] [-1.86228466e-01 9.82489671e-01 -5.74507033e-03 -3.81039650e+01] [-3.04920399e-02 6.50522006e-05 9.99535008e-01 -6.73730899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77401273899997 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:209.66, Y:-38.11, Z:-6.73 [[ 9.83204952e-01 1.80112037e-01 2.94563630e-02 2.09659329e+02] [-1.80023598e-01 9.83646070e-01 -5.64918220e-03 -3.81075599e+01] [-2.99921214e-02 2.51463456e-04 9.99550104e-01 -6.73395906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:209.69, Y:-38.11, Z:-6.74 [[ 9.83842714e-01 1.76502850e-01 3.00043016e-02 2.09686834e+02] [-1.76409478e-01 9.84300061e-01 -5.75203567e-03 -3.81141583e+01] [-3.05484865e-02 3.66055207e-04 9.99533219e-01 -6.73999610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83401273899997 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:209.71, Y:-38.12, Z:-6.74 [[ 9.84854116e-01 1.70647296e-01 3.06899208e-02 2.09712698e+02] [-1.70546835e-01 9.85332020e-01 -5.88116224e-03 -3.81244399e+01] [-3.12433660e-02 5.58017986e-04 9.99511651e-01 -6.74116867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:209.74, Y:-38.13, Z:-6.74 [[ 9.85262102e-01 1.68248688e-01 3.08377952e-02 2.09740600e+02] [-1.68146141e-01 9.85744376e-01 -5.90760967e-03 -3.81316725e+01] [-3.13921308e-02 6.35287653e-04 9.99506944e-01 -6.74135942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89401273899998 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:209.77, Y:-38.14, Z:-6.74 [[ 9.85267940e-01 1.68214445e-01 3.08380739e-02 2.09769402e+02] [-1.68111927e-01 9.85750221e-01 -5.90615435e-03 -3.81371072e+01] [-3.13921387e-02 6.34896498e-04 9.99506944e-01 -6.74235727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:209.80, Y:-38.14, Z:-6.74 [[ 9.85611398e-01 1.66205090e-01 3.07577750e-02 2.09796766e+02] [-1.66102160e-01 9.86090961e-01 -5.88973423e-03 -3.81435627e+01] [-3.13088678e-02 6.96056330e-04 9.99509515e-01 -6.74290625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95401273899998 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:209.82, Y:-38.15, Z:-6.74 [[ 9.86253652e-01 1.62442028e-01 3.02707865e-02 2.09824060e+02] [-1.62340616e-01 9.86717764e-01 -5.79466827e-03 -3.81546414e+01] [-3.08100204e-02 8.00834623e-04 9.99524938e-01 -6.74464193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:209.85, Y:-38.16, Z:-6.74 [[ 9.86568523e-01 1.60710119e-01 2.92370737e-02 2.09850319e+02] [-1.60614794e-01 9.87001306e-01 -5.59551663e-03 -3.81644379e+01] [-2.97562861e-02 8.24453995e-04 9.99556844e-01 -6.73853368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01401273899998 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:209.88, Y:-38.18, Z:-6.75 [[ 9.86959662e-01 1.58390818e-01 2.86875292e-02 2.09877263e+02] [-1.58298123e-01 9.87376110e-01 -5.48836310e-03 -3.81800818e+01] [-2.91946873e-02 8.75610970e-04 9.99573361e-01 -6.74714949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:209.90, Y:-38.19, Z:-6.75 [[ 9.86898254e-01 1.58714972e-01 2.90068026e-02 2.09904246e+02] [-1.58620362e-01 9.87324056e-01 -5.54875052e-03 -3.81901628e+01] [-2.95197838e-02 8.74982674e-04 9.99563813e-01 -6.74795487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07401273899998 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:209.93, Y:-38.20, Z:-6.75 [[ 9.86633511e-01 1.60247270e-01 2.95825689e-02 2.09932415e+02] [-1.60149575e-01 9.87076541e-01 -5.65816353e-03 -3.82009839e+01] [-3.01069650e-02 8.44897911e-04 9.99546325e-01 -6.74832711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:209.96, Y:-38.22, Z:-6.75 [[ 9.85456342e-01 1.66918604e-01 3.18430233e-02 2.09960696e+02] [-1.66808908e-01 9.85970438e-01 -6.08965491e-03 -3.82172990e+01] [-3.24127564e-02 6.89389098e-04 9.99474331e-01 -6.74729057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13401273899999 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:209.99, Y:-38.23, Z:-6.75 [[ 9.84738857e-01 1.71004462e-01 3.23551853e-02 2.09990153e+02] [-1.70893411e-01 9.85270093e-01 -6.18758772e-03 -3.82266504e+01] [-3.29367016e-02 5.63870088e-04 9.99457281e-01 -6.74855715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:210.02, Y:-38.23, Z:-6.75 [[ 9.84038711e-01 1.75140124e-01 3.15238404e-02 2.10019870e+02] [-1.75036814e-01 9.84543430e-01 -6.02900047e-03 -3.82346498e+01] [-3.20925098e-02 4.14937263e-04 9.99484817e-01 -6.75018111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194012739 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:210.05, Y:-38.24, Z:-6.75 [[ 9.82857550e-01 1.82049996e-01 2.91347843e-02 2.10047494e+02] [-1.81964781e-01 9.83289260e-01 -5.57224529e-03 -3.82435132e+01] [-2.96623477e-02 1.75218707e-04 9.99559960e-01 -6.75200213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:210.08, Y:-38.25, Z:-6.75 [[ 9.81831244e-01 1.87450950e-01 2.94881159e-02 2.10075718e+02] [-1.87366121e-01 9.82273964e-01 -5.63876491e-03 -3.82520591e+01] [-3.00224004e-02 1.12416838e-05 9.99549226e-01 -6.75202260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254012739 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:210.10, Y:-38.26, Z:-6.75 [[ 9.81342159e-01 1.89857448e-01 3.03597695e-02 2.10103843e+02] [-1.89768724e-01 9.81811665e-01 -5.80400284e-03 -3.82579286e+01] [-3.09095090e-02 -6.56220342e-05 9.99522185e-01 -6.75250943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:210.13, Y:-38.26, Z:-6.75 [[ 9.80861395e-01 1.92129844e-01 3.15760383e-02 2.10132488e+02] [-1.92035095e-01 9.81369503e-01 -6.03490604e-03 -3.82629151e+01] [-3.21472466e-02 -1.44301154e-04 9.99483133e-01 -6.75329275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:210.16, Y:-38.27, Z:-6.75 [[ 9.79939007e-01 1.96768455e-01 3.16499311e-02 2.10160924e+02] [-1.96675728e-01 9.80449941e-01 -6.04747417e-03 -3.82652248e+01] [-3.22211252e-02 -2.98617421e-04 9.99480720e-01 -6.75416865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:210.19, Y:-38.27, Z:-6.76 [[ 9.79590717e-01 1.98578963e-01 3.11195031e-02 2.10189282e+02] [-1.98490279e-01 9.80084828e-01 -5.94462376e-03 -3.82686969e+01] [-3.16802301e-02 -3.53620625e-04 9.99497993e-01 -6.75580340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:210.22, Y:-38.27, Z:-6.76 [[ 9.79148131e-01 2.00805121e-01 3.07610427e-02 2.10216931e+02] [-2.00719613e-01 9.79631117e-01 -5.87466700e-03 -3.82724603e+01] [-3.13141378e-02 -4.22175364e-04 9.99509503e-01 -6.75674005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:210.25, Y:-38.27, Z:-6.76 [[ 9.78194988e-01 2.05532458e-01 2.98491933e-02 2.10246262e+02] [-2.05454199e-01 9.78650140e-01 -5.69868872e-03 -3.82738931e+01] [-3.03831827e-02 -5.58213359e-04 9.99538169e-01 -6.75749985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43401273899997 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:210.27, Y:-38.28, Z:-6.76 [[ 9.77880330e-01 2.07137140e-01 2.90562571e-02 2.10274252e+02] [-2.07063730e-01 9.78311736e-01 -5.54601573e-03 -3.82767265e+01] [-2.95748632e-02 -5.93157296e-04 9.99562392e-01 -6.75887982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:210.30, Y:-38.28, Z:-6.76 [[ 9.77628756e-01 2.08539153e-01 2.74487975e-02 2.10302481e+02] [-2.08474246e-01 9.78013834e-01 -5.23731779e-03 -3.82773202e+01] [-2.79374895e-02 -6.02214888e-04 9.99609491e-01 -6.76139267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49401273899997 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:210.33, Y:-38.28, Z:-6.76 [[ 9.77633683e-01 2.08554064e-01 2.71585130e-02 2.10329901e+02] [-2.08490583e-01 9.78010657e-01 -5.17997478e-03 -3.82799844e+01] [-2.76416199e-02 -5.98176371e-04 9.99617718e-01 -6.76234181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:210.36, Y:-38.28, Z:-6.76 [[ 9.77695929e-01 2.08213127e-01 2.75311524e-02 2.10357434e+02] [-2.08147827e-01 9.78083297e-01 -5.24851909e-03 -3.82826605e+01] [-2.80205709e-02 -5.99093821e-04 9.99607167e-01 -6.76289977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55401273899997 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:210.39, Y:-38.28, Z:-6.76 [[ 9.77979816e-01 2.06730498e-01 2.86003660e-02 2.10385043e+02] [-2.06659457e-01 9.78397754e-01 -5.45018788e-03 -3.82827669e+01] [-2.91092539e-02 -5.80362358e-04 9.99576067e-01 -6.76232740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:210.41, Y:-38.28, Z:-6.76 [[ 9.78203854e-01 2.05593239e-01 2.91314324e-02 2.10413039e+02] [-2.05519109e-01 9.78637373e-01 -5.54876371e-03 -3.82846423e+01] [-2.96498968e-02 -5.59243977e-04 9.99560189e-01 -6.76211115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61401273899997 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:210.44, Y:-38.28, Z:-6.76 [[ 9.78772413e-01 2.02942148e-01 2.86190181e-02 2.10441449e+02] [-2.02869528e-01 9.79190615e-01 -5.44914470e-03 -3.82832985e+01] [-2.91293350e-02 -4.72454196e-04 9.99575539e-01 -6.76386684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:210.47, Y:-38.29, Z:-6.76 [[ 9.79149795e-01 2.01183292e-01 2.81240650e-02 2.10468574e+02] [-2.01112493e-01 9.79553526e-01 -5.35295423e-03 -3.82857307e+01] [-2.86259520e-02 -4.14756782e-04 9.99590107e-01 -6.76498221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67401273899998 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:210.50, Y:-38.29, Z:-6.77 [[ 9.79404087e-01 1.99931072e-01 2.81992985e-02 2.10496333e+02] [-1.99859446e-01 9.79809890e-01 -5.36480402e-03 -3.82883263e+01] [-2.87025426e-02 -3.81585194e-04 9.99587924e-01 -6.76609262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:210.52, Y:-38.29, Z:-6.77 [[ 9.79598856e-01 1.98766780e-01 2.96285147e-02 2.10523954e+02] [-1.98687243e-01 9.80046750e-01 -5.63447105e-03 -3.82867744e+01] [-3.01572752e-02 -3.67286499e-04 9.99545098e-01 -6.76636245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73401273899998 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:210.55, Y:-38.29, Z:-6.77 [[ 9.79607631e-01 1.98575356e-01 3.06058348e-02 2.10551679e+02] [-1.98490475e-01 9.80085551e-01 -5.81761880e-03 -3.82886969e+01] [-3.11515722e-02 -3.75982910e-04 9.99514601e-01 -6.76688160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:210.58, Y:-38.29, Z:-6.77 [[ 9.79772885e-01 1.97769650e-01 3.05329293e-02 2.10580148e+02] [-1.97684850e-01 9.80248459e-01 -5.80156280e-03 -3.82865163e+01] [-3.10772300e-02 -3.51683620e-04 9.99516924e-01 -6.76622305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79401273899998 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:210.61, Y:-38.29, Z:-6.77 [[ 9.79974475e-01 1.96958011e-01 2.92843037e-02 2.10607508e+02] [-1.96879703e-01 9.80411874e-01 -5.56231053e-03 -3.82872761e+01] [-2.98062207e-02 -3.14562685e-04 9.99555646e-01 -6.76739378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:210.64, Y:-38.29, Z:-6.77 [[ 9.80245301e-01 1.95797027e-01 2.79763293e-02 2.10635724e+02] [-1.95725153e-01 9.80644406e-01 -5.31155532e-03 -3.82882567e+01] [-2.84748176e-02 -2.69044196e-04 9.99594474e-01 -6.76963842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85401273899998 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:210.66, Y:-38.29, Z:-6.77 [[ 9.81179568e-01 1.90967346e-01 2.86029575e-02 2.10664347e+02] [-1.90890224e-01 9.81596381e-01 -5.42839637e-03 -3.82881408e+01] [-2.91132060e-02 -1.33793348e-04 9.99576112e-01 -6.77140738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:210.69, Y:-38.29, Z:-6.77 [[ 9.81886647e-01 1.87036796e-01 3.02629899e-02 2.10691260e+02] [-1.86948665e-01 9.82352908e-01 -5.74110413e-03 -3.82924818e+01] [-3.08027339e-02 -2.05120677e-05 9.99525483e-01 -6.77141079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914012739 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:210.72, Y:-38.30, Z:-6.77 [[ 9.83566532e-01 1.77680768e-01 3.20378096e-02 2.10718013e+02] [-1.77577117e-01 9.84088138e-01 -6.07491511e-03 -3.82981250e+01] [-3.26074240e-02 2.85901329e-04 9.99468196e-01 -6.77040927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:210.75, Y:-38.30, Z:-6.77 [[ 9.84439231e-01 1.72820899e-01 3.18172511e-02 2.10745591e+02] [-1.72716242e-01 9.84953168e-01 -6.02968493e-03 -3.83038870e+01] [-3.23805579e-02 4.40502353e-04 9.99475515e-01 -6.77144680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:210.77, Y:-38.31, Z:-6.77 [[ 9.85206951e-01 1.68415859e-01 3.16759007e-02 2.10773654e+02] [-1.68309925e-01 9.85715862e-01 -6.00064421e-03 -3.83094098e+01] [-3.22340414e-02 5.80507925e-04 9.99480180e-01 -6.77319282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:210.80, Y:-38.32, Z:-6.77 [[ 9.86395326e-01 1.61365069e-01 3.13938737e-02 2.10801342e+02] [-1.61257487e-01 9.86894458e-01 -5.94576879e-03 -3.83167577e+01] [-3.19418794e-02 8.02381341e-04 9.99489406e-01 -6.77448976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034012739 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:210.83, Y:-38.33, Z:-6.78 [[ 9.86811679e-01 1.58833396e-01 3.12195917e-02 2.10829367e+02] [-1.58725786e-01 9.87305009e-01 -5.91131462e-03 -3.83250637e+01] [-3.17621735e-02 8.78000088e-04 9.99495069e-01 -6.77585178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:210.86, Y:-38.34, Z:-6.78 [[ 9.87443880e-01 1.55136549e-01 2.97864851e-02 2.10855420e+02] [-1.55036953e-01 9.87892580e-01 -5.63865401e-03 -3.83369624e+01] [-3.03006089e-02 9.49848522e-04 9.99540380e-01 -6.77515516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094012739 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:210.88, Y:-38.34, Z:-6.78 [[ 9.87605493e-01 1.54136884e-01 2.96177640e-02 2.10883663e+02] [-1.54038018e-01 9.88049024e-01 -5.60491613e-03 -3.83447513e+01] [-3.01277271e-02 9.73184275e-04 9.99545583e-01 -6.77579412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:210.91, Y:-38.35, Z:-6.77 [[ 9.87685106e-01 1.53668272e-01 2.93971782e-02 2.10911655e+02] [-1.53570707e-01 9.88122009e-01 -5.56183236e-03 -3.83531129e+01] [-2.99026759e-02 9.78793556e-04 9.99552336e-01 -6.76809781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154012739 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:210.94, Y:-38.36, Z:-6.78 [[ 9.87663183e-01 1.53566838e-01 3.06376181e-02 2.10938664e+02] [-1.53460860e-01 9.88137734e-01 -5.79502978e-03 -3.83618395e+01] [-3.11641109e-02 1.02186235e-03 9.99513759e-01 -6.77744037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:210.97, Y:-38.37, Z:-6.78 [[ 9.87366255e-01 1.55450731e-01 3.07074692e-02 2.10966749e+02] [-1.55345229e-01 9.87843177e-01 -5.80663304e-03 -3.83745295e+01] [-3.12368093e-02 9.63014685e-04 9.99511548e-01 -6.77923323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21401273899997 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:211.00, Y:-38.38, Z:-6.78 [[ 9.86828124e-01 1.59061374e-01 2.94912250e-02 2.10995412e+02] [-1.58965685e-01 9.87268360e-01 -5.57635143e-03 -3.83849567e+01] [-3.00027355e-02 8.14807636e-04 9.99549484e-01 -6.78084189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:211.02, Y:-38.39, Z:-6.78 [[ 9.86561052e-01 1.60860856e-01 2.86544335e-02 2.11022961e+02] [-1.60771299e-01 9.86976819e-01 -5.41745929e-03 -3.83929284e+01] [-2.91527187e-02 7.37843853e-04 9.99574697e-01 -6.78198291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27401273899997 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:211.05, Y:-38.40, Z:-6.78 [[ 9.86230163e-01 1.62998827e-01 2.79543822e-02 2.11049893e+02] [-1.62914464e-01 9.86626044e-01 -5.28464527e-03 -3.84014166e+01] [-2.84419125e-02 6.57703360e-04 9.99595231e-01 -6.78348108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:211.08, Y:-38.41, Z:-6.78 [[ 9.85518367e-01 1.67399864e-01 2.70339330e-02 2.11076769e+02] [-1.67322664e-01 9.85888951e-01 -5.10905116e-03 -3.84123847e+01] [-2.75077103e-02 5.11674082e-04 9.99621460e-01 -6.78451589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33401273899997 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:211.10, Y:-38.42, Z:-6.78 [[ 9.85099609e-01 1.69756543e-01 2.75948514e-02 2.11104125e+02] [-1.69677068e-01 9.85485926e-01 -5.21365130e-03 -3.84197991e+01] [-2.80793891e-02 4.53752383e-04 9.99605593e-01 -6.78485093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:211.13, Y:-38.43, Z:-6.78 [[ 9.84018386e-01 1.75434045e-01 3.05075803e-02 2.11132132e+02] [-1.75339679e-01 9.84491134e-01 -5.76228752e-03 -3.84290253e+01] [-3.10453437e-02 3.21007517e-04 9.99517926e-01 -6.78484605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39401273899998 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:211.16, Y:-38.44, Z:-6.79 [[ 9.83444112e-01 1.78453532e-01 3.14962696e-02 2.11160436e+02] [-1.78354548e-01 9.83948313e-01 -5.94743414e-03 -3.84363376e+01] [-3.20520419e-02 2.31466176e-04 9.99486175e-01 -6.78562509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:211.19, Y:-38.44, Z:-6.79 [[ 9.82944991e-01 1.81129693e-01 3.17990451e-02 2.11188371e+02] [-1.81030232e-01 9.83459208e-01 -6.00347097e-03 -3.84436858e+01] [-3.23604705e-02 1.44493227e-04 9.99476252e-01 -6.78633155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45401273899998 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:211.21, Y:-38.45, Z:-6.79 [[ 9.82104671e-01 1.85606266e-01 3.19488458e-02 2.11214971e+02] [-1.85508282e-01 9.82624198e-01 -6.03019398e-03 -3.84536692e+01] [-3.25129508e-02 -4.49383760e-06 9.99471314e-01 -6.78721372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:211.24, Y:-38.46, Z:-6.79 [[ 9.81721109e-01 1.87689448e-01 3.15647871e-02 2.11243186e+02] [-1.87594946e-01 9.82228418e-01 -5.95573570e-03 -3.84615644e+01] [-3.21216597e-02 -7.45230765e-05 9.99483964e-01 -6.78856168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51401273899998 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:211.27, Y:-38.47, Z:-6.79 [[ 9.81100846e-01 1.91185093e-01 2.98226531e-02 2.11269983e+02] [-1.91102368e-01 9.81553986e-01 -5.62641920e-03 -3.84705464e+01] [-3.03482315e-02 -1.79094995e-04 9.99539370e-01 -6.78914600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:211.30, Y:-38.48, Z:-6.79 [[ 9.80699308e-01 1.93235886e-01 2.98120771e-02 2.11298277e+02] [-1.93154212e-01 9.81152298e-01 -5.62294229e-03 -3.84771712e+01] [-3.03367422e-02 -2.43912654e-04 9.99539705e-01 -6.78990307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57401273899998 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:211.33, Y:-38.48, Z:-6.79 [[ 9.80241883e-01 1.95432748e-01 3.05268906e-02 2.11326193e+02] [-1.95348221e-01 9.80717053e-01 -5.75626143e-03 -3.84827907e+01] [-3.10632041e-02 -3.20845211e-04 9.99517371e-01 -6.79038957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:211.36, Y:-38.49, Z:-6.79 [[ 9.79043404e-01 2.01177831e-01 3.16463828e-02 2.11355322e+02] [-2.01090037e-01 9.79554596e-01 -5.96576290e-03 -3.84862824e+01] [-3.21995389e-02 -5.23031457e-04 9.99481324e-01 -6.79080977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63401273899999 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:211.38, Y:-38.49, Z:-6.79 [[ 9.78380850e-01 2.04397855e-01 3.15028525e-02 2.11383319e+02] [-2.04312570e-01 9.78887697e-01 -5.93720051e-03 -3.84891631e+01] [-3.20513058e-02 -6.27585490e-04 9.99486028e-01 -6.79164916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:211.41, Y:-38.49, Z:-6.79 [[ 9.77584553e-01 2.08362063e-01 3.02273334e-02 2.11411386e+02] [-2.08285496e-01 9.78051491e-01 -5.69493790e-03 -3.84888318e+01] [-3.07504976e-02 -7.28631800e-04 9.99526826e-01 -6.79386828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694012739 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:211.44, Y:-38.49, Z:-6.79 [[ 9.77468958e-01 2.09027279e-01 2.93603844e-02 2.11438116e+02] [-2.08955403e-01 9.77909537e-01 -5.52955020e-03 -3.84911613e+01] [-2.98676267e-02 -7.30047289e-04 9.99553596e-01 -6.79495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:211.47, Y:-38.49, Z:-6.80 [[ 9.77563085e-01 2.08549448e-01 2.96233294e-02 2.11465878e+02] [-2.08476138e-01 9.78011556e-01 -5.57646404e-03 -3.84943482e+01] [-3.01349270e-02 -7.24411923e-04 9.99545577e-01 -6.79619673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754012739 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:211.49, Y:-38.50, Z:-6.80 [[ 9.78435670e-01 2.04125293e-01 3.15674533e-02 2.11494274e+02] [-2.04039820e-01 9.78944569e-01 -5.93994225e-03 -3.84961048e+01] [-3.21152794e-02 -6.29166119e-04 9.99483973e-01 -6.79569599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:211.52, Y:-38.50, Z:-6.80 [[ 9.79053142e-01 2.01044704e-01 3.21865224e-02 2.11522154e+02] [-2.00954245e-01 9.79581918e-01 -6.05446345e-03 -3.84995875e+01] [-3.27465531e-02 -5.40376845e-04 9.99463542e-01 -6.79655938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:211.55, Y:-38.50, Z:-6.80 [[ 9.79065041e-01 2.00986681e-01 3.21869550e-02 2.11550164e+02] [-2.00896266e-01 9.79593825e-01 -6.05216257e-03 -3.85047247e+01] [-3.27465464e-02 -5.40778295e-04 9.99463542e-01 -6.79752880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:211.58, Y:-38.51, Z:-6.80 [[ 9.80367641e-01 1.94854107e-01 3.01855119e-02 2.11577947e+02] [-1.94771733e-01 9.80832186e-01 -5.67410392e-03 -3.85079461e+01] [-3.07125441e-02 -3.16576591e-04 9.99528208e-01 -6.80035945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874012739 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:211.61, Y:-38.51, Z:-6.80 [[ 9.80896813e-01 1.92310027e-01 2.92966948e-02 2.11606308e+02] [-1.92231351e-01 9.81334194e-01 -5.50525245e-03 -3.85131575e+01] [-2.98085636e-02 -2.31658640e-04 9.99555599e-01 -6.80140981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:211.63, Y:-38.52, Z:-6.80 [[ 9.81259819e-01 1.90469704e-01 2.91626498e-02 2.11634861e+02] [-1.90390976e-01 9.81693058e-01 -5.47864050e-03 -3.85181990e+01] [-2.96722859e-02 -1.76335585e-04 9.99559665e-01 -6.80203981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93401273899997 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:211.66, Y:-38.52, Z:-6.80 [[ 9.81783349e-01 1.87582396e-01 3.02373840e-02 2.11663287e+02] [-1.87496435e-01 9.82248867e-01 -5.67900717e-03 -3.85225534e+01] [-3.07659179e-02 -9.38470029e-05 9.99526613e-01 -6.80293936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:211.69, Y:-38.53, Z:-6.80 [[ 9.82053173e-01 1.86170471e-01 3.02013382e-02 2.11690276e+02] [-1.86084091e-01 9.82517457e-01 -5.67079414e-03 -3.85284461e+01] [-3.07290764e-02 -5.09671945e-05 9.99527749e-01 -6.80400244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99401273899997 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:211.72, Y:-38.54, Z:-6.81 [[ 9.82884325e-01 1.82042150e-01 2.82676372e-02 2.11717473e+02] [-1.81964819e-01 9.83290725e-01 -5.30604468e-03 -3.85380547e+01] [-2.87612293e-02 7.15126509e-05 9.99586308e-01 -6.80667452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:211.75, Y:-38.55, Z:-6.81 [[ 9.83333112e-01 1.79630922e-01 2.80842041e-02 2.11745091e+02] [-1.79553644e-01 9.83734066e-01 -5.27034147e-03 -3.85464720e+01] [-2.85741046e-02 1.39880098e-04 9.99591667e-01 -6.80855505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05401273899997 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:211.77, Y:-38.55, Z:-6.81 [[ 9.83782923e-01 1.77120223e-01 2.82769882e-02 2.11772655e+02] [-1.77040886e-01 9.84189200e-01 -5.30503067e-03 -3.85548835e+01] [-2.87695346e-02 2.12815546e-04 9.99586049e-01 -6.80895827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters Centerline goodness : 0.996792 Centerline is valid? [True, True] Translation: X:211.80, Y:-38.57, Z:-6.81 [[ 9.84466581e-01 1.73164700e-01 2.89747779e-02 2.11799977e+02] [-1.73079718e-01 9.84892824e-01 -5.43477349e-03 -3.85678462e+01] [-2.94781618e-02 3.35406476e-04 9.99565368e-01 -6.80910753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11401273899997 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:211.83, Y:-38.58, Z:-6.81 [[ 9.84666146e-01 1.72097534e-01 2.85485474e-02 2.11828146e+02] [-1.72014608e-01 9.85079849e-01 -5.35408163e-03 -3.85771112e+01] [-2.90440230e-02 3.61215735e-04 9.99578068e-01 -6.80964725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:211.86, Y:-38.59, Z:-6.81 [[ 9.84698691e-01 1.71958212e-01 2.82641279e-02 2.11857126e+02] [-1.71876885e-01 9.85104179e-01 -5.30033920e-03 -3.85894148e+01] [-2.87545473e-02 3.61286809e-04 9.99586437e-01 -6.81062019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17401273899998 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:211.89, Y:-38.60, Z:-6.81 [[ 9.84435034e-01 1.73346588e-01 2.89590270e-02 2.11885875e+02] [-1.73261814e-01 9.84860829e-01 -5.43059947e-03 -3.85970998e+01] [-2.94619872e-02 3.28578836e-04 9.99565847e-01 -6.81065059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:211.91, Y:-38.60, Z:-6.81 [[ 9.83964317e-01 1.75788794e-01 3.02080089e-02 2.11914793e+02] [-1.75697683e-01 9.84427869e-01 -5.66527117e-03 -3.86044199e+01] [-3.07334970e-02 2.66947494e-04 9.99527579e-01 -6.81090550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23401273899998 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:211.94, Y:-38.61, Z:-6.81 [[ 9.82843572e-01 1.81625746e-01 3.21029654e-02 2.11944041e+02] [-1.81525967e-01 9.83367724e-01 -6.02023370e-03 -3.86142974e+01] [-3.26624494e-02 8.94261778e-05 9.99466436e-01 -6.81119144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:211.97, Y:-38.62, Z:-6.81 [[ 9.82353119e-01 1.84311061e-01 3.18085375e-02 2.11972674e+02] [-1.84214510e-01 9.82867963e-01 -5.96501997e-03 -3.86214823e+01] [-3.23630116e-02 1.61825931e-07 9.99476181e-01 -6.81288302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29401273899998 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:212.00, Y:-38.63, Z:-6.82 [[ 9.81510802e-01 1.89142958e-01 2.93511156e-02 2.12002263e+02] [-1.89062910e-01 9.81949551e-01 -5.50418235e-03 -3.86289456e+01] [-2.98623921e-02 -1.46792904e-04 9.99554009e-01 -6.81582208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:212.03, Y:-38.63, Z:-6.82 [[ 9.81018245e-01 1.91695699e-01 2.92568222e-02 2.12030427e+02] [-1.91617295e-01 9.81454384e-01 -5.48665591e-03 -3.86345966e+01] [-2.97660048e-02 -2.23603586e-04 9.99556869e-01 -6.81630723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35401273899998 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:212.06, Y:-38.64, Z:-6.82 [[ 9.80403915e-01 1.94747149e-01 2.96936233e-02 2.12058883e+02] [-1.94667818e-01 9.80853426e-01 -5.56744119e-03 -3.86398095e+01] [-3.02093355e-02 -3.22051719e-04 9.99543542e-01 -6.81619878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:212.09, Y:-38.64, Z:-6.82 [[ 9.79032155e-01 2.01244570e-01 3.15699558e-02 2.12087602e+02] [-2.01158306e-01 9.79540869e-01 -5.91801776e-03 -3.86431423e+01] [-3.21150309e-02 -5.56629145e-04 9.99484024e-01 -6.81571819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414012739 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:212.12, Y:-38.65, Z:-6.82 [[ 9.78393215e-01 2.04329518e-01 3.15620825e-02 2.12116129e+02] [-2.04244949e-01 9.78901943e-01 -5.91499216e-03 -3.86462801e+01] [-3.21047914e-02 -6.59207728e-04 9.99484291e-01 -6.81672989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:212.14, Y:-38.65, Z:-6.82 [[ 9.77560042e-01 2.08419090e-01 3.06242844e-02 2.12144053e+02] [-2.08341521e-01 9.78039308e-01 -5.73781078e-03 -3.86471016e+01] [-3.11476232e-02 -7.71255449e-04 9.99514498e-01 -6.81973539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474012739 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:212.17, Y:-38.65, Z:-6.82 [[ 9.77432382e-01 2.09023696e-01 3.05783234e-02 2.12172494e+02] [-2.08946714e-01 9.77910256e-01 -5.72728759e-03 -3.86512956e+01] [-3.10999949e-02 -7.91203861e-04 9.99515965e-01 -6.82117643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:212.20, Y:-38.66, Z:-6.82 [[ 9.77924194e-01 2.06784230e-01 3.00757843e-02 2.12200163e+02] [-2.06708743e-01 9.78386314e-01 -5.63177747e-03 -3.86554384e+01] [-3.05902985e-02 -7.09476135e-04 9.99531756e-01 -6.82175700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534012739 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:212.23, Y:-38.66, Z:-6.82 [[ 9.78499357e-01 2.04185800e-01 2.91061417e-02 2.12227138e+02] [-2.04114003e-01 9.78931963e-01 -5.44852282e-03 -3.86598150e+01] [-2.96054434e-02 -6.09595019e-04 9.99561477e-01 -6.82262233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:212.26, Y:-38.66, Z:-6.82 [[ 9.79687743e-01 1.98516526e-01 2.83392921e-02 2.12255131e+02] [-1.98446138e-01 9.80097447e-01 -5.30328976e-03 -3.86645501e+01] [-2.88280585e-02 -4.28255085e-04 9.99584293e-01 -6.82456939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:212.28, Y:-38.67, Z:-6.83 [[ 9.80198086e-01 1.95938522e-01 2.86322742e-02 2.12283629e+02] [-1.95865611e-01 9.80616117e-01 -5.35672668e-03 -3.86699915e+01] [-2.91268586e-02 -3.57424634e-04 9.99575659e-01 -6.82570222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:212.31, Y:-38.68, Z:-6.83 [[ 9.80773162e-01 1.92914460e-01 2.94620913e-02 2.12311996e+02] [-1.92835940e-01 9.81215539e-01 -5.51052392e-03 -3.86755733e+01] [-2.99717215e-02 -2.76776083e-04 9.99550709e-01 -6.82666565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654012739 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:212.34, Y:-38.68, Z:-6.83 [[ 9.82000588e-01 1.86209385e-01 3.16371558e-02 2.12341361e+02] [-1.86115411e-01 9.82510081e-01 -5.91565116e-03 -3.86823483e+01] [-3.21853742e-02 -7.89893365e-05 9.99481914e-01 -6.82649279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:212.37, Y:-38.69, Z:-6.83 [[ 9.82541136e-01 1.83135205e-01 3.27782316e-02 2.12370338e+02] [-1.83032645e-01 9.83087736e-01 -6.12817285e-03 -3.86894742e+01] [-3.33461617e-02 2.16954854e-05 9.99443862e-01 -6.82730090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71401273899997 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:212.40, Y:-38.70, Z:-6.83 [[ 9.83304530e-01 1.78951813e-01 3.29916523e-02 2.12399919e+02] [-1.78845571e-01 9.83857826e-01 -6.16763923e-03 -3.86984962e+01] [-3.35628055e-02 1.64256693e-04 9.99436597e-01 -6.82757038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:212.43, Y:-38.71, Z:-6.83 [[ 9.83497915e-01 1.77932901e-01 3.27373385e-02 2.12430258e+02] [-1.77827666e-01 9.84042602e-01 -6.12194962e-03 -3.87052369e+01] [-3.33042320e-02 1.99320202e-04 9.99445240e-01 -6.82908825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77401273899997 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:212.46, Y:-38.71, Z:-6.83 [[ 9.83635005e-01 1.77213656e-01 3.25191928e-02 2.12460634e+02] [-1.77109401e-01 9.84172378e-01 -6.08192137e-03 -3.87113970e+01] [-3.30822908e-02 2.22936002e-04 9.99452606e-01 -6.83064250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:212.49, Y:-38.72, Z:-6.83 [[ 9.83689400e-01 1.77062727e-01 3.16852489e-02 2.12491375e+02] [-1.76963645e-01 9.84199543e-01 -5.92681675e-03 -3.87195962e+01] [-3.22340259e-02 2.23009664e-04 9.99480324e-01 -6.83148995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83401273899997 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:212.52, Y:-38.73, Z:-6.83 [[ 9.83717206e-01 1.77003865e-01 3.11462745e-02 2.12522658e+02] [-1.76907927e-01 9.84210130e-01 -5.83135918e-03 -3.87263820e+01] [-3.16866520e-02 2.26385500e-04 9.99497826e-01 -6.83243174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:212.55, Y:-38.73, Z:-6.83 [[ 9.83492936e-01 1.78224899e-01 3.12654905e-02 2.12553222e+02] [-1.78128657e-01 9.83989760e-01 -5.85948755e-03 -3.87307145e+01] [-3.18092291e-02 1.93484789e-04 9.99493940e-01 -6.82587155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89401273899998 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:212.58, Y:-38.74, Z:-6.83 [[ 9.83123623e-01 1.79988418e-01 3.27431083e-02 2.12582871e+02] [-1.79883825e-01 9.83668719e-01 -6.13684200e-03 -3.87360129e+01] [-3.33129319e-02 1.43318786e-04 9.99444960e-01 -6.83360765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:212.61, Y:-38.74, Z:-6.83 [[ 9.82453804e-01 1.83420309e-01 3.37862988e-02 2.12612153e+02] [-1.83310969e-01 9.83034582e-01 -6.33236506e-03 -3.87420242e+01] [-3.43745844e-02 2.78569576e-05 9.99409019e-01 -6.83416140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95401273899998 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:212.64, Y:-38.75, Z:-6.84 [[ 9.82186053e-01 1.84965483e-01 3.31410220e-02 2.12641555e+02] [-1.84861147e-01 9.82745018e-01 -6.21182456e-03 -3.87465710e+01] [-3.37181473e-02 -2.53198958e-05 9.99431381e-01 -6.83550572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:212.67, Y:-38.75, Z:-6.84 [[ 9.81858088e-01 1.86927122e-01 3.18268060e-02 2.12671516e+02] [-1.86831941e-01 9.82373780e-01 -5.96510971e-03 -3.87505349e+01] [-3.23808605e-02 -8.93727252e-05 9.99475598e-01 -6.83667693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01401273899998 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:212.70, Y:-38.75, Z:-6.84 [[ 9.81301717e-01 1.90038776e-01 3.05320128e-02 2.12702139e+02] [-1.89952689e-01 9.81776568e-01 -5.72243428e-03 -3.87531968e+01] [-3.10630991e-02 -1.84203341e-04 9.99517409e-01 -6.83894445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:212.73, Y:-38.76, Z:-6.84 [[ 9.81190239e-01 1.90606067e-01 3.05784681e-02 2.12731001e+02] [-1.90519992e-01 9.81666586e-01 -5.73117731e-03 -3.87578668e+01] [-3.11102576e-02 -2.02434275e-04 9.99515938e-01 -6.83963067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07401273899998 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:212.76, Y:-38.76, Z:-6.84 [[ 9.81145610e-01 1.90850350e-01 3.04866646e-02 2.12761691e+02] [-1.90764922e-01 9.81619122e-01 -5.71354931e-03 -3.87618435e+01] [-3.10167258e-02 -2.09962370e-04 9.99518844e-01 -6.84069601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:212.79, Y:-38.77, Z:-6.84 [[ 9.81125377e-01 1.91092204e-01 2.96101930e-02 2.12790629e+02] [-1.91011730e-01 9.81572068e-01 -5.54924029e-03 -3.87663701e+01] [-3.01249549e-02 -2.11393731e-04 9.99546118e-01 -6.84104912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13401273899999 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:212.82, Y:-38.77, Z:-6.84 [[ 9.81023339e-01 1.91587683e-01 2.97887156e-02 2.12817640e+02] [-1.91506444e-01 9.81475475e-01 -5.58334031e-03 -3.87710075e+01] [-3.03065930e-02 -2.27343846e-04 9.99540624e-01 -6.84229942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:212.85, Y:-38.78, Z:-6.84 [[ 9.80822204e-01 1.92501567e-01 3.05114983e-02 2.12846442e+02] [-1.92416841e-01 9.81296631e-01 -5.71682701e-03 -3.87758027e+01] [-3.10413286e-02 -2.63735233e-04 9.99518067e-01 -6.84300919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:212.87, Y:-38.78, Z:-6.84 [[ 9.80399406e-01 1.94412504e-01 3.19497027e-02 2.12874697e+02] [-1.94320640e-01 9.80919804e-01 -5.98552291e-03 -3.87775018e+01] [-3.25037566e-02 -3.40283583e-04 9.99471555e-01 -6.84245645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:212.90, Y:-38.78, Z:-6.84 [[ 9.79940216e-01 1.96428222e-01 3.36619382e-02 2.12903264e+02] [-1.96327508e-01 9.80518112e-01 -6.30411289e-03 -3.87777853e+01] [-3.42444458e-02 -4.31110697e-04 9.99413394e-01 -6.84224885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254012739 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:212.93, Y:-38.78, Z:-6.84 [[ 9.79809824e-01 1.97001675e-01 3.41034911e-02 2.12931416e+02] [-1.96898724e-01 9.80403044e-01 -6.38461084e-03 -3.87816119e+01] [-3.46929455e-02 -4.59229453e-04 9.99397913e-01 -6.84338655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:212.96, Y:-38.79, Z:-6.84 [[ 9.79844339e-01 1.96802274e-01 3.42627578e-02 2.12960653e+02] [-1.96698295e-01 9.80443092e-01 -6.41276185e-03 -3.87864919e+01] [-3.48547303e-02 -4.55917631e-04 9.99392285e-01 -6.84486312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314012739 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:212.99, Y:-38.79, Z:-6.85 [[ 9.80029455e-01 1.95938046e-01 3.39197565e-02 2.12989066e+02] [-1.95835651e-01 9.80616186e-01 -6.34771168e-03 -3.87913499e+01] [-3.45060205e-02 -4.21753193e-04 9.99404401e-01 -6.84611452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:213.02, Y:-38.80, Z:-6.85 [[ 9.80407861e-01 1.94098536e-01 3.35586600e-02 2.13018616e+02] [-1.93997276e-01 9.80981974e-01 -6.27889003e-03 -3.87950207e+01] [-3.41391639e-02 -3.54415466e-04 9.99417026e-01 -6.84795107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374012739 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:213.05, Y:-38.80, Z:-6.85 [[ 9.80846084e-01 1.91743262e-01 3.42852885e-02 2.13047242e+02] [-1.91636160e-01 9.81445079e-01 -6.41394615e-03 -3.88002220e+01] [-3.48789586e-02 -2.79207053e-04 9.99391505e-01 -6.84849932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:213.07, Y:-38.81, Z:-6.85 [[ 9.81181970e-01 1.90040172e-01 3.41566212e-02 2.13074805e+02] [-1.89932885e-01 9.81776291e-01 -6.38859650e-03 -3.88065140e+01] [-3.47482509e-02 -2.19089926e-04 9.99396073e-01 -6.84920676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43401273899997 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:213.10, Y:-38.81, Z:-6.85 [[ 9.81532515e-01 1.88299375e-01 3.37234046e-02 2.13103839e+02] [-1.88193794e-01 9.82111664e-01 -6.30674214e-03 -3.88128714e+01] [-3.43077046e-02 -1.56262985e-04 9.99411305e-01 -6.85047724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:213.13, Y:-38.82, Z:-6.85 [[ 9.81980340e-01 1.86094940e-01 3.29132806e-02 2.13133271e+02] [-1.85993160e-01 9.82531764e-01 -6.15445787e-03 -3.88178772e+01] [-3.34836571e-02 -7.80884298e-05 9.99439262e-01 -6.85180384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49401273899997 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:213.16, Y:-38.82, Z:-6.85 [[ 9.81960025e-01 1.86096991e-01 3.35025204e-02 2.13162406e+02] [-1.85991562e-01 9.82531375e-01 -6.26379571e-03 -3.88229524e+01] [-3.40829510e-02 -8.03891143e-05 9.99419004e-01 -6.85279680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:213.19, Y:-38.83, Z:-6.85 [[ 9.81690832e-01 1.87204424e-01 3.51797498e-02 2.13190043e+02] [-1.87088916e-01 9.82320970e-01 -6.57644507e-03 -3.88292091e+01] [-3.57889456e-02 -1.25705439e-04 9.99359363e-01 -6.85315520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55401273899997 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:213.22, Y:-38.83, Z:-6.85 [[ 9.81541944e-01 1.87994211e-01 3.51224767e-02 2.13219580e+02] [-1.87879630e-01 9.82170124e-01 -6.56446511e-03 -3.88341188e+01] [-3.57303287e-02 -1.55500074e-04 9.99361456e-01 -6.85431370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:213.25, Y:-38.84, Z:-6.86 [[ 9.81383902e-01 1.89050517e-01 3.38458166e-02 2.13249345e+02] [-1.88944772e-01 9.81967345e-01 -6.32505571e-03 -3.88379014e+01] [-3.44312418e-02 -1.87682267e-04 9.99407051e-01 -6.85591897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61401273899997 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:213.28, Y:-38.84, Z:-6.86 [[ 9.81013229e-01 1.91544863e-01 3.03909403e-02 2.13277951e+02] [-1.91460824e-01 9.81483828e-01 -5.67879222e-03 -3.88408100e+01] [-3.09159599e-02 -2.47704189e-04 9.99521957e-01 -6.85948609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:213.31, Y:-38.85, Z:-6.86 [[ 9.80766972e-01 1.92860352e-01 3.00171688e-02 2.13305160e+02] [-1.92779014e-01 9.81226173e-01 -5.60795451e-03 -3.88456420e+01] [-3.05351837e-02 -2.86583632e-04 9.99533651e-01 -6.86073537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67401273899998 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:213.33, Y:-38.85, Z:-6.86 [[ 9.80132067e-01 1.95854171e-01 3.13412726e-02 2.13333928e+02] [-1.95767091e-01 9.80632951e-01 -5.85332864e-03 -3.88489266e+01] [-3.18806834e-02 -3.98554654e-04 9.99491602e-01 -6.86011232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:213.36, Y:-38.85, Z:-6.86 [[ 9.80139085e-01 1.95818998e-01 3.13415565e-02 2.13362758e+02] [-1.95731949e-01 9.80639975e-01 -5.85180803e-03 -3.88542258e+01] [-3.18806783e-02 -3.98958146e-04 9.99491602e-01 -6.86111015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73401273899998 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:213.39, Y:-38.86, Z:-6.86 [[ 9.79862219e-01 1.97002284e-01 3.25596576e-02 2.13391100e+02] [-1.96909028e-01 9.80402924e-01 -6.07799533e-03 -3.88576752e+01] [-3.31189625e-02 -4.55692546e-04 9.99451313e-01 -6.86246806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:213.42, Y:-38.86, Z:-6.86 [[ 9.79744234e-01 1.97543042e-01 3.28326390e-02 2.13419101e+02] [-1.97448574e-01 9.80294097e-01 -6.12732320e-03 -3.88616593e+01] [-3.33960523e-02 -4.79548185e-04 9.99442081e-01 -6.86301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79401273899998 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:213.45, Y:-38.87, Z:-6.86 [[ 9.79933711e-01 1.96527045e-01 3.32722390e-02 2.13446885e+02] [-1.96429514e-01 9.80498300e-01 -6.20728661e-03 -3.88653357e+01] [-3.38432735e-02 -4.52920335e-04 9.99427050e-01 -6.86448887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:213.47, Y:-38.87, Z:-6.87 [[ 9.80187445e-01 1.95230842e-01 3.34289070e-02 2.13474498e+02] [-1.95131707e-01 9.80757232e-01 -6.23446819e-03 -3.88698221e+01] [-3.40028028e-02 -4.12092245e-04 9.99421653e-01 -6.86584131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85401273899998 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:213.50, Y:-38.87, Z:-6.87 [[ 9.80797080e-01 1.91961441e-01 3.44658269e-02 2.13502906e+02] [-1.91854114e-01 9.81402420e-01 -6.42571609e-03 -3.88740201e+01] [-3.50583356e-02 -3.10087114e-04 9.99385219e-01 -6.86706043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:213.53, Y:-38.88, Z:-6.87 [[ 9.81094090e-01 1.90279818e-01 3.53267186e-02 2.13530054e+02] [-1.90166033e-01 9.81729863e-01 -6.58450450e-03 -3.88790982e+01] [-3.59341930e-02 -2.57923482e-04 9.99354125e-01 -6.86746476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:213.56, Y:-38.89, Z:-6.87 [[ 9.81346442e-01 1.88886779e-01 3.57902925e-02 2.13558510e+02] [-1.88769136e-01 9.81998849e-01 -6.66882853e-03 -3.88854448e+01] [-3.64056796e-02 -2.11671450e-04 9.99337071e-01 -6.86687887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:213.59, Y:-38.89, Z:-6.87 [[ 9.81186043e-01 1.89710741e-01 3.58299189e-02 2.13588012e+02] [-1.89593447e-01 9.81839995e-01 -6.67454667e-03 -3.88909460e+01] [-3.64454806e-02 -2.44145799e-04 9.99335613e-01 -6.86769603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:213.62, Y:-38.90, Z:-6.87 [[ 9.80876285e-01 1.91256751e-01 3.60911259e-02 2.13615965e+02] [-1.91138821e-01 9.81539995e-01 -6.72225608e-03 -3.88960802e+01] [-3.67105604e-02 -3.04713683e-04 9.99325894e-01 -6.86889205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:213.64, Y:-38.90, Z:-6.87 [[ 9.80196174e-01 1.94593208e-01 3.67279775e-02 2.13644273e+02] [-1.94473486e-01 9.80883933e-01 -6.83905456e-03 -3.89007949e+01] [-3.73567166e-02 -4.39002705e-04 9.99301898e-01 -6.86975310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034012739 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:213.67, Y:-38.91, Z:-6.86 [[ 9.79924015e-01 1.96100580e-01 3.59650958e-02 2.13672278e+02] [-1.95986859e-01 9.80583665e-01 -6.69528336e-03 -3.89055263e+01] [-3.65797344e-02 -4.87817201e-04 9.99330618e-01 -6.86025013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:213.70, Y:-38.91, Z:-6.87 [[ 9.79612089e-01 1.97577101e-01 3.63791697e-02 2.13700311e+02] [-1.97461828e-01 9.80287196e-01 -6.77058923e-03 -3.89104028e+01] [-3.69997476e-02 -5.50946281e-04 9.99315123e-01 -6.87223330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094012739 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:213.73, Y:-38.92, Z:-6.87 [[ 9.79748779e-01 1.97045507e-01 3.55724497e-02 2.13727823e+02] [-1.96935003e-01 9.80394205e-01 -6.61873218e-03 -3.89161549e+01] [-3.61792150e-02 -5.20765721e-04 9.99345182e-01 -6.87379218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:213.76, Y:-38.92, Z:-6.88 [[ 9.80027584e-01 1.95853165e-01 3.44597109e-02 2.13755704e+02] [-1.95748806e-01 9.80633123e-01 -6.40955192e-03 -3.89227526e+01] [-3.50476650e-02 -4.63909577e-04 9.99385534e-01 -6.87544301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:213.78, Y:-38.93, Z:-6.88 [[ 9.80780726e-01 1.92336300e-01 3.28011589e-02 2.13782929e+02] [-1.92239830e-01 9.81329019e-01 -6.09956264e-03 -3.89298107e+01] [-3.33618964e-02 -3.23355751e-04 9.99443285e-01 -6.87711105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:213.81, Y:-38.94, Z:-6.88 [[ 9.81098537e-01 1.90688410e-01 3.29179383e-02 2.13810657e+02] [-1.90590390e-01 9.81650578e-01 -6.11929463e-03 -3.89359521e+01] [-3.34807918e-02 -2.70211702e-04 9.99439325e-01 -6.87760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21401273899997 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:213.84, Y:-38.94, Z:-6.88 [[ 9.81410346e-01 1.88951054e-01 3.36337896e-02 2.13837587e+02] [-1.88847760e-01 9.81986483e-01 -6.25070690e-03 -3.89437877e+01] [-3.42090044e-02 -2.17157422e-04 9.99414677e-01 -6.87812517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:213.87, Y:-38.95, Z:-6.88 [[ 9.81370123e-01 1.89179376e-01 3.35238154e-02 2.13865713e+02] [-1.89076958e-01 9.81942520e-01 -6.22827470e-03 -3.89508928e+01] [-3.40967209e-02 -2.26338331e-04 9.99418512e-01 -6.87930170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27401273899997 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:213.89, Y:-38.96, Z:-6.88 [[ 9.81261945e-01 1.89852110e-01 3.28811677e-02 2.13892568e+02] [-1.89754010e-01 9.81812668e-01 -6.10738065e-03 -3.89572238e+01] [-3.34426461e-02 -2.46393203e-04 9.99440608e-01 -6.88028783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:213.92, Y:-38.96, Z:-6.88 [[ 9.80555451e-01 1.93644860e-01 3.18225774e-02 2.13920170e+02] [-1.93555029e-01 9.81071626e-01 -5.90896805e-03 -3.89632610e+01] [-3.23644690e-02 -3.65349078e-04 9.99476067e-01 -6.88193586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33401273899997 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:213.95, Y:-38.97, Z:-6.88 [[ 9.80003104e-01 1.96337284e-01 3.23355521e-02 2.13948984e+02] [-1.96246060e-01 9.80536310e-01 -6.00231038e-03 -3.89680220e+01] [-3.28846603e-02 -4.63441920e-04 9.99459046e-01 -6.88260503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:213.98, Y:-38.97, Z:-6.88 [[ 9.79521890e-01 1.98509365e-01 3.36288292e-02 2.13976361e+02] [-1.98412031e-01 9.80098831e-01 -6.24074602e-03 -3.89730440e+01] [-3.41984228e-02 -5.59416981e-04 9.99414906e-01 -6.88324315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39401273899998 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:214.00, Y:-38.98, Z:-6.88 [[ 9.79367236e-01 1.99101161e-01 3.46200110e-02 2.14003611e+02] [-1.98998445e-01 9.79978759e-01 -6.42262359e-03 -3.89783339e+01] [-3.52056272e-02 -5.99221241e-04 9.99379910e-01 -6.88378656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:214.03, Y:-38.98, Z:-6.89 [[ 9.79651485e-01 1.97808054e-01 3.39844333e-02 2.14031636e+02] [-1.97708364e-01 9.80240622e-01 -6.30281344e-03 -3.89839021e+01] [-3.45596693e-02 -5.44446162e-04 9.99402488e-01 -6.88587038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45401273899998 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:214.06, Y:-38.99, Z:-6.89 [[ 9.80255220e-01 1.94743562e-01 3.42731540e-02 2.14059646e+02] [-1.94640353e-01 9.80854092e-01 -6.35477177e-03 -3.89904454e+01] [-3.48545143e-02 -4.41640593e-04 9.99392299e-01 -6.88589108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:214.09, Y:-39.00, Z:-6.89 [[ 9.80375948e-01 1.94047826e-01 3.47626636e-02 2.14086470e+02] [-1.93941270e-01 9.80991978e-01 -6.44382758e-03 -3.89962407e+01] [-3.53523048e-02 -4.24541544e-04 9.99374822e-01 -6.88611906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51401273899998 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:214.11, Y:-39.00, Z:-6.89 [[ 9.80454467e-01 1.93609099e-01 3.49936511e-02 2.14114077e+02] [-1.93500923e-01 9.81078664e-01 -6.48439340e-03 -3.90021406e+01] [-3.55869620e-02 -4.13651295e-04 9.99366498e-01 -6.88645145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:214.14, Y:-39.01, Z:-6.89 [[ 9.80350135e-01 1.94082463e-01 3.52932040e-02 2.14141218e+02] [-1.93972804e-01 9.80985121e-01 -6.53789748e-03 -3.90092145e+01] [-3.58909992e-02 -4.36493084e-04 9.99355615e-01 -6.88747852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57401273899998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:214.17, Y:-39.01, Z:-6.89 [[ 9.80202238e-01 1.94804693e-01 3.54218124e-02 2.14169941e+02] [-1.94694775e-01 9.80841941e-01 -6.55977219e-03 -3.90145999e+01] [-3.60210736e-02 -4.66538408e-04 9.99350922e-01 -6.88865060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:214.20, Y:-39.02, Z:-6.89 [[ 9.79808692e-01 1.96925687e-01 3.45716682e-02 2.14197077e+02] [-1.96822355e-01 9.80418273e-01 -6.40081681e-03 -3.90204545e+01] [-3.51551805e-02 -5.32901225e-04 9.99381724e-01 -6.89023919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63401273899999 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:214.22, Y:-39.03, Z:-6.89 [[ 9.79644213e-01 1.97855222e-01 3.39194373e-02 2.14223863e+02] [-1.97756376e-01 9.80231095e-01 -6.27813650e-03 -3.90268056e+01] [-3.44910492e-02 -5.57444917e-04 9.99404851e-01 -6.89182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:214.25, Y:-39.05, Z:-6.90 [[ 9.79584771e-01 1.96215350e-01 4.37402962e-02 2.14250594e+02] [-1.96977221e-01 9.80310863e-01 1.38052694e-02 -3.90497190e+01] [-4.01702818e-02 -2.21392736e-02 9.98947547e-01 -6.89789482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694012739 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:214.28, Y:-39.03, Z:-6.89 [[ 9.79728326e-01 1.97909102e-01 3.10546999e-02 2.14283681e+02] [-1.97113193e-01 9.80011268e-01 -2.69128735e-02 -3.90298040e+01] [-3.57602584e-02 2.02460134e-02 9.99155295e-01 -6.89496281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:214.31, Y:-39.05, Z:-6.90 [[ 9.79691813e-01 1.97492289e-01 3.46518054e-02 2.14309342e+02] [-1.97389152e-01 9.80304278e-01 -6.40660085e-03 -3.90488699e+01] [-3.52345674e-02 -5.63396066e-04 9.99378911e-01 -6.89652572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754012739 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:214.34, Y:-39.05, Z:-6.90 [[ 9.79511964e-01 1.98637683e-01 3.31569477e-02 2.14337588e+02] [-1.98461246e-01 9.80071326e-01 -8.56329997e-03 -3.90513583e+01] [-3.41971678e-02 1.80748563e-03 9.99413471e-01 -6.89735070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:214.37, Y:-39.06, Z:-6.90 [[ 9.79265459e-01 1.99650965e-01 3.43315251e-02 2.14365467e+02] [-1.99637684e-01 9.79862224e-01 -3.84925114e-03 -3.90576100e+01] [-3.44086713e-02 -3.08442748e-03 9.99403087e-01 -6.89886235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814012739 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:214.39, Y:-39.06, Z:-6.90 [[ 9.78292147e-01 2.04593614e-01 3.29534331e-02 2.14393930e+02] [-2.04504495e-01 9.78846689e-01 -6.08858408e-03 -3.90572592e+01] [-3.35020443e-02 -7.82711214e-04 9.99438342e-01 -6.90003393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:214.42, Y:-39.06, Z:-6.90 [[ 9.77823998e-01 2.06934058e-01 3.22261428e-02 2.14422865e+02] [-2.06850161e-01 9.78354527e-01 -5.95235610e-03 -3.90609937e+01] [-3.27603379e-02 -8.45626174e-04 9.99462878e-01 -6.90104794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874012739 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:214.45, Y:-39.06, Z:-6.90 [[ 9.77243484e-01 2.09495250e-01 3.32702974e-02 2.14450911e+02] [-2.09460360e-01 9.77806461e-01 -4.56974614e-03 -3.90628155e+01] [-3.34892519e-02 -2.50305383e-03 9.99435943e-01 -6.90257876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:214.48, Y:-39.06, Z:-6.90 [[ 9.77127574e-01 2.10084930e-01 3.29549122e-02 2.14478421e+02] [-2.09945357e-01 9.77682965e-01 -7.67895562e-03 -3.90634804e+01] [-3.38326892e-02 5.84588456e-04 9.99427340e-01 -6.90341608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93401273899997 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:214.51, Y:-39.07, Z:-6.90 [[ 9.77246836e-01 2.09440031e-01 3.35185666e-02 2.14505569e+02] [-2.09350823e-01 9.77821013e-01 -6.18860910e-03 -3.90676386e+01] [-3.40713013e-02 -9.69340853e-04 9.99418935e-01 -6.90422492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:214.53, Y:-39.07, Z:-6.91 [[ 9.78200212e-01 2.04833334e-01 3.41709078e-02 2.14534112e+02] [-2.04737887e-01 9.78796517e-01 -6.30680261e-03 -3.90704622e+01] [-3.47382089e-02 -8.26763805e-04 9.99396104e-01 -6.90550850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99401273899997 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:214.56, Y:-39.07, Z:-6.91 [[ 9.78886999e-01 2.01460201e-01 3.45547368e-02 2.14562349e+02] [-2.01360555e-01 9.79496439e-01 -6.37597303e-03 -3.90745431e+01] [-3.51307464e-02 -7.16603871e-04 9.99382468e-01 -6.90647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:214.59, Y:-39.08, Z:-6.91 [[ 9.80149055e-01 1.95175518e-01 3.48474839e-02 2.14589863e+02] [-1.95070262e-01 9.80768204e-01 -6.42828425e-03 -3.90777158e+01] [-3.54319479e-02 -4.97031066e-04 9.99371968e-01 -6.90676712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05401273899997 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:214.62, Y:-39.08, Z:-6.91 [[ 9.80598471e-01 1.92866458e-01 3.50595019e-02 2.14617917e+02] [-1.92758516e-01 9.81224926e-01 -6.46527443e-03 -3.90830107e+01] [-3.56481918e-02 -4.18179367e-04 9.99364314e-01 -6.90733309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:214.65, Y:-39.09, Z:-6.91 [[ 9.80857956e-01 1.91209064e-01 3.68342750e-02 2.14647282e+02] [-1.91088813e-01 9.81549261e-01 -6.79077704e-03 -3.90890225e+01] [-3.74531135e-02 -3.77830194e-04 9.99298315e-01 -6.90690030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11401273899997 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:214.68, Y:-39.09, Z:-6.91 [[ 9.80745218e-01 1.91786759e-01 3.68328140e-02 2.14676226e+02] [-1.91666958e-01 9.81436538e-01 -6.78960524e-03 -3.90933074e+01] [-3.74512259e-02 -4.00760529e-04 9.99298376e-01 -6.90776871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:214.71, Y:-39.10, Z:-6.91 [[ 9.80546807e-01 1.92928619e-01 3.61456320e-02 2.14705662e+02] [-1.92814041e-01 9.81212697e-01 -6.66246216e-03 -3.90971377e+01] [-3.67519327e-02 -4.36529371e-04 9.99324324e-01 -6.90924471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17401273899998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:214.73, Y:-39.10, Z:-6.91 [[ 9.80049719e-01 1.95816861e-01 3.40338863e-02 2.14733003e+02] [-1.95717049e-01 9.80640349e-01 -6.27244401e-03 -3.90997498e+01] [-3.46032524e-02 -5.13704794e-04 9.99400996e-01 -6.91160818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:214.76, Y:-39.10, Z:-6.91 [[ 9.79815105e-01 1.96908797e-01 3.44860107e-02 2.14760092e+02] [-1.96807066e-01 9.80421649e-01 -6.35363732e-03 -3.91040171e+01] [-3.50619186e-02 -5.61700767e-04 9.99384984e-01 -6.91225108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23401273899998 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:214.79, Y:-39.11, Z:-6.91 [[ 9.79540584e-01 1.98062739e-01 3.56566399e-02 2.14787656e+02] [-1.97954827e-01 9.80189145e-01 -6.56708581e-03 -3.91069217e+01] [-3.62509464e-02 -6.25676922e-04 9.99342523e-01 -6.91094384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:214.82, Y:-39.11, Z:-6.91 [[ 9.79591177e-01 1.97894237e-01 3.51993765e-02 2.14815551e+02] [-1.97789041e-01 9.80223186e-01 -6.48078142e-03 -3.91109919e+01] [-3.57857543e-02 -6.13534638e-04 9.99359296e-01 -6.91286803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29401273899998 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:214.84, Y:-39.12, Z:-6.91 [[ 9.79780884e-01 1.97158860e-01 3.40265106e-02 2.14844066e+02] [-1.97060184e-01 9.80371389e-01 -6.26288080e-03 -3.91162986e+01] [-3.45933999e-02 -5.69019568e-04 9.99401307e-01 -6.91494074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:214.87, Y:-39.12, Z:-6.92 [[ 9.80351027e-01 1.94591329e-01 3.23431392e-02 2.14871549e+02] [-1.94500829e-01 9.80884298e-01 -5.95155918e-03 -3.91219513e+01] [-3.28829992e-02 -4.56150208e-04 9.99459104e-01 -6.91683817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35401273899998 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:214.90, Y:-39.13, Z:-6.92 [[ 9.80534221e-01 1.93532936e-01 3.31307082e-02 2.14899824e+02] [-1.93437446e-01 9.81093683e-01 -6.09421074e-03 -3.91260737e+01] [-3.36837590e-02 -4.33137404e-04 9.99432447e-01 -6.91749367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:214.93, Y:-39.13, Z:-6.92 [[ 9.80766245e-01 1.92017031e-01 3.50290376e-02 2.14928302e+02] [-1.91909379e-01 9.81391510e-01 -6.44157717e-03 -3.91291658e+01] [-3.56140926e-02 -4.04719403e-04 9.99365535e-01 -6.91793692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414012739 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:214.96, Y:-39.13, Z:-6.92 [[ 9.80867915e-01 1.91466418e-01 3.51958036e-02 2.14956443e+02] [-1.91357447e-01 9.81499088e-01 -6.47050435e-03 -3.91339534e+01] [-3.57835334e-02 -3.88269025e-04 9.99359489e-01 -6.91882039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:214.98, Y:-39.14, Z:-6.92 [[ 9.80951706e-01 1.91143538e-01 3.46106726e-02 2.14983357e+02] [-1.91038019e-01 9.81562025e-01 -6.36126774e-03 -3.91386526e+01] [-3.51884371e-02 -3.71857877e-04 9.99380626e-01 -6.92011829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474012739 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:215.01, Y:-39.14, Z:-6.92 [[ 9.81120556e-01 1.90747442e-01 3.19040387e-02 2.15012644e+02] [-1.90657634e-01 9.81639090e-01 -5.86199462e-03 -3.91411783e+01] [-3.24364120e-02 -3.31425099e-04 9.99473746e-01 -6.92131592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:215.04, Y:-39.15, Z:-6.92 [[ 9.81125636e-01 1.90806014e-01 3.13934791e-02 2.15041334e+02] [-1.90719136e-01 9.81627708e-01 -5.76671514e-03 -3.91450150e+01] [-3.19170329e-02 -3.29465141e-04 9.99490467e-01 -6.92319204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534012739 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:215.07, Y:-39.15, Z:-6.92 [[ 9.81381517e-01 1.89287478e-01 3.25663645e-02 2.15068781e+02] [-1.89193203e-01 9.81921670e-01 -5.98051665e-03 -3.91505723e+01] [-3.31096559e-02 -2.92166314e-04 9.99451682e-01 -6.92337115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:215.10, Y:-39.16, Z:-6.92 [[ 9.81728155e-01 1.87289132e-01 3.36542915e-02 2.15096490e+02] [-1.87187356e-01 9.82304803e-01 -6.17799041e-03 -3.91558795e+01] [-3.42158427e-02 -2.34550730e-04 9.99414439e-01 -6.92311304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594012739 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:215.12, Y:-39.16, Z:-6.92 [[ 9.82056772e-01 1.85321818e-01 3.49330797e-02 2.15124864e+02] [-1.85210992e-01 9.82677869e-01 -6.41056213e-03 -3.91610302e+01] [-3.55159813e-02 -1.74454375e-04 9.99369093e-01 -6.92372971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:215.15, Y:-39.17, Z:-6.92 [[ 9.82063427e-01 1.85286493e-01 3.49333851e-02 2.15153708e+02] [-1.85175704e-01 9.82684530e-01 -6.40889722e-03 -3.91662398e+01] [-3.55159792e-02 -1.74870613e-04 9.99369093e-01 -6.92475301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654012739 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:215.18, Y:-39.17, Z:-6.93 [[ 9.82530808e-01 1.82594329e-01 3.59516677e-02 2.15181770e+02] [-1.82475232e-01 9.83188336e-01 -6.59433972e-03 -3.91721005e+01] [-3.65513494e-02 -8.11469545e-05 9.99331773e-01 -6.92686684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:215.21, Y:-39.18, Z:-6.93 [[ 9.82752198e-01 1.81571996e-01 3.50674700e-02 2.15211011e+02] [-1.81458081e-01 9.83377653e-01 -6.43090318e-03 -3.91780730e+01] [-3.56522383e-02 -4.32915892e-05 9.99364256e-01 -6.92807279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71401273899997 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:215.24, Y:-39.18, Z:-6.93 [[ 9.82963152e-01 1.80893257e-01 3.25740971e-02 2.15238792e+02] [-1.80794620e-01 9.83502735e-01 -5.97294972e-03 -3.91837254e+01] [-3.31171799e-02 -1.80320296e-05 9.99451476e-01 -6.93053733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:215.27, Y:-39.19, Z:-6.93 [[ 9.82945911e-01 1.81095187e-01 3.19666956e-02 2.15266914e+02] [-1.81000337e-01 9.83465573e-01 -5.86047824e-03 -3.91893055e+01] [-3.24994490e-02 -2.54495592e-05 9.99471753e-01 -6.93146983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77401273899997 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:215.30, Y:-39.20, Z:-6.93 [[ 9.82578370e-01 1.83115412e-01 3.17567773e-02 2.15295337e+02] [-1.83022907e-01 9.83091419e-01 -5.82048865e-03 -3.91963947e+01] [-3.22856364e-02 -9.31314635e-05 9.99478679e-01 -6.93232548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:215.32, Y:-39.20, Z:-6.93 [[ 9.82279392e-01 1.84666549e-01 3.20228170e-02 2.15322929e+02] [-1.84573361e-01 9.82801223e-01 -5.86774056e-03 -3.92014417e+01] [-3.25556391e-02 -1.46798337e-04 9.99469914e-01 -6.93294925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83401273899997 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:215.35, Y:-39.21, Z:-6.93 [[ 9.81917326e-01 1.86577290e-01 3.20512041e-02 2.15351125e+02] [-1.86485016e-01 9.82440263e-01 -5.87101944e-03 -3.92053670e+01] [-3.25837923e-02 -2.12213609e-04 9.99468985e-01 -6.93357523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:215.38, Y:-39.21, Z:-6.94 [[ 9.81223189e-01 1.90323777e-01 3.12716015e-02 2.15378961e+02] [-1.90237884e-01 9.81721321e-01 -5.72678952e-03 -3.92069368e+01] [-3.17899422e-02 -3.29784636e-04 9.99494518e-01 -6.93524954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89401273899998 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:215.41, Y:-39.21, Z:-6.94 [[ 9.80954948e-01 1.91528307e-01 3.23156066e-02 2.15408782e+02] [-1.91510283e-01 9.81483704e-01 -3.68096237e-03 -3.92112790e+01] [-3.24222498e-02 -2.57791272e-03 9.99470936e-01 -6.93733857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:215.43, Y:-39.21, Z:-6.94 [[ 9.79831729e-01 1.97013259e-01 3.33999674e-02 2.15434814e+02] [-1.96938927e-01 9.80400143e-01 -5.53349314e-03 -3.92100682e+01] [-3.38355043e-02 -1.15586157e-03 9.99426747e-01 -6.93739653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95401273899998 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:215.46, Y:-39.21, Z:-6.94 [[ 9.79686712e-01 1.97906436e-01 3.23572031e-02 2.15464487e+02] [-1.97723204e-01 9.80218394e-01 -8.79968707e-03 -3.92090943e+01] [-3.34586404e-02 2.22316662e-03 9.99437630e-01 -6.93748203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:215.49, Y:-39.21, Z:-6.94 [[ 9.79580352e-01 1.98358020e-01 3.28089922e-02 2.15492363e+02] [-1.98268280e-01 9.80129431e-01 -5.99903751e-03 -3.92122153e+01] [-3.33470161e-02 -6.28443174e-04 9.99443636e-01 -6.93884666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01401273899998 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:215.52, Y:-39.21, Z:-6.94 [[ 9.79938202e-01 1.96817940e-01 3.13658782e-02 2.15519413e+02] [-1.96735202e-01 9.80439898e-01 -5.73302750e-03 -3.92116769e+01] [-3.18807211e-02 -5.52759722e-04 9.99491528e-01 -6.93946845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:215.55, Y:-39.21, Z:-6.94 [[ 9.80310447e-01 1.94903882e-01 3.16844612e-02 2.15546886e+02] [-1.94818543e-01 9.80822221e-01 -5.78852595e-03 -3.92145336e+01] [-3.22050298e-02 -4.98168107e-04 9.99481159e-01 -6.94009160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07401273899998 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:215.58, Y:-39.22, Z:-6.94 [[ 9.81318542e-01 1.89384204e-01 3.38753878e-02 2.15575891e+02] [-1.89283454e-01 9.81903003e-01 -6.18606554e-03 -3.92178606e+01] [-3.44338881e-02 -3.41549595e-04 9.99406919e-01 -6.94049085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:215.60, Y:-39.22, Z:-6.94 [[ 9.81810455e-01 1.86705796e-01 3.44844247e-02 2.15603286e+02] [-1.86599801e-01 9.82415839e-01 -6.29547138e-03 -3.92229023e+01] [-3.50534460e-02 -2.53827147e-04 9.99385407e-01 -6.94161083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13401273899999 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:215.63, Y:-39.23, Z:-6.94 [[ 9.82223981e-01 1.84475466e-01 3.47109859e-02 2.15630451e+02] [-1.84366759e-01 9.82837103e-01 -6.33460594e-03 -3.92281729e+01] [-3.52838242e-02 -1.77550111e-04 9.99377316e-01 -6.94267472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:215.66, Y:-39.23, Z:-6.94 [[ 9.82919999e-01 1.80880021e-01 3.39218660e-02 2.15658937e+02] [-1.80774129e-01 9.83505168e-01 -6.18859495e-03 -3.92337236e+01] [-3.44817237e-02 -4.93020330e-05 9.99405327e-01 -6.94460425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:215.69, Y:-39.24, Z:-6.95 [[ 9.83235267e-01 1.79345288e-01 3.29192451e-02 2.15686453e+02] [-1.79244754e-01 9.83786190e-01 -6.00420765e-03 -3.92389016e+01] [-3.34623251e-02 2.94671745e-06 9.99439980e-01 -6.94505439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:215.71, Y:-39.25, Z:-6.95 [[ 9.83506010e-01 1.78023886e-01 3.19910087e-02 2.15714560e+02] [-1.77928303e-01 9.84026165e-01 -5.83308787e-03 -3.92452671e+01] [-3.25184186e-02 4.47710687e-05 9.99471135e-01 -6.94571265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:215.74, Y:-39.25, Z:-6.95 [[ 9.83481592e-01 1.78113479e-01 3.22420062e-02 2.15742896e+02] [-1.78016492e-01 9.84009953e-01 -5.87723391e-03 -3.92506792e+01] [-3.27732696e-02 4.05425349e-05 9.99462811e-01 -6.94684780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:215.77, Y:-39.25, Z:-6.95 [[ 9.83257077e-01 1.79091135e-01 3.36435109e-02 2.15770586e+02] [-1.78986161e-01 9.83832488e-01 -6.13096235e-03 -3.92529645e+01] [-3.41975801e-02 6.58924345e-06 9.99415092e-01 -6.94739181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314012739 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:215.80, Y:-39.26, Z:-6.95 [[ 9.83236901e-01 1.79147611e-01 3.39312539e-02 2.15799116e+02] [-1.79040940e-01 9.83822206e-01 -6.18127317e-03 -3.92562575e+01] [-3.44896814e-02 2.57227313e-06 9.99405054e-01 -6.94901505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:215.83, Y:-39.26, Z:-6.95 [[ 9.83328567e-01 1.78749157e-01 3.33716734e-02 2.15828004e+02] [-1.78645801e-01 9.83894679e-01 -6.07775856e-03 -3.92604143e+01] [-3.39206061e-02 1.47242830e-05 9.99424531e-01 -6.94973025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374012739 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:215.86, Y:-39.27, Z:-6.95 [[ 9.83628708e-01 1.77143214e-01 3.30884716e-02 2.15856229e+02] [-1.77040751e-01 9.84185083e-01 -6.02457276e-03 -3.92660200e+01] [-3.36323924e-02 6.79348597e-05 9.99434269e-01 -6.95064298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:215.88, Y:-39.27, Z:-6.95 [[ 9.83818204e-01 1.76010444e-01 3.34972373e-02 2.15883948e+02] [-1.75904832e-01 9.84388293e-01 -6.09736104e-03 -3.92711713e+01] [-3.40474875e-02 1.06368881e-04 9.99420211e-01 -6.95140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43401273899997 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:215.91, Y:-39.28, Z:-6.95 [[ 9.84451791e-01 1.72630059e-01 3.24581833e-02 2.15911518e+02] [-1.72529130e-01 9.84986709e-01 -5.90616605e-03 -3.92765063e+01] [-3.29904609e-02 2.14353638e-04 9.99455644e-01 -6.95338142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:215.94, Y:-39.28, Z:-6.96 [[ 9.84837958e-01 1.70695135e-01 3.09413696e-02 2.15939379e+02] [-1.70602522e-01 9.85323856e-01 -5.62836276e-03 -3.92829061e+01] [-3.14480038e-02 2.64349598e-04 9.99505354e-01 -6.95546830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49401273899997 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:215.97, Y:-39.29, Z:-6.96 [[ 9.85248255e-01 1.68574790e-01 2.94689163e-02 2.15966378e+02] [-1.68489874e-01 9.85688815e-01 -5.35924322e-03 -3.92897496e+01] [-2.99506145e-02 3.14971042e-04 9.99551330e-01 -6.95665863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:215.99, Y:-39.30, Z:-6.96 [[ 9.85755869e-01 1.65528744e-01 2.97590655e-02 2.15993723e+02] [-1.65440814e-01 9.86204881e-01 -5.41016503e-03 -3.92978383e+01] [-3.02440735e-02 4.09737913e-04 9.99542459e-01 -6.95660892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55401273899997 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:216.02, Y:-39.30, Z:-6.96 [[ 9.85810684e-01 1.64868656e-01 3.15534619e-02 2.16021304e+02] [-1.64769512e-01 9.86315426e-01 -5.73481847e-03 -3.93039195e+01] [-3.20671580e-02 4.54396817e-04 9.99485613e-01 -6.95659256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:216.05, Y:-39.31, Z:-6.96 [[ 9.85626338e-01 1.65384141e-01 3.44790923e-02 2.16049815e+02] [-1.65266152e-01 9.86229111e-01 -6.26414484e-03 -3.93111743e+01] [-3.50402747e-02 4.75879240e-04 9.99385788e-01 -6.95582442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61401273899997 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:216.08, Y:-39.32, Z:-6.96 [[ 9.85469334e-01 1.66218088e-01 3.49533861e-02 2.16078732e+02] [-1.66097385e-01 9.86088912e-01 -6.34945092e-03 -3.93172498e+01] [-3.55225400e-02 4.51523158e-04 9.99368773e-01 -6.95761726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:216.11, Y:-39.32, Z:-6.96 [[ 9.85108266e-01 1.68342310e-01 3.49652883e-02 2.16106455e+02] [-1.68222891e-01 9.85728526e-01 -6.35076258e-03 -3.93235670e+01] [-3.55353842e-02 3.74226812e-04 9.99368349e-01 -6.95838565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67401273899998 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:216.13, Y:-39.33, Z:-6.96 [[ 9.85022960e-01 1.69013996e-01 3.41179825e-02 2.16134047e+02] [-1.68900728e-01 9.85613592e-01 -6.19603534e-03 -3.93295720e+01] [-3.46743639e-02 3.40684985e-04 9.99398605e-01 -6.95900560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:216.16, Y:-39.34, Z:-6.96 [[ 9.84826929e-01 1.70616090e-01 3.17186147e-02 2.16161792e+02] [-1.70519064e-01 9.85337546e-01 -5.75920747e-03 -3.93370432e+01] [-3.22361555e-02 2.63194118e-04 9.99480245e-01 -6.95995471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73401273899998 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:216.19, Y:-39.34, Z:-6.96 [[ 9.84676463e-01 1.71554352e-01 3.13267788e-02 2.16190192e+02] [-1.71460204e-01 9.85174630e-01 -5.68740158e-03 -3.93430820e+01] [-3.18380462e-02 2.28954585e-04 9.99493015e-01 -6.96066428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:216.22, Y:-39.35, Z:-6.96 [[ 9.84435448e-01 1.72775574e-01 3.21783951e-02 2.16217774e+02] [-1.72676939e-01 9.84961199e-01 -5.84046897e-03 -3.93488012e+01] [-3.27035610e-02 1.93097919e-04 9.99465077e-01 -6.96219094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79401273899998 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:216.25, Y:-39.36, Z:-6.96 [[ 9.83832384e-01 1.75681925e-01 3.47807644e-02 2.16245844e+02] [-1.75568577e-01 9.84446977e-01 -6.31060328e-03 -3.93552351e+01] [-3.53484773e-02 1.02166549e-04 9.99375042e-01 -6.96191321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:216.27, Y:-39.36, Z:-6.96 [[ 9.83529364e-01 1.77110885e-01 3.60794344e-02 2.16273794e+02] [-1.76989937e-01 9.84190902e-01 -6.54447462e-03 -3.93611402e+01] [-3.66681488e-02 5.09861111e-05 9.99327496e-01 -6.96240325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85401273899998 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:216.30, Y:-39.37, Z:-6.96 [[ 9.82855972e-01 1.80812123e-01 3.60709563e-02 2.16301465e+02] [-1.80693785e-01 9.83517650e-01 -6.54124200e-03 -3.93673336e+01] [-3.66591581e-02 -8.86988519e-05 9.99327823e-01 -6.96393184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:216.33, Y:-39.37, Z:-6.97 [[ 9.82445394e-01 1.83254336e-01 3.49126925e-02 2.16328342e+02] [-1.83145076e-01 9.83065520e-01 -6.32960979e-03 -3.93720231e+01] [-3.54813927e-02 -1.75591718e-04 9.99370322e-01 -6.96576542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914012739 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:216.36, Y:-39.38, Z:-6.97 [[ 9.81999654e-01 1.85828919e-01 3.38273971e-02 2.16355954e+02] [-1.85727939e-01 9.82582080e-01 -6.13093796e-03 -3.93764101e+01] [-3.43774998e-02 -2.62113806e-04 9.99408885e-01 -6.96677129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:216.38, Y:-39.38, Z:-6.97 [[ 9.81012825e-01 1.91036218e-01 3.34514527e-02 2.16384387e+02] [-1.90940560e-01 9.81582889e-01 -6.06087138e-03 -3.93788648e+01] [-3.39932195e-02 -4.41446536e-04 9.99421966e-01 -6.96642258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974012739 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:216.41, Y:-39.38, Z:-6.97 [[ 9.80610439e-01 1.93090619e-01 3.34541363e-02 2.16412453e+02] [-1.92996192e-01 9.81180793e-01 -6.05982368e-03 -3.93809537e+01] [-3.39946511e-02 -5.14194540e-04 9.99421883e-01 -6.96635701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:216.44, Y:-39.38, Z:-6.97 [[ 9.79914666e-01 1.96633287e-01 3.32053988e-02 2.16441100e+02] [-1.96542367e-01 9.80476898e-01 -6.01248601e-03 -3.93802296e+01] [-3.37393813e-02 -6.34544480e-04 9.99430464e-01 -6.96761295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034012739 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:216.47, Y:-39.38, Z:-6.97 [[ 9.79636595e-01 1.98003180e-01 3.32698356e-02 2.16468328e+02] [-1.97912779e-01 9.80201138e-01 -6.02169504e-03 -3.93826342e+01] [-3.38034454e-02 -6.85452803e-04 9.99428265e-01 -6.96888221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:216.50, Y:-39.38, Z:-6.97 [[ 9.79526013e-01 1.99178759e-01 2.92679283e-02 2.16498539e+02] [-1.98810686e-01 9.79922825e-01 -1.50189204e-02 -3.93786260e+01] [-3.16717609e-02 8.89264626e-03 9.99458764e-01 -6.96770547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.094012739 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:216.52, Y:-39.39, Z:-6.97 [[ 9.79299227e-01 1.99324757e-01 3.52514571e-02 2.16523851e+02] [-1.99557800e-01 9.79880880e-01 3.18516313e-03 -3.93922202e+01] [-3.39073469e-02 -1.01539310e-02 9.99373398e-01 -6.97061379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:216.55, Y:-39.38, Z:-6.97 [[ 9.79225771e-01 2.00023595e-01 3.32783930e-02 2.16552819e+02] [-1.99934695e-01 9.79790781e-01 -6.01197125e-03 -3.93849397e+01] [-3.38083988e-02 -7.66428160e-04 9.99428039e-01 -6.97085117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154012739 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:216.58, Y:-39.39, Z:-6.97 [[ 9.79574275e-01 1.98391911e-01 3.27855179e-02 2.16580177e+02] [-1.98304806e-01 9.80122521e-01 -5.92010933e-03 -3.93880265e+01] [-3.33083263e-02 -7.02338961e-04 9.99444877e-01 -6.97286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:216.61, Y:-39.39, Z:-6.97 [[ 9.79851735e-01 1.97012957e-01 3.28096340e-02 2.16608176e+02] [-1.96925025e-01 9.80400664e-01 -5.92223773e-03 -3.93914920e+01] [-3.33333445e-02 -6.58123085e-04 9.99444073e-01 -6.97309483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21401273899997 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:216.64, Y:-39.39, Z:-6.97 [[ 9.80091890e-01 1.95730203e-01 3.33102887e-02 2.16636627e+02] [-1.95638903e-01 9.80657583e-01 -6.01032989e-03 -3.93933615e+01] [-3.38423903e-02 -6.26112750e-04 9.99426986e-01 -6.97364210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:216.66, Y:-39.39, Z:-6.97 [[ 9.80235365e-01 1.94738466e-01 3.48648805e-02 2.16664292e+02] [-1.94637909e-01 9.80855006e-01 -6.28821807e-03 -3.93927776e+01] [-3.54219506e-02 -6.22093705e-04 9.99372252e-01 -6.97316215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27401273899997 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:216.69, Y:-39.40, Z:-6.97 [[ 9.80213938e-01 1.94606178e-01 3.61810921e-02 2.16691697e+02] [-1.94497907e-01 9.80881247e-01 -6.52251705e-03 -3.93963343e+01] [-3.67586769e-02 -6.43684570e-04 9.99323964e-01 -6.97362779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:216.72, Y:-39.40, Z:-6.97 [[ 9.80429595e-01 1.93514302e-01 3.61942620e-02 2.16719337e+02] [-1.93405303e-01 9.81097267e-01 -6.52232230e-03 -3.93981803e+01] [-3.67722542e-02 -6.05484393e-04 9.99323489e-01 -6.97483819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33401273899997 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:216.75, Y:-39.40, Z:-6.98 [[ 9.80683631e-01 1.92530591e-01 3.45193619e-02 2.16747239e+02] [-1.92430923e-01 9.81290821e-01 -6.21813053e-03 -3.94004693e+01] [-3.50707133e-02 -5.44573834e-04 9.99384685e-01 -6.97659677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:216.77, Y:-39.40, Z:-6.98 [[ 9.81019961e-01 1.91091172e-01 3.29241729e-02 2.16774693e+02] [-1.90999770e-01 9.81572178e-01 -5.92848110e-03 -3.94023794e+01] [-3.34503325e-02 -4.72551159e-04 9.99440269e-01 -6.97807224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39401273899998 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:216.80, Y:-39.40, Z:-6.98 [[ 9.81553697e-01 1.88552778e-01 3.16257648e-02 2.16802587e+02] [-1.88467212e-01 9.82062987e-01 -5.69206117e-03 -3.94042153e+01] [-3.21317470e-02 -3.73356017e-04 9.99483572e-01 -6.97902255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:216.83, Y:-39.41, Z:-6.98 [[ 9.81725138e-01 1.87614067e-01 3.18859734e-02 2.16829702e+02] [-1.87526669e-01 9.82242761e-01 -5.73649993e-03 -3.94078017e+01] [-3.23960147e-02 -3.47804203e-04 9.99475051e-01 -6.97983595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45401273899998 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:216.86, Y:-39.41, Z:-6.98 [[ 9.81935658e-01 1.86339743e-01 3.28612868e-02 2.16858205e+02] [-1.86246301e-01 9.82485318e-01 -5.90898225e-03 -3.94083331e+01] [-3.33868101e-02 -3.18052758e-04 9.99442454e-01 -6.98043118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:216.89, Y:-39.41, Z:-6.98 [[ 9.81945823e-01 1.86323312e-01 3.26500333e-02 2.16885512e+02] [-1.86231140e-01 9.82488434e-01 -5.86859541e-03 -3.94104517e+01] [-3.31717362e-02 -3.17810154e-04 9.99449616e-01 -6.98130610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51401273899998 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:216.91, Y:-39.42, Z:-6.98 [[ 9.81956933e-01 1.86264660e-01 3.26505314e-02 2.16913557e+02] [-1.86172547e-01 9.82499555e-01 -5.86582264e-03 -3.94153646e+01] [-3.31717280e-02 -3.18647381e-04 9.99449616e-01 -6.98229650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:216.94, Y:-39.42, Z:-6.98 [[ 9.81881455e-01 1.86726933e-01 3.22778633e-02 2.16940611e+02] [-1.86637224e-01 9.82411799e-01 -5.79695369e-03 -3.94184038e+01] [-3.27926011e-02 -3.32329470e-04 9.99462123e-01 -6.98352937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57401273899998 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:216.97, Y:-39.42, Z:-6.98 [[ 9.81595758e-01 1.88386730e-01 3.13082710e-02 2.16969175e+02] [-1.88303258e-01 9.82094851e-01 -5.62018742e-03 -3.94191426e+01] [-3.18064605e-02 -3.78697312e-04 9.99493975e-01 -6.98464490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:217.00, Y:-39.42, Z:-6.98 [[ 9.81512657e-01 1.88786913e-01 3.15024629e-02 2.16996873e+02] [-1.88702683e-01 9.82017996e-01 -5.65273301e-03 -3.94198457e+01] [-3.20031475e-02 -3.96370263e-04 9.99487689e-01 -6.98492288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63401273899999 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:217.02, Y:-39.42, Z:-6.99 [[ 9.81447539e-01 1.89026187e-01 3.20909596e-02 2.17024679e+02] [-1.88938999e-01 9.81971959e-01 -5.75550756e-03 -3.94174510e+01] [-3.26003641e-02 -4.14505049e-04 9.99468381e-01 -6.98634192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:217.05, Y:-39.42, Z:-6.99 [[ 9.81540046e-01 1.88619547e-01 3.16512911e-02 2.17052315e+02] [-1.88534607e-01 9.82050155e-01 -5.67397110e-03 -3.94208573e+01] [-3.21533772e-02 -3.98133889e-04 9.99482867e-01 -6.98781572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694012739 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:217.08, Y:-39.42, Z:-6.99 [[ 9.82153645e-01 1.85519728e-01 3.09297225e-02 2.17079901e+02] [-1.85437144e-01 9.82640496e-01 -5.54259665e-03 -3.94222985e+01] [-3.14210589e-02 -2.91837896e-04 9.99506194e-01 -6.98827870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:217.11, Y:-39.42, Z:-6.99 [[ 9.82544455e-01 1.83435664e-01 3.09475443e-02 2.17107144e+02] [-1.83352085e-01 9.83031690e-01 -5.54150413e-03 -3.94246995e+01] [-3.14389263e-02 -2.29522636e-04 9.99505648e-01 -6.98861652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754012739 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:217.14, Y:-39.43, Z:-6.98 [[ 9.82910958e-01 1.81420621e-01 3.11866422e-02 2.17135658e+02] [-1.81334817e-01 9.83405577e-01 -5.58162010e-03 -3.94271501e+01] [-3.16817388e-02 -1.68988499e-04 9.99497993e-01 -6.97984987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:217.16, Y:-39.43, Z:-6.99 [[ 9.83607994e-01 1.77347603e-01 3.26058475e-02 2.17162622e+02] [-1.77251651e-01 9.84148274e-01 -5.83319045e-03 -3.94318102e+01] [-3.31234909e-02 -4.18675395e-05 9.99451266e-01 -6.99018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814012739 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:217.19, Y:-39.44, Z:-6.99 [[ 9.83972220e-01 1.75184047e-01 3.33049498e-02 2.17189593e+02] [-1.75082777e-01 9.84535702e-01 -5.95584397e-03 -3.94366025e+01] [-3.38332810e-02 2.92618938e-05 9.99427490e-01 -6.99120859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:217.22, Y:-39.44, Z:-6.99 [[ 9.84605364e-01 1.71443857e-01 3.40482256e-02 2.17217554e+02] [-1.71335878e-01 9.85193879e-01 -6.08588639e-03 -3.94406841e+01] [-3.45874913e-02 1.58513743e-04 9.99401661e-01 -6.99131071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874012739 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:217.25, Y:-39.45, Z:-6.99 [[ 9.84851744e-01 1.70039769e-01 3.39634968e-02 2.17245271e+02] [-1.69931575e-01 9.85437180e-01 -6.06832943e-03 -3.94460267e+01] [-3.45007499e-02 2.04934306e-04 9.99404651e-01 -6.99272408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:217.27, Y:-39.45, Z:-6.99 [[ 9.85236252e-01 1.67987800e-01 3.30094984e-02 2.17272059e+02] [-1.67884525e-01 9.85789038e-01 -5.89560127e-03 -3.94532878e+01] [-3.35307907e-02 2.66776129e-04 9.99437649e-01 -6.98548156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93401273899997 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:217.30, Y:-39.46, Z:-7.00 [[ 9.85395689e-01 1.66979880e-01 3.33624788e-02 2.17299236e+02] [-1.66873931e-01 9.85960257e-01 -5.95498912e-03 -3.94596693e+01] [-3.38884416e-02 3.00692635e-04 9.99425577e-01 -6.99525621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:217.33, Y:-39.46, Z:-7.00 [[ 9.85565889e-01 1.66030617e-01 3.30713369e-02 2.17326050e+02] [-1.65926053e-01 9.86120544e-01 -5.90069421e-03 -3.94645030e+01] [-3.35920206e-02 3.28126528e-04 9.99435575e-01 -6.99566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99401273899997 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:217.35, Y:-39.47, Z:-7.00 [[ 9.85848274e-01 1.64435998e-01 3.26187608e-02 2.17353191e+02] [-1.64333521e-01 9.86387684e-01 -5.81643102e-03 -3.94710050e+01] [-3.31311745e-02 3.73762664e-04 9.99450942e-01 -6.99693091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:217.38, Y:-39.48, Z:-7.00 [[ 9.86001489e-01 1.63598143e-01 3.21979918e-02 2.17379911e+02] [-1.63497921e-01 9.86526985e-01 -5.73915260e-03 -3.94775363e+01] [-3.27031025e-02 3.94508299e-04 9.99465033e-01 -6.99798933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05401273899997 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:217.41, Y:-39.48, Z:-7.00 [[ 9.86127787e-01 1.62891996e-01 3.19090119e-02 2.17405587e+02] [-1.62793281e-01 9.86643820e-01 -5.68504588e-03 -3.94845231e+01] [-3.24088779e-02 4.11608994e-04 9.99474610e-01 -6.99949558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:217.43, Y:-39.49, Z:-7.00 [[ 9.86244015e-01 1.62107851e-01 3.23077050e-02 2.17433000e+02] [-1.62006338e-01 9.86772948e-01 -5.75282822e-03 -3.94923461e+01] [-3.28129479e-02 4.39639419e-04 9.99461414e-01 -7.00069914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11401273899997 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:217.46, Y:-39.50, Z:-7.00 [[ 9.86201464e-01 1.62311997e-01 3.25804746e-02 2.17460700e+02] [-1.62208948e-01 9.86739392e-01 -5.79913295e-03 -3.94978475e+01] [-3.30897065e-02 4.34268886e-04 9.99452291e-01 -7.00128372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:217.49, Y:-39.50, Z:-7.00 [[ 9.85681656e-01 1.65405169e-01 3.27536743e-02 2.17486988e+02] [-1.65302806e-01 9.86225644e-01 -5.82761862e-03 -3.95040842e+01] [-3.32664318e-02 3.29902497e-04 9.99446465e-01 -7.00196622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17401273899998 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:217.51, Y:-39.51, Z:-7.00 [[ 9.85329237e-01 1.67516765e-01 3.26255770e-02 2.17514842e+02] [-1.67416467e-01 9.85869195e-01 -5.80153718e-03 -3.95089325e+01] [-3.31364061e-02 2.54365355e-04 9.99450806e-01 -7.00295675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:217.54, Y:-39.51, Z:-7.00 [[ 9.84915973e-01 1.69946323e-01 3.25387865e-02 2.17542593e+02] [-1.69847960e-01 9.85453306e-01 -5.78377600e-03 -3.95129098e+01] [-3.30483862e-02 1.69886844e-04 9.99453738e-01 -7.00397690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23401273899998 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:217.57, Y:-39.52, Z:-7.01 [[ 9.84359951e-01 1.73237585e-01 3.20035394e-02 2.17569690e+02] [-1.73144243e-01 9.84880062e-01 -5.68639869e-03 -3.95159315e+01] [-3.25047458e-02 5.62345163e-05 9.99471580e-01 -7.00501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:217.60, Y:-39.52, Z:-7.01 [[ 9.84298011e-01 1.73629011e-01 3.17866632e-02 2.17597008e+02] [-1.73537221e-01 9.84811132e-01 -5.64518457e-03 -3.95216652e+01] [-3.22840276e-02 4.03747546e-05 9.99478734e-01 -7.00622688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29401273899998 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:217.62, Y:-39.53, Z:-7.01 [[ 9.84317625e-01 1.73596866e-01 3.13518896e-02 2.17624052e+02] [-1.73507623e-01 9.84816799e-01 -5.56578191e-03 -3.95281113e+01] [-3.18420699e-02 3.87053813e-05 9.99492912e-01 -7.00728583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:217.65, Y:-39.54, Z:-7.01 [[ 9.84570542e-01 1.72013821e-01 3.21262057e-02 2.17649957e+02] [-1.71919348e-01 9.85094532e-01 -5.70093559e-03 -3.95359673e+01] [-3.26279893e-02 8.98569166e-05 9.99467561e-01 -7.00797149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35401273899998 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:217.68, Y:-39.54, Z:-7.01 [[ 9.84771642e-01 1.70734652e-01 3.27794566e-02 2.17676924e+02] [-1.70635679e-01 9.85317036e-01 -5.81408988e-03 -3.95427497e+01] [-3.32908237e-02 1.32205978e-04 9.99445698e-01 -7.00880701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:217.70, Y:-39.55, Z:-7.01 [[ 9.85117010e-01 1.68630818e-01 3.32884906e-02 2.17703477e+02] [-1.68527628e-01 9.85679261e-01 -5.90192494e-03 -3.95535457e+01] [-3.38070213e-02 2.04056269e-04 9.99428358e-01 -7.01012567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414012739 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:217.73, Y:-39.56, Z:-7.01 [[ 9.85194402e-01 1.68244053e-01 3.29534308e-02 2.17731043e+02] [-1.68142780e-01 9.85745349e-01 -5.84058326e-03 -3.95608598e+01] [-3.34663346e-02 2.13228454e-04 9.99439823e-01 -7.01069354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:217.76, Y:-39.57, Z:-7.01 [[ 9.84705831e-01 1.71177004e-01 3.24477931e-02 2.17758342e+02] [-1.71080479e-01 9.85240286e-01 -5.74875447e-03 -3.95689811e+01] [-3.29529275e-02 1.09648043e-04 9.99456899e-01 -7.01072369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474012739 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:217.79, Y:-39.57, Z:-7.01 [[ 9.84154858e-01 1.74380137e-01 3.21058216e-02 2.17785149e+02] [-1.74287413e-01 9.84678408e-01 -5.68593850e-03 -3.95748307e+01] [-3.26054241e-02 2.03409208e-07 9.99468302e-01 -7.01130110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:217.81, Y:-39.58, Z:-7.01 [[ 9.83454067e-01 1.78385714e-01 3.15695189e-02 2.17811321e+02] [-1.78298206e-01 9.83960629e-01 -5.58838515e-03 -3.95805986e+01] [-3.20600517e-02 -1.32868488e-04 9.99485936e-01 -7.01222194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534012739 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:217.84, Y:-39.59, Z:-7.01 [[ 9.81911549e-01 1.86534725e-01 3.24731758e-02 2.17838997e+02] [-1.86446672e-01 9.82448282e-01 -5.74564576e-03 -3.95862767e+01] [-3.29749782e-02 -4.12799633e-04 9.99456092e-01 -7.01320143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:217.87, Y:-39.59, Z:-7.01 [[ 9.81158225e-01 1.90179421e-01 3.40635351e-02 2.17866718e+02] [-1.90084809e-01 9.81749189e-01 -6.02459292e-03 -3.95902927e+01] [-3.45876015e-02 -5.63881648e-04 9.99401511e-01 -7.01351542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.594012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:217.89, Y:-39.59, Z:-7.01 [[ 9.80545277e-01 1.93104658e-01 3.52356594e-02 2.17894606e+02] [-1.93005396e-01 9.81177920e-01 -6.22939747e-03 -3.95936524e+01] [-3.57753767e-02 -6.92466139e-04 9.99359616e-01 -7.01349613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:217.92, Y:-39.60, Z:-7.02 [[ 9.79786936e-01 1.96883778e-01 3.54166433e-02 2.17922201e+02] [-1.96786049e-01 9.80426477e-01 -6.25890312e-03 -3.95956296e+01] [-3.59556914e-02 -8.37109788e-04 9.99353034e-01 -7.01613688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654012739 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:217.95, Y:-39.60, Z:-7.02 [[ 9.79677163e-01 1.97656261e-01 3.41270976e-02 2.17949738e+02] [-1.97566068e-01 9.80271036e-01 -6.02869979e-03 -3.95992522e+01] [-3.46454156e-02 -8.36177001e-04 9.99399318e-01 -7.01712515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:217.98, Y:-39.60, Z:-7.02 [[ 9.79722538e-01 1.97799839e-01 3.19213559e-02 2.17977010e+02] [-1.97721075e-01 9.80242114e-01 -5.63694839e-03 -3.95992551e+01] [-3.24056448e-02 -7.88879411e-04 9.99474488e-01 -7.01920611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71401273899997 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:218.01, Y:-39.60, Z:-7.02 [[ 9.79743018e-01 1.97810608e-01 3.12182851e-02 2.18005021e+02] [-1.97735363e-01 9.80239952e-01 -5.51023943e-03 -3.96005513e+01] [-3.16913941e-02 -7.74340326e-04 9.99497402e-01 -7.01776105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:218.03, Y:-39.60, Z:-7.02 [[ 9.79790448e-01 1.97571593e-01 3.12432907e-02 2.18031800e+02] [-1.97496179e-01 9.80288158e-01 -5.51234172e-03 -3.96029307e+01] [-3.17165100e-02 -7.69490754e-04 9.99496609e-01 -7.02244540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77401273899997 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:218.06, Y:-39.60, Z:-7.02 [[ 9.80228109e-01 1.95411723e-01 3.10984307e-02 2.18060325e+02] [-1.95336007e-01 9.80721046e-01 -5.48402170e-03 -3.96042762e+01] [-3.15705276e-02 -6.99051049e-04 9.99501282e-01 -7.02394456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:218.09, Y:-39.61, Z:-7.02 [[ 9.80604508e-01 1.93513425e-01 3.11023030e-02 2.18088520e+02] [-1.93436800e-01 9.81097419e-01 -5.48266422e-03 -3.96069925e+01] [-3.15753583e-02 -6.40004715e-04 9.99501169e-01 -7.02452867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83401273899997 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:218.12, Y:-39.61, Z:-7.03 [[ 9.81150988e-01 1.90671205e-01 3.14202346e-02 2.18115860e+02] [-1.90591620e-01 9.81653800e-01 -5.53644882e-03 -3.96091315e+01] [-3.18994340e-02 -5.56341190e-04 9.99490929e-01 -7.02520019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:218.14, Y:-39.61, Z:-7.03 [[ 9.81382461e-01 1.89551671e-01 3.09617293e-02 2.18142928e+02] [-1.89473916e-01 9.81870612e-01 -5.45308657e-03 -3.96126115e+01] [-3.14340538e-02 -5.14876585e-04 9.99505695e-01 -7.02560697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89401273899998 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:218.17, Y:-39.62, Z:-7.03 [[ 9.81503504e-01 1.88893417e-01 3.11471976e-02 2.18170373e+02] [-1.88814479e-01 9.81997468e-01 -5.48314536e-03 -3.96165925e+01] [-3.16221992e-02 -4.99315503e-04 9.99499768e-01 -7.02701339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:218.20, Y:-39.62, Z:-7.03 [[ 9.81627073e-01 1.87963947e-01 3.28305247e-02 2.18197935e+02] [-1.87875807e-01 9.82175803e-01 -5.77701491e-03 -3.96174009e+01] [-3.33312175e-02 -4.97187072e-04 9.99444237e-01 -7.02673551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95401273899998 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:218.23, Y:-39.62, Z:-7.03 [[ 9.81742200e-01 1.87222567e-01 3.36149265e-02 2.18226092e+02] [-1.87129827e-01 9.82317400e-01 -5.91217569e-03 -3.96206223e+01] [-3.41274199e-02 -4.86122993e-04 9.99417372e-01 -7.02720029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:218.25, Y:-39.62, Z:-7.03 [[ 9.82224434e-01 1.84405006e-01 3.50707226e-02 2.18253399e+02] [-1.84302351e-01 9.82850257e-01 -6.16567354e-03 -3.96247039e+01] [-3.56062498e-02 -4.07541438e-04 9.99365813e-01 -7.02780243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01401273899998 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:218.28, Y:-39.63, Z:-7.03 [[ 9.82590865e-01 1.82267867e-01 3.59668758e-02 2.18280963e+02] [-1.82158562e-01 9.83248854e-01 -6.32061775e-03 -3.96294826e+01] [-3.65164350e-02 -3.41093102e-04 9.99332994e-01 -7.02871031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:218.31, Y:-39.63, Z:-7.03 [[ 9.83022490e-01 1.79898776e-01 3.61000557e-02 2.18307199e+02] [-1.79787157e-01 9.83685094e-01 -6.34140559e-03 -3.96341232e+01] [-3.66518978e-02 -2.56582072e-04 9.99328061e-01 -7.02886795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07401273899998 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:218.33, Y:-39.64, Z:-7.03 [[ 9.84063398e-01 1.74144693e-01 3.59562756e-02 2.18332965e+02] [-1.74030228e-01 9.84720074e-01 -6.31316867e-03 -3.96406383e+01] [-3.65062711e-02 -4.49205981e-05 9.99333423e-01 -7.03101598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:218.36, Y:-39.65, Z:-7.03 [[ 9.84504032e-01 1.71703306e-01 3.56340548e-02 2.18359526e+02] [-1.71589389e-01 9.85148706e-01 -6.25370120e-03 -3.96463061e+01] [-3.61786242e-02 4.23683651e-05 9.99345338e-01 -7.03219617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13401273899999 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:218.39, Y:-39.65, Z:-7.03 [[ 9.85215691e-01 1.67827892e-01 3.44069844e-02 2.18387652e+02] [-1.67719418e-01 9.85816295e-01 -6.03565279e-03 -3.96506317e+01] [-3.49319168e-02 1.75700432e-04 9.99389679e-01 -7.03326514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:218.41, Y:-39.65, Z:-7.03 [[ 9.85529968e-01 1.66126166e-01 3.36567732e-02 2.18414169e+02] [-1.66021457e-01 9.86104480e-01 -5.90177351e-03 -3.96546644e+01] [-3.41695338e-02 2.28628117e-04 9.99416025e-01 -7.03430497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194012739 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:218.44, Y:-39.66, Z:-7.04 [[ 9.85794592e-01 1.64679864e-01 3.30085472e-02 2.18441020e+02] [-1.64578450e-01 9.86347033e-01 -5.78483733e-03 -3.96599101e+01] [-3.35105288e-02 2.70165834e-04 9.99438328e-01 -7.03566863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:218.47, Y:-39.67, Z:-7.04 [[ 9.86020862e-01 1.63490095e-01 3.21535249e-02 2.18468092e+02] [-1.63393318e-01 9.86544930e-01 -5.63249406e-03 -3.96684779e+01] [-3.26417540e-02 3.00085535e-04 9.99467071e-01 -7.03731418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254012739 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:218.50, Y:-39.67, Z:-7.04 [[ 9.86005586e-01 1.63621964e-01 3.19505374e-02 2.18495456e+02] [-1.63526549e-01 9.86523070e-01 -5.59463088e-03 -3.96747612e+01] [-3.24353468e-02 2.91576165e-04 9.99473793e-01 -7.03841354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:218.52, Y:-39.68, Z:-7.04 [[ 9.85940228e-01 1.64009045e-01 3.19827953e-02 2.18522365e+02] [-1.63913716e-01 9.86458796e-01 -5.59796506e-03 -3.96810406e+01] [-3.24678266e-02 2.76840128e-04 9.99472743e-01 -7.03941458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314012739 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:218.55, Y:-39.69, Z:-7.04 [[ 9.85982167e-01 1.63760687e-01 3.19625225e-02 2.18550163e+02] [-1.63665425e-01 9.86500054e-01 -5.59207203e-03 -3.96869245e+01] [-3.24467917e-02 2.82523479e-04 9.99473424e-01 -7.04059197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:218.58, Y:-39.69, Z:-7.03 [[ 9.86069435e-01 1.63429159e-01 3.09512508e-02 2.18576819e+02] [-1.63339735e-01 9.86555032e-01 -5.41299242e-03 -3.96932126e+01] [-3.14197530e-02 2.82017264e-04 9.99506238e-01 -7.03045427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374012739 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:218.60, Y:-39.70, Z:-7.04 [[ 9.86259136e-01 1.62084496e-01 3.19614435e-02 2.18602363e+02] [-1.61988523e-01 9.86776827e-01 -5.58685634e-03 -3.97024586e+01] [-3.24443545e-02 3.32701100e-04 9.99473488e-01 -7.04293986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:218.63, Y:-39.71, Z:-7.04 [[ 9.86320384e-01 1.61717557e-01 3.19301141e-02 2.18630433e+02] [-1.61621670e-01 9.86837025e-01 -5.57861656e-03 -3.97092574e+01] [-3.24119791e-02 3.41704860e-04 9.99474535e-01 -7.04405314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43401273899997 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:218.66, Y:-39.71, Z:-7.05 [[ 9.86339000e-01 1.61603931e-01 3.19303438e-02 2.18658495e+02] [-1.61508027e-01 9.86855638e-01 -5.57730159e-03 -3.97140091e+01] [-3.24119537e-02 3.44103244e-04 9.99474535e-01 -7.04504301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:218.69, Y:-39.72, Z:-7.05 [[ 9.86294276e-01 1.61984231e-01 3.13800901e-02 2.18686011e+02] [-1.61891919e-01 9.86793294e-01 -5.47732847e-03 -3.97241436e+01] [-3.18529033e-02 3.22074703e-04 9.99492516e-01 -7.04627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49401273899997 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:218.71, Y:-39.73, Z:-7.05 [[ 9.86279172e-01 1.62030693e-01 3.16140693e-02 2.18713998e+02] [-1.61937072e-01 9.86785666e-01 -5.51666216e-03 -3.97320814e+01] [-3.20901790e-02 3.21479161e-04 9.99484926e-01 -7.04743315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:218.74, Y:-39.74, Z:-7.05 [[ 9.86270836e-01 1.62003202e-01 3.20125051e-02 2.18742141e+02] [-1.61907241e-01 9.86790179e-01 -5.58464648e-03 -3.97398273e+01] [-3.24943563e-02 3.24917559e-04 9.99471866e-01 -7.04841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55401273899997 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:218.77, Y:-39.75, Z:-7.05 [[ 9.86201182e-01 1.62207943e-01 3.31030639e-02 2.18770123e+02] [-1.62105502e-01 9.86756544e-01 -5.77322862e-03 -3.97496896e+01] [-3.36011285e-02 3.27376098e-04 9.99435269e-01 -7.04884163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:218.80, Y:-39.76, Z:-7.05 [[ 9.86160229e-01 1.62224079e-01 3.42249978e-02 2.18797193e+02] [-1.62114645e-01 9.86753888e-01 -5.96714578e-03 -3.97579317e+01] [-3.47396644e-02 3.36188483e-04 9.99396339e-01 -7.04940468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61401273899997 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:218.83, Y:-39.77, Z:-7.05 [[ 9.86147134e-01 1.62097403e-01 3.51889573e-02 2.18825359e+02] [-1.61981714e-01 9.86774701e-01 -6.13299938e-03 -3.97668146e+01] [-3.57177161e-02 3.48072160e-04 9.99361858e-01 -7.04998196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:218.85, Y:-39.78, Z:-7.05 [[ 9.86080545e-01 1.62323102e-01 3.60051350e-02 2.18852616e+02] [-1.62202195e-01 9.86737600e-01 -6.27353864e-03 -3.97790979e+01] [-3.65459607e-02 3.46102487e-04 9.99331913e-01 -7.05044884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67401273899998 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:218.88, Y:-39.79, Z:-7.05 [[ 9.85862353e-01 1.63853771e-01 3.50337273e-02 2.18879819e+02] [-1.63740324e-01 9.86484599e-01 -6.10271219e-03 -3.97886950e+01] [-3.55601848e-02 2.80000350e-04 9.99367497e-01 -7.05133677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:218.91, Y:-39.80, Z:-7.05 [[ 9.85625948e-01 1.65325063e-01 3.47723150e-02 2.18908694e+02] [-1.65214259e-01 9.86239106e-01 -6.05598977e-03 -3.97958395e+01] [-3.52950237e-02 2.24058398e-04 9.99376911e-01 -7.05243388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73401273899998 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:218.94, Y:-39.80, Z:-7.05 [[ 9.85280589e-01 1.67557762e-01 3.38608557e-02 2.18936515e+02] [-1.67454038e-01 9.85862251e-01 -5.89646266e-03 -3.98029871e+01] [-3.43701375e-02 1.39533200e-04 9.99409163e-01 -7.05340118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:218.96, Y:-39.81, Z:-7.05 [[ 9.84902121e-01 1.69903916e-01 3.31733532e-02 2.18964829e+02] [-1.69805731e-01 9.85460632e-01 -5.77559183e-03 -3.98101974e+01] [-3.36723293e-02 5.53671407e-05 9.99432925e-01 -7.05428024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79401273899998 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:218.99, Y:-39.82, Z:-7.05 [[ 9.83990903e-01 1.74811040e-01 3.46843340e-02 2.18991558e+02] [-1.74706807e-01 9.84601994e-01 -6.03699967e-03 -3.98194571e+01] [-3.52055986e-02 -1.19236503e-04 9.99380084e-01 -7.05492764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:219.02, Y:-39.83, Z:-7.06 [[ 9.83649115e-01 1.76446269e-01 3.60712314e-02 2.19019120e+02] [-1.76334707e-01 9.84310256e-01 -6.27628665e-03 -3.98265363e+01] [-3.66127104e-02 -1.86946234e-04 9.99329512e-01 -7.05560241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85401273899998 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:219.05, Y:-39.84, Z:-7.06 [[ 9.83427584e-01 1.77196121e-01 3.83630381e-02 2.19046983e+02] [-1.77070569e-01 9.84175534e-01 -6.67321719e-03 -3.98370478e+01] [-3.89384317e-02 -2.30339130e-04 9.99241585e-01 -7.05661392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:219.07, Y:-39.84, Z:-7.06 [[ 9.83547631e-01 1.76548203e-01 3.82725730e-02 2.19074780e+02] [-1.76422790e-01 9.84291974e-01 -6.65651223e-03 -3.98446348e+01] [-3.88465817e-02 -2.05157295e-04 9.99245166e-01 -7.05836475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914012739 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:219.10, Y:-39.85, Z:-7.06 [[ 9.83777474e-01 1.75439395e-01 3.74553011e-02 2.19102638e+02] [-1.75318529e-01 9.84490220e-01 -6.51305466e-03 -3.98524650e+01] [-3.80170240e-02 -1.59211845e-04 9.99277079e-01 -7.05970317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:219.13, Y:-39.87, Z:-7.06 [[ 9.84488391e-01 1.71762350e-01 3.57813197e-02 2.19130683e+02] [-1.71649660e-01 9.85138414e-01 -6.22086758e-03 -3.98660293e+01] [-3.63180633e-02 -1.74794483e-05 9.99340281e-01 -7.06235008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974012739 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:219.16, Y:-39.88, Z:-7.06 [[ 9.84845620e-01 1.69879927e-01 3.49272745e-02 2.19160409e+02] [-1.69771370e-01 9.85464767e-01 -6.07240178e-03 -3.98760409e+01] [-3.54511776e-02 5.07270481e-05 9.99371408e-01 -7.06367103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:219.19, Y:-39.89, Z:-7.06 [[ 9.85005943e-01 1.69088481e-01 3.42400075e-02 2.19190029e+02] [-1.68983649e-01 9.85600872e-01 -5.95373260e-03 -3.98894442e+01] [-3.47536889e-02 7.84605952e-05 9.99395905e-01 -7.06383712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034012739 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:219.22, Y:-39.90, Z:-7.06 [[ 9.84873161e-01 1.69875860e-01 3.41621084e-02 2.19218968e+02] [-1.69771935e-01 9.85465468e-01 -5.94143080e-03 -3.98974909e+01] [-3.46748838e-02 5.17884799e-05 9.99398644e-01 -7.06416965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:219.25, Y:-39.91, Z:-7.07 [[ 9.84672371e-01 1.71056474e-01 3.40588348e-02 2.19249619e+02] [-1.70953868e-01 9.85261226e-01 -5.92388000e-03 -3.99054371e+01] [-3.45701674e-02 1.05914112e-05 9.99402273e-01 -7.06534047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.094012739 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:219.28, Y:-39.92, Z:-7.07 [[ 9.84233267e-01 1.73699049e-01 3.33693830e-02 2.19279155e+02] [-1.73602048e-01 9.84798778e-01 -5.80474995e-03 -3.99154435e+01] [-3.38704072e-02 -7.97652116e-05 9.99426230e-01 -7.06731494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:219.31, Y:-39.92, Z:-7.07 [[ 9.84032170e-01 1.74891531e-01 3.30702344e-02 2.19310229e+02] [-1.74796913e-01 9.84587700e-01 -5.75332648e-03 -3.99237888e+01] [-3.35667541e-02 -1.19116544e-04 9.99436471e-01 -7.06938230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154012739 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:219.34, Y:-39.93, Z:-7.07 [[ 9.83677065e-01 1.76879100e-01 3.30638053e-02 2.19339932e+02] [-1.76785448e-01 9.84232570e-01 -5.75798026e-03 -3.99340695e+01] [-3.35609404e-02 -1.81206509e-04 9.99436657e-01 -7.06946807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:219.37, Y:-39.94, Z:-7.07 [[ 9.83532059e-01 1.77736077e-01 3.27807287e-02 2.19370399e+02] [-1.77644324e-01 9.84078170e-01 -5.71392176e-03 -3.99413737e+01] [-3.32743695e-02 -2.03485128e-04 9.99446234e-01 -7.07016494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21401273899997 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:219.40, Y:-39.95, Z:-7.07 [[ 9.83433706e-01 1.78345455e-01 3.24198052e-02 2.19400690e+02] [-1.78255864e-01 9.83967912e-01 -5.65639390e-03 -3.99484100e+01] [-3.29088402e-02 -2.16331986e-04 9.99458334e-01 -7.07108374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:219.43, Y:-39.96, Z:-7.07 [[ 9.83143544e-01 1.79800693e-01 3.31735165e-02 2.19431695e+02] [-1.79707693e-01 9.83703023e-01 -5.78856788e-03 -3.99588351e+01] [-3.36736770e-02 -2.70542970e-04 9.99432844e-01 -7.07295923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27401273899997 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:219.46, Y:-39.97, Z:-7.07 [[ 9.82944177e-01 1.80646834e-01 3.44596386e-02 2.19462825e+02] [-1.80546786e-01 9.83547980e-01 -6.01913273e-03 -3.99663949e+01] [-3.49800452e-02 -3.05105520e-04 9.99387964e-01 -7.07360042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:219.49, Y:-39.97, Z:-7.07 [[ 9.82439049e-01 1.83022161e-01 3.62822784e-02 2.19492977e+02] [-1.82912624e-01 9.83108705e-01 -6.34399840e-03 -3.99733815e+01] [-3.68305160e-02 -4.03895008e-04 9.99321445e-01 -7.07358082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33401273899997 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:219.53, Y:-39.98, Z:-7.07 [[ 9.82175876e-01 1.84330551e-01 3.67803725e-02 2.19525912e+02] [-1.84218678e-01 9.82864204e-01 -6.43707440e-03 -3.99788525e+01] [-3.73366610e-02 -4.53292412e-04 9.99302641e-01 -7.07475247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:219.56, Y:-39.98, Z:-7.08 [[ 9.81923280e-01 1.85642029e-01 3.69284372e-02 2.19557423e+02] [-1.85529906e-01 9.82617316e-01 -6.47029301e-03 -3.99843562e+01] [-3.74876801e-02 -4.97998161e-04 9.99296966e-01 -7.07651594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39401273899998 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:219.59, Y:-39.99, Z:-7.07 [[ 9.81852674e-01 1.86215871e-01 3.59023272e-02 2.19588476e+02] [-1.86110044e-01 9.82508728e-01 -6.29691086e-03 -3.99886688e+01] [-3.64469346e-02 -4.99144939e-04 9.99335465e-01 -7.07004381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:219.62, Y:-39.99, Z:-7.08 [[ 9.81933658e-01 1.85743038e-01 3.61360754e-02 2.19618552e+02] [-1.85635310e-01 9.82598236e-01 -6.34333074e-03 -3.99933132e+01] [-3.66854735e-02 -4.79401613e-04 9.99326746e-01 -7.07899609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45401273899998 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:219.65, Y:-40.00, Z:-7.08 [[ 9.82142976e-01 1.84626337e-01 3.61703102e-02 2.19649285e+02] [-1.84517631e-01 9.82808692e-01 -6.34976725e-03 -3.99963950e+01] [-3.67208295e-02 -4.37680659e-04 9.99325467e-01 -7.08014803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:219.68, Y:-40.00, Z:-7.08 [[ 9.82160568e-01 1.84445665e-01 3.66116982e-02 2.19681299e+02] [-1.84334134e-01 9.82842616e-01 -6.42806087e-03 -4.00003737e+01] [-3.71691652e-02 -4.35397762e-04 9.99308893e-01 -7.08101336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51401273899998 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:219.71, Y:-40.00, Z:-7.08 [[ 9.82006455e-01 1.85245861e-01 3.67054946e-02 2.19711288e+02] [-1.85134099e-01 9.82692097e-01 -6.45035323e-03 -4.00025118e+01] [-3.72651008e-02 -4.61150170e-04 9.99305309e-01 -7.08157071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:219.74, Y:-40.01, Z:-7.08 [[ 9.81834327e-01 1.86249858e-01 3.62262995e-02 2.19742061e+02] [-1.86141662e-01 9.82502289e-01 -6.36659673e-03 -4.00056808e+01] [-3.67781999e-02 -4.92280388e-04 9.99323332e-01 -7.08261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57401273899998 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:219.77, Y:-40.01, Z:-7.08 [[ 9.81545838e-01 1.87883100e-01 3.56048997e-02 2.19771277e+02] [-1.87779630e-01 9.82191247e-01 -6.25817861e-03 -4.00082933e+01] [-3.61466269e-02 -5.43185748e-04 9.99346350e-01 -7.08372083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:219.80, Y:-40.01, Z:-7.09 [[ 9.80808214e-01 1.91823941e-01 3.49116554e-02 2.19801782e+02] [-1.91726970e-01 9.81429121e-01 -6.13591194e-03 -4.00074358e+01] [-3.54403301e-02 -6.75353079e-04 9.99371566e-01 -7.08564278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63401273899999 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:219.83, Y:-40.01, Z:-7.09 [[ 9.80506924e-01 1.93405127e-01 3.46500768e-02 2.19830228e+02] [-1.93310620e-01 9.81118712e-01 -6.08911205e-03 -4.00100542e+01] [-3.51735042e-02 -7.27811274e-04 9.99380956e-01 -7.08782014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:219.86, Y:-40.01, Z:-7.09 [[ 9.80363143e-01 1.94196613e-01 3.42896928e-02 2.19860207e+02] [-1.94104587e-01 9.80962341e-01 -6.02457422e-03 -4.00111717e+01] [-3.48068492e-02 -7.49516133e-04 9.99393777e-01 -7.08807098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:219.89, Y:-40.01, Z:-7.09 [[ 9.80553021e-01 1.93274585e-01 3.40691778e-02 2.19889017e+02] [-1.93183212e-01 9.81144447e-01 -5.98499860e-03 -4.00138134e+01] [-3.45835327e-02 -7.12984727e-04 9.99401556e-01 -7.08890700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:219.92, Y:-40.02, Z:-7.09 [[ 9.80935224e-01 1.91338843e-01 3.39931498e-02 2.19918936e+02] [-1.91246759e-01 9.81523831e-01 -5.97039288e-03 -4.00167390e+01] [-3.45074547e-02 -6.44511033e-04 9.99404233e-01 -7.08988826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754012739 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:219.95, Y:-40.02, Z:-7.09 [[ 9.81459722e-01 1.88405398e-01 3.52167501e-02 2.19948467e+02] [-1.88304707e-01 9.82091182e-01 -6.18439627e-03 -4.00194926e+01] [-3.57512334e-02 -5.61743971e-04 9.99360562e-01 -7.09102328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:219.98, Y:-40.02, Z:-7.09 [[ 9.81581747e-01 1.87643376e-01 3.58780800e-02 2.19976635e+02] [-1.87538392e-01 9.82237073e-01 -6.29958769e-03 -4.00226158e+01] [-3.64228562e-02 -5.44957151e-04 9.99336319e-01 -7.09163935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:220.01, Y:-40.02, Z:-7.09 [[ 9.81828233e-01 1.86390957e-01 3.56613413e-02 2.20006632e+02] [-1.86286460e-01 9.82475529e-01 -6.26021064e-03 -4.00222180e+01] [-3.62032418e-02 -4.96773476e-04 9.99344324e-01 -7.09232469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:220.04, Y:-40.03, Z:-7.09 [[ 9.81922166e-01 1.85994317e-01 3.51422018e-02 2.20036400e+02] [-1.85892619e-01 9.82550705e-01 -6.16822528e-03 -4.00252434e+01] [-3.56762500e-02 -4.75958787e-04 9.99363287e-01 -7.09359434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874012739 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:220.07, Y:-40.03, Z:-7.09 [[ 9.82102112e-01 1.85108550e-01 3.47888720e-02 2.20065115e+02] [-1.85008361e-01 9.82717981e-01 -6.10535936e-03 -4.00274161e+01] [-3.53178042e-02 -4.40145843e-04 9.99376035e-01 -7.09443379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:220.09, Y:-40.03, Z:-7.10 [[ 9.82220203e-01 1.84341676e-01 3.55192893e-02 2.20092668e+02] [-1.84236767e-01 9.82862131e-01 -6.23260295e-03 -4.00307844e+01] [-3.60594929e-02 -4.22170507e-04 9.99349556e-01 -7.09564612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93401273899997 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:220.12, Y:-40.03, Z:-7.10 [[ 9.82359302e-01 1.83480264e-01 3.61274884e-02 2.20121847e+02] [-1.83371228e-01 9.83023313e-01 -6.33714413e-03 -4.00338371e+01] [-3.66769042e-02 -3.99389444e-04 9.99327096e-01 -7.09646600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:220.15, Y:-40.04, Z:-7.10 [[ 9.82766830e-01 1.81059353e-01 3.72406875e-02 2.20151315e+02] [-1.80941819e-01 9.83472119e-01 -6.53069087e-03 -4.00373378e+01] [-3.78076205e-02 -3.20251367e-04 9.99284985e-01 -7.09813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99401273899997 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:220.18, Y:-40.04, Z:-7.10 [[ 9.83118954e-01 1.79184909e-01 3.70120290e-02 2.20180535e+02] [-1.79067504e-01 9.83815383e-01 -6.49010757e-03 -4.00426683e+01] [-3.75759328e-02 -2.47103892e-04 9.99293745e-01 -7.09958260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:220.21, Y:-40.05, Z:-7.10 [[ 9.83450680e-01 1.77585316e-01 3.58917097e-02 2.20209752e+02] [-1.77473880e-01 9.84105392e-01 -6.29278725e-03 -4.00476635e+01] [-3.64387317e-02 -1.81195082e-04 9.99335872e-01 -7.10047025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05401273899997 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:220.24, Y:-40.05, Z:-7.10 [[ 9.83844517e-01 1.75839759e-01 3.36206208e-02 2.20238082e+02] [-1.75740977e-01 9.84418797e-01 -5.89421467e-03 -4.00505404e+01] [-3.41332083e-02 -1.09529967e-04 9.99417286e-01 -7.10146872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:220.27, Y:-40.05, Z:-7.10 [[ 9.83840215e-01 1.75850529e-01 3.36900992e-02 2.20266516e+02] [-1.75751372e-01 9.84416873e-01 -5.90557911e-03 -4.00548054e+01] [-3.42036013e-02 -1.10934943e-04 9.99414879e-01 -7.10265615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11401273899997 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:220.29, Y:-40.06, Z:-7.10 [[ 9.83692931e-01 1.76358426e-01 3.52976370e-02 2.20294514e+02] [-1.76249953e-01 9.84326007e-01 -6.18603245e-03 -4.00603300e+01] [-3.58353410e-02 -1.36050471e-04 9.99357699e-01 -7.10294581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:220.32, Y:-40.07, Z:-7.10 [[ 9.83591492e-01 1.76758385e-01 3.61144125e-02 2.20322842e+02] [-1.76645166e-01 9.84254260e-01 -6.32742127e-03 -4.00655991e+01] [-3.66641892e-02 -1.55838671e-04 9.99327630e-01 -7.10308886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17401273899998 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:220.35, Y:-40.07, Z:-7.10 [[ 9.83549337e-01 1.77009817e-01 3.60309225e-02 2.20352423e+02] [-1.76897336e-01 9.84209072e-01 -6.31152760e-03 -4.00704548e+01] [-3.65791632e-02 -1.66075420e-04 9.99330745e-01 -7.10363529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:220.38, Y:-40.08, Z:-7.11 [[ 9.83620919e-01 1.76747617e-01 3.53577220e-02 2.20381807e+02] [-1.76639161e-01 9.84256194e-01 -6.19279346e-03 -4.00754888e+01] [-3.58956184e-02 -1.54197156e-04 9.99355533e-01 -7.10507939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23401273899998 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:220.41, Y:-40.08, Z:-7.11 [[ 9.83630786e-01 1.76538293e-01 3.61207325e-02 2.20410421e+02] [-1.76424981e-01 9.84293761e-01 -6.32593181e-03 -4.00802561e+01] [-3.66701808e-02 -1.50218280e-04 9.99327411e-01 -7.10595574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:220.44, Y:-40.08, Z:-7.11 [[ 9.83600345e-01 1.76525151e-01 3.70031453e-02 2.20439619e+02] [-1.76406275e-01 9.84296118e-01 -6.47910640e-03 -4.00846583e+01] [-3.75657775e-02 -1.54735748e-04 9.99294145e-01 -7.10691710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29401273899998 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:220.47, Y:-40.09, Z:-7.11 [[ 9.83626731e-01 1.76541698e-01 3.62144036e-02 2.20468380e+02] [-1.76427882e-01 9.84293150e-01 -6.34009837e-03 -4.00892056e+01] [-3.67648811e-02 -1.52940307e-04 9.99323932e-01 -7.10771927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:220.50, Y:-40.09, Z:-7.11 [[ 9.83628814e-01 1.76530048e-01 3.62146233e-02 2.20498082e+02] [-1.76416271e-01 9.84295240e-01 -6.33884336e-03 -4.00943661e+01] [-3.67648776e-02 -1.53779809e-04 9.99323932e-01 -7.10876767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35401273899998 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:220.53, Y:-40.10, Z:-7.11 [[ 9.83602849e-01 1.76899368e-01 3.51005554e-02 2.20527060e+02] [-1.76792736e-01 9.84228930e-01 -6.14341684e-03 -4.00992605e+01] [-3.56337486e-02 -1.62840906e-04 9.99364903e-01 -7.11058907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:220.56, Y:-40.10, Z:-7.11 [[ 9.83577579e-01 1.77363637e-01 3.34258475e-02 2.20555341e+02] [-1.77267234e-01 9.84145371e-01 -5.84953022e-03 -4.01039493e+01] [-3.39333871e-02 -1.71840771e-04 9.99424082e-01 -7.11249343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414012739 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:220.58, Y:-40.11, Z:-7.11 [[ 9.83549798e-01 1.77474316e-01 3.36550474e-02 2.20583604e+02] [-1.77376693e-01 9.84125417e-01 -5.88839887e-03 -4.01085556e+01] [-3.41658271e-02 -1.78087493e-04 9.99416162e-01 -7.11382172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:220.61, Y:-40.11, Z:-7.11 [[ 9.83505133e-01 1.77457222e-01 3.50226824e-02 2.20612319e+02] [-1.77351553e-01 9.84128497e-01 -6.12593408e-03 -4.01121024e+01] [-3.55539110e-02 -1.86439510e-04 9.99367742e-01 -7.11290841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474012739 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:220.64, Y:-40.12, Z:-7.11 [[ 9.83559047e-01 1.76929549e-01 3.61598508e-02 2.20641103e+02] [-1.76816614e-01 9.84223503e-01 -6.32305881e-03 -4.01166465e+01] [-3.67081109e-02 -1.74560666e-04 9.99326015e-01 -7.11371060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:220.67, Y:-40.12, Z:-7.12 [[ 9.83876619e-01 1.74932753e-01 3.72200213e-02 2.20670285e+02] [-1.74811718e-01 9.84580378e-01 -6.50709517e-03 -4.01222970e+01] [-3.77844067e-02 -1.04317055e-04 9.99285909e-01 -7.11528896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:220.70, Y:-40.13, Z:-7.12 [[ 9.84125664e-01 1.73567156e-01 3.70286233e-02 2.20699916e+02] [-1.73446428e-01 9.84822034e-01 -6.47280705e-03 -4.01280212e+01] [-3.75900709e-02 -5.24268976e-05 9.99293242e-01 -7.11686812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:220.73, Y:-40.13, Z:-7.12 [[ 9.84379863e-01 1.72304719e-01 3.61575664e-02 2.20729717e+02] [-1.72188754e-01 9.85043696e-01 -6.32054150e-03 -4.01341522e+01] [-3.67058420e-02 -4.11250934e-06 9.99326114e-01 -7.11864155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.594012739 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:220.76, Y:-40.14, Z:-7.12 [[ 9.84798371e-01 1.70184172e-01 3.47781036e-02 2.20758137e+02] [-1.70075566e-01 9.85412270e-01 -6.07941040e-03 -4.01399208e+01] [-3.53053895e-02 7.20877957e-05 9.99376568e-01 -7.12016958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:220.79, Y:-40.15, Z:-7.12 [[ 9.84958733e-01 1.69392796e-01 3.40936215e-02 2.20788254e+02] [-1.69287937e-01 9.85548614e-01 -5.96016501e-03 -4.01452238e+01] [-3.46105304e-02 9.88777251e-05 9.99400871e-01 -7.12123875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654012739 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:220.82, Y:-40.15, Z:-7.12 [[ 9.85077789e-01 1.68875020e-01 3.32111008e-02 2.20817521e+02] [-1.68775226e-01 9.85637466e-01 -5.80590948e-03 -4.01499750e+01] [-3.37145783e-02 1.14061437e-04 9.99431496e-01 -7.12311145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:220.85, Y:-40.15, Z:-7.12 [[ 9.85065802e-01 1.68959316e-01 3.31378177e-02 2.20846477e+02] [-1.68860036e-01 9.85623020e-01 -5.79230278e-03 -4.01548637e+01] [-3.36400595e-02 1.10146272e-04 9.99434007e-01 -7.12394891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71401273899997 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:220.88, Y:-40.16, Z:-7.12 [[ 9.84734147e-01 1.70618383e-01 3.44677656e-02 2.20875907e+02] [-1.70512018e-01 9.85337183e-01 -6.02391096e-03 -4.01603243e+01] [-3.49901610e-02 5.47825523e-05 9.99387655e-01 -7.12361496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:220.90, Y:-40.17, Z:-7.12 [[ 9.84533005e-01 1.71617403e-01 3.52452779e-02 2.20903913e+02] [-1.71506854e-01 9.85163675e-01 -6.15892184e-03 -4.01655190e+01] [-3.57793456e-02 1.88550902e-05 9.99359714e-01 -7.12322684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77401273899997 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:220.93, Y:-40.17, Z:-7.12 [[ 9.84383877e-01 1.72263409e-01 3.62450017e-02 2.20932762e+02] [-1.72146984e-01 9.85050921e-01 -6.33231358e-03 -4.01704970e+01] [-3.67939983e-02 -6.04032545e-06 9.99322872e-01 -7.12362422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:220.96, Y:-40.17, Z:-7.13 [[ 9.84268700e-01 1.72777218e-01 3.69209803e-02 2.20960771e+02] [-1.72656803e-01 9.84960929e-01 -6.44950961e-03 -4.01744355e+01] [-3.74800514e-02 -2.66079820e-05 9.99297376e-01 -7.12559553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83401273899997 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:220.99, Y:-40.18, Z:-7.13 [[ 9.84286141e-01 1.72847946e-01 3.61162177e-02 2.20989225e+02] [-1.72732804e-01 9.84948520e-01 -6.30805835e-03 -4.01791934e+01] [-3.66629501e-02 -2.95211610e-05 9.99327688e-01 -7.12711626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:221.02, Y:-40.19, Z:-7.13 [[ 9.84331292e-01 1.73047788e-01 3.38580928e-02 2.21018353e+02] [-1.72946755e-01 9.84913429e-01 -5.91252725e-03 -4.01855331e+01] [-3.43704400e-02 -3.57616870e-05 9.99409161e-01 -7.12880670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89401273899998 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:221.05, Y:-40.19, Z:-7.13 [[ 9.84316347e-01 1.73267394e-01 3.31623183e-02 2.21047848e+02] [-1.73170623e-01 9.84874819e-01 -5.79023538e-03 -4.01911026e+01] [-3.36639912e-02 -4.33159866e-05 9.99433206e-01 -7.12956168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:221.08, Y:-40.20, Z:-7.13 [[ 9.84218579e-01 1.73790112e-01 3.33284503e-02 2.21076080e+02] [-1.73692696e-01 9.84782714e-01 -5.81844234e-03 -4.01955355e+01] [-3.38324694e-02 -6.22893320e-05 9.99427516e-01 -7.12994692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95401273899998 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:221.11, Y:-40.20, Z:-7.13 [[ 9.84072863e-01 1.74473296e-01 3.40539193e-02 2.21105699e+02] [-1.74372044e-01 9.84661902e-01 -5.94382813e-03 -4.01995721e+01] [-3.45686363e-02 -8.88915486e-05 9.99402322e-01 -7.13055061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:221.13, Y:-40.20, Z:-7.13 [[ 9.84061550e-01 1.74428106e-01 3.46078194e-02 2.21134695e+02] [-1.74323535e-01 9.84669908e-01 -6.03964722e-03 -4.02042364e+01] [-3.51307626e-02 -8.95728019e-05 9.99382720e-01 -7.13124552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01401273899998 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:221.16, Y:-40.21, Z:-7.13 [[ 9.84251503e-01 1.73143675e-01 3.56405203e-02 2.21162477e+02] [-1.73031960e-01 9.84896576e-01 -6.21894487e-03 -4.02100711e+01] [-3.61789974e-02 -4.59432386e-05 9.99345325e-01 -7.13158563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:221.19, Y:-40.22, Z:-7.13 [[ 9.84359317e-01 1.72424712e-01 3.61449061e-02 2.21191307e+02] [-1.72309375e-01 9.85022699e-01 -6.30565316e-03 -4.02155588e+01] [-3.66908034e-02 -2.10777380e-05 9.99326666e-01 -7.13274447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07401273899998 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:221.22, Y:-40.22, Z:-7.13 [[ 9.84383656e-01 1.72028422e-01 3.73502319e-02 2.21220767e+02] [-1.71904994e-01 9.85091987e-01 -6.51545783e-03 -4.02206512e+01] [-3.79142581e-02 -6.98120073e-06 9.99280996e-01 -7.13293359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:221.25, Y:-40.23, Z:-7.13 [[ 9.84271327e-01 1.72629377e-01 3.75373648e-02 2.21249772e+02] [-1.72505164e-01 9.84986851e-01 -6.54760995e-03 -4.02254646e+01] [-3.81041206e-02 -3.07645173e-05 9.99273774e-01 -7.13323767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13401273899999 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:221.28, Y:-40.23, Z:-7.13 [[ 9.84028207e-01 1.74020416e-01 3.74884389e-02 2.21278128e+02] [-1.73897570e-01 9.84742041e-01 -6.53816469e-03 -4.02282391e+01] [-3.80542160e-02 -8.54099428e-05 9.99275672e-01 -7.13460293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:221.31, Y:-40.23, Z:-7.14 [[ 9.83934238e-01 1.74650006e-01 3.70241880e-02 2.21307458e+02] [-1.74530677e-01 9.84630572e-01 -6.45595377e-03 -4.02320187e+01] [-3.75826798e-02 -1.09622656e-04 9.99293516e-01 -7.13585301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:221.34, Y:-40.24, Z:-7.14 [[ 9.83969225e-01 1.74584922e-01 3.63959965e-02 2.21335630e+02] [-1.74469598e-01 9.84642114e-01 -6.34553272e-03 -4.02361570e+01] [-3.69448652e-02 -1.06185958e-04 9.99317300e-01 -7.13741465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:221.36, Y:-40.24, Z:-7.14 [[ 9.84312527e-01 1.72817373e-01 3.55387704e-02 2.21364265e+02] [-1.72706311e-01 9.84953884e-01 -6.19484532e-03 -4.02417267e+01] [-3.60746268e-02 -4.01060568e-05 9.99349098e-01 -7.13922532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:221.39, Y:-40.25, Z:-7.14 [[ 9.84573851e-01 1.71343248e-01 3.54375910e-02 2.21392840e+02] [-1.71231893e-01 9.85211394e-01 -6.17636181e-03 -4.02471117e+01] [-3.59717964e-02 1.30385338e-05 9.99352805e-01 -7.13970141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:221.42, Y:-40.25, Z:-7.14 [[ 9.85170414e-01 1.67551293e-01 3.69569988e-02 2.21420607e+02] [-1.67427498e-01 9.85863347e-01 -6.44155629e-03 -4.02537086e+01] [-3.75138416e-02 1.58412840e-04 9.99296096e-01 -7.14064637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:221.45, Y:-40.26, Z:-7.14 [[ 9.85469231e-01 1.65767900e-01 3.70324028e-02 2.21450464e+02] [-1.65642371e-01 9.86164769e-01 -6.45388573e-03 -4.02601693e+01] [-3.75898980e-02 2.25970798e-04 9.99293224e-01 -7.14183645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:221.48, Y:-40.27, Z:-7.14 [[ 9.85747121e-01 1.64169954e-01 3.67537606e-02 2.21480384e+02] [-1.64045197e-01 9.86432028e-01 -6.40532489e-03 -4.02667760e+01] [-3.73066485e-02 2.84752668e-04 9.99303824e-01 -7.14294980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374012739 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:221.51, Y:-40.27, Z:-7.14 [[ 9.85870882e-01 1.63505627e-01 3.63938628e-02 2.21510063e+02] [-1.63382845e-01 9.86542354e-01 -6.34272167e-03 -4.02728342e+01] [-3.69411578e-02 3.06971757e-04 9.99317395e-01 -7.14328523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:221.54, Y:-40.28, Z:-7.14 [[ 9.85599778e-01 1.65259786e-01 3.58089353e-02 2.21538804e+02] [-1.65142011e-01 9.86250042e-01 -6.24261481e-03 -4.02776457e+01] [-3.63482171e-02 2.39160178e-04 9.99339157e-01 -7.14331788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43401273899997 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:221.57, Y:-40.28, Z:-7.15 [[ 9.85207731e-01 1.67674593e-01 3.53688739e-02 2.21569371e+02] [-1.67561265e-01 9.85842385e-01 -6.16550836e-03 -4.02823731e+01] [-3.59019341e-02 1.47853263e-04 9.99355307e-01 -7.14527389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:221.60, Y:-40.29, Z:-7.15 [[ 9.84405649e-01 1.72612630e-01 3.39175136e-02 2.21598614e+02] [-1.72511342e-01 9.84989786e-01 -5.91251478e-03 -4.02867575e+01] [-3.44289792e-02 -3.08428542e-05 9.99407146e-01 -7.14676475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49401273899997 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:221.63, Y:-40.29, Z:-7.15 [[ 9.84050914e-01 1.74632128e-01 3.38735806e-02 2.21628245e+02] [-1.74532326e-01 9.84633744e-01 -5.90403193e-03 -4.02909955e+01] [-3.43841041e-02 -1.02166799e-04 9.99408687e-01 -7.14740435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:221.66, Y:-40.29, Z:-7.15 [[ 9.83748068e-01 1.76204073e-01 3.45233832e-02 2.21655628e+02] [-1.76101402e-01 9.84353645e-01 -6.01641568e-03 -4.02941633e+01] [-3.50433351e-02 -1.60978902e-04 9.99385781e-01 -7.14756760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55401273899997 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:221.68, Y:-40.30, Z:-7.15 [[ 9.83503202e-01 1.77164891e-01 3.65247027e-02 2.21684198e+02] [-1.77050716e-01 9.84181161e-01 -6.36286051e-03 -4.02954847e+01] [-3.70741998e-02 -2.08831091e-04 9.99312494e-01 -7.14829840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:221.71, Y:-40.30, Z:-7.15 [[ 9.83605747e-01 1.76485589e-01 3.70482234e-02 2.21713704e+02] [-1.76367701e-01 9.84303206e-01 -6.45229887e-03 -4.03001797e+01] [-3.76054228e-02 -1.87591737e-04 9.99292648e-01 -7.14926460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61401273899997 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:221.74, Y:-40.31, Z:-7.15 [[ 9.84256053e-01 1.72871460e-01 3.68168468e-02 2.21743765e+02] [-1.72752543e-01 9.84944392e-01 -6.41117549e-03 -4.03055064e+01] [-3.73708561e-02 -4.99656176e-05 9.99301464e-01 -7.15103697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:221.77, Y:-40.31, Z:-7.15 [[ 9.84716494e-01 1.70184908e-01 3.70205897e-02 2.21772942e+02] [-1.70062773e-01 9.85412144e-01 -6.44662031e-03 -4.03105254e+01] [-3.75776562e-02 5.22692128e-05 9.99293709e-01 -7.15246659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67401273899998 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:221.80, Y:-40.32, Z:-7.15 [[ 9.85670895e-01 1.64309744e-01 3.81470200e-02 2.21802324e+02] [-1.64175675e-01 9.86408753e-01 -6.64233678e-03 -4.03176649e+01] [-3.87199551e-02 2.84345271e-04 9.99250061e-01 -7.15298425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:221.83, Y:-40.33, Z:-7.15 [[ 9.86161890e-01 1.61201448e-01 3.87145884e-02 2.21833260e+02] [-1.61060958e-01 9.86921437e-01 -6.74127305e-03 -4.03253783e+01] [-3.92949602e-02 4.12577868e-04 9.99227570e-01 -7.15452675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73401273899998 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:221.87, Y:-40.33, Z:-7.14 [[ 9.86659804e-01 1.58483574e-01 3.72208001e-02 2.21865340e+02] [-1.58351738e-01 9.87361486e-01 -6.48246574e-03 -4.03335428e+01] [-3.77777488e-02 5.02010002e-04 9.99286040e-01 -7.14474509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:221.90, Y:-40.34, Z:-7.16 [[ 9.87063146e-01 1.55996402e-01 3.70333343e-02 2.21897348e+02] [-1.55863904e-01 9.87757441e-01 -6.45611051e-03 -4.03414428e+01] [-3.75870816e-02 6.00428697e-04 9.99293176e-01 -7.15775406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79401273899998 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:221.93, Y:-40.35, Z:-7.16 [[ 9.87787526e-01 1.51906100e-01 3.46459334e-02 2.21927784e+02] [-1.51787405e-01 9.88394672e-01 -6.04617345e-03 -4.03529888e+01] [-3.51623066e-02 7.13518408e-04 9.99381360e-01 -7.16050978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:221.96, Y:-40.36, Z:-7.16 [[ 9.87907463e-01 1.51168861e-01 3.44502516e-02 2.21959927e+02] [-1.51050910e-01 9.88507677e-01 -6.01616485e-03 -4.03621896e+01] [-3.49637950e-02 7.39672313e-04 9.99388306e-01 -7.16114408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85401273899998 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:221.99, Y:-40.37, Z:-7.16 [[ 9.87807462e-01 1.51774213e-01 3.46555325e-02 2.21990534e+02] [-1.51654991e-01 9.88414921e-01 -6.05863378e-03 -4.03735092e+01] [-3.51735898e-02 7.29079186e-04 9.99380952e-01 -7.16127121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:222.02, Y:-40.38, Z:-7.16 [[ 9.87513053e-01 1.53686859e-01 3.46167497e-02 2.22021244e+02] [-1.53568862e-01 9.88119378e-01 -6.05798230e-03 -4.03818812e+01] [-3.51365135e-02 6.66281728e-04 9.99382300e-01 -7.16162475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914012739 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:222.05, Y:-40.39, Z:-7.16 [[ 9.87119048e-01 1.56262228e-01 3.43234677e-02 2.22053500e+02] [-1.56147590e-01 9.87715437e-01 -6.01204517e-03 -4.03903744e+01] [-3.48412745e-02 5.75077528e-04 9.99392693e-01 -7.16284972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:222.08, Y:-40.40, Z:-7.16 [[ 9.86320339e-01 1.61352151e-01 3.37293982e-02 2.22084475e+02] [-1.61244204e-01 9.86896817e-01 -5.91430515e-03 -4.04013651e+01] [-3.42417215e-02 3.94729494e-04 9.99413502e-01 -7.16415246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974012739 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:222.12, Y:-40.41, Z:-7.16 [[ 9.85977861e-01 1.63397062e-01 3.38977524e-02 2.22115289e+02] [-1.63289031e-01 9.86560333e-01 -5.94994920e-03 -4.04083421e+01] [-3.44143821e-02 3.31387034e-04 9.99407595e-01 -7.16489112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:222.14, Y:-40.42, Z:-7.17 [[ 9.85255759e-01 1.67621755e-01 3.42642140e-02 2.22144512e+02] [-1.67513900e-01 9.85851364e-01 -6.01508090e-03 -4.04161408e+01] [-3.47876805e-02 1.86660990e-04 9.99394708e-01 -7.16597145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034012739 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:222.18, Y:-40.42, Z:-7.17 [[ 9.84960845e-01 1.69456390e-01 3.37144830e-02 2.22176168e+02] [-1.69353019e-01 9.85537679e-01 -5.91927250e-03 -4.04232846e+01] [-3.42299519e-02 1.20602172e-04 9.99413976e-01 -7.16767352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:222.21, Y:-40.43, Z:-7.17 [[ 9.84733058e-01 1.70985896e-01 3.26286488e-02 2.22206413e+02] [-1.70889741e-01 9.85273474e-01 -5.73395425e-03 -4.04302387e+01] [-3.31285674e-02 7.05129737e-05 9.99451096e-01 -7.16875716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.094012739 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:222.24, Y:-40.44, Z:-7.17 [[ 9.84213775e-01 1.73994377e-01 3.23913788e-02 2.22236576e+02] [-1.73901141e-01 9.84746646e-01 -5.69537045e-03 -4.04367087e+01] [-3.28882640e-02 -2.74356818e-05 9.99459034e-01 -7.16954032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:222.27, Y:-40.44, Z:-7.17 [[ 9.83835461e-01 1.75941163e-01 3.33540463e-02 2.22265547e+02] [-1.75843418e-01 9.84400680e-01 -5.86464627e-03 -4.04418238e+01] [-3.38655785e-02 -9.52425359e-05 9.99426392e-01 -7.17028673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15401273899997 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:222.30, Y:-40.45, Z:-7.17 [[ 9.83381583e-01 1.78302171e-01 3.41906233e-02 2.22295109e+02] [-1.78200900e-01 9.83975763e-01 -6.01133371e-03 -4.04472715e+01] [-3.47145785e-02 -1.81364986e-04 9.99397251e-01 -7.17105059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:222.32, Y:-40.45, Z:-7.17 [[ 9.82554796e-01 1.82744514e-01 3.45038393e-02 2.22324101e+02] [-1.82644115e-01 9.83160377e-01 -6.06639954e-03 -4.04532145e+01] [-3.50314089e-02 -3.41353230e-04 9.99386154e-01 -7.17296925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21401273899997 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:222.35, Y:-40.46, Z:-7.17 [[ 9.81994824e-01 1.86091751e-01 3.24965448e-02 2.22354265e+02] [-1.86004540e-01 9.82532275e-01 -5.71310136e-03 -4.04577268e+01] [-3.29920651e-02 -4.34268891e-04 9.99455519e-01 -7.17490600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:222.38, Y:-40.46, Z:-7.18 [[ 9.81997000e-01 1.86080271e-01 3.24965412e-02 2.22383963e+02] [-1.85993053e-01 9.82534450e-01 -5.71312162e-03 -4.04629081e+01] [-3.29920705e-02 -4.33862626e-04 9.99455519e-01 -7.17595435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27401273899997 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:222.41, Y:-40.47, Z:-7.18 [[ 9.81888809e-01 1.86768615e-01 3.18096157e-02 2.22412069e+02] [-1.86685417e-01 9.82403829e-01 -5.59203830e-03 -4.04679808e+01] [-3.22943056e-02 -4.47631560e-04 9.99478303e-01 -7.17771685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:222.44, Y:-40.47, Z:-7.18 [[ 9.81884091e-01 1.86847136e-01 3.14925215e-02 2.22440682e+02] [-1.86765667e-01 9.82388899e-01 -5.53513914e-03 -4.04745785e+01] [-3.19721284e-02 -4.46856706e-04 9.99488661e-01 -7.17844929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33401273899997 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:222.47, Y:-40.48, Z:-7.18 [[ 9.81929732e-01 1.86500466e-01 3.21181873e-02 2.22468845e+02] [-1.86415566e-01 9.82454772e-01 -5.64435023e-03 -4.04810023e+01] [-3.26073403e-02 -4.44974746e-04 9.99468140e-01 -7.17977225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:222.50, Y:-40.49, Z:-7.18 [[ 9.81895484e-01 1.86234001e-01 3.46143943e-02 2.22497716e+02] [-1.86135268e-01 9.82505305e-01 -6.08170182e-03 -4.04853785e+01] [-3.51414457e-02 -4.71364027e-04 9.99382237e-01 -7.17917917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39401273899998 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:222.53, Y:-40.49, Z:-7.18 [[ 9.81742250e-01 1.86902377e-01 3.53504794e-02 2.22527486e+02] [-1.86799877e-01 9.82378361e-01 -6.20977895e-03 -4.04895622e+01] [-3.58881685e-02 -5.07062860e-04 9.99355684e-01 -7.18010533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:222.56, Y:-40.49, Z:-7.18 [[ 9.81257000e-01 1.89479778e-01 3.51014834e-02 2.22556370e+02] [-1.89380394e-01 9.81884441e-01 -6.16521605e-03 -4.04935456e+01] [-3.56337842e-02 -5.97871363e-04 9.99364736e-01 -7.18124453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45401273899998 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:222.58, Y:-40.50, Z:-7.18 [[ 9.81054120e-01 1.90622047e-01 3.45839486e-02 2.22584287e+02] [-1.90526324e-01 9.81663301e-01 -6.07313004e-03 -4.04972356e+01] [-3.51074657e-02 -6.31083353e-04 9.99383344e-01 -7.18266235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:222.61, Y:-40.50, Z:-7.18 [[ 9.80917630e-01 1.91438328e-01 3.39406861e-02 2.22614054e+02] [-1.91346662e-01 9.81504430e-01 -5.95901676e-03 -4.05006195e+01] [-3.44537180e-02 -6.49132390e-04 9.99406084e-01 -7.18329881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51401273899998 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:222.64, Y:-40.50, Z:-7.19 [[ 9.81034640e-01 1.90973783e-01 3.31669845e-02 2.22642632e+02] [-1.90886009e-01 9.81594942e-01 -5.82240251e-03 -4.05022204e+01] [-3.36684704e-02 -6.19134750e-04 9.99432865e-01 -7.18526691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:222.67, Y:-40.51, Z:-7.19 [[ 9.81353107e-01 1.89314120e-01 3.32602250e-02 2.22670629e+02] [-1.89224940e-01 9.81916414e-01 -5.83756130e-03 -4.05065774e+01] [-3.37638937e-02 -5.64955170e-04 9.99429678e-01 -7.18730968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57401273899998 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:222.70, Y:-40.51, Z:-7.19 [[ 9.82388695e-01 1.83985896e-01 3.25828383e-02 2.22698336e+02] [-1.83897418e-01 9.82928812e-01 -5.71752723e-03 -4.05120910e+01] [-3.30785549e-02 -3.75065737e-04 9.99452684e-01 -7.18857572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:222.73, Y:-40.52, Z:-7.19 [[ 9.82906031e-01 1.81234131e-01 3.24025386e-02 2.22727299e+02] [-1.81145172e-01 9.83439937e-01 -5.68475209e-03 -4.05172839e+01] [-3.28962216e-02 -2.81986316e-04 9.99458733e-01 -7.18930532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63401273899999 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:222.76, Y:-40.52, Z:-7.19 [[ 9.83527858e-01 1.77612644e-01 3.35663575e-02 2.22757082e+02] [-1.77515097e-01 9.84100463e-01 -5.88808859e-03 -4.05223802e+01] [-3.40784670e-02 -1.67436055e-04 9.99419146e-01 -7.19043930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:222.79, Y:-40.53, Z:-7.19 [[ 9.83658733e-01 1.76926797e-01 3.33527491e-02 2.22787595e+02] [-1.76830094e-01 9.84224003e-01 -5.85061818e-03 -4.05276427e+01] [-3.38617074e-02 -1.42758106e-04 9.99426518e-01 -7.19110708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694012739 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:222.82, Y:-40.53, Z:-7.19 [[ 9.83712174e-01 1.76705947e-01 3.29449168e-02 2.22817179e+02] [-1.76611470e-01 9.84263679e-01 -5.77909327e-03 -4.05320696e+01] [-3.34476851e-02 -1.33485789e-04 9.99440461e-01 -7.19274644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:222.85, Y:-40.54, Z:-7.19 [[ 9.83645446e-01 1.77091409e-01 3.28674599e-02 2.22847323e+02] [-1.76997606e-01 9.84194397e-01 -5.76509281e-03 -4.05361760e+01] [-3.33689182e-02 -1.46654411e-04 9.99443092e-01 -7.19418087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754012739 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:222.88, Y:-40.54, Z:-7.19 [[ 9.83670232e-01 1.76856161e-01 3.33882146e-02 2.22876497e+02] [-1.76759225e-01 9.84236698e-01 -5.85642526e-03 -4.05385013e+01] [-3.38976510e-02 -1.40883760e-04 9.99425300e-01 -7.19415342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:222.91, Y:-40.54, Z:-7.20 [[ 9.83798258e-01 1.76181111e-01 3.31843818e-02 2.22905138e+02] [-1.76084957e-01 9.84357762e-01 -5.82111840e-03 -4.05428774e+01] [-3.36908749e-02 -1.16464281e-04 9.99432295e-01 -7.19510284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814012739 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:222.93, Y:-40.55, Z:-7.20 [[ 9.84182650e-01 1.74222611e-01 3.21090786e-02 2.22934669e+02] [-1.74131584e-01 9.84706291e-01 -5.63135026e-03 -4.05482740e+01] [-3.25991202e-02 -4.89274761e-05 9.99468506e-01 -7.19809065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:222.96, Y:-40.55, Z:-7.20 [[ 9.84463550e-01 1.72644823e-01 3.20200442e-02 2.22963867e+02] [-1.72553465e-01 9.84984145e-01 -5.61576127e-03 -4.05531296e+01] [-3.25087680e-02 3.34270664e-06 9.99471450e-01 -7.19882632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874012739 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:222.99, Y:-40.56, Z:-7.20 [[ 9.84720339e-01 1.71075955e-01 3.25403228e-02 2.22994896e+02] [-1.70980761e-01 9.85257842e-01 -5.70655733e-03 -4.05578991e+01] [-3.30368629e-02 5.55939091e-05 9.99454132e-01 -7.20014497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:223.03, Y:-40.56, Z:-7.20 [[ 9.85125770e-01 1.68536995e-01 3.35037112e-02 2.23025206e+02] [-1.68434582e-01 9.85695318e-01 -5.87634668e-03 -4.05615744e+01] [-3.40148331e-02 1.45756947e-04 9.99421318e-01 -7.20007982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93401273899997 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:223.05, Y:-40.57, Z:-7.20 [[ 9.85321823e-01 1.67198106e-01 3.44339720e-02 2.23053986e+02] [-1.67165091e-01 9.85921378e-01 -3.85591907e-03 -4.05681430e+01] [-3.45938915e-02 -1.95683685e-03 9.99399536e-01 -7.20129008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:223.09, Y:-40.57, Z:-7.20 [[ 9.85606650e-01 1.65811409e-01 3.29561423e-02 2.23085626e+02] [-1.65637665e-01 9.86154609e-01 -7.95302099e-03 -4.05714986e+01] [-3.38185533e-02 2.37977193e-03 9.99425156e-01 -7.20224799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99401273899997 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:223.12, Y:-40.58, Z:-7.20 [[ 9.86125645e-01 1.62721473e-01 3.28319261e-02 2.23115017e+02] [-1.62619684e-01 9.86671983e-01 -5.76506764e-03 -4.05802632e+01] [-3.33324419e-02 3.45963609e-04 9.99444260e-01 -7.20393244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:223.15, Y:-40.59, Z:-7.20 [[ 9.86293654e-01 1.61663334e-01 3.30120372e-02 2.23145681e+02] [-1.61559820e-01 9.86845894e-01 -5.79706275e-03 -4.05868786e+01] [-3.35149659e-02 3.84187423e-04 9.99438142e-01 -7.20461076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05401273899997 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:223.18, Y:-40.59, Z:-7.21 [[ 9.86412296e-01 1.60858840e-01 3.33948499e-02 2.23177581e+02] [-1.60752427e-01 9.86977335e-01 -5.86494425e-03 -4.05938514e+01] [-3.39033881e-02 4.16949974e-04 9.99425028e-01 -7.20562295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:223.21, Y:-40.60, Z:-7.21 [[ 9.86410291e-01 1.60853709e-01 3.34786951e-02 2.23207857e+02] [-1.60746576e-01 9.86978168e-01 -5.88500402e-03 -4.06017143e+01] [-3.39893659e-02 4.23442917e-04 9.99422105e-01 -7.20618061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11401273899997 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:223.24, Y:-40.61, Z:-7.21 [[ 9.86291279e-01 1.61769529e-01 3.25596778e-02 2.23239789e+02] [-1.61668534e-01 9.86828491e-01 -5.72840239e-03 -4.06086963e+01] [-3.30574987e-02 3.85997930e-04 9.99453377e-01 -7.20765099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:223.27, Y:-40.62, Z:-7.21 [[ 9.85889684e-01 1.64346390e-01 3.18087301e-02 2.23270523e+02] [-1.64251146e-01 9.86402643e-01 -5.60232206e-03 -4.06169642e+01] [-3.22969369e-02 2.98651155e-04 9.99478273e-01 -7.20974683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17401273899998 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:223.30, Y:-40.62, Z:-7.21 [[ 9.85586011e-01 1.66032571e-01 3.24561198e-02 2.23300882e+02] [-1.65934140e-01 9.86120237e-01 -5.72192066e-03 -4.06242714e+01] [-3.29556617e-02 2.53866654e-04 9.99456782e-01 -7.21101219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:223.33, Y:-40.63, Z:-7.21 [[ 9.85278784e-01 1.67785685e-01 3.27670818e-02 2.23332373e+02] [-1.67686157e-01 9.85823475e-01 -5.78185093e-03 -4.06317581e+01] [-3.32726703e-02 2.02149023e-04 9.99446291e-01 -7.21091233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23401273899998 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:223.36, Y:-40.64, Z:-7.21 [[ 9.84671755e-01 1.71223913e-01 3.32250802e-02 2.23362292e+02] [-1.71123344e-01 9.85232137e-01 -5.86839485e-03 -4.06402871e+01] [-3.37392263e-02 9.28558070e-05 9.99430666e-01 -7.21192117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:223.39, Y:-40.65, Z:-7.21 [[ 9.84403697e-01 1.72752412e-01 3.32560630e-02 2.23392337e+02] [-1.72652491e-01 9.84965280e-01 -5.87494601e-03 -4.06467816e+01] [-3.37709785e-02 4.15764588e-05 9.99429597e-01 -7.21262565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29401273899998 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:223.42, Y:-40.65, Z:-7.21 [[ 9.84172395e-01 1.73944645e-01 3.38815086e-02 2.23423554e+02] [-1.73841450e-01 9.84755432e-01 -5.99080815e-03 -4.06542057e+01] [-3.44070686e-02 5.97742493e-06 9.99407902e-01 -7.21409204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:223.46, Y:-40.66, Z:-7.22 [[ 9.84052873e-01 1.74457185e-01 3.47078276e-02 2.23455462e+02] [-1.74348996e-01 9.84664761e-01 -6.14303060e-03 -4.06623397e+01] [-3.52472705e-02 -6.20798182e-06 9.99378622e-01 -7.21547021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35401273899998 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:223.49, Y:-40.67, Z:-7.22 [[ 9.84019844e-01 1.74564276e-01 3.51035689e-02 2.23485939e+02] [-1.74453421e-01 9.84645781e-01 -6.22016134e-03 -4.06743655e+01] [-3.56503990e-02 -3.17550136e-06 9.99364322e-01 -7.21693082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:223.52, Y:-40.68, Z:-7.22 [[ 9.84041232e-01 1.74575647e-01 3.44412022e-02 2.23517198e+02] [-1.74468723e-01 9.84643765e-01 -6.10910843e-03 -4.06825623e+01] [-3.49788165e-02 2.70202101e-06 9.99388054e-01 -7.21903325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414012739 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:223.55, Y:-40.69, Z:-7.22 [[ 9.84021857e-01 1.75035795e-01 3.26106749e-02 2.23547865e+02] [-1.74940003e-01 9.84562070e-01 -5.79006433e-03 -4.06918841e+01] [-3.31207021e-02 -7.36170603e-06 9.99451359e-01 -7.22052498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:223.58, Y:-40.70, Z:-7.22 [[ 9.83936205e-01 1.75567735e-01 3.23344360e-02 2.23580340e+02] [-1.75473652e-01 9.84467354e-01 -5.74695066e-03 -4.06993750e+01] [-3.28411758e-02 -1.92087421e-05 9.99460583e-01 -7.22172580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474012739 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:223.61, Y:-40.71, Z:-7.22 [[ 9.83854463e-01 1.75993614e-01 3.25060658e-02 2.23611916e+02] [-1.75898546e-01 9.84391308e-01 -5.78395988e-03 -4.07066127e+01] [-3.30166287e-02 -2.71949965e-05 9.99454802e-01 -7.22216700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:223.64, Y:-40.72, Z:-7.22 [[ 9.83787931e-01 1.76171134e-01 3.35415877e-02 2.23643745e+02] [-1.76069798e-01 9.84359554e-01 -5.97458699e-03 -4.07158360e+01] [-3.40695321e-02 -2.79339862e-05 9.99419465e-01 -7.22250492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534012739 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:223.68, Y:-40.72, Z:-7.22 [[ 9.83768364e-01 1.76299389e-01 3.34414749e-02 2.23675038e+02] [-1.76198508e-01 9.84336591e-01 -5.96328047e-03 -4.07227943e+01] [-3.39689901e-02 -2.58513178e-05 9.99422887e-01 -7.22356451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:223.71, Y:-40.73, Z:-7.22 [[ 9.83731311e-01 1.76551306e-01 3.32015709e-02 2.23706134e+02] [-1.76451808e-01 9.84291438e-01 -5.92653484e-03 -4.07296356e+01] [-3.37263594e-02 -2.83593393e-05 9.99431104e-01 -7.22485963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.594012739 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:223.74, Y:-40.74, Z:-7.23 [[ 9.83719873e-01 1.76694779e-01 3.27744882e-02 2.23738035e+02] [-1.76597725e-01 9.84265693e-01 -5.85568579e-03 -4.07367438e+01] [-3.32934735e-02 -2.75455867e-05 9.99445618e-01 -7.22660770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:223.77, Y:-40.74, Z:-7.23 [[ 9.83750854e-01 1.76526005e-01 3.27540282e-02 2.23769438e+02] [-1.76428769e-01 9.84295976e-01 -5.85833606e-03 -4.07432790e+01] [-3.32738069e-02 -1.56097930e-05 9.99446273e-01 -7.22699133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65401273899997 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:223.80, Y:-40.75, Z:-7.23 [[ 9.83757265e-01 1.76501587e-01 3.26930323e-02 2.23801238e+02] [-1.76404506e-01 9.84300355e-01 -5.85324826e-03 -4.07508583e+01] [-3.32128709e-02 -9.02271187e-06 9.99448300e-01 -7.22701082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:223.83, Y:-40.76, Z:-7.23 [[ 9.83703778e-01 1.76801914e-01 3.26796522e-02 2.23833294e+02] [-1.76704872e-01 9.84246454e-01 -5.85704994e-03 -4.07570092e+01] [-3.32003694e-02 -1.30516159e-05 9.99448716e-01 -7.22810820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71401273899997 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:223.87, Y:-40.76, Z:-7.23 [[ 9.83634988e-01 1.77027166e-01 3.35200503e-02 2.23866125e+02] [-1.76924976e-01 9.84205965e-01 -6.01420280e-03 -4.07628055e+01] [-3.40553107e-02 -1.47538011e-05 9.99419950e-01 -7.22949709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:223.90, Y:-40.77, Z:-7.23 [[ 9.83474840e-01 1.77716641e-01 3.45548108e-02 2.23898842e+02] [-1.77608231e-01 9.84081701e-01 -6.20660009e-03 -4.07687431e+01] [-3.51077731e-02 -3.31837956e-05 9.99383532e-01 -7.22995665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77401273899997 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:223.93, Y:-40.77, Z:-7.23 [[ 9.83058695e-01 1.79908006e-01 3.50529798e-02 2.23930631e+02] [-1.79724019e-01 9.83681575e-01 -8.35679388e-03 -4.07731936e+01] [-3.59844245e-02 1.91535647e-03 9.99350515e-01 -7.23010318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:223.96, Y:-40.78, Z:-7.23 [[ 9.82812790e-01 1.80929447e-01 3.66545257e-02 2.23962575e+02] [-1.80885813e-01 9.83493668e-01 -4.53082848e-03 -4.07809005e+01] [-3.68692543e-02 -2.17732751e-03 9.99317726e-01 -7.23091196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83401273899997 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:224.00, Y:-40.78, Z:-7.23 [[ 9.82370729e-01 1.83293498e-01 3.67592704e-02 2.23995792e+02] [-1.83173912e-01 9.83058209e-01 -6.62385219e-03 -4.07833341e+01] [-3.73506116e-02 -2.26260864e-04 9.99302197e-01 -7.23230582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:224.03, Y:-40.79, Z:-7.23 [[ 9.82239939e-01 1.84132696e-01 3.60534612e-02 2.24027701e+02] [-1.84017982e-01 9.82901363e-01 -6.50329205e-03 -4.07885301e+01] [-3.66344648e-02 -2.46691983e-04 9.99328702e-01 -7.23377930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89401273899998 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:224.06, Y:-40.79, Z:-7.24 [[ 9.82153615e-01 1.84897901e-01 3.44534864e-02 2.24059159e+02] [-1.84793414e-01 9.82757702e-01 -6.22045937e-03 -4.07929147e+01] [-3.50095790e-02 -2.57330714e-04 9.99386944e-01 -7.23544847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:224.09, Y:-40.80, Z:-7.24 [[ 9.82176780e-01 1.84845685e-01 3.40711915e-02 2.24090478e+02] [-1.84743270e-01 9.82767527e-01 -6.15731539e-03 -4.07974968e+01] [-3.46222138e-02 -2.46851121e-04 9.99400441e-01 -7.23681957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95401273899998 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:224.12, Y:-40.80, Z:-7.24 [[ 9.82208458e-01 1.84630052e-01 3.43262105e-02 2.24120958e+02] [-1.84525938e-01 9.82808062e-01 -6.20419607e-03 -4.08019195e+01] [-3.48815575e-02 -2.40262325e-04 9.99391424e-01 -7.23793825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:224.15, Y:-40.81, Z:-7.24 [[ 9.82017983e-01 1.85406730e-01 3.55671981e-02 2.24151032e+02] [-1.85295444e-01 9.82661828e-01 -6.42891545e-03 -4.08058871e+01] [-3.61424920e-02 -2.77129174e-04 9.99346608e-01 -7.23936652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01401273899998 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:224.18, Y:-40.81, Z:-7.24 [[ 9.81856539e-01 1.86218193e-01 3.57843835e-02 2.24183121e+02] [-1.86106058e-01 9.82508366e-01 -6.46882604e-03 -4.08106049e+01] [-3.63630692e-02 -3.08231392e-04 9.99338597e-01 -7.24059732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:224.21, Y:-40.81, Z:-7.24 [[ 9.81680880e-01 1.87262884e-01 3.51462924e-02 2.24214732e+02] [-1.87155175e-01 9.82309778e-01 -6.35927981e-03 -4.08144169e+01] [-3.57154037e-02 -3.35027095e-04 9.99361945e-01 -7.24185439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07401273899998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:224.25, Y:-40.82, Z:-7.24 [[ 9.81503462e-01 1.88532833e-01 3.32614516e-02 2.24245467e+02] [-1.88436915e-01 9.82066823e-01 -6.02366471e-03 -4.08152701e+01] [-3.38006266e-02 -3.55437559e-04 9.99428532e-01 -7.24445691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:224.28, Y:-40.82, Z:-7.25 [[ 9.81487679e-01 1.88665045e-01 3.29763079e-02 2.24275468e+02] [-1.88570826e-01 9.82041432e-01 -5.97241563e-03 -4.08192362e+01] [-3.35108867e-02 -3.56517274e-04 9.99438289e-01 -7.24633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13401273899999 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:224.31, Y:-40.82, Z:-7.25 [[ 9.81494447e-01 1.88629846e-01 3.29762293e-02 2.24305141e+02] [-1.88535593e-01 9.82048194e-01 -5.97284936e-03 -4.08245522e+01] [-3.35109041e-02 -3.54874465e-04 9.99438289e-01 -7.24738101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:224.33, Y:-40.83, Z:-7.25 [[ 9.81831398e-01 1.86761029e-01 3.35771430e-02 2.24334158e+02] [-1.86662260e-01 9.82405328e-01 -6.08041294e-03 -4.08297313e+01] [-3.41219484e-02 -2.97645063e-04 9.99417632e-01 -7.24871147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194012739 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:224.36, Y:-40.84, Z:-7.25 [[ 9.82193662e-01 1.84894787e-01 3.33095847e-02 2.24364447e+02] [-1.84796539e-01 9.82758294e-01 -6.03118819e-03 -4.08360248e+01] [-3.38504059e-02 -2.31701159e-04 9.99426884e-01 -7.24964844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:224.39, Y:-40.84, Z:-7.25 [[ 9.82625943e-01 1.82708428e-01 3.26172714e-02 2.24394444e+02] [-1.82612994e-01 9.83167131e-01 -5.90653013e-03 -4.08418333e+01] [-3.31474020e-02 -1.52427862e-04 9.99450462e-01 -7.25073955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254012739 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:224.43, Y:-40.85, Z:-7.25 [[ 9.82961118e-01 1.80956692e-01 3.22818336e-02 2.24425290e+02] [-1.80862208e-01 9.83491061e-01 -5.84757218e-03 -4.08478777e+01] [-3.28070521e-02 -9.06276176e-05 9.99461700e-01 -7.25263882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:224.46, Y:-40.85, Z:-7.25 [[ 9.83318231e-01 1.78765635e-01 3.35872733e-02 2.24456386e+02] [-1.78662047e-01 9.83891685e-01 -6.08484867e-03 -4.08542728e+01] [-3.41340008e-02 -1.74283896e-05 9.99417265e-01 -7.25352013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314012739 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:224.49, Y:-40.86, Z:-7.25 [[ 9.83351684e-01 1.78370151e-01 3.46922787e-02 2.24486760e+02] [-1.78259358e-01 9.83963459e-01 -6.28586452e-03 -4.08599341e+01] [-3.52571451e-02 -3.00785759e-06 9.99378274e-01 -7.25403450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:224.52, Y:-40.87, Z:-7.24 [[ 9.83338339e-01 1.78392125e-01 3.49565578e-02 2.24519172e+02] [-1.78279617e-01 9.83959476e-01 -6.33469854e-03 -4.08678974e+01] [-3.55258966e-02 -2.88981153e-06 9.99368756e-01 -7.24168427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374012739 meters Centerline goodness : 0.989157 Centerline is valid? [True, True] Translation: X:224.55, Y:-40.88, Z:-7.24 [[ 9.83372203e-01 1.78329881e-01 3.43156626e-02 2.24550273e+02] [-1.78221185e-01 9.83970758e-01 -6.22540548e-03 -4.08753124e+01] [-3.48757844e-02 6.11264113e-06 9.99391655e-01 -7.24374381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:224.58, Y:-40.88, Z:-7.26 [[ 9.83467551e-01 1.77814689e-01 3.42565805e-02 2.24580834e+02] [-1.77705829e-01 9.84063990e-01 -6.22115872e-03 -4.08821977e+01] [-3.48168806e-02 3.07136962e-05 9.99393708e-01 -7.25762727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43401273899997 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:224.61, Y:-40.89, Z:-7.26 [[ 9.83491656e-01 1.77741494e-01 3.39429537e-02 2.24611206e+02] [-1.77634358e-01 9.84077212e-01 -6.17051561e-03 -4.08905605e+01] [-3.44992439e-02 3.92158372e-05 9.99404723e-01 -7.25862270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:224.64, Y:-40.90, Z:-7.26 [[ 9.83543934e-01 1.77218293e-01 3.51426699e-02 2.24641573e+02] [-1.77102922e-01 9.84171567e-01 -6.39393313e-03 -4.09012041e+01] [-3.57195384e-02 6.48446186e-05 9.99361852e-01 -7.25878505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49401273899997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:224.67, Y:-40.91, Z:-7.26 [[ 9.83618134e-01 1.76750259e-01 3.54219123e-02 2.24673136e+02] [-1.76632528e-01 9.84255728e-01 -6.45073938e-03 -4.09096051e+01] [-3.60043900e-02 8.84023172e-05 9.99351628e-01 -7.25988564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:224.70, Y:-40.92, Z:-7.26 [[ 9.83643246e-01 1.76485065e-01 3.60414659e-02 2.24704958e+02] [-1.76362737e-01 9.84303312e-01 -6.57074906e-03 -4.09202163e+01] [-3.66353733e-02 1.06901382e-04 9.99328694e-01 -7.25996774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55401273899997 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:224.74, Y:-40.93, Z:-7.26 [[ 9.83581098e-01 1.76792564e-01 3.62299906e-02 2.24735747e+02] [-1.76668900e-01 9.84248129e-01 -6.61218470e-03 -4.09280650e+01] [-3.68282855e-02 1.02907306e-04 9.99321603e-01 -7.26071814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:224.77, Y:-40.94, Z:-7.26 [[ 9.83466375e-01 1.77439241e-01 3.61829281e-02 2.24768252e+02] [-1.77316166e-01 9.84131754e-01 -6.60819515e-03 -4.09364618e+01] [-3.67813216e-02 8.31196342e-05 9.99323335e-01 -7.26174253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61401273899997 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:224.80, Y:-40.94, Z:-7.26 [[ 9.83258149e-01 1.78824701e-01 3.50019721e-02 2.24798190e+02] [-1.78565323e-01 9.83872812e-01 -1.04266374e-02 -4.09449807e+01] [-3.63020291e-02 4.00193776e-03 9.99332851e-01 -7.26292680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:224.83, Y:-40.96, Z:-7.25 [[ 9.83119166e-01 1.79074918e-01 3.75350350e-02 2.24828512e+02] [-1.79099367e-01 9.83827181e-01 -2.73749211e-03 -4.09603883e+01] [-3.74182038e-02 -4.03122004e-03 9.99291563e-01 -7.25326880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67401273899998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:224.86, Y:-40.97, Z:-7.27 [[ 9.82700696e-01 1.81402290e-01 3.73168906e-02 2.24859864e+02] [-1.81273643e-01 9.83408972e-01 -6.83080050e-03 -4.09710576e+01] [-3.79368878e-02 -5.19363030e-05 9.99280136e-01 -7.26588404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:224.89, Y:-40.98, Z:-7.27 [[ 9.82344435e-01 1.83424905e-01 3.68064513e-02 2.24891206e+02] [-1.83300911e-01 9.83033717e-01 -6.74437705e-03 -4.09798121e+01] [-3.74190694e-02 -1.21354790e-04 9.99299654e-01 -7.26687948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73401273899998 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:224.92, Y:-40.99, Z:-7.27 [[ 9.81907666e-01 1.85862647e-01 3.62272180e-02 2.24923119e+02] [-1.85743946e-01 9.82575714e-01 -6.64470532e-03 -4.09877008e+01] [-3.68309871e-02 -2.04499324e-04 9.99321488e-01 -7.26732337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:224.95, Y:-41.00, Z:-7.27 [[ 9.80898095e-01 1.91450769e-01 3.44315400e-02 2.24954480e+02] [-1.91346764e-01 9.81502141e-01 -6.32161549e-03 -4.09965312e+01] [-3.50049084e-02 -3.87503175e-04 9.99387065e-01 -7.26982124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79401273899998 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:224.99, Y:-41.00, Z:-7.27 [[ 9.80407021e-01 1.94110292e-01 3.35151780e-02 2.24986586e+02] [-1.94013086e-01 9.80979602e-01 -6.15974914e-03 -4.10039560e+01] [-3.40733766e-02 -4.63321790e-04 9.99419227e-01 -7.27184318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:225.02, Y:-41.01, Z:-7.27 [[ 9.79653897e-01 1.97936844e-01 3.31548995e-02 2.25018799e+02] [-1.97843691e-01 9.80214602e-01 -6.09991784e-03 -4.10119954e+01] [-3.37063151e-02 -5.83679404e-04 9.99431610e-01 -7.27330714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85401273899998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:225.05, Y:-41.02, Z:-7.27 [[ 9.79331222e-01 1.99472404e-01 3.34831017e-02 2.25049671e+02] [-1.99378066e-01 9.79903238e-01 -6.16696223e-03 -4.10185847e+01] [-3.40403385e-02 -6.36297405e-04 9.99420257e-01 -7.27381657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:225.08, Y:-41.03, Z:-7.27 [[ 9.79119684e-01 2.00423820e-01 3.39843503e-02 2.25082295e+02] [-2.00326991e-01 9.79709058e-01 -6.26558706e-03 -4.10250809e+01] [-3.45505487e-02 -6.73223008e-04 9.99402725e-01 -7.27464193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914012739 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:225.11, Y:-41.03, Z:-7.28 [[ 9.78939081e-01 2.01376603e-01 3.35520461e-02 2.25114468e+02] [-2.01282559e-01 9.79513648e-01 -6.19239460e-03 -4.10297705e+01] [-3.41116904e-02 -6.91464617e-04 9.99417788e-01 -7.27549260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:225.15, Y:-41.03, Z:-7.28 [[ 9.78692187e-01 2.02610796e-01 3.33236922e-02 2.25147120e+02] [-2.02518538e-01 9.79259078e-01 -6.15629262e-03 -4.10346562e+01] [-3.38798594e-02 -7.23549928e-04 9.99425651e-01 -7.27727145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974012739 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:225.18, Y:-41.04, Z:-7.28 [[ 9.78360922e-01 2.04285146e-01 3.28250583e-02 2.25179716e+02] [-2.04196359e-01 9.78911128e-01 -6.07049909e-03 -4.10396024e+01] [-3.33729277e-02 -7.63618315e-04 9.99442677e-01 -7.27813660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:225.21, Y:-41.04, Z:-7.28 [[ 9.77549580e-01 2.08064750e-01 3.32547410e-02 2.25212763e+02] [-2.07975581e-01 9.78114643e-01 -6.15660752e-03 -4.10417229e+01] [-3.38079221e-02 -8.97784988e-04 9.99427946e-01 -7.27793803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034012739 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:225.25, Y:-41.05, Z:-7.28 [[ 9.77026973e-01 2.10414250e-01 3.38251000e-02 2.25245176e+02] [-2.10323170e-01 9.77611817e-01 -6.26894371e-03 -4.10450206e+01] [-3.43868926e-02 -9.89275151e-04 9.99408106e-01 -7.27842098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:225.28, Y:-41.05, Z:-7.28 [[ 9.76352656e-01 2.13332725e-01 3.49948542e-02 2.25278486e+02] [-2.13236870e-01 9.76978959e-01 -6.49236540e-03 -4.10454883e+01] [-3.55742702e-02 -1.12335498e-03 9.99366404e-01 -7.28036075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.094012739 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:225.31, Y:-41.05, Z:-7.28 [[ 9.76226025e-01 2.13840018e-01 3.54287396e-02 2.25310164e+02] [-2.13741851e-01 9.76868019e-01 -6.57990245e-03 -4.10494429e+01] [-3.60162492e-02 -1.14913236e-03 9.99350544e-01 -7.28135831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:225.34, Y:-41.05, Z:-7.28 [[ 9.76293101e-01 2.13482876e-01 3.57329409e-02 2.25341077e+02] [-2.13382541e-01 9.76946142e-01 -6.64287196e-03 -4.10529154e+01] [-3.63272981e-02 -1.13939566e-03 9.99339296e-01 -7.28186957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15401273899997 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:225.37, Y:-41.06, Z:-7.28 [[ 9.76512502e-01 2.12408801e-01 3.61363350e-02 2.25373280e+02] [-2.12305319e-01 9.77180266e-01 -6.72150126e-03 -4.10562007e+01] [-3.67394195e-02 -1.10830612e-03 9.99324265e-01 -7.28249878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:225.41, Y:-41.06, Z:-7.28 [[ 9.77155922e-01 2.09366727e-01 3.64949139e-02 2.25406474e+02] [-2.09258838e-01 9.77836683e-01 -6.79418261e-03 -4.10569255e+01] [-3.71085413e-02 -9.97907498e-04 9.99310743e-01 -7.28353350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21401273899997 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:225.44, Y:-41.06, Z:-7.29 [[ 9.77412756e-01 2.08124344e-01 3.67227701e-02 2.25438350e+02] [-2.08014098e-01 9.78101911e-01 -6.84004714e-03 -4.10612650e+01] [-3.73421920e-02 -9.53304580e-04 9.99302082e-01 -7.28505064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:225.47, Y:-41.06, Z:-7.29 [[ 9.77695550e-01 2.06760595e-01 3.68980637e-02 2.25469267e+02] [-2.06648069e-01 9.78391153e-01 -6.87948386e-03 -4.10638440e+01] [-3.75231453e-02 -8.98872844e-04 9.99295355e-01 -7.28592042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27401273899997 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:225.50, Y:-41.07, Z:-7.29 [[ 9.77666797e-01 2.06896095e-01 3.69004178e-02 2.25499688e+02] [-2.06783447e-01 9.78362509e-01 -6.88532894e-03 -4.10672662e+01] [-3.75265330e-02 -8.98838122e-04 9.99295227e-01 -7.28704864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters Centerline goodness : 0.988495 Centerline is valid? [True, True] Translation: X:225.53, Y:-41.07, Z:-7.28 [[ 9.77430329e-01 2.08156154e-01 3.60689355e-02 2.25531511e+02] [-2.08049358e-01 9.78095169e-01 -6.73090647e-03 -4.10722227e+01] [-3.66799311e-02 -9.25126731e-04 9.99326637e-01 -7.27603994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33401273899997 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:225.56, Y:-41.07, Z:-7.29 [[ 9.77369885e-01 2.08518058e-01 3.56135780e-02 2.25561919e+02] [-2.08413968e-01 9.78018083e-01 -6.65182905e-03 -4.10718924e+01] [-3.62177497e-02 -9.21069701e-04 9.99343498e-01 -7.28999660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:225.59, Y:-41.08, Z:-7.28 [[ 9.77403365e-01 2.08555990e-01 3.44537462e-02 2.25591216e+02] [-2.08458580e-01 9.78010022e-01 -6.43560477e-03 -4.10758660e+01] [-3.50382930e-02 -8.91997266e-04 9.99385572e-01 -7.28208256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39401273899998 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:225.62, Y:-41.08, Z:-7.29 [[ 9.77662441e-01 2.07322862e-01 3.45453572e-02 2.25621831e+02] [-2.07224179e-01 9.78272205e-01 -6.45230388e-03 -4.10774923e+01] [-3.51324729e-02 -8.50458111e-04 9.99382302e-01 -7.29297315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:225.65, Y:-41.08, Z:-7.29 [[ 9.78307683e-01 2.04344507e-01 3.40205712e-02 2.25651369e+02] [-2.04246999e-01 9.78898762e-01 -6.35428784e-03 -4.10789317e+01] [-3.46011589e-02 -7.32150960e-04 9.99400932e-01 -7.29403526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45401273899998 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:225.68, Y:-41.08, Z:-7.30 [[ 9.78766295e-01 2.02144516e-01 3.39725525e-02 2.25680369e+02] [-2.02045972e-01 9.79355486e-01 -6.34490834e-03 -4.10834880e+01] [-3.45537940e-02 -6.53834967e-04 9.99402625e-01 -7.29525364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:225.71, Y:-41.09, Z:-7.30 [[ 9.79689393e-01 1.97624730e-01 3.39582092e-02 2.25711553e+02] [-1.97523582e-01 9.80277625e-01 -6.34139946e-03 -4.10878913e+01] [-3.45416900e-02 -4.94945340e-04 9.99403135e-01 -7.29540355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51401273899998 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:225.74, Y:-41.09, Z:-7.30 [[ 9.80082218e-01 1.95676488e-01 3.39051283e-02 2.25740446e+02] [-1.95574461e-01 9.80668411e-01 -6.33232888e-03 -4.10918067e+01] [-3.44887762e-02 -4.24774274e-04 9.99404995e-01 -7.29673058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:225.77, Y:-41.10, Z:-7.30 [[ 9.80395864e-01 1.94193393e-01 3.33597860e-02 2.25770164e+02] [-1.94093750e-01 9.80963196e-01 -6.23090394e-03 -4.10957972e+01] [-3.39347227e-02 -3.66173531e-04 9.99423984e-01 -7.29757862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57401273899998 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:225.80, Y:-41.10, Z:-7.30 [[ 9.80800779e-01 1.92129776e-01 3.34063171e-02 2.25800676e+02] [-1.92028643e-01 9.81369483e-01 -6.24003690e-03 -4.11002661e+01] [-3.39828370e-02 -2.94736680e-04 9.99422373e-01 -7.29882848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:225.83, Y:-41.11, Z:-7.30 [[ 9.80897197e-01 1.91553459e-01 3.38815748e-02 2.25831083e+02] [-1.91449083e-01 9.81482142e-01 -6.32881129e-03 -4.11056604e+01] [-3.44664663e-02 -2.78683171e-04 9.99405816e-01 -7.29934488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63401273899999 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:225.86, Y:-41.11, Z:-7.30 [[ 9.80912009e-01 1.91408791e-01 3.42681376e-02 2.25860763e+02] [-1.91301931e-01 9.81510366e-01 -6.40101892e-03 -4.11109216e+01] [-3.48597435e-02 -2.76724561e-04 9.99392176e-01 -7.30062422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:225.89, Y:-41.12, Z:-7.30 [[ 9.80944846e-01 1.91258965e-01 3.41645622e-02 2.25890380e+02] [-1.91152645e-01 9.81539574e-01 -6.38210326e-03 -4.11175083e+01] [-3.47545042e-02 -2.70155114e-04 9.99395843e-01 -7.30143826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694012739 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:225.92, Y:-41.12, Z:-7.30 [[ 9.80913563e-01 1.91316385e-01 3.47364861e-02 2.25919121e+02] [-1.91206509e-01 9.81528382e-01 -6.48894806e-03 -4.11237175e+01] [-3.53362890e-02 -2.76745091e-04 9.99375440e-01 -7.30251724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:225.95, Y:-41.13, Z:-7.30 [[ 9.80848824e-01 1.91443103e-01 3.58486007e-02 2.25949868e+02] [-1.91326144e-01 9.81503670e-01 -6.69718515e-03 -4.11300074e+01] [-3.64676631e-02 -2.89848359e-04 9.99334792e-01 -7.30275077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754012739 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:225.98, Y:-41.14, Z:-7.30 [[ 9.80758228e-01 1.91931346e-01 3.57163271e-02 2.25979800e+02] [-1.91815541e-01 9.81408307e-01 -6.67334212e-03 -4.11350266e+01] [-3.63331237e-02 -3.06011411e-04 9.99339687e-01 -7.30333042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:226.01, Y:-41.14, Z:-7.30 [[ 9.80621155e-01 1.92696174e-01 3.53600663e-02 2.26009431e+02] [-1.92583151e-01 9.81258414e-01 -6.60717005e-03 -4.11395445e+01] [-3.59705390e-02 -3.30622273e-04 9.99352796e-01 -7.30479312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814012739 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:226.04, Y:-41.14, Z:-7.31 [[ 9.80443068e-01 1.93637405e-01 3.51560158e-02 2.26039426e+02] [-1.93526316e-01 9.81073098e-01 -6.56825125e-03 -4.11444823e+01] [-3.57624804e-02 -3.63817810e-04 9.99360252e-01 -7.30638078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:226.07, Y:-41.15, Z:-7.31 [[ 9.80234891e-01 1.94768619e-01 3.47094098e-02 2.26068690e+02] [-1.94661045e-01 9.80849135e-01 -6.48480507e-03 -4.11487886e+01] [-3.53077311e-02 -3.99937776e-04 9.99376408e-01 -7.30789059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874012739 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:226.10, Y:-41.15, Z:-7.31 [[ 9.80111425e-01 1.95227287e-01 3.56076084e-02 2.26096215e+02] [-1.95152100e-01 9.80756952e-01 -5.60880195e-03 -4.11542753e+01] [-3.60174006e-02 -1.45164868e-03 9.99350109e-01 -7.30955463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:226.13, Y:-41.16, Z:-7.31 [[ 9.80465290e-01 1.93591628e-01 3.47864454e-02 2.26127482e+02] [-1.93450750e-01 9.81082057e-01 -7.40308504e-03 -4.11577879e+01] [-3.55615327e-02 5.29003968e-04 9.99367349e-01 -7.31025455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93401273899997 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:226.16, Y:-41.17, Z:-7.31 [[ 9.81146301e-01 1.90037954e-01 3.51782964e-02 2.26157505e+02] [-1.89924261e-01 9.81776718e-01 -6.57655151e-03 -4.11650736e+01] [-3.57870268e-02 -2.28652762e-04 9.99359413e-01 -7.31210339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:226.19, Y:-41.17, Z:-7.31 [[ 9.81569053e-01 1.87871115e-01 3.50233914e-02 2.26186886e+02] [-1.87757013e-01 9.82193679e-01 -6.54843310e-03 -4.11713184e+01] [-3.56300151e-02 -1.48148070e-04 9.99365038e-01 -7.31324751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99401273899997 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:226.22, Y:-41.18, Z:-7.32 [[ 9.82472618e-01 1.83372742e-01 3.34961400e-02 2.26218022e+02] [-1.83265752e-01 9.83043456e-01 -6.26314901e-03 -4.11780378e+01] [-3.40766520e-02 1.46771379e-05 9.99419222e-01 -7.31522372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:226.25, Y:-41.18, Z:-7.32 [[ 9.82856960e-01 1.81456000e-01 3.26483850e-02 2.26248124e+02] [-1.81353115e-01 9.83399061e-01 -6.11022317e-03 -4.11847481e+01] [-3.32151278e-02 8.45890438e-05 9.99448222e-01 -7.31645132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05401273899997 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:226.28, Y:-41.19, Z:-7.32 [[ 9.82854859e-01 1.81467558e-01 3.26473916e-02 2.26278576e+02] [-1.81364503e-01 9.83396928e-01 -6.11552654e-03 -4.11904546e+01] [-3.32151143e-02 8.95970116e-05 9.99448222e-01 -7.31753030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:226.31, Y:-41.20, Z:-7.32 [[ 9.83193989e-01 1.79722361e-01 3.20850956e-02 2.26310190e+02] [-1.79621896e-01 9.83717364e-01 -6.01024073e-03 -4.11975931e+01] [-3.26428403e-02 1.46046869e-04 9.99467070e-01 -7.31949597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11401273899997 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:226.34, Y:-41.20, Z:-7.32 [[ 9.83394103e-01 1.78685700e-01 3.17404788e-02 2.26340336e+02] [-1.78586670e-01 9.83906188e-01 -5.95102154e-03 -4.12045157e+01] [-3.22930159e-02 1.83773099e-04 9.99478428e-01 -7.32089692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:226.37, Y:-41.21, Z:-7.32 [[ 9.83455490e-01 1.78514553e-01 3.07872458e-02 2.26371703e+02] [-1.78421154e-01 9.83937254e-01 -5.77690157e-03 -4.12113210e+01] [-3.13239791e-02 1.88229622e-04 9.99509266e-01 -7.32157764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17401273899998 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:226.40, Y:-41.22, Z:-7.32 [[ 9.83281532e-01 1.79447514e-01 3.09195627e-02 2.26402035e+02] [-1.79353603e-01 9.83767535e-01 -5.80707956e-03 -4.12176925e+01] [-3.14597280e-02 1.64459101e-04 9.99505007e-01 -7.32268601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:226.43, Y:-41.22, Z:-7.32 [[ 9.82812013e-01 1.81829609e-01 3.19145822e-02 2.26431593e+02] [-1.81730630e-01 9.83330048e-01 -5.99950374e-03 -4.12248843e+01] [-3.24734551e-02 9.65272053e-05 9.99472594e-01 -7.32348146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23401273899998 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:226.46, Y:-41.23, Z:-7.32 [[ 9.82510580e-01 1.83391020e-01 3.22598016e-02 2.26461150e+02] [-1.83290716e-01 9.83040046e-01 -6.06479563e-03 -4.12301985e+01] [-3.28249059e-02 4.58037643e-05 9.99461117e-01 -7.32430552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:226.49, Y:-41.23, Z:-7.32 [[ 9.81974364e-01 1.86158206e-01 3.27333129e-02 2.26491110e+02] [-1.86056458e-01 9.82519781e-01 -6.15421252e-03 -4.12333671e+01] [-3.33067846e-02 -4.69653369e-05 9.99445174e-01 -7.32464969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29401273899998 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:226.52, Y:-41.24, Z:-7.33 [[ 9.81774971e-01 1.87097292e-01 3.33543152e-02 2.26521009e+02] [-1.86992173e-01 9.82341385e-01 -6.27138496e-03 -4.12384168e+01] [-3.39386834e-02 -7.99071018e-05 9.99423914e-01 -7.32571521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:226.55, Y:-41.24, Z:-7.33 [[ 9.81655692e-01 1.87651651e-01 3.37484792e-02 2.26550016e+02] [-1.87544360e-01 9.82235638e-01 -6.34550242e-03 -4.12438475e+01] [-3.43397030e-02 -1.00238362e-04 9.99410213e-01 -7.32682365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35401273899998 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:226.58, Y:-41.25, Z:-7.33 [[ 9.81630767e-01 1.87897548e-01 3.30990656e-02 2.26581120e+02] [-1.87687021e-01 9.82184052e-01 -9.38458346e-03 -4.12491568e+01] [-3.42727146e-02 2.99993083e-03 9.99408016e-01 -7.32875240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:226.61, Y:-41.26, Z:-7.33 [[ 9.81904231e-01 1.86310401e-01 3.39487173e-02 2.26610477e+02] [-1.86311901e-01 9.82485608e-01 -3.14720822e-03 -4.12595468e+01] [-3.39404838e-02 -3.23479299e-03 9.99418621e-01 -7.33047233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414012739 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:226.64, Y:-41.26, Z:-7.33 [[ 9.82188582e-01 1.85029026e-01 3.27085401e-02 2.26642375e+02] [-1.84926731e-01 9.82733056e-01 -6.15178690e-03 -4.12641207e+01] [-3.32820227e-02 -6.46855989e-06 9.99446000e-01 -7.33160613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:226.67, Y:-41.27, Z:-7.33 [[ 9.82603190e-01 1.82603911e-01 3.38641960e-02 2.26672991e+02] [-1.82492609e-01 9.83186556e-01 -6.37519623e-03 -4.12707789e+01] [-3.44589580e-02 8.43226812e-05 9.99406110e-01 -7.33179867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474012739 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:226.71, Y:-41.28, Z:-7.33 [[ 9.82805767e-01 1.81200971e-01 3.54828566e-02 2.26705484e+02] [-1.81077643e-01 9.83446077e-01 -6.68585398e-03 -4.12776945e+01] [-3.61069593e-02 1.45743825e-04 9.99347921e-01 -7.33201777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:226.74, Y:-41.29, Z:-7.33 [[ 9.83014017e-01 1.79766575e-01 3.69786567e-02 2.26736786e+02] [-1.79631325e-01 9.83709272e-01 -6.97526214e-03 -4.12854689e+01] [-3.76301665e-02 2.14255358e-04 9.99291711e-01 -7.33281529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534012739 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:226.77, Y:-41.30, Z:-7.33 [[ 9.83527443e-01 1.76782684e-01 3.77047875e-02 2.26768479e+02] [-1.76639603e-01 9.84249849e-01 -7.11934197e-03 -4.12973767e+01] [-3.83695078e-02 3.41909515e-04 9.99263561e-01 -7.33467338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:226.80, Y:-41.30, Z:-7.33 [[ 9.83782861e-01 1.76253910e-01 3.32541925e-02 2.26799093e+02] [-1.75879788e-01 9.84313768e-01 -1.38818432e-02 -4.13020957e+01] [-3.51792887e-02 7.80797911e-03 9.99350516e-01 -7.33475111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.594012739 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:226.83, Y:-41.32, Z:-7.34 [[ 9.83971794e-01 1.74409317e-01 3.71604459e-02 2.26827219e+02] [-1.74554670e-01 9.84647250e-01 6.78592032e-04 -4.13238377e+01] [-3.64715781e-02 -7.15424478e-03 9.99309082e-01 -7.33584863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:226.86, Y:-41.33, Z:-7.34 [[ 9.83798290e-01 1.75783631e-01 3.52283855e-02 2.26858568e+02] [-1.75657578e-01 9.84428757e-01 -6.66611827e-03 -4.13277665e+01] [-3.58516302e-02 3.69982865e-04 9.99357055e-01 -7.33657489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65401273899997 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:226.89, Y:-41.34, Z:-7.34 [[ 9.83546654e-01 1.77220640e-01 3.50545875e-02 2.26890579e+02] [-1.77096517e-01 9.84171093e-01 -6.63949065e-03 -4.13366746e+01] [-3.56763665e-02 3.22203470e-04 9.99363344e-01 -7.33765106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:226.92, Y:-41.35, Z:-7.34 [[ 9.82780778e-01 1.81681684e-01 3.36705956e-02 2.26921914e+02] [-1.81569573e-01 9.83357382e-01 -6.38356244e-03 -4.13482870e+01] [-3.42700051e-02 1.60086776e-04 9.99412598e-01 -7.34060284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71401273899997 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:226.95, Y:-41.36, Z:-7.34 [[ 9.82228905e-01 1.84825296e-01 3.26494671e-02 2.26953182e+02] [-1.84721414e-01 9.82771391e-01 -6.19615446e-03 -4.13564094e+01] [-3.32321683e-02 5.49862854e-05 9.99447657e-01 -7.34181696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:226.99, Y:-41.37, Z:-7.34 [[ 9.80865882e-01 1.92034514e-01 3.20135318e-02 2.26985487e+02] [-1.91938280e-01 9.81388156e-01 -6.08140335e-03 -4.13654507e+01] [-3.25855403e-02 -1.79581178e-04 9.99468934e-01 -7.34255807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77401273899997 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:227.02, Y:-41.37, Z:-7.34 [[ 9.80060302e-01 1.96029144e-01 3.24711925e-02 2.27016526e+02] [-1.95932236e-01 9.80598020e-01 -6.17112516e-03 -4.13730265e+01] [-3.30509074e-02 -3.14078545e-04 9.99453620e-01 -7.34258744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:227.05, Y:-41.38, Z:-7.34 [[ 9.79136928e-01 2.00507774e-01 3.29773900e-02 2.27048916e+02] [-2.00410141e-01 9.79692000e-01 -6.27376271e-03 -4.13805531e+01] [-3.35656234e-02 -4.66130641e-04 9.99436407e-01 -7.34341982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83401273899997 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:227.08, Y:-41.39, Z:-7.34 [[ 9.77124942e-01 2.09962130e-01 3.38046155e-02 2.27080504e+02] [-2.09864945e-01 9.77709189e-01 -6.43793216e-03 -4.13858794e+01] [-3.44028051e-02 -8.03739673e-04 9.99407725e-01 -7.34392835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:227.11, Y:-41.39, Z:-7.35 [[ 9.75943245e-01 2.15383735e-01 3.38323714e-02 2.27111329e+02] [-2.15289433e-01 9.76528989e-01 -6.44925320e-03 -4.13901064e+01] [-3.44273557e-02 -9.89646964e-04 9.99406713e-01 -7.34570795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89401273899998 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:227.14, Y:-41.39, Z:-7.35 [[ 9.73842776e-01 2.24719349e-01 3.36372257e-02 2.27140200e+02] [-2.24631489e-01 9.74422654e-01 -6.41763458e-03 -4.13903653e+01] [-3.42190414e-02 -1.30621301e-03 9.99413504e-01 -7.34691209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:227.17, Y:-41.39, Z:-7.35 [[ 9.72796172e-01 2.29404844e-01 3.22649220e-02 2.27166953e+02] [-2.29204980e-01 9.73328719e-01 -9.81236050e-03 -4.13906999e+01] [-3.36553782e-02 2.15014592e-03 9.99431184e-01 -7.34734251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95401273899998 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:227.20, Y:-41.40, Z:-7.35 [[ 9.72487302e-01 2.30334318e-01 3.48503785e-02 2.27196871e+02] [-2.30367044e-01 9.73098782e-01 -3.12820396e-03 -4.13973478e+01] [-3.46333936e-02 -4.98624005e-03 9.99387645e-01 -7.34884406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:227.23, Y:-41.40, Z:-7.35 [[ 9.72300491e-01 2.31170652e-01 3.45236746e-02 2.27226408e+02] [-2.31081884e-01 9.72911958e-01 -6.59435638e-03 -4.13978551e+01] [-3.51129175e-02 -1.56609984e-03 9.99382124e-01 -7.34916580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01401273899998 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:227.25, Y:-41.40, Z:-7.35 [[ 9.72485432e-01 2.30263585e-01 3.53661636e-02 2.27254373e+02] [-2.30169872e-01 9.73127027e-01 -6.75420717e-03 -4.13989083e+01] [-3.59710176e-02 -1.57185727e-03 9.99351597e-01 -7.35136176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:227.28, Y:-41.40, Z:-7.35 [[ 9.72835026e-01 2.28893147e-01 3.46401533e-02 2.27283662e+02] [-2.28802446e-01 9.73450411e-01 -6.61354754e-03 -4.14030316e+01] [-3.52342672e-02 -1.49186112e-03 9.99377967e-01 -7.35307912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07401273899998 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:227.31, Y:-41.41, Z:-7.35 [[ 9.73788354e-01 2.24877522e-01 3.41517423e-02 2.27312750e+02] [-2.24786922e-01 9.74386133e-01 -6.51949422e-03 -4.14063763e+01] [-3.47430719e-02 -1.32825751e-03 9.99395395e-01 -7.35456636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:227.34, Y:-41.41, Z:-7.35 [[ 9.74197258e-01 2.23101010e-01 3.41415092e-02 2.27341440e+02] [-2.23009404e-01 9.74794511e-01 -6.51671490e-03 -4.14103137e+01] [-3.47348414e-02 -1.26531181e-03 9.99395762e-01 -7.35462105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13401273899999 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:227.37, Y:-41.41, Z:-7.36 [[ 9.74522395e-01 2.21609644e-01 3.45726493e-02 2.27371223e+02] [-2.21514816e-01 9.75134686e-01 -6.59775555e-03 -4.14140935e+01] [-3.51751158e-02 -1.22869351e-03 9.99380409e-01 -7.35544575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:227.40, Y:-41.42, Z:-7.36 [[ 9.74810719e-01 2.20314006e-01 3.47246551e-02 2.27399676e+02] [-2.20217550e-01 9.75428279e-01 -6.62592013e-03 -4.14168514e+01] [-3.53311936e-02 -1.18796052e-03 9.99374952e-01 -7.35629962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194012739 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:227.43, Y:-41.42, Z:-7.36 [[ 9.74896101e-01 2.19966939e-01 3.45273372e-02 2.27428568e+02] [-2.19871403e-01 9.75506626e-01 -6.58703254e-03 -4.14213478e+01] [-3.51305756e-02 -1.16990173e-03 9.99382046e-01 -7.35776102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:227.46, Y:-41.43, Z:-7.36 [[ 9.74897224e-01 2.20005677e-01 3.42476860e-02 2.27457697e+02] [-2.19911763e-01 9.75497898e-01 -6.53207393e-03 -4.14264057e+01] [-3.48456390e-02 -1.16336825e-03 9.99392029e-01 -7.35933616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254012739 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:227.49, Y:-41.43, Z:-7.36 [[ 9.75115105e-01 2.19127855e-01 3.36677041e-02 2.27486448e+02] [-2.19036600e-01 9.75695518e-01 -6.42065635e-03 -4.14315668e+01] [-3.42563726e-02 -1.11358043e-03 9.99412458e-01 -7.35997462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:227.51, Y:-41.44, Z:-7.36 [[ 9.75227102e-01 2.18690891e-01 3.32624968e-02 2.27513750e+02] [-2.18601592e-01 9.75793582e-01 -6.34260362e-03 -4.14361800e+01] [-3.38444006e-02 -1.08575582e-03 9.99426524e-01 -7.36042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314012739 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:227.54, Y:-41.44, Z:-7.36 [[ 9.75519976e-01 2.17413271e-01 3.30491418e-02 2.27543096e+02] [-2.17324449e-01 9.76079093e-01 -6.29991348e-03 -4.14377007e+01] [-3.36282611e-02 -1.03669509e-03 9.99433872e-01 -7.36118484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:227.57, Y:-41.44, Z:-7.36 [[ 9.75546869e-01 2.17291453e-01 3.30564917e-02 2.27570882e+02] [-2.17202574e-01 9.76106221e-01 -6.29974366e-03 -4.14403289e+01] [-3.36355276e-02 -1.03425989e-03 9.99433630e-01 -7.36164777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374012739 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:227.60, Y:-41.44, Z:-7.36 [[ 9.75543502e-01 2.17226802e-01 3.35766538e-02 2.27599247e+02] [-2.17135136e-01 9.76120594e-01 -6.39683755e-03 -4.14432922e+01] [-3.41644278e-02 -1.05027799e-03 9.99415674e-01 -7.36235196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:227.63, Y:-41.44, Z:-7.36 [[ 9.75416166e-01 2.17795106e-01 3.35945693e-02 2.27627920e+02] [-2.17703733e-01 9.75993925e-01 -6.39865109e-03 -4.14437599e+01] [-3.41816905e-02 -1.07231543e-03 9.99415060e-01 -7.36282666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43401273899997 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:227.66, Y:-41.45, Z:-7.36 [[ 9.75303942e-01 2.18279060e-01 3.37116073e-02 2.27655479e+02] [-2.18187406e-01 9.75885779e-01 -6.41892793e-03 -4.14461612e+01] [-3.42997957e-02 -1.09504245e-03 9.99410989e-01 -7.36364929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:227.68, Y:-41.45, Z:-7.36 [[ 9.75196875e-01 2.18715718e-01 3.39777755e-02 2.27683922e+02] [-2.18622946e-01 9.75787978e-01 -6.46759672e-03 -4.14484242e+01] [-3.45696699e-02 -1.12114125e-03 9.99401661e-01 -7.36463133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49401273899997 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:227.71, Y:-41.45, Z:-7.37 [[ 9.75151747e-01 2.18860394e-01 3.43394567e-02 2.27712667e+02] [-2.18765782e-01 9.75755517e-01 -6.53482117e-03 -4.14510445e+01] [-3.49371279e-02 -1.13985583e-03 9.99388862e-01 -7.36545230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:227.74, Y:-41.45, Z:-7.37 [[ 9.75262440e-01 2.18201608e-01 3.53727498e-02 2.27741043e+02] [-2.18100846e-01 9.75903034e-01 -6.72969573e-03 -4.14509516e+01] [-3.59888043e-02 -1.15160719e-03 9.99351530e-01 -7.36691809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55401273899997 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:227.77, Y:-41.45, Z:-7.37 [[ 9.75484037e-01 2.17187601e-01 3.55026664e-02 2.27770022e+02] [-2.17085517e-01 9.76129238e-01 -6.75190491e-03 -4.14535027e+01] [-3.61216207e-02 -1.12073923e-03 9.99346773e-01 -7.36810647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:227.80, Y:-41.45, Z:-7.37 [[ 9.76046133e-01 2.14570235e-01 3.59661148e-02 2.27798712e+02] [-2.14463757e-01 9.76708009e-01 -6.83827030e-03 -4.14538276e+01] [-3.65956817e-02 -1.03896084e-03 9.99329614e-01 -7.36927365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61401273899997 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:227.83, Y:-41.46, Z:-7.37 [[ 9.76428308e-01 2.12788113e-01 3.61797954e-02 2.27826284e+02] [-2.12679224e-01 9.77097876e-01 -6.87670149e-03 -4.14574800e+01] [-3.68144816e-02 -9.80084816e-04 9.99321637e-01 -7.37018273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:227.86, Y:-41.46, Z:-7.37 [[ 9.76882911e-01 2.10690285e-01 3.61853970e-02 2.27855053e+02] [-2.10580016e-01 9.77552447e-01 -6.87527851e-03 -4.14618271e+01] [-3.68216778e-02 -9.03579399e-04 9.99321444e-01 -7.37153823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67401273899998 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:227.88, Y:-41.46, Z:-7.37 [[ 9.77591068e-01 2.07686519e-01 3.43804108e-02 2.27882336e+02] [-2.07585177e-01 9.78195146e-01 -6.53075772e-03 -4.14644744e+01] [-3.49871013e-02 -7.52453240e-04 9.99387481e-01 -7.37387722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:227.91, Y:-41.47, Z:-7.38 [[ 9.77761463e-01 2.07014044e-01 3.35813503e-02 2.27911255e+02] [-2.06917030e-01 9.78337711e-01 -6.37701541e-03 -4.14685052e+01] [-3.41740331e-02 -7.13353328e-04 9.99415643e-01 -7.37546131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73401273899998 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:227.94, Y:-41.47, Z:-7.38 [[ 9.77780589e-01 2.07029774e-01 3.29209890e-02 2.27939366e+02] [-2.06936598e-01 9.78334391e-01 -6.25011340e-03 -4.14703782e+01] [-3.35016953e-02 -7.01317890e-04 9.99438415e-01 -7.37616292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:227.97, Y:-41.47, Z:-7.38 [[ 9.77612428e-01 2.07900729e-01 3.24226254e-02 2.27967035e+02] [-2.07810907e-01 9.78149664e-01 -6.15320761e-03 -4.14731897e+01] [-3.29934364e-02 -7.22322942e-04 9.99455307e-01 -7.37622210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79401273899998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:228.00, Y:-41.47, Z:-7.38 [[ 9.77300799e-01 2.09349385e-01 3.24959093e-02 2.27995669e+02] [-2.09260019e-01 9.77840598e-01 -6.16520770e-03 -4.14742113e+01] [-3.30665018e-02 -7.74832190e-04 9.99452853e-01 -7.37722909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:228.02, Y:-41.48, Z:-7.38 [[ 9.77260019e-01 2.09510972e-01 3.26803762e-02 2.28022483e+02] [-2.09420756e-01 9.77805979e-01 -6.19790770e-03 -4.14776349e+01] [-3.32535969e-02 -7.86981673e-04 9.99446636e-01 -7.37831796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85401273899998 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:228.05, Y:-41.48, Z:-7.38 [[ 9.77318439e-01 2.09100840e-01 3.35485809e-02 2.28049957e+02] [-2.09005620e-01 9.77893759e-01 -6.35974156e-03 -4.14807973e+01] [-3.41367752e-02 -7.96349250e-04 9.99416853e-01 -7.37849399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:228.08, Y:-41.48, Z:-7.38 [[ 9.77716103e-01 2.06829234e-01 3.59567891e-02 2.28078442e+02] [-2.06718412e-01 9.78376754e-01 -6.81357774e-03 -4.14809750e+01] [-3.65885336e-02 -7.71185661e-04 9.99330118e-01 -7.37813664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914012739 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:228.11, Y:-41.48, Z:-7.38 [[ 9.78157607e-01 2.04801607e-01 3.55527541e-02 2.28106896e+02] [-2.04692016e-01 9.78803262e-01 -6.73443294e-03 -4.14837106e+01] [-3.61783744e-02 -6.90028125e-04 9.99345110e-01 -7.37928431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:228.13, Y:-41.49, Z:-7.38 [[ 9.78169713e-01 2.04743697e-01 3.55532267e-02 2.28134898e+02] [-2.04634159e-01 9.78815377e-01 -6.73193746e-03 -4.14888832e+01] [-3.61783667e-02 -6.90427318e-04 9.99345110e-01 -7.38026914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:228.16, Y:-41.49, Z:-7.38 [[ 9.78671477e-01 2.02495900e-01 3.46056371e-02 2.28162074e+02] [-2.02390793e-01 9.79282931e-01 -6.55043274e-03 -4.14918188e+01] [-3.52151455e-02 -5.93140641e-04 9.99379578e-01 -7.38221032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:228.19, Y:-41.49, Z:-7.38 [[ 9.79502940e-01 1.98632872e-01 3.34510589e-02 2.28189859e+02] [-1.98532504e-01 9.80073868e-01 -6.32912070e-03 -4.14937364e+01] [-3.40416801e-02 -4.41730143e-04 9.99420316e-01 -7.38326231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:228.22, Y:-41.50, Z:-7.38 [[ 9.79708725e-01 1.97544733e-01 3.38658079e-02 2.28216424e+02] [-1.97441297e-01 9.80293787e-01 -6.40507679e-03 -4.14961123e+01] [-3.44637302e-02 -4.11399415e-04 9.99405865e-01 -7.38303737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:228.25, Y:-41.50, Z:-7.38 [[ 9.79928700e-01 1.96236205e-01 3.50869695e-02 2.28245247e+02] [-1.96124445e-01 9.80556580e-01 -6.63295697e-03 -4.14957846e+01] [-3.57063851e-02 -3.81587496e-04 9.99362251e-01 -7.38259232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.094012739 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:228.27, Y:-41.50, Z:-7.38 [[ 9.80022233e-01 1.95730162e-01 3.53005238e-02 2.28272236e+02] [-1.95616802e-01 9.80657722e-01 -6.67072303e-03 -4.15008201e+01] [-3.59233929e-02 -3.67918682e-04 9.99354479e-01 -7.37741532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:228.30, Y:-41.50, Z:-7.39 [[ 9.80346922e-01 1.94076700e-01 3.54139468e-02 2.28299891e+02] [-1.93961639e-01 9.80986309e-01 -6.68916927e-03 -4.15030464e+01] [-3.60388089e-02 -3.11240670e-04 9.99350343e-01 -7.38560109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15401273899997 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:228.33, Y:-41.51, Z:-7.39 [[ 9.80777478e-01 1.91966310e-01 3.49924916e-02 2.28327747e+02] [-1.91852720e-01 9.81401488e-01 -6.60701509e-03 -4.15079160e+01] [-3.56100076e-02 -2.33393081e-04 9.99365735e-01 -7.38678377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:228.36, Y:-41.51, Z:-7.39 [[ 9.81689858e-01 1.87349495e-01 3.44265670e-02 2.28356084e+02] [-1.87236782e-01 9.82293318e-01 -6.49808627e-03 -4.15128484e+01] [-3.50343999e-02 -6.68142242e-05 9.99386105e-01 -7.38819362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21401273899997 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:228.38, Y:-41.52, Z:-7.39 [[ 9.82070018e-01 1.85345383e-01 3.44320866e-02 2.28384140e+02] [-1.85231462e-01 9.82673440e-01 -6.49743079e-03 -4.15183686e+01] [-3.50397658e-02 3.02624994e-06 9.99385919e-01 -7.38902111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:228.41, Y:-41.52, Z:-7.39 [[ 9.82584774e-01 1.82542908e-01 3.47166806e-02 2.28411658e+02] [-1.82425407e-01 9.83197883e-01 -6.54940125e-03 -4.15243820e+01] [-3.53289136e-02 1.02137348e-04 9.99375734e-01 -7.38920469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27401273899997 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:228.44, Y:-41.53, Z:-7.39 [[ 9.82667301e-01 1.82055040e-01 3.49419127e-02 2.28440370e+02] [-1.81935776e-01 9.83288334e-01 -6.58975704e-03 -4.15293808e+01] [-3.55576736e-02 1.18354769e-04 9.99367619e-01 -7.38986507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:228.47, Y:-41.53, Z:-7.39 [[ 9.82645393e-01 1.82161404e-01 3.50036274e-02 2.28469285e+02] [-1.82041845e-01 9.83268636e-01 -6.59972788e-03 -4.15335853e+01] [-3.56201847e-02 1.13067277e-04 9.99365393e-01 -7.39101492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33401273899997 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:228.50, Y:-41.54, Z:-7.39 [[ 9.82539426e-01 1.82753254e-01 3.48930528e-02 2.28496491e+02] [-1.82634884e-01 9.83158807e-01 -6.57716315e-03 -4.15375654e+01] [-3.55074102e-02 8.96334542e-05 9.99369409e-01 -7.39203634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:228.52, Y:-41.54, Z:-7.39 [[ 9.82308897e-01 1.83971088e-01 3.49838505e-02 2.28524022e+02] [-1.83852949e-01 9.82931654e-01 -6.59214472e-03 -4.15421075e+01] [-3.55994981e-02 4.36383489e-05 9.99366136e-01 -7.39249302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39401273899998 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:228.55, Y:-41.55, Z:-7.39 [[ 9.82381734e-01 1.83602172e-01 3.48765219e-02 2.28551928e+02] [-1.83484599e-01 9.83000630e-01 -6.56982317e-03 -4.15480424e+01] [-3.54898768e-02 5.47696507e-05 9.99370034e-01 -7.39281629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:228.58, Y:-41.56, Z:-7.39 [[ 9.82987548e-01 1.80473162e-01 3.41309050e-02 2.28579637e+02] [-1.80358733e-01 9.83579896e-01 -6.42774776e-03 -4.15556722e+01] [-3.47305080e-02 1.62589220e-04 9.99396701e-01 -7.39392812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45401273899998 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:228.61, Y:-41.56, Z:-7.40 [[ 9.83430021e-01 1.78030746e-01 3.42118028e-02 2.28607872e+02] [-1.77914354e-01 9.84024894e-01 -6.44131803e-03 -4.15625082e+01] [-3.48120182e-02 2.47814743e-04 9.99393847e-01 -7.39521433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:228.64, Y:-41.57, Z:-7.39 [[ 9.84196970e-01 1.73488030e-01 3.54715128e-02 2.28635251e+02] [-1.73360018e-01 9.84835888e-01 -6.67671296e-03 -4.15747631e+01] [-3.60919486e-02 4.21858553e-04 9.99348384e-01 -7.38847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51401273899998 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:228.66, Y:-41.58, Z:-7.40 [[ 9.84623870e-01 1.71058906e-01 3.54215330e-02 2.28663958e+02] [-1.70929729e-01 9.85260672e-01 -6.66603203e-03 -4.15802312e+01] [-3.60397276e-02 5.08941220e-04 9.99350228e-01 -7.39834394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:228.69, Y:-41.59, Z:-7.40 [[ 9.84918369e-01 1.69550677e-01 3.44727927e-02 2.28692784e+02] [-1.69427436e-01 9.85521318e-01 -6.48665840e-03 -4.15880599e+01] [-3.50734894e-02 5.48192148e-04 9.99384586e-01 -7.39925632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57401273899998 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:228.72, Y:-41.60, Z:-7.40 [[ 9.85044542e-01 1.69085289e-01 3.31272631e-02 2.28720896e+02] [-1.68971248e-01 9.85601274e-01 -6.23265588e-03 -4.15990200e+01] [-3.37041231e-02 5.41888660e-04 9.99431708e-01 -7.40064056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:228.75, Y:-41.61, Z:-7.40 [[ 9.84906662e-01 1.69935009e-01 3.28779505e-02 2.28748632e+02] [-1.69823136e-01 9.85455140e-01 -6.18620260e-03 -4.16076068e+01] [-3.34509977e-02 5.09395491e-04 9.99440229e-01 -7.40169681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63401273899999 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:228.78, Y:-41.62, Z:-7.40 [[ 9.84628321e-01 1.71449159e-01 3.33504852e-02 2.28777612e+02] [-1.71334956e-01 9.85192860e-01 -6.27389300e-03 -4.16157785e+01] [-3.39323136e-02 4.63348824e-04 9.99424026e-01 -7.40256163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:228.81, Y:-41.63, Z:-7.40 [[ 9.83754086e-01 1.76049601e-01 3.51345432e-02 2.28805066e+02] [-1.75925810e-01 9.84381245e-01 -6.60862399e-03 -4.16264345e+01] [-3.57492310e-02 3.20187858e-04 9.99360741e-01 -7.40259929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694012739 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:228.83, Y:-41.63, Z:-7.40 [[ 9.83320741e-01 1.78324598e-01 3.57862713e-02 2.28833684e+02] [-1.78197707e-01 9.83971686e-01 -6.73033808e-03 -4.16346818e+01] [-3.64128626e-02 2.41049538e-04 9.99336803e-01 -7.40328197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:228.86, Y:-41.65, Z:-7.41 [[ 9.82637351e-01 1.82180563e-01 3.51294588e-02 2.28861908e+02] [-1.82060780e-01 9.83265088e-01 -6.60599080e-03 -4.16452596e+01] [-3.57450536e-02 9.55966383e-05 9.99360937e-01 -7.40588870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754012739 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:228.89, Y:-41.65, Z:-7.41 [[ 9.82323123e-01 1.83979807e-01 3.45356835e-02 2.28889358e+02] [-1.83865181e-01 9.82930023e-01 -6.49349969e-03 -4.16528625e+01] [-3.51408330e-02 2.88052059e-05 9.99382370e-01 -7.40706843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:228.92, Y:-41.66, Z:-7.41 [[ 9.81890544e-01 1.86236512e-01 3.47407655e-02 2.28916997e+02] [-1.86121962e-01 9.82504941e-01 -6.53119529e-03 -4.16606249e+01] [-3.53493208e-02 -5.31005404e-05 9.99375016e-01 -7.40764232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814012739 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:228.95, Y:-41.67, Z:-7.41 [[ 9.80923300e-01 1.90915719e-01 3.66151147e-02 2.28945738e+02] [-1.90791778e-01 9.81606404e-01 -6.88219758e-03 -4.16680901e+01] [-3.72555508e-02 -2.34954875e-04 9.99305743e-01 -7.40677697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:228.97, Y:-41.67, Z:-7.41 [[ 9.80415050e-01 1.93448104e-01 3.69345462e-02 2.28973787e+02] [-1.93323821e-01 9.81110452e-01 -6.94129621e-03 -4.16728559e+01] [-3.75796499e-02 -3.34976333e-04 9.99293579e-01 -7.40771184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874012739 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:229.00, Y:-41.68, Z:-7.41 [[ 9.79946422e-01 1.95876815e-01 3.65688715e-02 2.29002169e+02] [-1.95756721e-01 9.80628417e-01 -6.87122376e-03 -4.16769761e+01] [-3.72063880e-02 -4.25171224e-04 9.99307512e-01 -7.40939049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:229.03, Y:-41.68, Z:-7.41 [[ 9.79295487e-01 1.99183052e-01 3.61450077e-02 2.29029391e+02] [-1.99068040e-01 9.79962149e-01 -6.78981705e-03 -4.16808030e+01] [-3.67731559e-02 -5.46078653e-04 9.99323490e-01 -7.41181512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93401273899997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:229.06, Y:-41.69, Z:-7.41 [[ 9.79147142e-01 1.99844792e-01 3.65093658e-02 2.29058173e+02] [-1.99727991e-01 9.79827395e-01 -6.85606745e-03 -4.16851994e+01] [-3.71430262e-02 -5.78843435e-04 9.99309792e-01 -7.41252116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:229.09, Y:-41.69, Z:-7.41 [[ 9.78994287e-01 2.00604785e-01 3.64404518e-02 2.29087585e+02] [-2.00489016e-01 9.79672063e-01 -6.84136806e-03 -4.16872893e+01] [-3.70721038e-02 -6.08250074e-04 9.99312408e-01 -7.41315787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99401273899997 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:229.12, Y:-41.69, Z:-7.41 [[ 9.79080542e-01 2.00268491e-01 3.59697668e-02 2.29115929e+02] [-2.00155530e-01 9.79740876e-01 -6.75127746e-03 -4.16906197e+01] [-3.65931190e-02 -5.89503345e-04 9.99330074e-01 -7.41398266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:229.14, Y:-41.69, Z:-7.42 [[ 9.79275348e-01 1.99294365e-01 3.60769782e-02 2.29144466e+02] [-1.99180133e-01 9.79939512e-01 -6.76963964e-03 -4.16941486e+01] [-3.67024074e-02 -5.56476105e-04 9.99326085e-01 -7.41588407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05401273899997 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:229.17, Y:-41.70, Z:-7.42 [[ 9.79944150e-01 1.95983011e-01 3.60572016e-02 2.29172548e+02] [-1.95866728e-01 9.80607195e-01 -6.76414962e-03 -4.16958577e+01] [-3.66836098e-02 -4.33917236e-04 9.99326836e-01 -7.41677885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:229.20, Y:-41.70, Z:-7.42 [[ 9.80204381e-01 1.94634196e-01 3.62891286e-02 2.29201590e+02] [-1.94515569e-01 9.80875822e-01 -6.80546720e-03 -4.16987021e+01] [-3.69197055e-02 -3.88051729e-04 9.99318160e-01 -7.41697603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11401273899997 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:229.23, Y:-41.70, Z:-7.42 [[ 9.80780987e-01 1.91788960e-01 3.58559767e-02 2.29229386e+02] [-1.91671311e-01 9.81436150e-01 -6.72249661e-03 -4.16990080e+01] [-3.64796524e-02 -2.79265196e-04 9.99334357e-01 -7.41785150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:229.26, Y:-41.70, Z:-7.42 [[ 9.81134631e-01 1.90108953e-01 3.51201176e-02 2.29258064e+02] [-1.89995081e-01 9.81762976e-01 -6.58248099e-03 -4.17019246e+01] [-3.57310197e-02 -2.14349543e-04 9.99361420e-01 -7.41924408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17401273899998 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:229.29, Y:-41.71, Z:-7.42 [[ 9.81502744e-01 1.88363031e-01 3.42305734e-02 2.29286258e+02] [-1.88253852e-01 9.82099458e-01 -6.41410063e-03 -4.17053270e+01] [-3.48260070e-02 -1.48579949e-04 9.99393380e-01 -7.42037945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:229.31, Y:-41.71, Z:-7.42 [[ 9.82523360e-01 1.82917202e-01 3.44839710e-02 2.29314582e+02] [-1.82803105e-01 9.83128321e-01 -6.45983404e-03 -4.17077738e+01] [-3.50837833e-02 4.31608595e-05 9.99384374e-01 -7.42075587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23401273899998 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:229.34, Y:-41.71, Z:-7.42 [[ 9.83062969e-01 1.79810234e-01 3.54327397e-02 2.29342908e+02] [-1.79687833e-01 9.83701304e-01 -6.63532103e-03 -4.17126659e+01] [-3.60483309e-02 1.56106175e-04 9.99350036e-01 -7.42141453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:229.37, Y:-41.72, Z:-7.42 [[ 9.84065357e-01 1.74102385e-01 3.61072464e-02 2.29372593e+02] [-1.73971496e-01 9.84727486e-01 -6.75989121e-03 -4.17178172e+01] [-3.67327111e-02 3.70543083e-04 9.99325058e-01 -7.42118445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29401273899998 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:229.40, Y:-41.72, Z:-7.42 [[ 9.84576507e-01 1.71246378e-01 3.58298853e-02 2.29401305e+02] [-1.71115633e-01 9.85228123e-01 -6.70712125e-03 -4.17231952e+01] [-3.64491809e-02 4.72620492e-04 9.99335396e-01 -7.42231439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:229.43, Y:-41.73, Z:-7.42 [[ 9.85013064e-01 1.68864497e-01 3.51289708e-02 2.29430310e+02] [-1.68737320e-01 9.85639122e-01 -6.57548459e-03 -4.17282294e+01] [-3.57348538e-02 5.49369833e-04 9.99361155e-01 -7.42327692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35401273899998 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:229.46, Y:-41.73, Z:-7.42 [[ 9.85331876e-01 1.67052852e-01 3.48488007e-02 2.29459713e+02] [-1.66926593e-01 9.85947754e-01 -6.52221254e-03 -4.17335777e+01] [-3.54486509e-02 6.09352368e-04 9.99371313e-01 -7.42410544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:229.49, Y:-41.74, Z:-7.43 [[ 9.85788722e-01 1.64087471e-01 3.59985654e-02 2.29488628e+02] [-1.63950795e-01 9.86445516e-01 -6.73652572e-03 -4.17402178e+01] [-3.66160029e-02 7.38797668e-04 9.99329136e-01 -7.42542140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414012739 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:229.52, Y:-41.75, Z:-7.43 [[ 9.86040303e-01 1.62498357e-01 3.63153528e-02 2.29518373e+02] [-1.62358202e-01 9.86708486e-01 -6.79539353e-03 -4.17469694e+01] [-3.69369070e-02 8.04436522e-04 9.99317276e-01 -7.42637592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:229.55, Y:-41.76, Z:-7.43 [[ 9.86630612e-01 1.59210929e-01 3.48125774e-02 2.29547624e+02] [-1.59080092e-01 9.87244189e-01 -6.51420153e-03 -4.17556153e+01] [-3.54056468e-02 8.89122633e-04 9.99372628e-01 -7.42761415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474012739 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:229.58, Y:-41.76, Z:-7.43 [[ 9.86934075e-01 1.57524251e-01 3.38709514e-02 2.29577879e+02] [-1.57399393e-01 9.87514686e-01 -6.33839318e-03 -4.17630596e+01] [-3.44465126e-02 9.24309027e-04 9.99406115e-01 -7.42971832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:229.61, Y:-41.77, Z:-7.43 [[ 9.87247762e-01 1.55619998e-01 3.35301776e-02 2.29606963e+02] [-1.55496516e-01 9.87816508e-01 -6.27542614e-03 -4.17702377e+01] [-3.40982447e-02 9.81574631e-04 9.99418004e-01 -7.43117347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534012739 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:229.64, Y:-41.78, Z:-7.43 [[ 9.87751566e-01 1.52225643e-01 3.42665615e-02 2.29637831e+02] [-1.52094618e-01 9.88345128e-01 -6.41371071e-03 -4.17796863e+01] [-3.48435204e-02 1.12339323e-03 9.99392149e-01 -7.43168465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:229.67, Y:-41.79, Z:-7.43 [[ 9.87867113e-01 1.51354856e-01 3.47889946e-02 2.29669235e+02] [-1.51219053e-01 9.88478791e-01 -6.51745095e-03 -4.17878689e+01] [-3.53746312e-02 1.17761665e-03 9.99373428e-01 -7.43203405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.594012739 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:229.70, Y:-41.80, Z:-7.43 [[ 9.87960487e-01 1.50563559e-01 3.55624914e-02 2.29700982e+02] [-1.50420899e-01 9.88599554e-01 -6.66889175e-03 -4.17960284e+01] [-3.61611552e-02 1.23925962e-03 9.99345203e-01 -7.43224297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:229.73, Y:-41.81, Z:-7.43 [[ 9.88019895e-01 1.49894545e-01 3.67193636e-02 2.29731761e+02] [-1.49741721e-01 9.88701120e-01 -6.89293855e-03 -4.18068843e+01] [-3.73376898e-02 1.31193971e-03 9.99301844e-01 -7.43269634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65401273899997 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:229.76, Y:-41.82, Z:-7.43 [[ 9.88038918e-01 1.49769206e-01 3.67189381e-02 2.29762844e+02] [-1.49616130e-01 9.88720102e-01 -6.89741029e-03 -4.18156189e+01] [-3.73377719e-02 1.32116438e-03 9.99301829e-01 -7.43376173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:229.79, Y:-41.83, Z:-7.44 [[ 9.88178472e-01 1.49204476e-01 3.52325505e-02 2.29794375e+02] [-1.49062975e-01 9.88805517e-01 -6.62415860e-03 -4.18281824e+01] [-3.58264944e-02 1.29398213e-03 9.99357187e-01 -7.43539944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71401273899997 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:229.83, Y:-41.84, Z:-7.44 [[ 9.88202884e-01 1.49445574e-01 3.34825253e-02 2.29825279e+02] [-1.49317713e-01 9.88769191e-01 -6.30135207e-03 -4.18381507e+01] [-3.40481987e-02 1.22748019e-03 9.99419438e-01 -7.43703416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:229.86, Y:-41.85, Z:-7.44 [[ 9.88171255e-01 1.49907374e-01 3.23318879e-02 2.29856583e+02] [-1.49788213e-01 9.88699346e-01 -6.09046901e-03 -4.18477004e+01] [-3.28795227e-02 1.17549069e-03 9.99458631e-01 -7.43884236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77401273899997 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:229.89, Y:-41.86, Z:-7.44 [[ 9.87767771e-01 1.52398524e-01 3.30078989e-02 2.29888338e+02] [-1.52275501e-01 9.88318487e-01 -6.22415430e-03 -4.18596276e+01] [-3.35708686e-02 1.12172468e-03 9.99435710e-01 -7.43841508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:229.92, Y:-41.87, Z:-7.43 [[ 9.87481721e-01 1.54114400e-01 3.35946876e-02 2.29919002e+02] [-1.53987728e-01 9.88052411e-01 -6.34141549e-03 -4.18702967e+01] [-3.41706155e-02 1.08886224e-03 9.99415421e-01 -7.42938789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83401273899997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:229.95, Y:-41.88, Z:-7.44 [[ 9.87035638e-01 1.56782152e-01 3.43512203e-02 2.29950669e+02] [-1.56651173e-01 9.87632680e-01 -6.48845746e-03 -4.18781495e+01] [-3.49436620e-02 1.02317981e-03 9.99388760e-01 -7.44043460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:229.98, Y:-41.88, Z:-7.44 [[ 9.87022971e-01 1.56862141e-01 3.43500251e-02 2.29983549e+02] [-1.56730991e-01 9.87619975e-01 -6.49477846e-03 -4.18844982e+01] [-3.49435558e-02 1.02678205e-03 9.99388760e-01 -7.44159262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89401273899998 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:230.01, Y:-41.90, Z:-7.44 [[ 9.86385730e-01 1.60821167e-01 3.43474093e-02 2.30013353e+02] [-1.60692331e-01 9.86983162e-01 -6.49719740e-03 -4.18979865e+01] [-3.49452014e-02 8.89377543e-04 9.99388834e-01 -7.44329163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:230.04, Y:-41.91, Z:-7.45 [[ 9.85969508e-01 1.63418934e-01 3.40350120e-02 2.30044869e+02] [-1.63293769e-01 9.86556445e-01 -6.44411711e-03 -4.19073625e+01] [-3.46305512e-02 7.95997581e-04 9.99399866e-01 -7.44529820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95401273899998 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:230.08, Y:-41.92, Z:-7.45 [[ 9.84902153e-01 1.69660629e-01 3.43950509e-02 2.30076893e+02] [-1.69536371e-01 9.85502371e-01 -6.51883433e-03 -4.19180350e+01] [-3.50023938e-02 5.89201869e-04 9.99387055e-01 -7.44537775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:230.11, Y:-41.93, Z:-7.45 [[ 9.84185689e-01 1.73663635e-01 3.49209269e-02 2.30108693e+02] [-1.73537823e-01 9.84804920e-01 -6.62524411e-03 -4.19253395e+01] [-3.55408646e-02 4.60368792e-04 9.99368118e-01 -7.44603050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01401273899998 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:230.14, Y:-41.93, Z:-7.45 [[ 9.83420723e-01 1.77937077e-01 3.49582406e-02 2.30140491e+02] [-1.77813459e-01 9.84041818e-01 -6.63890772e-03 -4.19316966e+01] [-3.55816785e-02 3.12793763e-04 9.99366723e-01 -7.44651611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:230.17, Y:-41.94, Z:-7.45 [[ 9.81888410e-01 1.86437211e-01 3.37092880e-02 2.30171415e+02] [-1.86327137e-01 9.82466878e-01 -6.40560218e-03 -4.19358382e+01] [-3.43125015e-02 8.63143381e-06 9.99411153e-01 -7.44958137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07401273899998 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:230.20, Y:-41.94, Z:-7.45 [[ 9.81110932e-01 1.90564546e-01 3.32639800e-02 2.30201945e+02] [-1.90459691e-01 9.81674659e-01 -6.32218196e-03 -4.19402071e+01] [-3.38591899e-02 -1.32685517e-04 9.99426604e-01 -7.45099252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:230.23, Y:-41.94, Z:-7.45 [[ 9.80450690e-01 1.93921845e-01 3.33281071e-02 2.30232278e+02] [-1.93818523e-01 9.81016950e-01 -6.33437003e-03 -4.19440507e+01] [-3.39238107e-02 -2.49067029e-04 9.99424391e-01 -7.45216892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13401273899999 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:230.26, Y:-41.94, Z:-7.45 [[ 9.79538892e-01 1.98255897e-01 3.46144280e-02 2.30261428e+02] [-1.98147146e-01 9.80150207e-01 -6.57882565e-03 -4.19444144e+01] [-3.52316298e-02 -4.14534556e-04 9.99379087e-01 -7.45280691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:230.29, Y:-41.95, Z:-7.45 [[ 9.79411101e-01 1.98865662e-01 3.47324519e-02 2.30291834e+02] [-1.98756594e-01 9.80026661e-01 -6.60003750e-03 -4.19473035e+01] [-3.53512497e-02 -4.39153848e-04 9.99374853e-01 -7.45375217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194012739 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:230.32, Y:-41.95, Z:-7.46 [[ 9.79835185e-01 1.96988590e-01 3.34440780e-02 2.30321761e+02] [-1.96886372e-01 9.80405716e-01 -6.35522045e-03 -4.19490813e+01] [-3.40406712e-02 -3.57614595e-04 9.99420384e-01 -7.45523901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:230.35, Y:-41.95, Z:-7.45 [[ 9.80305035e-01 1.94773601e-01 3.26386869e-02 2.30351464e+02] [-1.94675033e-01 9.80848189e-01 -6.20179731e-03 -4.19546398e+01] [-3.32215433e-02 -2.74284310e-04 9.99447975e-01 -7.44765211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254012739 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:230.38, Y:-41.96, Z:-7.46 [[ 9.80727738e-01 1.92606962e-01 3.27972777e-02 2.30379683e+02] [-1.92506249e-01 9.81275964e-01 -6.23112702e-03 -4.19560864e+01] [-3.33833387e-02 -2.02641793e-04 9.99442600e-01 -7.45800357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:230.41, Y:-41.96, Z:-7.46 [[ 9.81721034e-01 1.87235449e-01 3.41569671e-02 2.30410314e+02] [-1.87123002e-01 9.82315065e-01 -6.48814072e-03 -4.19571878e+01] [-3.47677133e-02 -2.20100045e-05 9.99395420e-01 -7.45877063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314012739 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:230.44, Y:-41.96, Z:-7.46 [[ 9.82102075e-01 1.85218543e-01 3.41995095e-02 2.30440533e+02] [-1.85104593e-01 9.82697354e-01 -6.49622167e-03 -4.19612055e+01] [-3.48109881e-02 4.94664992e-05 9.99393913e-01 -7.45992357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:230.47, Y:-41.96, Z:-7.46 [[ 9.82664069e-01 1.82370570e-01 3.33511987e-02 2.30470244e+02] [-1.82260564e-01 9.83229858e-01 -6.33509174e-03 -4.19645292e+01] [-3.39472286e-02 1.46658750e-04 9.99423616e-01 -7.46217078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.374012739 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:230.50, Y:-41.97, Z:-7.46 [[ 9.82966788e-01 1.80661156e-01 3.37318880e-02 2.30499220e+02] [-1.80547631e-01 9.83545374e-01 -6.40698943e-03 -4.19695970e+01] [-3.43343365e-02 2.07645361e-04 9.99410381e-01 -7.46299239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:230.53, Y:-41.97, Z:-7.46 [[ 9.83215932e-01 1.79230331e-01 3.41015937e-02 2.30528015e+02] [-1.79113456e-01 9.83807106e-01 -6.47679346e-03 -4.19748541e+01] [-3.47102280e-02 2.60032202e-04 9.99397385e-01 -7.46295240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43401273899997 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:230.56, Y:-41.98, Z:-7.46 [[ 9.83770678e-01 1.76161366e-01 3.40943723e-02 2.30557296e+02] [-1.76042712e-01 9.84361233e-01 -6.47501408e-03 -4.19803592e+01] [-3.47018257e-02 3.67863231e-04 9.99397643e-01 -7.46373027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:230.59, Y:-41.99, Z:-7.46 [[ 9.84025518e-01 1.74728559e-01 3.41132016e-02 2.30585850e+02] [-1.74608927e-01 9.84616553e-01 -6.47818368e-03 -4.19858292e+01] [-3.47203466e-02 4.18228533e-04 9.99396979e-01 -7.46438991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49401273899997 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:230.62, Y:-41.99, Z:-7.47 [[ 9.84498828e-01 1.71943917e-01 3.46027105e-02 2.30616537e+02] [-1.71819119e-01 9.85106601e-01 -6.57075170e-03 -4.19913130e+01] [-3.52171593e-02 5.23490101e-04 9.99379546e-01 -7.46520912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:230.65, Y:-42.00, Z:-7.47 [[ 9.84712655e-01 1.70673404e-01 3.48077149e-02 2.30648213e+02] [-1.70546296e-01 9.85327489e-01 -6.61063969e-03 -4.19970925e+01] [-3.54252587e-02 5.73253714e-04 9.99372164e-01 -7.46623968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55401273899997 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:230.68, Y:-42.00, Z:-7.47 [[ 9.84889071e-01 1.69568422e-01 3.52145957e-02 2.30680021e+02] [-1.69437403e-01 9.85518218e-01 -6.69389010e-03 -4.20035263e+01] [-3.58396980e-02 6.26069558e-04 9.99357356e-01 -7.46729265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:230.71, Y:-42.01, Z:-7.47 [[ 9.85329158e-01 1.66938550e-01 3.54678958e-02 2.30711696e+02] [-1.66803718e-01 9.85967030e-01 -6.74805255e-03 -4.20112153e+01] [-3.60966860e-02 7.32876025e-04 9.99348034e-01 -7.46815149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61401273899997 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:230.74, Y:-42.02, Z:-7.47 [[ 9.85571028e-01 1.65573766e-01 3.51436700e-02 2.30743390e+02] [-1.65440279e-01 9.86197098e-01 -6.69315247e-03 -4.20183129e+01] [-3.57667958e-02 7.82398588e-04 9.99359857e-01 -7.46893435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:230.78, Y:-42.03, Z:-7.47 [[ 9.86002808e-01 1.63313857e-01 3.35715213e-02 2.30775035e+02] [-1.63190541e-01 9.86573815e-01 -6.39956825e-03 -4.20262550e+01] [-3.41659220e-02 8.31437534e-04 9.99415829e-01 -7.47031924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67401273899998 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:230.81, Y:-42.03, Z:-7.47 [[ 9.86189761e-01 1.62351088e-01 3.27395694e-02 2.30807181e+02] [-1.62233076e-01 9.86732691e-01 -6.24710203e-03 -4.20339797e+01] [-3.33194272e-02 8.49387018e-04 9.99444393e-01 -7.47221514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:230.84, Y:-42.04, Z:-7.47 [[ 9.86276542e-01 1.61904151e-01 3.23361669e-02 2.30838332e+02] [-1.61788587e-01 9.86806114e-01 -6.17629784e-03 -4.20425071e+01] [-3.29094955e-02 8.59914914e-04 9.99457966e-01 -7.47402050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73401273899998 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:230.87, Y:-42.05, Z:-7.47 [[ 9.86307782e-01 1.61958292e-01 3.10881070e-02 2.30869915e+02] [-1.61851339e-01 9.86797255e-01 -5.94321778e-03 -4.20539353e+01] [-3.16402121e-02 8.30190210e-04 9.99498978e-01 -7.47125490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:230.90, Y:-42.06, Z:-7.48 [[ 9.86215464e-01 1.62505851e-01 3.11593861e-02 2.30900662e+02] [-1.62398484e-01 9.86707239e-01 -5.96297880e-03 -4.20610747e+01] [-3.17142108e-02 8.20544830e-04 9.99496641e-01 -7.47599590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79401273899998 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:230.93, Y:-42.07, Z:-7.48 [[ 9.85918018e-01 1.64085442e-01 3.22742791e-02 2.30932550e+02] [-1.63970899e-01 9.86445803e-01 -6.18239918e-03 -4.20713938e+01] [-3.28512689e-02 8.03296193e-04 9.99459929e-01 -7.47627400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:230.96, Y:-42.08, Z:-7.48 [[ 9.85698869e-01 1.65130775e-01 3.36090226e-02 2.30964757e+02] [-1.65006933e-01 9.86271350e-01 -6.44484524e-03 -4.20790828e+01] [-3.42118584e-02 8.06954924e-04 9.99414277e-01 -7.47689602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85401273899998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:231.00, Y:-42.09, Z:-7.48 [[ 9.85402506e-01 1.66632500e-01 3.48641757e-02 2.30996173e+02] [-1.66499922e-01 9.86018755e-01 -6.69253268e-03 -4.20866316e+01] [-3.54919246e-02 7.89955929e-04 9.99369651e-01 -7.47705611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:231.03, Y:-42.10, Z:-7.48 [[ 9.84884206e-01 1.69760659e-01 3.44153867e-02 2.31027552e+02] [-1.69633236e-01 9.85485092e-01 -6.61054265e-03 -4.20950379e+01] [-3.50380606e-02 6.72625651e-04 9.99385752e-01 -7.47918963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914012739 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:231.06, Y:-42.10, Z:-7.48 [[ 9.84607312e-01 1.71568315e-01 3.33579608e-02 2.31060042e+02] [-1.71449444e-01 9.85172045e-01 -6.41322594e-03 -4.21025902e+01] [-3.39636368e-02 5.95305342e-04 9.99422892e-01 -7.48061775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:231.09, Y:-42.11, Z:-7.48 [[ 9.84320120e-01 1.73382586e-01 3.24404097e-02 2.31092355e+02] [-1.73270956e-01 9.84854408e-01 -6.24271772e-03 -4.21097314e+01] [-3.30314590e-02 5.23851856e-04 9.99454175e-01 -7.48219737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:231.12, Y:-42.12, Z:-7.48 [[ 9.83782212e-01 1.76366476e-01 3.26714921e-02 2.31122791e+02] [-1.76254682e-01 9.84324478e-01 -6.29352339e-03 -4.21175097e+01] [-3.32693160e-02 4.32952904e-04 9.99446329e-01 -7.48274132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:231.15, Y:-42.12, Z:-7.48 [[ 9.83484379e-01 1.77846525e-01 3.36019455e-02 2.31152926e+02] [-1.77728950e-01 9.84058156e-01 -6.47811087e-03 -4.21242751e+01] [-3.42183780e-02 3.99082351e-04 9.99414300e-01 -7.48319957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034012739 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:231.18, Y:-42.13, Z:-7.48 [[ 9.83035770e-01 1.80022003e-01 3.51105839e-02 2.31184167e+02] [-1.79894820e-01 9.83662524e-01 -6.77446143e-03 -4.21315293e+01] [-3.57565177e-02 3.43325745e-04 9.99360472e-01 -7.48402154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:231.22, Y:-42.14, Z:-7.49 [[ 9.82778155e-01 1.81428563e-01 3.50823936e-02 2.31216759e+02] [-1.81302269e-01 9.83404082e-01 -6.77490700e-03 -4.21379293e+01] [-3.57293307e-02 2.97713030e-04 9.99361459e-01 -7.48524692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.094012739 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:231.25, Y:-42.15, Z:-7.48 [[ 9.82506026e-01 1.83007777e-01 3.44972767e-02 2.31248775e+02] [-1.82886403e-01 9.83111436e-01 -6.66849402e-03 -4.21453062e+01] [-3.51350535e-02 2.42752711e-04 9.99382544e-01 -7.48155294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:231.28, Y:-42.15, Z:-7.49 [[ 9.81993097e-01 1.85804252e-01 3.41516725e-02 2.31280326e+02] [-1.85686754e-01 9.82586769e-01 -6.60842495e-03 -4.21511073e+01] [-3.47848550e-02 1.47914477e-04 9.99394813e-01 -7.48803461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15401273899997 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:231.31, Y:-42.16, Z:-7.49 [[ 9.81801979e-01 1.86720887e-01 3.46436914e-02 2.31312303e+02] [-1.86600318e-01 9.82412996e-01 -6.71016191e-03 -4.21573853e+01] [-3.52873400e-02 1.23526429e-04 9.99377200e-01 -7.48943958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:231.34, Y:-42.16, Z:-7.49 [[ 9.81723628e-01 1.87225334e-01 3.41378327e-02 2.31344175e+02] [-1.87108364e-01 9.82316987e-01 -6.61800263e-03 -4.21641971e+01] [-3.47732307e-02 1.09575539e-04 9.99395222e-01 -7.49100541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21401273899997 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:231.38, Y:-42.17, Z:-7.49 [[ 9.81779713e-01 1.87144548e-01 3.29471193e-02 2.31375860e+02] [-1.87035337e-01 9.82332380e-01 -6.39357981e-03 -4.21710809e+01] [-3.35615457e-02 1.14811406e-04 9.99436646e-01 -7.49262230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:231.41, Y:-42.18, Z:-7.49 [[ 9.81860312e-01 1.86942060e-01 3.16700658e-02 2.31406112e+02] [-1.86840919e-01 9.82370934e-01 -6.14975431e-03 -4.21778479e+01] [-3.22613998e-02 1.20935503e-04 9.99479458e-01 -7.49441523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27401273899997 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:231.44, Y:-42.18, Z:-7.50 [[ 9.81859241e-01 1.87122508e-01 3.06202244e-02 2.31435882e+02] [-1.87028027e-01 9.82336579e-01 -5.94664852e-03 -4.21842537e+01] [-3.11921183e-02 1.11931641e-04 9.99513401e-01 -7.49655148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:231.47, Y:-42.19, Z:-7.50 [[ 9.81709031e-01 1.87730910e-01 3.16935850e-02 2.31466585e+02] [-1.87629993e-01 9.82220493e-01 -6.15546899e-03 -4.21898114e+01] [-3.22856604e-02 9.62123830e-05 9.99478678e-01 -7.49730239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33401273899997 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:231.50, Y:-42.20, Z:-7.50 [[ 9.81455752e-01 1.88864988e-01 3.27814540e-02 2.31497288e+02] [-1.88757629e-01 9.82003061e-01 -6.36750685e-03 -4.21963185e+01] [-3.33940873e-02 6.16766928e-05 9.99442260e-01 -7.49771880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:231.53, Y:-42.20, Z:-7.50 [[ 9.80912090e-01 1.91462276e-01 3.39656964e-02 2.31526656e+02] [-1.91348456e-01 9.81499973e-01 -6.60091260e-03 -4.22035758e+01] [-3.46011559e-02 -2.43685929e-05 9.99401200e-01 -7.49783914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39401273899998 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:231.56, Y:-42.21, Z:-7.50 [[ 9.80758930e-01 1.92240529e-01 3.39926433e-02 2.31557788e+02] [-1.92126981e-01 9.81347837e-01 -6.60656086e-03 -4.22100729e+01] [-3.46286557e-02 -5.14603864e-05 9.99400247e-01 -7.49924682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:231.59, Y:-42.22, Z:-7.50 [[ 9.80922923e-01 1.91384499e-01 3.40909412e-02 2.31588406e+02] [-1.91269748e-01 9.81515141e-01 -6.62651201e-03 -4.22166975e+01] [-3.47289867e-02 -2.04681893e-05 9.99396767e-01 -7.50105263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45401273899998 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:231.62, Y:-42.23, Z:-7.49 [[ 9.81264973e-01 1.89660187e-01 3.38831239e-02 2.31619402e+02] [-1.89545621e-01 9.81849791e-01 -6.59137211e-03 -4.22259660e+01] [-3.45182590e-02 4.54848042e-05 9.99404066e-01 -7.49190809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:231.65, Y:-42.23, Z:-7.50 [[ 9.81411861e-01 1.88725762e-01 3.48331183e-02 2.31651040e+02] [-1.88603875e-01 9.82029826e-01 -6.78227064e-03 -4.22330398e+01] [-3.54871503e-02 8.65397610e-05 9.99370129e-01 -7.50243672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51401273899998 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:231.68, Y:-42.24, Z:-7.50 [[ 9.81739961e-01 1.86974959e-01 3.50287618e-02 2.31681728e+02] [-1.86850339e-01 9.82364668e-01 -6.82721129e-03 -4.22437708e+01] [-3.56875355e-02 1.57410139e-04 9.99362985e-01 -7.50307376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:231.71, Y:-42.25, Z:-7.49 [[ 9.81901855e-01 1.86413144e-01 3.34497626e-02 2.31714004e+02] [-1.86298986e-01 9.82471429e-01 -6.52523088e-03 -4.22530600e+01] [-3.40798249e-02 1.75479443e-04 9.99419099e-01 -7.49365052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57401273899998 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:231.74, Y:-42.26, Z:-7.51 [[ 9.81614261e-01 1.88181552e-01 3.19553765e-02 2.31744647e+02] [-1.88078109e-01 9.82134253e-01 -6.23977677e-03 -4.22600009e+01] [-3.25586807e-02 1.14947081e-04 9.99469819e-01 -7.50627207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:231.77, Y:-42.27, Z:-7.51 [[ 9.81323830e-01 1.89324587e-01 3.40549876e-02 2.31773844e+02] [-1.89377005e-01 9.81902963e-01 -1.70913847e-03 -4.22702639e+01] [-3.37622752e-02 -4.77201325e-03 9.99418499e-01 -7.50761874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63401273899999 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:231.81, Y:-42.27, Z:-7.51 [[ 9.80969217e-01 1.91533581e-01 3.18478177e-02 2.31806555e+02] [-1.91275005e-01 9.81474788e-01 -1.10051160e-02 -4.22715106e+01] [-3.33656794e-02 4.70398849e-03 9.99432141e-01 -7.50802489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:231.84, Y:-42.28, Z:-7.51 [[ 9.80316900e-01 1.94188377e-01 3.56321422e-02 2.31837843e+02] [-1.94063261e-01 9.80964254e-01 -6.97017056e-03 -4.22815848e+01] [-3.63073839e-02 -8.19137125e-05 9.99340666e-01 -7.50762798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694012739 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:231.87, Y:-42.29, Z:-7.51 [[ 9.80204436e-01 1.94704266e-01 3.59097930e-02 2.31869362e+02] [-1.94577271e-01 9.80861988e-01 -7.03177328e-03 -4.22883453e+01] [-3.65916672e-02 -9.46541465e-05 9.99330296e-01 -7.50888653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:231.90, Y:-42.30, Z:-7.51 [[ 9.80415021e-01 1.93815846e-01 3.49543280e-02 2.31901667e+02] [-1.93694727e-01 9.81037927e-01 -6.85109215e-03 -4.22966324e+01] [-3.56193717e-02 -5.35553769e-05 9.99365427e-01 -7.51163346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:231.93, Y:-42.30, Z:-7.51 [[ 9.80398494e-01 1.93899665e-01 3.49530123e-02 2.31934500e+02] [-1.93778361e-01 9.81021364e-01 -6.85779811e-03 -4.23032092e+01] [-3.56193766e-02 -4.97624952e-05 9.99365427e-01 -7.51279867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:231.97, Y:-42.31, Z:-7.51 [[ 9.80537754e-01 1.93279690e-01 3.44771504e-02 2.31965873e+02] [-1.93161177e-01 9.81143700e-01 -6.76748279e-03 -4.23096773e+01] [-3.51350559e-02 -2.38745876e-05 9.99382573e-01 -7.51357004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:232.00, Y:-42.32, Z:-7.51 [[ 9.80543201e-01 1.93251659e-01 3.44793695e-02 2.31998614e+02] [-1.93238215e-01 9.81144690e-01 -3.75356522e-03 -4.23171455e+01] [-3.45546330e-02 -2.98219896e-03 9.99398361e-01 -7.51171943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:232.03, Y:-42.32, Z:-7.51 [[ 9.80350517e-01 1.94244887e-01 3.43771463e-02 2.32029781e+02] [-1.94017496e-01 9.80948482e-01 -9.86336075e-03 -4.23184854e+01] [-3.56381169e-02 2.99978295e-03 9.99360258e-01 -7.51483278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.874012739 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:232.06, Y:-42.33, Z:-7.52 [[ 9.80067542e-01 1.95731973e-01 3.40089493e-02 2.32060849e+02] [-1.95617478e-01 9.80657426e-01 -6.69447145e-03 -4.23266627e+01] [-3.46614507e-02 -9.17107148e-05 9.99399107e-01 -7.51603622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:232.09, Y:-42.33, Z:-7.52 [[ 9.79290505e-01 1.99679620e-01 3.34388539e-02 2.32092553e+02] [-1.99571021e-01 9.79861215e-01 -6.58840529e-03 -4.23310545e+01] [-3.40810063e-02 -2.21463491e-04 9.99419049e-01 -7.51759297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93401273899997 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:232.12, Y:-42.34, Z:-7.52 [[ 9.78804938e-01 2.01945675e-01 3.40417084e-02 2.32123565e+02] [-2.01834284e-01 9.79396679e-01 -6.71323193e-03 -4.23353476e+01] [-3.46960443e-02 -2.99839258e-04 9.99397866e-01 -7.51879415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:232.15, Y:-42.34, Z:-7.52 [[ 9.77977975e-01 2.05785049e-01 3.48079526e-02 2.32153863e+02] [-2.05670814e-01 9.78597118e-01 -6.86996611e-03 -4.23373956e+01] [-3.54766985e-02 -4.40304394e-04 9.99370407e-01 -7.51928849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99401273899997 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:232.18, Y:-42.34, Z:-7.52 [[ 9.77668481e-01 2.07272018e-01 3.46792684e-02 2.32183880e+02] [-2.07159561e-01 9.78283225e-01 -6.84457459e-03 -4.23416545e+01] [-3.53448353e-02 -4.92417164e-04 9.99375055e-01 -7.51971271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:232.22, Y:-42.35, Z:-7.52 [[ 9.77550216e-01 2.07871908e-01 3.44215804e-02 2.32215228e+02] [-2.07761473e-01 9.78155923e-01 -6.79413271e-03 -4.23460867e+01] [-3.50819821e-02 -5.09872364e-04 9.99384308e-01 -7.52125171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05401273899997 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:232.25, Y:-42.35, Z:-7.52 [[ 9.77615795e-01 2.07610551e-01 3.41352705e-02 2.32245316e+02] [-2.07501758e-01 9.78211436e-01 -6.73844750e-03 -4.23474975e+01] [-3.47904848e-02 -4.95515955e-04 9.99394505e-01 -7.52217459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:232.28, Y:-42.35, Z:-7.52 [[ 9.77710935e-01 2.07117972e-01 3.44016603e-02 2.32275150e+02] [-2.07007184e-01 9.78315856e-01 -6.79060916e-03 -4.23515698e+01] [-3.50621469e-02 -4.82138000e-04 9.99385018e-01 -7.52287635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11401273899997 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:232.30, Y:-42.36, Z:-7.52 [[ 9.77885917e-01 2.06235012e-01 3.47311570e-02 2.32304887e+02] [-2.06121564e-01 9.78502382e-01 -6.85481229e-03 -4.23555443e+01] [-3.53982221e-02 -4.55615994e-04 9.99373183e-01 -7.52436258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:232.33, Y:-42.36, Z:-7.53 [[ 9.77941788e-01 2.06022625e-01 3.44171179e-02 2.32333644e+02] [-2.05911117e-01 9.78547127e-01 -6.79201694e-03 -4.23603472e+01] [-3.50780810e-02 -4.44670000e-04 9.99384476e-01 -7.52562933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17401273899998 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:232.36, Y:-42.37, Z:-7.53 [[ 9.77946117e-01 2.06047827e-01 3.41421268e-02 2.32363286e+02] [-2.05938138e-01 9.78541822e-01 -6.73693848e-03 -4.23652092e+01] [-3.47976305e-02 -4.42803207e-04 9.99394281e-01 -7.52703568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:232.39, Y:-42.37, Z:-7.53 [[ 9.77951354e-01 2.06082616e-01 3.37802332e-02 2.32392954e+02] [-2.05975289e-01 9.78534497e-01 -6.66472765e-03 -4.23694974e+01] [-3.44286080e-02 -4.40113868e-04 9.99407063e-01 -7.52738680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23401273899998 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:232.42, Y:-42.37, Z:-7.53 [[ 9.77959442e-01 2.05904832e-01 3.46197819e-02 2.32421588e+02] [-2.05792023e-01 9.78571919e-01 -6.82948027e-03 -4.23748532e+01] [-3.52841694e-02 -4.45520226e-04 9.99377221e-01 -7.52807220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:232.45, Y:-42.38, Z:-7.53 [[ 9.77798934e-01 2.06504225e-01 3.55703580e-02 2.32450869e+02] [-2.06385578e-01 9.78445590e-01 -7.01566761e-03 -4.23803874e+01] [-3.62524249e-02 -4.81296585e-04 9.99342549e-01 -7.52807168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29401273899998 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:232.48, Y:-42.39, Z:-7.53 [[ 9.77735892e-01 2.06775400e-01 3.57275735e-02 2.32480519e+02] [-2.06655913e-01 9.78388312e-01 -7.04583633e-03 -4.23862237e+01] [-3.64123460e-02 -4.94347263e-04 9.99336728e-01 -7.52934631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:232.51, Y:-42.39, Z:-7.53 [[ 9.77720580e-01 2.06980518e-01 3.49504268e-02 2.32510584e+02] [-2.06866305e-01 9.78344941e-01 -6.89257521e-03 -4.23909153e+01] [-3.56202021e-02 -4.91053038e-04 9.99365279e-01 -7.53118487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35401273899998 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:232.54, Y:-42.40, Z:-7.53 [[ 9.77684283e-01 2.07235955e-01 3.44485462e-02 2.32539712e+02] [-2.07125158e-01 9.78290865e-01 -6.79359537e-03 -4.23962032e+01] [-3.51085753e-02 -4.93169167e-04 9.99383382e-01 -7.53270785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:232.57, Y:-42.40, Z:-7.53 [[ 9.77544060e-01 2.07914938e-01 3.43364188e-02 2.32568066e+02] [-2.07805296e-01 9.78146774e-01 -6.77104731e-03 -4.24012945e+01] [-3.49938591e-02 -5.16292594e-04 9.99387394e-01 -7.53341232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:232.60, Y:-42.41, Z:-7.53 [[ 9.76965064e-01 2.10441494e-01 3.54067857e-02 2.32597004e+02] [-2.10326612e-01 9.77606252e-01 -6.98080216e-03 -4.24060663e+01] [-3.60829456e-02 -6.26989470e-04 9.99348602e-01 -7.53385581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:232.62, Y:-42.41, Z:-7.53 [[ 9.76672523e-01 2.11769829e-01 3.55573077e-02 2.32624295e+02] [-2.11654912e-01 9.77319332e-01 -7.00871458e-03 -4.24098778e+01] [-3.62350785e-02 -6.80659892e-04 9.99343062e-01 -7.53488674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:232.65, Y:-42.41, Z:-7.54 [[ 9.76342617e-01 2.13523398e-01 3.41006195e-02 2.32653217e+02] [-2.13418848e-01 9.76937687e-01 -6.71945009e-03 -4.24116954e+01] [-3.47489401e-02 -7.17229444e-04 9.99395816e-01 -7.53637263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:232.68, Y:-42.42, Z:-7.54 [[ 9.76193785e-01 2.14353296e-01 3.31415074e-02 2.32681688e+02] [-2.14255076e-01 9.76755924e-01 -6.52891758e-03 -4.24153063e+01] [-3.37706587e-02 -7.27247425e-04 9.99429344e-01 -7.53745976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534012739 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:232.71, Y:-42.42, Z:-7.54 [[ 9.76007188e-01 2.15282032e-01 3.26131129e-02 2.32709958e+02] [-2.15187489e-01 9.76551630e-01 -6.42327386e-03 -4.24186549e+01] [-3.32312040e-02 -7.48772407e-04 9.99447411e-01 -7.53887137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:232.74, Y:-42.42, Z:-7.54 [[ 9.75470019e-01 2.17708314e-01 3.25780996e-02 2.32738343e+02] [-2.17615376e-01 9.76013523e-01 -6.41484175e-03 -4.24199344e+01] [-3.31932301e-02 -8.32009588e-04 9.99448607e-01 -7.54044345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.594012739 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:232.77, Y:-42.42, Z:-7.54 [[ 9.75204562e-01 2.18877948e-01 3.26880092e-02 2.32766037e+02] [-2.18785109e-01 9.75751851e-01 -6.43436725e-03 -4.24230253e+01] [-3.33037266e-02 -8.76825350e-04 9.99444892e-01 -7.54158921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:232.79, Y:-42.42, Z:-7.54 [[ 9.74888142e-01 2.20284849e-01 3.26756291e-02 2.32794480e+02] [-2.20192933e-01 9.75435148e-01 -6.43002009e-03 -4.24216678e+01] [-3.32893931e-02 -9.26392265e-04 9.99445325e-01 -7.54309239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65401273899997 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:232.82, Y:-42.42, Z:-7.54 [[ 9.74729505e-01 2.21046285e-01 3.22634722e-02 2.32822922e+02] [-2.20957166e-01 9.75262863e-01 -6.34661085e-03 -4.24227370e+01] [-3.28682611e-02 -9.42616554e-04 9.99459248e-01 -7.54377858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:232.85, Y:-42.42, Z:-7.55 [[ 9.74603970e-01 2.21651103e-01 3.19043773e-02 2.32851404e+02] [-2.21564354e-01 9.75125570e-01 -6.27371213e-03 -4.24240741e+01] [-3.25013493e-02 -9.54488014e-04 9.99471236e-01 -7.54572361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71401273899997 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:232.88, Y:-42.42, Z:-7.55 [[ 9.74469244e-01 2.22158088e-01 3.24881039e-02 2.32879281e+02] [-2.22068496e-01 9.75010154e-01 -6.38611758e-03 -4.24228352e+01] [-3.30949589e-02 -9.91509190e-04 9.99451720e-01 -7.54620244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:232.91, Y:-42.43, Z:-7.55 [[ 9.74653287e-01 2.21248632e-01 3.31664437e-02 2.32907804e+02] [-2.21154872e-01 9.75216936e-01 -6.51533691e-03 -4.24252337e+01] [-3.37859870e-02 -9.84726070e-04 9.99428605e-01 -7.54740418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77401273899997 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:232.94, Y:-42.43, Z:-7.55 [[ 9.75736564e-01 2.16304196e-01 3.39212721e-02 2.32936186e+02] [-2.16203217e-01 9.76325662e-01 -6.66112998e-03 -4.24252774e+01] [-3.45590388e-02 -8.34380064e-04 9.99402310e-01 -7.54768933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:232.96, Y:-42.43, Z:-7.55 [[ 9.76558099e-01 2.12545074e-01 3.40421774e-02 2.32963665e+02] [-2.12441174e-01 9.77151008e-01 -6.68242097e-03 -4.24291504e+01] [-3.46846637e-02 -7.06187828e-04 9.99398057e-01 -7.54861918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83401273899997 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:232.99, Y:-42.43, Z:-7.55 [[ 9.77488669e-01 2.08215051e-01 3.40939025e-02 2.32991101e+02] [-2.08108286e-01 9.78082912e-01 -6.69010510e-03 -4.24337281e+01] [-3.47396440e-02 -5.55721692e-04 9.99396242e-01 -7.54953027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:233.02, Y:-42.44, Z:-7.55 [[ 9.79299430e-01 1.99645941e-01 3.33785156e-02 2.33018242e+02] [-1.99538708e-01 9.79868071e-01 -6.54732638e-03 -4.24395913e+01] [-3.40136888e-02 -2.48512899e-04 9.99421336e-01 -7.55147822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89401273899998 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:233.05, Y:-42.45, Z:-7.55 [[ 9.80577509e-01 1.93190503e-01 3.38404935e-02 2.33045882e+02] [-1.93076504e-01 9.81161266e-01 -6.63585033e-03 -4.24473233e+01] [-3.44849647e-02 -2.68386013e-05 9.99405216e-01 -7.55273272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:233.07, Y:-42.45, Z:-7.55 [[ 9.81001881e-01 1.90851934e-01 3.47972668e-02 2.33074221e+02] [-1.90729985e-01 9.81618835e-01 -6.82175493e-03 -4.24549558e+01] [-3.54595976e-02 5.52722164e-05 9.99371109e-01 -7.55310675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95401273899998 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:233.10, Y:-42.46, Z:-7.55 [[ 9.81337788e-01 1.89103852e-01 3.48694632e-02 2.33101796e+02] [-1.88980353e-01 9.81957086e-01 -6.83423747e-03 -4.24623725e+01] [-3.55326971e-02 1.17052015e-04 9.99368507e-01 -7.55333396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:233.13, Y:-42.47, Z:-7.55 [[ 9.81555981e-01 1.88098961e-01 3.41560682e-02 2.33128545e+02] [-1.87979913e-01 9.82150069e-01 -6.69281767e-03 -4.24692538e+01] [-3.48052968e-02 1.48720479e-04 9.99394101e-01 -7.55402542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01401273899998 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:233.16, Y:-42.48, Z:-7.56 [[ 9.81580861e-01 1.88421862e-01 3.15628858e-02 2.33157150e+02] [-1.88320434e-01 9.82088176e-01 -6.18287545e-03 -4.24784122e+01] [-3.21625259e-02 1.25055859e-04 9.99482644e-01 -7.55702719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:233.18, Y:-42.49, Z:-7.56 [[ 9.81209625e-01 1.90303221e-01 3.18175557e-02 2.33184050e+02] [-1.90201162e-01 9.81725359e-01 -6.23199465e-03 -4.24896297e+01] [-3.24220700e-02 6.31570539e-05 9.99474264e-01 -7.55801077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07401273899998 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:233.21, Y:-42.50, Z:-7.56 [[ 9.81003004e-01 1.91220917e-01 3.26751902e-02 2.33211895e+02] [-1.91113830e-01 9.81547024e-01 -6.39874765e-03 -4.24976561e+01] [-3.32958101e-02 3.25099057e-05 9.99445540e-01 -7.55805467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:233.24, Y:-42.51, Z:-7.56 [[ 9.80676159e-01 1.92820640e-01 3.30827980e-02 2.33240175e+02] [-1.92711826e-01 9.81234019e-01 -6.47701155e-03 -4.25050319e+01] [-3.37108683e-02 -2.35955993e-05 9.99431627e-01 -7.55853968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13401273899999 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:233.27, Y:-42.51, Z:-7.56 [[ 9.80416156e-01 1.94184833e-01 3.28087284e-02 2.33268562e+02] [-1.94078632e-01 9.80964956e-01 -6.42176343e-03 -4.25118771e+01] [-3.34312219e-02 -7.14725072e-05 9.99441018e-01 -7.56018434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:233.30, Y:-42.52, Z:-7.56 [[ 9.80021731e-01 1.96476431e-01 3.08936726e-02 2.33295580e+02] [-1.96383450e-01 9.80508537e-01 -6.04554484e-03 -4.25192262e+01] [-3.14793168e-02 -1.42240691e-04 9.99504393e-01 -7.56283313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194012739 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:233.32, Y:-42.53, Z:-7.56 [[ 9.79831773e-01 1.97298383e-01 3.16708733e-02 2.33322946e+02] [-1.97201157e-01 9.80343469e-01 -6.19565663e-03 -4.25262562e+01] [-3.22707268e-02 -1.74831629e-04 9.99479149e-01 -7.56324181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:233.35, Y:-42.53, Z:-7.56 [[ 9.79800290e-01 1.97304610e-01 3.25926760e-02 2.33351423e+02] [-1.97201710e-01 9.80342215e-01 -6.37398761e-03 -4.25320595e+01] [-3.32095933e-02 -1.82096541e-04 9.99448393e-01 -7.56387148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254012739 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:233.38, Y:-42.54, Z:-7.56 [[ 9.79773368e-01 1.97283074e-01 3.35191869e-02 2.33378396e+02] [-1.97174283e-01 9.80346548e-01 -6.55351872e-03 -4.25375907e+01] [-3.41533175e-02 -1.88158546e-04 9.99416588e-01 -7.56417124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:233.41, Y:-42.54, Z:-7.57 [[ 9.79935332e-01 1.96491110e-01 3.34363362e-02 2.33406374e+02] [-1.96382470e-01 9.80505593e-01 -6.53514363e-03 -4.25449389e+01] [-3.40686123e-02 -1.62292156e-04 9.99419483e-01 -7.56571136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314012739 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:233.43, Y:-42.55, Z:-7.57 [[ 9.80105822e-01 1.95655089e-01 3.33416337e-02 2.33433810e+02] [-1.95546634e-01 9.80672763e-01 -6.51504773e-03 -4.25514695e+01] [-3.39719343e-02 -1.34408018e-04 9.99422778e-01 -7.56704908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:233.46, Y:-42.56, Z:-7.57 [[ 9.80054942e-01 1.95790691e-01 3.40340468e-02 2.33462105e+02] [-1.95677838e-01 9.80645698e-01 -6.64826886e-03 -4.25592262e+01] [-3.46770108e-02 -1.44039944e-04 9.99398561e-01 -7.56656922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.374012739 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:233.49, Y:-42.57, Z:-7.57 [[ 9.79799689e-01 1.96966224e-01 3.45959096e-02 2.33491525e+02] [-1.96850375e-01 9.80410256e-01 -6.75717283e-03 -4.25652266e+01] [-3.52491195e-02 -1.89541938e-04 9.99378539e-01 -7.56709892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:233.52, Y:-42.57, Z:-7.57 [[ 9.79355725e-01 1.99113104e-01 3.48760091e-02 2.33520047e+02] [-1.98996761e-01 9.79976479e-01 -6.81103388e-03 -4.25702120e+01] [-3.55338347e-02 -2.69787822e-04 9.99368437e-01 -7.56759105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43401273899997 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:233.55, Y:-42.57, Z:-7.57 [[ 9.78110565e-01 2.05306305e-01 3.38975535e-02 2.33548443e+02] [-2.05200140e-01 9.78697650e-01 -6.61916330e-03 -4.25724784e+01] [-3.45344119e-02 -4.81509166e-04 9.99403393e-01 -7.56803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:233.58, Y:-42.58, Z:-7.57 [[ 9.77426857e-01 2.08679812e-01 3.30072154e-02 2.33577131e+02] [-2.08581143e-01 9.77983840e-01 -6.44323589e-03 -4.25761118e+01] [-3.36250965e-02 -5.86890895e-04 9.99434344e-01 -7.56910767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49401273899997 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:233.61, Y:-42.58, Z:-7.57 [[ 9.76149091e-01 2.14638001e-01 3.26110589e-02 2.33605077e+02] [-2.14545057e-01 9.76693357e-01 -6.36429919e-03 -4.25788540e+01] [-3.32170251e-02 -7.84036650e-04 9.99447855e-01 -7.57068051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:233.63, Y:-42.58, Z:-7.57 [[ 9.75596598e-01 2.17036206e-01 3.32650380e-02 2.33633232e+02] [-2.16940967e-01 9.76163153e-01 -6.48962196e-03 -4.25827775e+01] [-3.38805873e-02 -8.85296407e-04 9.99425496e-01 -7.57180444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55401273899997 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:233.66, Y:-42.59, Z:-7.57 [[ 9.75248312e-01 2.18473478e-01 3.40598055e-02 2.33661427e+02] [-2.18374593e-01 9.75842415e-01 -6.64221245e-03 -4.25863850e+01] [-3.46881501e-02 -9.59989693e-04 9.99397724e-01 -7.57288291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:233.69, Y:-42.59, Z:-7.57 [[ 9.74959097e-01 2.19758589e-01 3.40723086e-02 2.33690243e+02] [-2.19660499e-01 9.75553764e-01 -6.64224962e-03 -4.25867533e+01] [-3.46990603e-02 -1.00841863e-03 9.99397298e-01 -7.57403225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61401273899997 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:233.72, Y:-42.59, Z:-7.58 [[ 9.74890789e-01 2.20168244e-01 3.33750429e-02 2.33717358e+02] [-2.20074451e-01 9.75461396e-01 -6.50388557e-03 -4.25889483e+01] [-3.39880150e-02 -1.00441610e-03 9.99421736e-01 -7.57537215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:233.74, Y:-42.59, Z:-7.58 [[ 9.74759481e-01 2.20899671e-01 3.23618653e-02 2.33744971e+02] [-2.20811981e-01 9.75296023e-01 -6.30368437e-03 -4.25909774e+01] [-3.29548803e-02 -1.00131148e-03 9.99456339e-01 -7.57664807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67401273899998 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:233.77, Y:-42.60, Z:-7.58 [[ 9.74771461e-01 2.20846743e-01 3.23622345e-02 2.33772947e+02] [-2.20759086e-01 9.75308009e-01 -6.30178835e-03 -4.25962908e+01] [-3.29548760e-02 -1.00145387e-03 9.99456339e-01 -7.57763952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:233.80, Y:-42.59, Z:-7.58 [[ 9.74600569e-01 2.21946936e-01 2.98879436e-02 2.33801598e+02] [-2.21872734e-01 9.75058273e-01 -5.81851743e-03 -4.25947815e+01] [-3.04338887e-02 -9.60589342e-04 9.99536320e-01 -7.58027963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73401273899998 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:233.83, Y:-42.59, Z:-7.58 [[ 9.74211415e-01 2.23519132e-01 3.08434188e-02 2.33829608e+02] [-2.23440965e-01 9.74698983e-01 -6.00231965e-03 -4.25947401e+01] [-3.14046822e-02 -1.04415494e-03 9.99506206e-01 -7.58045647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:233.86, Y:-42.60, Z:-7.58 [[ 9.73980763e-01 2.24319906e-01 3.22808454e-02 2.33857242e+02] [-2.24234859e-01 9.74514914e-01 -6.27784378e-03 -4.25970771e+01] [-3.28664106e-02 -1.12399173e-03 9.99459122e-01 -7.58023010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79401273899998 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:233.88, Y:-42.60, Z:-7.58 [[ 9.73791435e-01 2.25029925e-01 3.30419991e-02 2.33884019e+02] [-2.24941312e-01 9.74351141e-01 -6.42337404e-03 -4.25983183e+01] [-3.36399609e-02 -1.17748400e-03 9.99433323e-01 -7.58051626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:233.91, Y:-42.60, Z:-7.58 [[ 9.73604585e-01 2.25865870e-01 3.28438850e-02 2.33911638e+02] [-2.25778885e-01 9.74157669e-01 -6.38203882e-03 -4.25989413e+01] [-3.34366072e-02 -1.20187349e-03 9.99440118e-01 -7.58171055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85401273899998 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:233.94, Y:-42.59, Z:-7.58 [[ 9.73224363e-01 2.27501207e-01 3.28259132e-02 2.33941353e+02] [-2.27415338e-01 9.73776983e-01 -6.37580061e-03 -4.25944066e+01] [-3.34156211e-02 -1.26003165e-03 9.99440748e-01 -7.58411436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:233.97, Y:-42.59, Z:-7.58 [[ 9.73065559e-01 2.28208203e-01 3.26256754e-02 2.33970429e+02] [-2.28123853e-01 9.73611514e-01 -6.33456430e-03 -4.25894796e+01] [-3.32103328e-02 -1.27874842e-03 9.99447567e-01 -7.58484905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914012739 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:234.00, Y:-42.59, Z:-7.59 [[ 9.73149363e-01 2.27903314e-01 3.22551831e-02 2.33999155e+02] [-2.27820779e-01 9.73682957e-01 -6.26030718e-03 -4.25902473e+01] [-3.28330668e-02 -1.25618699e-03 9.99460060e-01 -7.58548014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:234.03, Y:-42.59, Z:-7.59 [[ 9.73310588e-01 2.27266173e-01 3.18839596e-02 2.34027282e+02] [-2.27185260e-01 9.73831911e-01 -6.18595208e-03 -4.25913095e+01] [-3.24554750e-02 -1.22271299e-03 9.99472434e-01 -7.58656811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:234.05, Y:-42.59, Z:-7.59 [[ 9.73611549e-01 2.26045473e-01 3.13687241e-02 2.34054566e+02] [-2.25966593e-01 9.74116054e-01 -6.08374619e-03 -4.25923221e+01] [-3.19319810e-02 -1.16507816e-03 9.99489365e-01 -7.58732548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:234.08, Y:-42.59, Z:-7.59 [[ 9.74262026e-01 2.23177511e-01 3.17065138e-02 2.34083537e+02] [-2.23095495e-01 9.74777216e-01 -6.14647721e-03 -4.25897730e+01] [-3.22785427e-02 -1.08530105e-03 9.99478323e-01 -7.58821373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034012739 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:234.11, Y:-42.59, Z:-7.59 [[ 9.74531908e-01 2.21814244e-01 3.29545275e-02 2.34111589e+02] [-2.21724945e-01 9.75088338e-01 -6.38606045e-03 -4.25916052e+01] [-3.35500946e-02 -1.08342111e-03 9.99436450e-01 -7.58851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:234.14, Y:-42.59, Z:-7.58 [[ 9.74849775e-01 2.20016226e-01 3.55074195e-02 2.34140455e+02] [-2.19911626e-01 9.75495583e-01 -6.87340861e-03 -4.25920729e+01] [-3.61495923e-02 -1.10795353e-03 9.99345776e-01 -7.57969356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.094012739 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:234.17, Y:-42.59, Z:-7.58 [[ 9.75067611e-01 2.19022261e-01 3.56707552e-02 2.34167116e+02] [-2.18916138e-01 9.75719266e-01 -6.90212807e-03 -4.25940831e+01] [-3.63163628e-02 -1.07886243e-03 9.99339761e-01 -7.58222991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:234.20, Y:-42.60, Z:-7.59 [[ 9.75248108e-01 2.18304354e-01 3.51331333e-02 2.34195202e+02] [-2.18201119e-01 9.75880180e-01 -6.79312549e-03 -4.25951059e+01] [-3.57686973e-02 -1.04110620e-03 9.99359553e-01 -7.59004154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15401273899997 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:234.22, Y:-42.59, Z:-7.59 [[ 9.75580797e-01 2.17214668e-01 3.25560606e-02 2.34222623e+02] [-2.17125625e-01 9.76123412e-01 -6.28862713e-03 -4.25934460e+01] [-3.31447150e-02 -9.33691147e-04 9.99450127e-01 -7.59150133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:234.25, Y:-42.60, Z:-7.59 [[ 9.75739893e-01 2.16646023e-01 3.15620433e-02 2.34250092e+02] [-2.16562114e-01 9.76249820e-01 -6.09423966e-03 -4.25966092e+01] [-3.21327318e-02 -8.88750063e-04 9.99483215e-01 -7.59370230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21401273899997 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:234.28, Y:-42.60, Z:-7.59 [[ 9.76346129e-01 2.13947698e-01 3.12188908e-02 2.34277242e+02] [-2.13864431e-01 9.76844791e-01 -6.02153481e-03 -4.25990456e+01] [-3.17843044e-02 -7.97508118e-04 9.99494433e-01 -7.59458402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:234.30, Y:-42.60, Z:-7.60 [[ 9.76824735e-01 2.11624607e-01 3.20696534e-02 2.34303633e+02] [-2.11535580e-01 9.77350741e-01 -6.18277673e-03 -4.26020736e+01] [-3.26517272e-02 -7.44383501e-04 9.99466513e-01 -7.59543433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27401273899997 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:234.33, Y:-42.60, Z:-7.59 [[ 9.77962985e-01 2.05886278e-01 3.46300630e-02 2.34330896e+02] [-2.05778976e-01 9.78575741e-01 -6.67326071e-03 -4.26039647e+01] [-3.52620724e-02 -5.99936954e-04 9.99377920e-01 -7.59497029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:234.36, Y:-42.61, Z:-7.60 [[ 9.78565251e-01 2.02897152e-01 3.52533131e-02 2.34357974e+02] [-2.02784178e-01 9.79199923e-01 -6.78875796e-03 -4.26091196e+01] [-3.58974612e-02 -5.05571479e-04 9.99355351e-01 -7.59576250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33401273899997 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:234.38, Y:-42.61, Z:-7.60 [[ 9.79117989e-01 2.00245744e-01 3.50657346e-02 2.34384220e+02] [-2.00132363e-01 9.79745618e-01 -6.74998831e-03 -4.26146387e+01] [-3.57071563e-02 -4.08753348e-04 9.99362213e-01 -7.59662924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:234.41, Y:-42.62, Z:-7.60 [[ 9.79920612e-01 1.96751717e-01 3.23165043e-02 2.34411386e+02] [-1.96653608e-01 9.80453310e-01 -6.21813700e-03 -4.26208736e+01] [-3.29082527e-02 -2.61876547e-04 9.99458342e-01 -7.59917271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39401273899998 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:234.44, Y:-42.63, Z:-7.60 [[ 9.80206140e-01 1.95453274e-01 3.15268364e-02 2.34439111e+02] [-1.95359302e-01 9.80712991e-01 -6.06397268e-03 -4.26267616e+01] [-3.21040013e-02 -2.15117494e-04 9.99484511e-01 -7.60082699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:234.47, Y:-42.63, Z:-7.60 [[ 9.80679722e-01 1.92858974e-01 3.27520742e-02 2.34465005e+02] [-1.92756192e-01 9.81226476e-01 -6.29709087e-03 -4.26332561e+01] [-3.33516528e-02 -1.37735754e-04 9.99443669e-01 -7.60074484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45401273899998 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:234.49, Y:-42.64, Z:-7.60 [[ 9.80825322e-01 1.91921834e-01 3.38776759e-02 2.34491915e+02] [-1.91811410e-01 9.81410208e-01 -6.51044782e-03 -4.26385507e+01] [-3.44973941e-02 -1.12512715e-04 9.99404781e-01 -7.60066264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:234.52, Y:-42.64, Z:-7.60 [[ 9.80923537e-01 1.91371126e-01 3.41483122e-02 2.34519358e+02] [-1.91258700e-01 9.81517745e-01 -6.55947715e-03 -4.26439382e+01] [-3.47724689e-02 -9.68162769e-05 9.99395250e-01 -7.60124287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51401273899998 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:234.55, Y:-42.65, Z:-7.60 [[ 9.81045095e-01 1.91142989e-01 3.18571805e-02 2.34545861e+02] [-1.91045096e-01 9.81562199e-01 -6.11724962e-03 -4.26507444e+01] [-3.24390735e-02 -8.48603709e-05 9.99473711e-01 -7.60403867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:234.57, Y:-42.66, Z:-7.61 [[ 9.81033517e-01 1.91366868e-01 3.08538403e-02 2.34573072e+02] [-1.91275237e-01 9.81518575e-01 -5.92202326e-03 -4.26578668e+01] [-3.14168964e-02 -9.18723168e-05 9.99506363e-01 -7.60566818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57401273899998 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:234.60, Y:-42.67, Z:-7.61 [[ 9.80873773e-01 1.92104161e-01 3.13469694e-02 2.34599624e+02] [-1.92010028e-01 9.81374535e-01 -6.01432961e-03 -4.26658515e+01] [-3.19184952e-02 -1.19634282e-04 9.99490468e-01 -7.60604347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:234.63, Y:-42.67, Z:-7.61 [[ 9.80788657e-01 1.92484750e-01 3.16738205e-02 2.34625547e+02] [-1.92388917e-01 9.81299956e-01 -6.07469243e-03 -4.26715305e+01] [-3.22508043e-02 -1.35702591e-04 9.99479798e-01 -7.60645287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63401273899999 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:234.65, Y:-42.68, Z:-7.61 [[ 9.80717466e-01 1.92892209e-01 3.13982070e-02 2.34653435e+02] [-1.92798333e-01 9.81219941e-01 -6.01911676e-03 -4.26767092e+01] [-3.19695876e-02 -1.50469043e-04 9.99488831e-01 -7.60715395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:234.68, Y:-42.68, Z:-7.61 [[ 9.80412555e-01 1.94495064e-01 3.10304960e-02 2.34679818e+02] [-1.94404243e-01 9.80903476e-01 -5.94653474e-03 -4.26822201e+01] [-3.15944930e-02 -2.02402749e-04 9.99500749e-01 -7.60874098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694012739 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:234.71, Y:-42.69, Z:-7.61 [[ 9.80201066e-01 1.95481817e-01 3.15075952e-02 2.34706882e+02] [-1.95388834e-01 9.80707296e-01 -6.03348510e-03 -4.26877820e+01] [-3.20791652e-02 -2.42203775e-04 9.99485302e-01 -7.60951240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:234.73, Y:-42.69, Z:-7.61 [[ 9.79932274e-01 1.96496313e-01 3.34953259e-02 2.34733207e+02] [-1.96391910e-01 9.80504519e-01 -6.41139402e-03 -4.26916343e+01] [-3.41021337e-02 -2.95479096e-04 9.99418309e-01 -7.60931791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:234.76, Y:-42.70, Z:-7.61 [[ 9.79952177e-01 1.96392021e-01 3.35246935e-02 2.34759648e+02] [-1.96287477e-01 9.80525414e-01 -6.41401683e-03 -4.26956794e+01] [-3.41314757e-02 -2.95047733e-04 9.99417308e-01 -7.60997076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:234.79, Y:-42.70, Z:-7.61 [[ 9.80020287e-01 1.96135193e-01 3.30336763e-02 2.34786917e+02] [-1.96033637e-01 9.80576823e-01 -6.31727892e-03 -4.27006028e+01] [-3.36310980e-02 -2.84650208e-04 9.99434274e-01 -7.61109403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814012739 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:234.81, Y:-42.71, Z:-7.61 [[ 9.80461569e-01 1.94015295e-01 3.24526866e-02 2.34814269e+02] [-1.93916197e-01 9.80998482e-01 -6.20382762e-03 -4.27067816e+01] [-3.30396737e-02 -2.10487006e-04 9.99454019e-01 -7.60556783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:234.84, Y:-42.71, Z:-7.61 [[ 9.80732605e-01 1.92554447e-01 3.29597070e-02 2.34841318e+02] [-1.92451487e-01 9.81286277e-01 -6.29825672e-03 -4.27110359e+01] [-3.35556655e-02 -1.66238899e-04 9.99436836e-01 -7.61306556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.874012739 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:234.87, Y:-42.72, Z:-7.61 [[ 9.81493263e-01 1.88348659e-01 3.45797170e-02 2.34867462e+02] [-1.88232809e-01 9.82102226e-01 -6.60513520e-03 -4.27173749e+01] [-3.52048853e-02 -2.61415425e-05 9.99380116e-01 -7.61421188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:234.89, Y:-42.72, Z:-7.62 [[ 9.82020932e-01 1.85590648e-01 3.45108870e-02 2.34894448e+02] [-1.85473659e-01 9.82627145e-01 -6.58904002e-03 -4.27249484e+01] [-3.51341985e-02 6.97147563e-05 9.99382601e-01 -7.61535146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93401273899997 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:234.92, Y:-42.73, Z:-7.62 [[ 9.82547605e-01 1.82818058e-01 3.43185208e-02 2.34921122e+02] [-1.82700765e-01 9.83146749e-01 -6.54981271e-03 -4.27332440e+01] [-3.49375662e-02 1.65482783e-04 9.99389483e-01 -7.61665129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:234.95, Y:-42.74, Z:-7.62 [[ 9.83285381e-01 1.79062351e-01 3.29626009e-02 2.34946936e+02] [-1.78952114e-01 9.83837686e-01 -6.28869178e-03 -4.27444921e+01] [-3.35559169e-02 2.84851584e-04 9.99436801e-01 -7.61688634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99401273899997 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:234.97, Y:-42.75, Z:-7.61 [[ 9.83507919e-01 1.77872708e-01 3.27639073e-02 2.34974166e+02] [-1.77763231e-01 9.84053452e-01 -6.24795139e-03 -4.27528242e+01] [-3.33527761e-02 3.20691650e-04 9.99443590e-01 -7.60998454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:235.00, Y:-42.76, Z:-7.62 [[ 9.83404887e-01 1.78324759e-01 3.33932500e-02 2.35000685e+02] [-1.78211379e-01 9.83971638e-01 -6.36548589e-03 -4.27620541e+01] [-3.39931346e-02 3.08792806e-04 9.99422019e-01 -7.61836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05401273899997 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:235.03, Y:-42.77, Z:-7.62 [[ 9.83131383e-01 1.79809393e-01 3.34853223e-02 2.35026451e+02] [-1.79696330e-01 9.83701437e-01 -6.38060412e-03 -4.27696103e+01] [-3.40868523e-02 2.55782595e-04 9.99418842e-01 -7.61951808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:235.05, Y:-42.78, Z:-7.62 [[ 9.82762386e-01 1.81877488e-01 3.31462267e-02 2.35052075e+02] [-1.81767973e-01 9.83321182e-01 -6.31323136e-03 -4.27767302e+01] [-3.37416215e-02 1.79483888e-04 9.99430573e-01 -7.62041945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11401273899997 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:235.08, Y:-42.78, Z:-7.62 [[ 9.82333822e-01 1.84329764e-01 3.22924240e-02 2.35079535e+02] [-1.84227230e-01 9.82864452e-01 -6.14796776e-03 -4.27840414e+01] [-3.28723290e-02 9.02128355e-05 9.99459555e-01 -7.62182451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:235.11, Y:-42.79, Z:-7.62 [[ 9.81390652e-01 1.89506676e-01 3.09775483e-02 2.35105817e+02] [-1.89414968e-01 9.81879429e-01 -5.89551795e-03 -4.27912613e+01] [-3.15334574e-02 -8.18050990e-05 9.99502694e-01 -7.62350662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17401273899998 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:235.13, Y:-42.80, Z:-7.62 [[ 9.80970824e-01 1.91720808e-01 3.06492070e-02 2.35133405e+02] [-1.91632195e-01 9.81449493e-01 -5.83042311e-03 -4.27974084e+01] [-3.11984622e-02 -1.53899842e-04 9.99513198e-01 -7.62440119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:235.16, Y:-42.81, Z:-7.62 [[ 9.80268368e-01 1.95187081e-01 3.12398885e-02 2.35160317e+02] [-1.95096850e-01 9.80765991e-01 -5.94047696e-03 -4.28053289e+01] [-3.17985246e-02 -2.71542193e-04 9.99494262e-01 -7.62472225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23401273899998 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:235.19, Y:-42.81, Z:-7.63 [[ 9.79954988e-01 1.96699258e-01 3.15851749e-02 2.35187029e+02] [-1.96607880e-01 9.80463816e-01 -6.00385536e-03 -4.28115619e+01] [-3.21490751e-02 -3.26386284e-04 9.99483032e-01 -7.62553194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:235.21, Y:-42.82, Z:-7.63 [[ 9.79262866e-01 1.99958885e-01 3.25681421e-02 2.35213087e+02] [-1.99863672e-01 9.79804185e-01 -6.18640439e-03 -4.28163646e+01] [-3.31474285e-02 -4.51072393e-04 9.99450371e-01 -7.62690621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29401273899998 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:235.24, Y:-42.82, Z:-7.63 [[ 9.78936309e-01 2.01576013e-01 3.24162477e-02 2.35241029e+02] [-2.01482703e-01 9.79472743e-01 -6.15362104e-03 -4.28208372e+01] [-3.29912534e-02 -5.07310131e-04 9.99455512e-01 -7.62830429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:235.27, Y:-42.83, Z:-7.63 [[ 9.78715252e-01 2.02686457e-01 3.21660623e-02 2.35267567e+02] [-2.02595255e-01 9.79243537e-01 -6.10386414e-03 -4.28251552e+01] [-3.27355792e-02 -5.42746649e-04 9.99463900e-01 -7.62965844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35401273899998 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:235.29, Y:-42.83, Z:-7.63 [[ 9.78483406e-01 2.03905177e-01 3.15103595e-02 2.35294662e+02] [-2.03818371e-01 9.78990475e-01 -5.97683356e-03 -4.28310083e+01] [-3.20670491e-02 -5.74157678e-04 9.99485555e-01 -7.63065934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:235.32, Y:-42.84, Z:-7.63 [[ 9.78464444e-01 2.03960759e-01 3.17386154e-02 2.35320657e+02] [-2.03872793e-01 9.78978891e-01 -6.01786153e-03 -4.28361209e+01] [-3.22988422e-02 -5.82376644e-04 9.99478087e-01 -7.63110683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414012739 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:235.35, Y:-42.84, Z:-7.63 [[ 9.78470620e-01 2.03864161e-01 3.21659646e-02 2.35348342e+02] [-2.03773847e-01 9.78999007e-01 -6.09614518e-03 -4.28411289e+01] [-3.27332330e-02 -5.89683407e-04 9.99463950e-01 -7.63167545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:235.38, Y:-42.85, Z:-7.63 [[ 9.78505245e-01 2.03590273e-01 3.28403247e-02 2.35376215e+02] [-2.03496057e-01 9.79055998e-01 -6.22159042e-03 -4.28467352e+01] [-3.34191721e-02 -5.95017725e-04 9.99441246e-01 -7.63237860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474012739 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:235.40, Y:-42.85, Z:-7.63 [[ 9.78528633e-01 2.03374089e-01 3.34767775e-02 2.35402684e+02] [-2.03276145e-01 9.79100923e-01 -6.33962314e-03 -4.28519082e+01] [-3.40664589e-02 -6.01527510e-04 9.99419389e-01 -7.63312336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:235.43, Y:-42.86, Z:-7.63 [[ 9.78431007e-01 2.03632862e-01 3.47335902e-02 2.35430644e+02] [-2.03527697e-01 9.79047114e-01 -6.57451374e-03 -4.28565316e+01] [-3.53446083e-02 -6.36539521e-04 9.99374981e-01 -7.63388545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534012739 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:235.46, Y:-42.86, Z:-7.63 [[ 9.78331847e-01 2.04136655e-01 3.45691119e-02 2.35457244e+02] [-2.04032888e-01 9.78942183e-01 -6.54082640e-03 -4.28613063e+01] [-3.51763843e-02 -6.54136981e-04 9.99380905e-01 -7.63492472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:235.49, Y:-42.87, Z:-7.64 [[ 9.78343824e-01 2.04079153e-01 3.45696531e-02 2.35485245e+02] [-2.03975451e-01 9.78954172e-01 -6.53796489e-03 -4.28664724e+01] [-3.51763685e-02 -6.54983024e-04 9.99380905e-01 -7.63591622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.594012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:235.51, Y:-42.87, Z:-7.64 [[ 9.78278516e-01 2.04493764e-01 3.39624310e-02 2.35511501e+02] [-2.04393993e-01 9.78867644e-01 -6.42110108e-03 -4.28715189e+01] [-3.45578000e-02 -6.60091660e-04 9.99402483e-01 -7.63722291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:235.54, Y:-42.88, Z:-7.64 [[ 9.78264008e-01 2.04643863e-01 3.34726608e-02 2.35538768e+02] [-2.04547134e-01 9.78836276e-01 -6.32570078e-03 -4.28769457e+01] [-3.40587705e-02 -6.58531430e-04 9.99419615e-01 -7.63893099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65401273899997 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:235.57, Y:-42.88, Z:-7.64 [[ 9.78453358e-01 2.03958450e-01 3.20932636e-02 2.35566489e+02] [-2.03869234e-01 9.78979355e-01 -6.06278564e-03 -4.28827540e+01] [-3.26551988e-02 -6.10676114e-04 9.99466490e-01 -7.64075537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:235.59, Y:-42.89, Z:-7.64 [[ 9.78605297e-01 2.03334409e-01 3.14132184e-02 2.35593320e+02] [-2.03248686e-01 9.79109178e-01 -5.93206595e-03 -4.28876668e+01] [-3.19631636e-02 -5.79544218e-04 9.99488880e-01 -7.64147884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71401273899997 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:235.62, Y:-42.89, Z:-7.64 [[ 9.78742377e-01 2.02713210e-01 3.11562962e-02 2.35619956e+02] [-2.02628654e-01 9.79237991e-01 -5.88087516e-03 -4.28935025e+01] [-3.17015600e-02 -5.57296634e-04 9.99497224e-01 -7.64219500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:235.65, Y:-42.90, Z:-7.64 [[ 9.78723353e-01 2.02736180e-01 3.16012593e-02 2.35647232e+02] [-2.02649293e-01 9.79233230e-01 -5.96207613e-03 -4.28991957e+01] [-3.21537318e-02 -5.68749716e-04 9.99482773e-01 -7.64274730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77401273899997 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:235.67, Y:-42.90, Z:-7.64 [[ 9.78694014e-01 2.02764116e-01 3.23224554e-02 2.35674989e+02] [-2.02673311e-01 9.79227436e-01 -6.09573350e-03 -4.29042852e+01] [-3.28870312e-02 -5.85041180e-04 9.99458904e-01 -7.64332708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:235.70, Y:-42.91, Z:-7.64 [[ 9.78577633e-01 2.03265545e-01 3.26945555e-02 2.35702376e+02] [-2.03172997e-01 9.79123457e-01 -6.16349746e-03 -4.29079476e+01] [-3.32648329e-02 -6.11190071e-04 9.99446385e-01 -7.64381021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83401273899997 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:235.73, Y:-42.91, Z:-7.64 [[ 9.78506488e-01 2.03662714e-01 3.23504472e-02 2.35728959e+02] [-2.03572398e-01 9.79040915e-01 -6.09629707e-03 -4.29124856e+01] [-3.29139998e-02 -6.20391875e-04 9.99457995e-01 -7.64472986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:235.75, Y:-42.92, Z:-7.65 [[ 9.78102173e-01 2.05057250e-01 3.56042626e-02 2.35753751e+02] [-2.05256846e-01 9.78706088e-01 2.00502337e-03 -4.29224871e+01] [-3.44349640e-02 -9.26913633e-03 9.99363956e-01 -7.64791400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89401273899998 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:235.78, Y:-42.92, Z:-7.65 [[ 9.78279944e-01 2.05106704e-01 2.99931809e-02 2.35784873e+02] [-2.04758432e-01 9.78708243e-01 -1.42884201e-02 -4.29156504e+01] [-3.22852241e-02 7.83671811e-03 9.99447973e-01 -7.64587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:235.81, Y:-42.92, Z:-7.65 [[ 9.78467248e-01 2.03697215e-01 3.33060030e-02 2.35812086e+02] [-2.03601802e-01 9.79033719e-01 -6.26757729e-03 -4.29236253e+01] [-3.38843880e-02 -6.48543118e-04 9.99425549e-01 -7.64666532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95401273899998 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:235.84, Y:-42.93, Z:-7.65 [[ 9.78663478e-01 2.02702843e-01 3.36058546e-02 2.35840166e+02] [-2.02605201e-01 9.79240099e-01 -6.32154979e-03 -4.29278038e+01] [-3.41895965e-02 -6.22051018e-04 9.99415171e-01 -7.64797960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters Centerline goodness : 0.997385 Centerline is valid? [True, True] Translation: X:235.87, Y:-42.93, Z:-7.65 [[ 9.78899539e-01 2.01699561e-01 3.27563696e-02 2.35867035e+02] [-2.01606309e-01 9.79447271e-01 -6.15945760e-03 -4.29318531e+01] [-3.33254968e-02 -5.74400583e-04 9.99444386e-01 -7.64885363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01401273899998 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:235.90, Y:-42.93, Z:-7.65 [[ 9.79182174e-01 2.00488631e-01 3.17266257e-02 2.35895233e+02] [-2.00400601e-01 9.79695891e-01 -5.96321127e-03 -4.29347941e+01] [-3.22780009e-02 -5.18964675e-04 9.99478795e-01 -7.64998477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:235.92, Y:-42.94, Z:-7.65 [[ 9.79226884e-01 2.00250947e-01 3.18475617e-02 2.35921613e+02] [-2.00162192e-01 9.79744504e-01 -5.98366234e-03 -4.29383352e+01] [-3.24007075e-02 -5.15314727e-04 9.99474826e-01 -7.65068028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07401273899998 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:235.95, Y:-42.94, Z:-7.65 [[ 9.79354004e-01 1.99581628e-01 3.21389065e-02 2.35950070e+02] [-1.99490971e-01 9.79881076e-01 -6.03565963e-03 -4.29403655e+01] [-3.26969131e-02 -5.00374244e-04 9.99465188e-01 -7.65161004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:235.98, Y:-42.94, Z:-7.65 [[ 9.79429621e-01 1.99226970e-01 3.20348653e-02 2.35978147e+02] [-1.99136784e-01 9.79953251e-01 -6.01384311e-03 -4.29438544e+01] [-3.25907902e-02 -4.89183975e-04 9.99468659e-01 -7.65233280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13401273899999 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:236.01, Y:-42.95, Z:-7.65 [[ 9.79436246e-01 1.99119260e-01 3.24986227e-02 2.36006020e+02] [-1.99026461e-01 9.79975140e-01 -6.09855486e-03 -4.29468167e+01] [-3.30621821e-02 -4.94940186e-04 9.99453174e-01 -7.65330781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:236.03, Y:-42.95, Z:-7.64 [[ 9.79420896e-01 1.99077165e-01 3.32113165e-02 2.36033988e+02] [-1.98980307e-01 9.79983687e-01 -6.22989198e-03 -4.29499833e+01] [-3.37867776e-02 -5.06711572e-04 9.99428935e-01 -7.64234537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194012739 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:236.06, Y:-42.95, Z:-7.65 [[ 9.79368306e-01 1.99308981e-01 3.33714083e-02 2.36060421e+02] [-1.99211406e-01 9.79936559e-01 -6.25745195e-03 -4.29527438e+01] [-3.39490294e-02 -5.19615028e-04 9.99423430e-01 -7.65390502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:236.09, Y:-42.95, Z:-7.65 [[ 9.79287462e-01 1.99934592e-01 3.19722565e-02 2.36087691e+02] [-1.99845445e-01 9.79809108e-01 -5.99258115e-03 -4.29548624e+01] [-3.25248324e-02 -5.21050220e-04 9.99470792e-01 -7.65465760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254012739 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:236.12, Y:-42.96, Z:-7.66 [[ 9.79339130e-01 1.99672082e-01 3.20301135e-02 2.36115498e+02] [-1.99582613e-01 9.79862639e-01 -5.99905100e-03 -4.29582130e+01] [-3.25829545e-02 -5.17548351e-04 9.99468901e-01 -7.65586816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:236.14, Y:-42.96, Z:-7.66 [[ 9.79467043e-01 1.98980795e-01 3.24184270e-02 2.36142354e+02] [-1.98888844e-01 9.80003260e-01 -6.06938658e-03 -4.29621442e+01] [-3.29778555e-02 -5.02899329e-04 9.99455956e-01 -7.65678652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314012739 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:236.17, Y:-42.97, Z:-7.66 [[ 9.80099123e-01 1.95541197e-01 3.41957497e-02 2.36169629e+02] [-1.95436882e-01 9.80695402e-01 -6.39952955e-03 -4.29663976e+01] [-3.47869861e-02 -4.10937387e-04 9.99394665e-01 -7.65738984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:236.20, Y:-42.97, Z:-7.66 [[ 9.80585653e-01 1.93060533e-01 3.43425158e-02 2.36197690e+02] [-1.92953884e-01 9.81186794e-01 -6.42454165e-03 -4.29706151e+01] [-3.49367484e-02 -3.26708457e-04 9.99389472e-01 -7.65810979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.374012739 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:236.22, Y:-42.98, Z:-7.66 [[ 9.81600474e-01 1.88168712e-01 3.24506476e-02 2.36224546e+02] [-1.88070892e-01 9.82136709e-01 -6.06837847e-03 -4.29751866e+01] [-3.30128511e-02 -1.46299037e-04 9.99454917e-01 -7.65983159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:236.25, Y:-42.98, Z:-7.66 [[ 9.81907158e-01 1.86718994e-01 3.15333168e-02 2.36251732e+02] [-1.86625966e-01 9.82413359e-01 -5.89416719e-03 -4.29812562e+01] [-3.20793047e-02 -9.74107481e-05 9.99485322e-01 -7.66112588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43401273899997 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:236.28, Y:-42.99, Z:-7.66 [[ 9.82034582e-01 1.86076451e-01 3.13629454e-02 2.36277608e+02] [-1.85984167e-01 9.82535266e-01 -5.86013998e-03 -4.29876154e+01] [-3.19056339e-02 -7.81511547e-05 9.99490883e-01 -7.66231393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:236.30, Y:-42.99, Z:-7.66 [[ 9.81957882e-01 1.86483881e-01 3.13445246e-02 2.36303892e+02] [-1.86392044e-01 9.82458016e-01 -5.85261749e-03 -4.29938535e+01] [-3.18860983e-02 -9.53461226e-05 9.99491505e-01 -7.66195398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49401273899997 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:236.33, Y:-43.00, Z:-7.66 [[ 9.81963440e-01 1.86450504e-01 3.13689820e-02 2.36331367e+02] [-1.86358592e-01 9.82464351e-01 -5.85446201e-03 -4.29981276e+01] [-3.19104739e-02 -9.70116839e-05 9.99490726e-01 -7.66269833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:236.36, Y:-43.00, Z:-7.66 [[ 9.81955022e-01 1.86475302e-01 3.14848673e-02 2.36358105e+02] [-1.86382798e-01 9.82459644e-01 -5.87373519e-03 -4.30027544e+01] [-3.20279181e-02 -1.00493909e-04 9.99486970e-01 -7.66335853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55401273899997 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:236.38, Y:-43.01, Z:-7.66 [[ 9.82095091e-01 1.85626206e-01 3.21269822e-02 2.36383839e+02] [-1.85529531e-01 9.82620428e-01 -5.99063127e-03 -4.30093215e+01] [-3.26806472e-02 -7.71343724e-05 9.99465842e-01 -7.66436027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:236.41, Y:-43.02, Z:-7.67 [[ 9.82220827e-01 1.84921943e-01 3.23438251e-02 2.36409956e+02] [-1.84823664e-01 9.82753210e-01 -6.02838164e-03 -4.30156102e+01] [-3.29007780e-02 -5.67022669e-05 9.99458621e-01 -7.66543411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61401273899997 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:236.44, Y:-43.02, Z:-7.67 [[ 9.82497337e-01 1.83385155e-01 3.26935418e-02 2.36436252e+02] [-1.83284021e-01 9.83041141e-01 -6.08956472e-03 -4.30234089e+01] [-3.32558324e-02 -9.22267170e-06 9.99446872e-01 -7.66600794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:236.46, Y:-43.03, Z:-7.67 [[ 9.82580834e-01 1.82924773e-01 3.27632668e-02 2.36463991e+02] [-1.82823042e-01 9.83126913e-01 -6.09982247e-03 -4.30296151e+01] [-3.33262580e-02 3.68854843e-06 9.99444526e-01 -7.66674350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67401273899998 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:236.49, Y:-43.03, Z:-7.67 [[ 9.82601180e-01 1.82785286e-01 3.29311448e-02 2.36491327e+02] [-1.82682513e-01 9.83152856e-01 -6.12865102e-03 -4.30349618e+01] [-3.34965763e-02 6.07543780e-06 9.99438832e-01 -7.66738936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:236.52, Y:-43.04, Z:-7.67 [[ 9.82542797e-01 1.83155710e-01 3.26134703e-02 2.36518347e+02] [-1.83055193e-01 9.83083916e-01 -6.06716034e-03 -4.30402433e+01] [-3.31730131e-02 -8.82042226e-06 9.99449624e-01 -7.66852166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73401273899998 meters Centerline goodness : 0.992203 Centerline is valid? [True, True] Translation: X:236.55, Y:-43.05, Z:-7.66 [[ 9.82490694e-01 1.83585623e-01 3.17546047e-02 2.36545141e+02] [-1.83490629e-01 9.83003723e-01 -5.90514274e-03 -4.30465636e+01] [-3.22989939e-02 -2.49245855e-05 9.99478251e-01 -7.65782148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:236.57, Y:-43.05, Z:-7.67 [[ 9.82455841e-01 1.83775032e-01 3.17373369e-02 2.36572814e+02] [-1.83680329e-01 9.82968329e-01 -5.89919070e-03 -4.30510581e+01] [-3.22809210e-02 -3.38301222e-05 9.99478835e-01 -7.67021616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79401273899998 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:236.60, Y:-43.06, Z:-7.67 [[ 9.82244490e-01 1.84942028e-01 3.14993304e-02 2.36599721e+02] [-1.84849411e-01 9.82749429e-01 -5.85271678e-03 -4.30581419e+01] [-3.20383623e-02 -7.38338661e-05 9.99486637e-01 -7.67182631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:236.63, Y:-43.06, Z:-7.67 [[ 9.82106140e-01 1.85644915e-01 3.16779858e-02 2.36626448e+02] [-1.85551686e-01 9.82616892e-01 -5.88358014e-03 -4.30643373e+01] [-3.22195807e-02 -9.96034819e-05 9.99480810e-01 -7.67297037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85401273899998 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:236.65, Y:-43.07, Z:-7.67 [[ 9.82027271e-01 1.86012279e-01 3.19667249e-02 2.36652666e+02] [-1.85917625e-01 9.82547413e-01 -5.93446819e-03 -4.30701904e+01] [-3.25127068e-02 -1.15367962e-04 9.99471316e-01 -7.67370890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:236.68, Y:-43.08, Z:-7.67 [[ 9.81928109e-01 1.86481269e-01 3.22788680e-02 2.36679442e+02] [-1.86385125e-01 9.82458507e-01 -5.98891892e-03 -4.30766601e+01] [-3.28294697e-02 -1.35613037e-04 9.99460958e-01 -7.67378667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914012739 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:236.71, Y:-43.08, Z:-7.67 [[ 9.81924181e-01 1.86590025e-01 3.17657887e-02 2.36706704e+02] [-1.86497044e-01 9.82437857e-01 -5.89146472e-03 -4.30828246e+01] [-3.23072019e-02 -1.39254031e-04 9.99477976e-01 -7.67467111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:236.73, Y:-43.09, Z:-7.68 [[ 9.81897547e-01 1.86768874e-01 3.15371858e-02 2.36733728e+02] [-1.86677393e-01 9.82403871e-01 -5.84678322e-03 -4.30894873e+01] [-3.20742506e-02 -1.46337520e-04 9.99485478e-01 -7.67596218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974012739 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:236.76, Y:-43.10, Z:-7.68 [[ 9.81881010e-01 1.86753234e-01 3.21389532e-02 2.36760805e+02] [-1.86658296e-01 9.82406844e-01 -5.95596088e-03 -4.30991080e+01] [-3.26858225e-02 -1.50957361e-04 9.99465664e-01 -7.67662148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:236.79, Y:-43.11, Z:-7.67 [[ 9.82100586e-01 1.85595678e-01 3.21353835e-02 2.36787616e+02] [-1.85500218e-01 9.82626191e-01 -5.95297221e-03 -4.31077323e+01] [-3.26819154e-02 -1.14703131e-04 9.99465797e-01 -7.66692067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034012739 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:236.81, Y:-43.12, Z:-7.67 [[ 9.82505207e-01 1.83455393e-01 3.20567900e-02 2.36812503e+02] [-1.83359335e-01 9.83028035e-01 -5.93612587e-03 -4.31193083e+01] [-3.26017376e-02 -4.56371166e-05 9.99468421e-01 -7.66926842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:236.84, Y:-43.13, Z:-7.68 [[ 9.82613529e-01 1.82860823e-01 3.21336527e-02 2.36840499e+02] [-1.82764077e-01 9.83138809e-01 -5.94757924e-03 -4.31270710e+01] [-3.26794203e-02 -2.87055389e-05 9.99465885e-01 -7.67984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.094012739 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:236.87, Y:-43.14, Z:-7.68 [[ 9.82588992e-01 1.82950427e-01 3.23730438e-02 2.36867000e+02] [-1.82852334e-01 9.83122139e-01 -5.99031882e-03 -4.31355499e+01] [-3.29225875e-02 -3.34652760e-05 9.99457904e-01 -7.68051275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:236.89, Y:-43.15, Z:-7.68 [[ 9.82148594e-01 1.85357563e-01 3.20423782e-02 2.36894489e+02] [-1.85262808e-01 9.82671136e-01 -5.92718487e-03 -4.31471622e+01] [-3.25857687e-02 -1.14884664e-04 9.99468936e-01 -7.68122226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15401273899997 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:236.92, Y:-43.16, Z:-7.67 [[ 9.81786284e-01 1.87368548e-01 3.14439264e-02 2.36921551e+02] [-1.87278377e-01 9.82289669e-01 -5.81505181e-03 -4.31558200e+01] [-3.19766019e-02 -1.79629396e-04 9.99488602e-01 -7.67417248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:236.95, Y:-43.16, Z:-7.68 [[ 9.81337499e-01 1.89726712e-01 3.13127324e-02 2.36949479e+02] [-1.89638557e-01 9.81836905e-01 -5.78869401e-03 -4.31622210e+01] [-3.18422662e-02 -2.57438896e-04 9.99492873e-01 -7.68283943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21401273899997 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:236.98, Y:-43.17, Z:-7.68 [[ 9.80295656e-01 1.95035358e-01 3.13310715e-02 2.36975560e+02] [-1.94949840e-01 9.80796117e-01 -5.79107865e-03 -4.31697189e+01] [-3.18588583e-02 -4.31018127e-04 9.99492285e-01 -7.68244719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:237.00, Y:-43.18, Z:-7.68 [[ 9.79756378e-01 1.97568165e-01 3.23150241e-02 2.37002506e+02] [-1.97478661e-01 9.80289007e-01 -5.97006643e-03 -4.31756211e+01] [-3.28575579e-02 -5.32317029e-04 9.99459903e-01 -7.68303633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27401273899997 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:237.03, Y:-43.18, Z:-7.68 [[ 9.78759572e-01 2.02023665e-01 3.48731904e-02 2.37028959e+02] [-2.01922344e-01 9.79380362e-01 -6.44001258e-03 -4.31818182e+01] [-3.54551528e-02 -7.38452390e-04 9.99370996e-01 -7.68335799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:237.06, Y:-43.19, Z:-7.68 [[ 9.78314252e-01 2.04103146e-01 3.52580510e-02 2.37056848e+02] [-2.04001028e-01 9.78949041e-01 -6.50817631e-03 -4.31861893e+01] [-3.58441745e-02 -8.25637026e-04 9.99357050e-01 -7.68423090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33401273899997 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:237.08, Y:-43.19, Z:-7.69 [[ 9.77922215e-01 2.06129185e-01 3.43351181e-02 2.37084691e+02] [-2.06033673e-01 9.78524393e-01 -6.33548446e-03 -4.31892044e+01] [-3.49036788e-02 -8.78579496e-04 9.99390295e-01 -7.68559687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:237.11, Y:-43.19, Z:-7.69 [[ 9.77314631e-01 2.09348033e-01 3.20860302e-02 2.37112522e+02] [-2.09266427e-01 9.77840752e-01 -5.91837191e-03 -4.31895073e+01] [-3.26140274e-02 -9.30417441e-04 9.99467588e-01 -7.68751284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39401273899998 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:237.14, Y:-43.19, Z:-7.69 [[ 9.77187360e-01 2.09936600e-01 3.21167674e-02 2.37140877e+02] [-2.09855243e-01 9.77714536e-01 -5.92135414e-03 -4.31925308e+01] [-3.26441393e-02 -9.53599621e-04 9.99466583e-01 -7.68861498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:237.17, Y:-43.19, Z:-7.69 [[ 9.77363013e-01 2.08943264e-01 3.32303035e-02 2.37168403e+02] [-2.08855676e-01 9.77927298e-01 -6.12422134e-03 -4.31936808e+01] [-3.37764358e-02 -9.54750066e-04 9.99428957e-01 -7.68968349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45401273899998 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:237.20, Y:-43.20, Z:-7.69 [[ 9.77752705e-01 2.07092197e-01 3.33536993e-02 2.37196581e+02] [-2.07002974e-01 9.78321020e-01 -6.14419326e-03 -4.31969659e+01] [-3.39030396e-02 -8.96813382e-04 9.99424724e-01 -7.69051245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:237.22, Y:-43.20, Z:-7.69 [[ 9.77764450e-01 2.07036673e-01 3.33541194e-02 2.37224609e+02] [-2.06947495e-01 9.78332771e-01 -6.14191199e-03 -4.32019948e+01] [-3.39030291e-02 -8.97208252e-04 9.99424724e-01 -7.69150455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51401273899998 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:237.25, Y:-43.21, Z:-7.69 [[ 9.78271999e-01 2.04610825e-01 3.34410908e-02 2.37251982e+02] [-2.04519832e-01 9.78843063e-01 -6.15596923e-03 -4.32052687e+01] [-3.39931577e-02 -8.17153933e-04 9.99421732e-01 -7.69287240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:237.28, Y:-43.21, Z:-7.68 [[ 9.79401618e-01 1.99348932e-01 3.21321417e-02 2.37279922e+02] [-1.99262161e-01 9.79928380e-01 -5.91286067e-03 -4.32082485e+01] [-3.26659200e-02 -6.11654681e-04 9.99466139e-01 -7.68386005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57401273899998 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:237.31, Y:-43.21, Z:-7.69 [[ 9.79812362e-01 1.97339119e-01 3.20157235e-02 2.37306350e+02] [-1.97251978e-01 9.80335134e-01 -5.88914177e-03 -4.32097747e+01] [-3.25482967e-02 -5.44910878e-04 9.99470015e-01 -7.69492819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:237.33, Y:-43.21, Z:-7.70 [[ 9.80137075e-01 1.95643631e-01 3.24789718e-02 2.37334211e+02] [-1.95553112e-01 9.80674931e-01 -5.97153465e-03 -4.32103039e+01] [-3.30196062e-02 -4.98441502e-04 9.99454580e-01 -7.69573683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63401273899999 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:237.36, Y:-43.21, Z:-7.70 [[ 9.80179650e-01 1.95414175e-01 3.25753624e-02 2.37360706e+02] [-1.95323070e-01 9.80720682e-01 -5.98687272e-03 -4.32129201e+01] [-3.31172514e-02 -4.94508974e-04 9.99451351e-01 -7.69609428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:237.39, Y:-43.22, Z:-7.70 [[ 9.80193664e-01 1.95321312e-01 3.27103347e-02 2.37387876e+02] [-1.95229493e-01 9.80739180e-01 -6.00886360e-03 -4.32157851e+01] [-3.32539660e-02 -4.96172021e-04 9.99446811e-01 -7.69707793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:237.42, Y:-43.22, Z:-7.70 [[ 9.80194675e-01 1.95358657e-01 3.24560227e-02 2.37415648e+02] [-1.95268371e-01 9.80731742e-01 -5.95940367e-03 -4.32172338e+01] [-3.29948728e-02 -4.96258930e-04 9.99455398e-01 -7.69828972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:237.44, Y:-43.22, Z:-7.70 [[ 9.80132427e-01 1.95643343e-01 3.26206631e-02 2.37443080e+02] [-1.95552375e-01 9.80674983e-01 -5.98724608e-03 -4.32208123e+01] [-3.31616331e-02 -5.10754104e-04 9.99449871e-01 -7.69887777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:237.47, Y:-43.22, Z:-7.70 [[ 9.80210748e-01 1.95083803e-01 3.36035674e-02 2.37469796e+02] [-1.94987029e-01 9.80786445e-01 -6.16508184e-03 -4.32228164e+01] [-3.41606310e-02 -5.09180283e-04 9.99416226e-01 -7.69957693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters Centerline goodness : 0.996168 Centerline is valid? [True, True] Translation: X:237.50, Y:-43.23, Z:-7.70 [[ 9.80318836e-01 1.94367513e-01 3.45868369e-02 2.37496940e+02] [-1.94264653e-01 9.80928651e-01 -6.34241314e-03 -4.32262770e+01] [-3.51599783e-02 -5.01412798e-04 9.99381571e-01 -7.70019303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:237.52, Y:-43.23, Z:-7.70 [[ 9.80483318e-01 1.93436013e-01 3.51421631e-02 2.37524466e+02] [-1.93329331e-01 9.81112776e-01 -6.44124208e-03 -4.32307315e+01] [-3.57243934e-02 -4.78480481e-04 9.99361566e-01 -7.70124101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:237.55, Y:-43.24, Z:-7.70 [[ 9.81001242e-01 1.90754732e-01 3.53439722e-02 2.37551920e+02] [-1.90645173e-01 9.81637654e-01 -6.47567433e-03 -4.32356280e+01] [-3.59302394e-02 -3.85513117e-04 9.99354226e-01 -7.70277198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.874012739 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:237.58, Y:-43.24, Z:-7.70 [[ 9.81301343e-01 1.89287850e-01 3.48967549e-02 2.37579694e+02] [-1.89180209e-01 9.81921586e-01 -6.39120994e-03 -4.32396504e+01] [-3.54756554e-02 -3.30072508e-04 9.99370486e-01 -7.70305505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:237.61, Y:-43.24, Z:-7.70 [[ 9.81557582e-01 1.88057220e-01 3.43394260e-02 2.37606342e+02] [-1.87952324e-01 9.82158033e-01 -6.28666415e-03 -4.32423241e+01] [-3.49089957e-02 -2.83452072e-04 9.99390455e-01 -7.70368021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93401273899997 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:237.63, Y:-43.24, Z:-7.71 [[ 9.81893930e-01 1.86623338e-01 3.24967589e-02 2.37632826e+02] [-1.86528720e-01 9.82431514e-01 -5.94613104e-03 -4.32446107e+01] [-3.30355269e-02 -2.23108881e-04 9.99454153e-01 -7.70564449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:237.66, Y:-43.25, Z:-7.71 [[ 9.81892923e-01 1.86639460e-01 3.24345475e-02 2.37660484e+02] [-1.86545324e-01 9.82428451e-01 -5.93139562e-03 -4.32500549e+01] [-3.29716548e-02 -2.26517811e-04 9.99456262e-01 -7.70639340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99401273899997 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:237.69, Y:-43.25, Z:-7.71 [[ 9.81774627e-01 1.86893171e-01 3.44894871e-02 2.37687086e+02] [-1.86786974e-01 9.82380211e-01 -6.30455622e-03 -4.32531094e+01] [-3.50600681e-02 -2.52533610e-04 9.99385175e-01 -7.70611911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:237.72, Y:-43.26, Z:-7.71 [[ 9.81748413e-01 1.86855532e-01 3.54268665e-02 2.37715418e+02] [-1.86743567e-01 9.82387369e-01 -6.47289007e-03 -4.32557296e+01] [-3.60124015e-02 -2.60989841e-04 9.99351309e-01 -7.70679192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05401273899997 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:237.74, Y:-43.26, Z:-7.71 [[ 9.81743459e-01 1.86792272e-01 3.58946753e-02 2.37742031e+02] [-1.86677383e-01 9.82399398e-01 -6.55571081e-03 -4.32583109e+01] [-3.64874636e-02 -2.64697865e-04 9.99334076e-01 -7.70790430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:237.77, Y:-43.26, Z:-7.71 [[ 9.81819171e-01 1.86479324e-01 3.54482318e-02 2.37769622e+02] [-1.86367178e-01 9.82458853e-01 -6.47124552e-03 -4.32624963e+01] [-3.60331826e-02 -2.52794021e-04 9.99350562e-01 -7.70933318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11401273899997 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:237.80, Y:-43.27, Z:-7.71 [[ 9.81946324e-01 1.85999533e-01 3.44324081e-02 2.37796433e+02] [-1.85893515e-01 9.82549806e-01 -6.28336101e-03 -4.32669197e+01] [-3.50002581e-02 -2.30838117e-04 9.99387277e-01 -7.71071638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:237.82, Y:-43.27, Z:-7.71 [[ 9.82090619e-01 1.85242761e-01 3.43967263e-02 2.37823416e+02] [-1.85136623e-01 9.82692768e-01 -6.27327703e-03 -4.32712173e+01] [-3.49634934e-02 -2.07167239e-04 9.99388569e-01 -7.71153107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17401273899998 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:237.85, Y:-43.28, Z:-7.71 [[ 9.82742968e-01 1.81833855e-01 3.39515473e-02 2.37850177e+02] [-1.81728509e-01 9.83329264e-01 -6.18929494e-03 -4.32759090e+01] [-3.45109734e-02 -8.74779937e-05 9.99404315e-01 -7.71189550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:237.88, Y:-43.28, Z:-7.71 [[ 9.83145828e-01 1.79807416e-01 3.30692457e-02 2.37877096e+02] [-1.79706418e-01 9.83701831e-01 -6.02579318e-03 -4.32816856e+01] [-3.36137599e-02 -1.85222855e-05 9.99434898e-01 -7.71272375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23401273899998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:237.90, Y:-43.29, Z:-7.71 [[ 9.83765090e-01 1.76554277e-01 3.21688435e-02 2.37904081e+02] [-1.76457038e-01 9.84290902e-01 -5.85953682e-03 -4.32884637e+01] [-3.26980262e-02 8.79889375e-05 9.99465273e-01 -7.71429412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:237.93, Y:-43.29, Z:-7.71 [[ 9.83868196e-01 1.75798523e-01 3.31398801e-02 2.37931019e+02] [-1.75694980e-01 9.84426161e-01 -6.03389021e-03 -4.32933732e+01] [-3.36845140e-02 1.14042101e-04 9.99432509e-01 -7.71458531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29401273899998 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:237.96, Y:-43.30, Z:-7.71 [[ 9.83777001e-01 1.76135128e-01 3.40474424e-02 2.37958980e+02] [-1.76026171e-01 9.84365992e-01 -6.19522518e-03 -4.32981873e+01] [-3.46063411e-02 1.01479127e-04 9.99401016e-01 -7.71472560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:237.99, Y:-43.30, Z:-7.72 [[ 9.83276127e-01 1.78830263e-01 3.44643951e-02 2.37986316e+02] [-1.78720364e-01 9.83879940e-01 -6.26854760e-03 -4.33039033e+01] [-3.50298330e-02 4.22399037e-06 9.99386267e-01 -7.71574332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35401273899998 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:238.01, Y:-43.31, Z:-7.72 [[ 9.83059823e-01 1.80078815e-01 3.41321620e-02 2.38012693e+02] [-1.79971862e-01 9.83652184e-01 -6.20566575e-03 -4.33089188e+01] [-3.46916846e-02 -4.22880704e-05 9.99398061e-01 -7.71702015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:238.04, Y:-43.31, Z:-7.72 [[ 9.82616072e-01 1.82565521e-01 3.36969622e-02 2.38039036e+02] [-1.82462864e-01 9.83193680e-01 -6.12291395e-03 -4.33127272e+01] [-3.42484733e-02 -1.31970574e-04 9.99413340e-01 -7.71754267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414012739 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:238.07, Y:-43.32, Z:-7.72 [[ 9.82462285e-01 1.83367227e-01 3.38277877e-02 2.38065461e+02] [-1.83264330e-01 9.83044472e-01 -6.14427030e-03 -4.33167075e+01] [-3.43808775e-02 -1.62913001e-04 9.99408790e-01 -7.71806270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:238.09, Y:-43.32, Z:-7.72 [[ 9.82409718e-01 1.83607973e-01 3.40478698e-02 2.38093276e+02] [-1.83503975e-01 9.82999533e-01 -6.18140299e-03 -4.33214065e+01] [-3.46039949e-02 -1.75249058e-04 9.99401087e-01 -7.71966944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474012739 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:238.12, Y:-43.33, Z:-7.72 [[ 9.82486698e-01 1.83211141e-01 3.39641728e-02 2.38120651e+02] [-1.83107502e-01 9.83073574e-01 -6.16375444e-03 -4.33267202e+01] [-3.45185492e-02 -1.63288073e-04 9.99404044e-01 -7.72177288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:238.15, Y:-43.33, Z:-7.72 [[ 9.82593515e-01 1.82714910e-01 3.35446776e-02 2.38146779e+02] [-1.82613607e-01 9.83165927e-01 -6.08525661e-03 -4.33314177e+01] [-3.40918512e-02 -1.46380879e-04 9.99418693e-01 -7.72328975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534012739 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:238.17, Y:-43.34, Z:-7.72 [[ 9.82727515e-01 1.82105111e-01 3.29296132e-02 2.38172888e+02] [-1.82007238e-01 9.83279061e-01 -5.97098713e-03 -4.33359049e+01] [-3.34663465e-02 -1.25574594e-04 9.99439837e-01 -7.72435425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:238.20, Y:-43.34, Z:-7.73 [[ 9.82846766e-01 1.81490439e-01 3.27636362e-02 2.38200768e+02] [-1.81393297e-01 9.83392703e-01 -5.93823565e-03 -4.33409350e+01] [-3.32972538e-02 -1.06728285e-04 9.99445487e-01 -7.72530892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.594012739 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:238.23, Y:-43.35, Z:-7.73 [[ 9.83037059e-01 1.80432560e-01 3.28973054e-02 2.38228550e+02] [-1.80334112e-01 9.83587355e-01 -5.96004648e-03 -4.33458030e+01] [-3.34327601e-02 -7.35597994e-05 9.99440966e-01 -7.72579638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:238.25, Y:-43.35, Z:-7.73 [[ 9.83452071e-01 1.77996165e-01 3.37548400e-02 2.38254884e+02] [-1.77891167e-01 9.84031181e-01 -6.11289110e-03 -4.33513992e+01] [-3.43038862e-02 7.04753187e-06 9.99411448e-01 -7.72706451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65401273899997 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:238.28, Y:-43.36, Z:-7.73 [[ 9.83699580e-01 1.76579207e-01 3.39841243e-02 2.38280951e+02] [-1.76472032e-01 9.84286432e-01 -6.15152223e-03 -4.33566716e+01] [-3.45363433e-02 5.40023849e-05 9.99403441e-01 -7.72819047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:238.31, Y:-43.36, Z:-7.73 [[ 9.83965204e-01 1.75151879e-01 3.36793158e-02 2.38308111e+02] [-1.75045877e-01 9.84541421e-01 -6.09359210e-03 -4.33634135e+01] [-3.42259855e-02 1.00457234e-04 9.99414114e-01 -7.72934436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71401273899997 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:238.34, Y:-43.37, Z:-7.73 [[ 9.84040860e-01 1.74792455e-01 3.33344120e-02 2.38335395e+02] [-1.74688485e-01 9.84605294e-01 -6.02888010e-03 -4.33689798e+01] [-3.38750413e-02 1.09526429e-04 9.99426070e-01 -7.73045796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:238.36, Y:-43.37, Z:-7.73 [[ 9.84055527e-01 1.74729320e-01 3.32322686e-02 2.38362221e+02] [-1.74626030e-01 9.84616500e-01 -6.00807506e-03 -4.33740832e+01] [-3.37708269e-02 1.09060348e-04 9.99429597e-01 -7.73096836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77401273899997 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:238.39, Y:-43.38, Z:-7.73 [[ 9.83901599e-01 1.75564994e-01 3.33852701e-02 2.38388853e+02] [-1.75461325e-01 9.84467839e-01 -6.03297975e-03 -4.33784712e+01] [-3.39259048e-02 7.80346936e-05 9.99424348e-01 -7.73179417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:238.42, Y:-43.38, Z:-7.73 [[ 9.83846266e-01 1.75969783e-01 3.28809955e-02 2.38416409e+02] [-1.75869537e-01 9.84395567e-01 -5.93920675e-03 -4.33832068e+01] [-3.34130271e-02 6.05009442e-05 9.99441627e-01 -7.73323236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83401273899997 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:238.44, Y:-43.39, Z:-7.73 [[ 9.84089635e-01 1.74718413e-01 3.22655703e-02 2.38442714e+02] [-1.74621285e-01 9.84618437e-01 -5.82586153e-03 -4.33879443e+01] [-3.27871607e-02 9.89146100e-05 9.99462352e-01 -7.73464370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:238.47, Y:-43.39, Z:-7.73 [[ 9.84253814e-01 1.73775124e-01 3.23517400e-02 2.38470037e+02] [-1.73677054e-01 9.84785352e-01 -5.83877005e-03 -4.33930545e+01] [-3.28741526e-02 1.28076801e-04 9.99459491e-01 -7.73490561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89401273899998 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:238.50, Y:-43.40, Z:-7.74 [[ 9.84440985e-01 1.72623478e-01 3.28189131e-02 2.38497929e+02] [-1.72521991e-01 9.84987871e-01 -5.92077374e-03 -4.33984872e+01] [-3.33482959e-02 1.66668095e-04 9.99443777e-01 -7.73563530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:238.52, Y:-43.40, Z:-7.74 [[ 9.84855676e-01 1.70357935e-01 3.22098024e-02 2.38524731e+02] [-1.70259041e-01 9.85382219e-01 -5.80873134e-03 -4.34044668e+01] [-3.27285300e-02 2.36751984e-04 9.99464250e-01 -7.73684290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95401273899998 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:238.55, Y:-43.41, Z:-7.74 [[ 9.85081742e-01 1.69034018e-01 3.22716861e-02 2.38552893e+02] [-1.68934119e-01 9.85610178e-01 -5.81724078e-03 -4.34103818e+01] [-3.27906139e-02 2.78668824e-04 9.99462204e-01 -7.73853853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:238.58, Y:-43.42, Z:-7.74 [[ 9.85428305e-01 1.66887322e-01 3.28584565e-02 2.38579408e+02] [-1.66782617e-01 9.85975910e-01 -5.92140496e-03 -4.34184859e+01] [-3.33858540e-02 3.54900688e-04 9.99442474e-01 -7.73891735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01401273899998 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:238.61, Y:-43.43, Z:-7.74 [[ 9.85439903e-01 1.66715392e-01 3.33792648e-02 2.38606788e+02] [-1.66607317e-01 9.86004993e-01 -6.01304142e-03 -4.34250408e+01] [-3.39145883e-02 3.64261197e-04 9.99424669e-01 -7.73912595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:238.63, Y:-43.43, Z:-7.74 [[ 9.85364693e-01 1.67043470e-01 3.39543796e-02 2.38634811e+02] [-1.66931904e-01 9.85949467e-01 -6.11455885e-03 -4.34308141e+01] [-3.44986996e-02 3.57001169e-04 9.99404679e-01 -7.73993195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07401273899998 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:238.66, Y:-43.44, Z:-7.74 [[ 9.84931514e-01 1.69571300e-01 3.39924648e-02 2.38661686e+02] [-1.69461039e-01 9.85517886e-01 -6.11991092e-03 -4.34366141e+01] [-3.45379433e-02 2.67294704e-04 9.99403352e-01 -7.74136001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:238.69, Y:-43.44, Z:-7.74 [[ 9.84709862e-01 1.70981172e-01 3.33455726e-02 2.38689615e+02] [-1.70875939e-01 9.85274274e-01 -6.00163130e-03 -4.34428315e+01] [-3.38807007e-02 2.11909521e-04 9.99425862e-01 -7.74286842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13401273899999 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:238.72, Y:-43.45, Z:-7.74 [[ 9.84262730e-01 1.73524170e-01 3.34101982e-02 2.38716635e+02] [-1.73420049e-01 9.84829603e-01 -6.01159398e-03 -4.34493922e+01] [-3.39465091e-02 1.22989694e-04 9.99423644e-01 -7.74370604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:238.75, Y:-43.45, Z:-7.74 [[ 9.84070717e-01 1.74511469e-01 3.39200698e-02 2.38745476e+02] [-1.74404806e-01 9.84655137e-01 -6.10117629e-03 -4.34543970e+01] [-3.44642962e-02 8.81657415e-05 9.99405926e-01 -7.74452829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194012739 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:238.77, Y:-43.46, Z:-7.75 [[ 9.83973597e-01 1.75032728e-01 3.40515025e-02 2.38772566e+02] [-1.74925607e-01 9.84562613e-01 -6.12312682e-03 -4.34600434e+01] [-3.45975839e-02 6.85153707e-05 9.99401322e-01 -7.74593679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:238.80, Y:-43.47, Z:-7.75 [[ 9.83999649e-01 1.74803782e-01 3.44721484e-02 2.38800353e+02] [-1.74693932e-01 9.84603287e-01 -6.19661508e-03 -4.34662456e+01] [-3.50245824e-02 7.53919159e-05 9.99386448e-01 -7.74670383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254012739 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:238.83, Y:-43.47, Z:-7.75 [[ 9.84112125e-01 1.74160221e-01 3.45187316e-02 2.38827166e+02] [-1.74049737e-01 9.84717324e-01 -6.20332164e-03 -4.34716873e+01] [-3.50715649e-02 9.67878961e-05 9.99384799e-01 -7.74719408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:238.85, Y:-43.48, Z:-7.75 [[ 9.84253669e-01 1.73393419e-01 3.43429398e-02 2.38854614e+02] [-1.73283667e-01 9.84852632e-01 -6.16952674e-03 -4.34768948e+01] [-3.48924900e-02 1.21308772e-04 9.99391064e-01 -7.74828897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314012739 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:238.88, Y:-43.48, Z:-7.75 [[ 9.84381984e-01 1.72752803e-01 3.38906939e-02 2.38883004e+02] [-1.72645613e-01 9.84965202e-01 -6.08629388e-03 -4.34828627e+01] [-3.44325785e-02 1.40158421e-04 9.99407013e-01 -7.74950477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:238.91, Y:-43.49, Z:-7.75 [[ 9.84362834e-01 1.72836813e-01 3.40183384e-02 2.38909708e+02] [-1.72728923e-01 9.84950464e-01 -6.10752250e-03 -4.34887460e+01] [-3.45619830e-02 1.36067200e-04 9.99402547e-01 -7.75070034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.374012739 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:238.94, Y:-43.49, Z:-7.75 [[ 9.84368890e-01 1.72802247e-01 3.40187060e-02 2.38938571e+02] [-1.72694406e-01 9.84956530e-01 -6.10547452e-03 -4.34938446e+01] [-3.45619863e-02 1.35198937e-04 9.99402547e-01 -7.75172155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:238.97, Y:-43.50, Z:-7.75 [[ 9.84224192e-01 1.73532679e-01 3.44840528e-02 2.38966055e+02] [-1.73422359e-01 9.84828105e-01 -6.18772197e-03 -4.35009110e+01] [-3.50346363e-02 1.09799860e-04 9.99386093e-01 -7.75250753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43401273899997 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:238.99, Y:-43.51, Z:-7.75 [[ 9.84047534e-01 1.74505549e-01 3.46159665e-02 2.38994371e+02] [-1.74395058e-01 9.84656188e-01 -6.20931037e-03 -4.35064859e+01] [-3.51683847e-02 7.34030612e-05 9.99381398e-01 -7.75317119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:239.02, Y:-43.51, Z:-7.75 [[ 9.83888020e-01 1.75458113e-01 3.43338735e-02 2.39022082e+02] [-1.75350055e-01 9.84486896e-01 -6.15704118e-03 -4.35117262e+01] [-3.48815514e-02 3.73924609e-05 9.99391453e-01 -7.75397364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49401273899997 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:239.05, Y:-43.52, Z:-7.76 [[ 9.83648690e-01 1.76893398e-01 3.38227697e-02 2.39050380e+02] [-1.76789452e-01 9.84230017e-01 -6.06335559e-03 -4.35177848e+01] [-3.43619528e-02 -1.52971295e-05 9.99409454e-01 -7.75542883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:239.08, Y:-43.52, Z:-7.76 [[ 9.83591821e-01 1.77251923e-01 3.35988828e-02 2.39077176e+02] [-1.77149612e-01 9.84165512e-01 -6.02160795e-03 -4.35236327e+01] [-3.41342033e-02 -2.92247381e-05 9.99417258e-01 -7.75605763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55401273899997 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:239.11, Y:-43.53, Z:-7.76 [[ 9.83616131e-01 1.77080741e-01 3.37893031e-02 2.39105735e+02] [-1.76977237e-01 9.84196327e-01 -6.05367797e-03 -4.35291944e+01] [-3.43272978e-02 -2.54422033e-05 9.99410644e-01 -7.75731263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:239.13, Y:-43.54, Z:-7.76 [[ 9.83746783e-01 1.76139231e-01 3.48889421e-02 2.39133020e+02] [-1.76028349e-01 9.84365263e-01 -6.24894856e-03 -4.35359480e+01] [-3.54441477e-02 5.94017130e-06 9.99371659e-01 -7.75815629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61401273899997 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:239.16, Y:-43.54, Z:-7.76 [[ 9.83855388e-01 1.75473977e-01 3.51775327e-02 2.39160362e+02] [-1.75360902e-01 9.84484069e-01 -6.29850810e-03 -4.35421270e+01] [-3.57369448e-02 2.80572464e-05 9.99361231e-01 -7.75882539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:239.19, Y:-43.55, Z:-7.76 [[ 9.84240416e-01 1.73501512e-01 3.41764339e-02 2.39187805e+02] [-1.73393664e-01 9.84833598e-01 -6.11728520e-03 -4.35490531e+01] [-3.47194586e-02 9.49022445e-05 9.99397093e-01 -7.76018669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67401273899998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:239.22, Y:-43.55, Z:-7.76 [[ 9.84391418e-01 1.72748650e-01 3.36368745e-02 2.39215710e+02] [-1.72643809e-01 9.84965933e-01 -6.01874446e-03 -4.35547508e+01] [-3.41709055e-02 1.17602267e-04 9.99415997e-01 -7.76137348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:239.24, Y:-43.56, Z:-7.76 [[ 9.84453505e-01 1.72382790e-01 3.36967409e-02 2.39244104e+02] [-1.72277415e-01 9.85030029e-01 -6.02786358e-03 -4.35607755e+01] [-3.42314015e-02 1.28964026e-04 9.99413926e-01 -7.76245861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73401273899998 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:239.27, Y:-43.57, Z:-7.76 [[ 9.84348703e-01 1.72742924e-01 3.48928851e-02 2.39272693e+02] [-1.72630219e-01 9.84966938e-01 -6.24013356e-03 -4.35669272e+01] [-3.54462771e-02 1.18900962e-04 9.99371576e-01 -7.76214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:239.30, Y:-43.57, Z:-7.76 [[ 9.84337128e-01 1.72671642e-01 3.55657517e-02 2.39300209e+02] [-1.72554564e-01 9.84979436e-01 -6.35872967e-03 -4.35718680e+01] [-3.61295064e-02 1.22100917e-04 9.99347109e-01 -7.76297107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79401273899998 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:239.33, Y:-43.58, Z:-7.76 [[ 9.84427273e-01 1.72123273e-01 3.57284688e-02 2.39327169e+02] [-1.72004837e-01 9.85075408e-01 -6.38570551e-03 -4.35770826e+01] [-3.62943645e-02 1.40793217e-04 9.99341133e-01 -7.76376162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:239.36, Y:-43.58, Z:-7.76 [[ 9.84477581e-01 1.71770323e-01 3.60395312e-02 2.39355291e+02] [-1.71649655e-01 9.85137012e-01 -6.43919583e-03 -4.35824067e+01] [-3.66099388e-02 1.53070836e-04 9.99329620e-01 -7.76490692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85401273899998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:239.38, Y:-43.59, Z:-7.77 [[ 9.84470317e-01 1.71735838e-01 3.64004996e-02 2.39383740e+02] [-1.71612779e-01 9.85143024e-01 -6.50200302e-03 -4.35878127e+01] [-3.69763252e-02 1.54238089e-04 9.99316130e-01 -7.76557703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:239.41, Y:-43.59, Z:-7.77 [[ 9.84296085e-01 1.72622486e-01 3.69146851e-02 2.39412387e+02] [-1.72496613e-01 9.84988052e-01 -6.59211252e-03 -4.35927489e+01] [-3.74984707e-02 1.20932399e-04 9.99296678e-01 -7.76671304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914012739 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:239.44, Y:-43.60, Z:-7.77 [[ 9.84128277e-01 1.73638166e-01 3.66240626e-02 2.39440860e+02] [-1.73515033e-01 9.84809515e-01 -6.53852567e-03 -4.35970629e+01] [-3.72030629e-02 7.99225686e-05 9.99307723e-01 -7.76744632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:239.47, Y:-43.60, Z:-7.77 [[ 9.84000477e-01 1.74558463e-01 3.56707644e-02 2.39469464e+02] [-1.74442322e-01 9.84646810e-01 -6.36671617e-03 -4.36007904e+01] [-3.62344686e-02 4.23607886e-05 9.99343315e-01 -7.76883281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:239.50, Y:-43.60, Z:-7.77 [[ 9.83788665e-01 1.76212958e-01 3.32994977e-02 2.39496877e+02] [-1.76112745e-01 9.84352068e-01 -5.94205083e-03 -4.36025746e+01] [-3.38254958e-02 -1.87437085e-05 9.99427754e-01 -7.77047484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:239.52, Y:-43.61, Z:-7.77 [[ 9.83743033e-01 1.76599156e-01 3.25942322e-02 2.39524206e+02] [-1.76503416e-01 9.84282854e-01 -5.81436233e-03 -4.36059858e+01] [-3.31087553e-02 -3.31548997e-05 9.99451754e-01 -7.77162615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:239.55, Y:-43.61, Z:-7.77 [[ 9.83744739e-01 1.76267629e-01 3.42930241e-02 2.39553555e+02] [-1.76161523e-01 9.84342279e-01 -6.11518317e-03 -4.36081461e+01] [-3.48339823e-02 -2.53320719e-05 9.99393112e-01 -7.77267613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:239.58, Y:-43.61, Z:-7.77 [[ 9.83888656e-01 1.75286402e-01 3.51822407e-02 2.39581191e+02] [-1.75174156e-01 9.84517484e-01 -6.27198388e-03 -4.36114461e+01] [-3.57369246e-02 7.91444970e-06 9.99361232e-01 -7.77319543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.094012739 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:239.61, Y:-43.61, Z:-7.77 [[ 9.84295713e-01 1.72857556e-01 3.58080152e-02 2.39610231e+02] [-1.72739753e-01 9.84946829e-01 -6.38135511e-03 -4.36145982e+01] [-3.63720565e-02 9.56727779e-05 9.99338313e-01 -7.77408281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:239.64, Y:-43.62, Z:-7.78 [[ 9.84638284e-01 1.71023257e-01 3.51922752e-02 2.39637417e+02] [-1.70908357e-01 9.85266979e-01 -6.27001674e-03 -4.36184138e+01] [-3.57461053e-02 1.59044588e-04 9.99360891e-01 -7.77535922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15401273899997 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:239.67, Y:-43.62, Z:-7.78 [[ 9.85002908e-01 1.68997203e-01 3.47737854e-02 2.39666389e+02] [-1.68883828e-01 9.85616504e-01 -6.19349542e-03 -4.36227628e+01] [-3.53203002e-02 2.27881019e-04 9.99376018e-01 -7.77662590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:239.69, Y:-43.63, Z:-7.78 [[ 9.85734508e-01 1.64910116e-01 3.36471795e-02 2.39694830e+02] [-1.64801638e-01 9.86308534e-01 -5.99138769e-03 -4.36278651e+01] [-3.41745407e-02 3.60807309e-04 9.99415815e-01 -7.77865941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21401273899997 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:239.72, Y:-43.63, Z:-7.78 [[ 9.86148896e-01 1.62522132e-01 3.31196546e-02 2.39722682e+02] [-1.62415735e-01 9.86704803e-01 -5.89589711e-03 -4.36335860e+01] [-3.36375360e-02 4.35079366e-04 9.99434003e-01 -7.77988677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:239.75, Y:-43.64, Z:-7.78 [[ 9.86829956e-01 1.58374751e-01 3.29253215e-02 2.39749283e+02] [-1.58267329e-01 9.87378910e-01 -5.86017325e-03 -4.36414728e+01] [-3.34378715e-02 5.71991835e-04 9.99440634e-01 -7.78046741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27401273899997 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:239.78, Y:-43.65, Z:-7.78 [[ 9.87075775e-01 1.56713432e-01 3.35009788e-02 2.39778789e+02] [-1.56601327e-01 9.87643911e-01 -5.96072816e-03 -4.36478613e+01] [-3.40211639e-02 6.37392621e-04 9.99420909e-01 -7.78046193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:239.81, Y:-43.65, Z:-7.78 [[ 9.87213297e-01 1.55586759e-01 3.46794755e-02 2.39806526e+02] [-1.55465961e-01 9.87821984e-01 -6.16955477e-03 -4.36530370e+01] [-3.52170493e-02 6.99188538e-04 9.99379443e-01 -7.78053714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33401273899997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:239.84, Y:-43.66, Z:-7.78 [[ 9.87224666e-01 1.55114752e-01 3.64262485e-02 2.39836164e+02] [-1.54981200e-01 9.87896174e-01 -6.47902721e-03 -4.36590258e+01] [-3.69903442e-02 7.50871784e-04 9.99315341e-01 -7.78111615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:239.87, Y:-43.67, Z:-7.78 [[ 9.87192166e-01 1.55330566e-01 3.63873881e-02 2.39865687e+02] [-1.55197444e-01 9.87862270e-01 -6.47214041e-03 -4.36655949e+01] [-3.69510491e-02 7.42016667e-04 9.99316801e-01 -7.78209488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39401273899998 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:239.90, Y:-43.67, Z:-7.78 [[ 9.87120386e-01 1.55952626e-01 3.56668330e-02 2.39895244e+02] [-1.55825115e-01 9.87764284e-01 -6.34445438e-03 -4.36740442e+01] [-3.62198581e-02 7.04951905e-04 9.99343597e-01 -7.78330043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:239.92, Y:-43.68, Z:-7.78 [[ 9.87105282e-01 1.56123907e-01 3.53339492e-02 2.39923907e+02] [-1.55998808e-01 9.87737234e-01 -6.28712478e-03 -4.36797288e+01] [-3.58822277e-02 6.94000135e-04 9.99355785e-01 -7.78498392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45401273899998 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:239.95, Y:-43.69, Z:-7.79 [[ 9.87157397e-01 1.55913955e-01 3.48010368e-02 2.39954244e+02] [-1.55792459e-01 9.87770399e-01 -6.19269063e-03 -4.36852781e+01] [-3.53409609e-02 6.91421269e-04 9.99375074e-01 -7.78594553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:239.98, Y:-43.69, Z:-7.79 [[ 9.87245832e-01 1.55340968e-01 3.48547232e-02 2.39983365e+02] [-1.55218739e-01 9.87860656e-01 -6.20224387e-03 -4.36929219e+01] [-3.53950723e-02 7.13033235e-04 9.99373144e-01 -7.78690331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51401273899998 meters Centerline goodness : 0.988473 Centerline is valid? [True, True] Translation: X:240.01, Y:-43.70, Z:-7.78 [[ 9.87304697e-01 1.55029918e-01 3.45710717e-02 2.40013314e+02] [-1.54909480e-01 9.87909514e-01 -6.15176935e-03 -4.37000915e+01] [-3.51067990e-02 7.18284016e-04 9.99383308e-01 -7.77631683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:240.04, Y:-43.71, Z:-7.79 [[ 9.87208236e-01 1.55620924e-01 3.46702685e-02 2.40042105e+02] [-1.55500158e-01 9.87816602e-01 -6.16942566e-03 -4.37060404e+01] [-3.52079586e-02 6.99275586e-04 9.99379763e-01 -7.78855794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57401273899998 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:240.07, Y:-43.71, Z:-7.79 [[ 9.87191409e-01 1.55865513e-01 3.40450123e-02 2.40072057e+02] [-1.55749197e-01 9.87778053e-01 -6.05856438e-03 -4.37113881e+01] [-3.45732372e-02 6.78479368e-04 9.99401937e-01 -7.79032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:240.10, Y:-43.72, Z:-7.79 [[ 9.87258999e-01 1.55523144e-01 3.36484718e-02 2.40101902e+02] [-1.55409324e-01 9.87832013e-01 -5.98799703e-03 -4.37168465e+01] [-3.41703098e-02 6.82417700e-04 9.99415791e-01 -7.79188232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63401273899999 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:240.13, Y:-43.72, Z:-7.79 [[ 9.87314802e-01 1.55295496e-01 3.30573712e-02 2.40130998e+02] [-1.55185516e-01 9.87867830e-01 -5.88273801e-03 -4.37238627e+01] [-3.35698763e-02 6.78089115e-04 9.99436143e-01 -7.79281432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:240.16, Y:-43.73, Z:-7.79 [[ 9.87289310e-01 1.55361436e-01 3.35058608e-02 2.40160751e+02] [-1.55248422e-01 9.87857455e-01 -5.96449353e-03 -4.37302194e+01] [-3.40256667e-02 6.86948678e-04 9.99420723e-01 -7.79328458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694012739 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:240.19, Y:-43.74, Z:-7.79 [[ 9.87248865e-01 1.55380720e-01 3.45906132e-02 2.40191768e+02] [-1.55260278e-01 9.87854407e-01 -6.15760167e-03 -4.37364251e+01] [-3.51272623e-02 7.08537020e-04 9.99382596e-01 -7.79329631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:240.22, Y:-43.74, Z:-7.79 [[ 9.87171151e-01 1.55397738e-01 3.66696288e-02 2.40222508e+02] [-1.55262354e-01 9.87851699e-01 -6.52863694e-03 -4.37426284e+01] [-3.72386905e-02 7.51469148e-04 9.99306117e-01 -7.79392688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754012739 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:240.25, Y:-43.75, Z:-7.80 [[ 9.87052563e-01 1.56106629e-01 3.68504802e-02 2.40253307e+02] [-1.55970352e-01 9.87739940e-01 -6.56210146e-03 -4.37487391e+01] [-3.74230786e-02 7.29556706e-04 9.99299245e-01 -7.79581473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:240.28, Y:-43.76, Z:-7.80 [[ 9.86780152e-01 1.57932394e-01 3.63633022e-02 2.40283199e+02] [-1.57800736e-01 9.87449709e-01 -6.48077640e-03 -4.37557888e+01] [-3.69304567e-02 6.56945686e-04 9.99317622e-01 -7.79780217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:240.31, Y:-43.76, Z:-7.80 [[ 9.86617367e-01 1.59084741e-01 3.57521663e-02 2.40313615e+02] [-1.58958214e-01 9.87264747e-01 -6.37224863e-03 -4.37613400e+01] [-3.63105809e-02 6.03870662e-04 9.99340371e-01 -7.79898166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:240.34, Y:-43.77, Z:-7.80 [[ 9.86456954e-01 1.60171422e-01 3.53241132e-02 2.40344470e+02] [-1.60048604e-01 9.87089056e-01 -6.29598036e-03 -4.37669980e+01] [-3.58764817e-02 5.57138615e-04 9.99356077e-01 -7.80052690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.874012739 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:240.37, Y:-43.77, Z:-7.80 [[ 9.86001778e-01 1.63123307e-01 3.45149232e-02 2.40374158e+02] [-1.63007831e-01 9.86605591e-01 -6.15256255e-03 -4.37726479e+01] [-3.50562425e-02 4.40234856e-04 9.99385244e-01 -7.80158019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:240.40, Y:-43.78, Z:-7.80 [[ 9.85704412e-01 1.64899958e-01 3.45661231e-02 2.40404766e+02] [-1.64785231e-01 9.86310226e-01 -6.16168934e-03 -4.37775242e+01] [-3.51089829e-02 3.77617805e-04 9.99383418e-01 -7.80236322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93401273899997 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:240.43, Y:-43.78, Z:-7.80 [[ 9.85424257e-01 1.66507166e-01 3.48481933e-02 2.40434281e+02] [-1.66391563e-01 9.86040192e-01 -6.21195673e-03 -4.37814585e+01] [-3.53960545e-02 3.22967512e-04 9.99373311e-01 -7.80393682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:240.46, Y:-43.78, Z:-7.81 [[ 9.85098814e-01 1.68616001e-01 3.38964833e-02 2.40464119e+02] [-1.68507903e-01 9.85681788e-01 -6.04150812e-03 -4.37838781e+01] [-3.44298412e-02 2.39657160e-04 9.99407089e-01 -7.80619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99401273899997 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:240.49, Y:-43.79, Z:-7.81 [[ 9.85002996e-01 1.69298805e-01 3.32717869e-02 2.40492624e+02] [-1.69195072e-01 9.85564747e-01 -5.92938352e-03 -4.37886986e+01] [-3.37953377e-02 2.11038170e-04 9.99428752e-01 -7.80814708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:240.52, Y:-43.79, Z:-7.81 [[ 9.85020096e-01 1.69350803e-01 3.24917750e-02 2.40522223e+02] [-1.69251945e-01 9.85555815e-01 -5.78920702e-03 -4.37931036e+01] [-3.30028646e-02 2.03189132e-04 9.99455236e-01 -7.80917280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05401273899997 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:240.55, Y:-43.80, Z:-7.81 [[ 9.85030015e-01 1.69211282e-01 3.29152183e-02 2.40550648e+02] [-1.69109779e-01 9.85579778e-01 -5.86385659e-03 -4.37969925e+01] [-3.34328043e-02 2.09789454e-04 9.99440946e-01 -7.80998880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:240.58, Y:-43.80, Z:-7.81 [[ 9.85085533e-01 1.68745928e-01 3.36348797e-02 2.40579399e+02] [-1.68639708e-01 9.85659555e-01 -5.99081861e-03 -4.38007932e+01] [-3.41634668e-02 2.29292464e-04 9.99416232e-01 -7.81094580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11401273899997 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:240.61, Y:-43.80, Z:-7.81 [[ 9.85168947e-01 1.68031303e-01 3.47509391e-02 2.40608309e+02] [-1.67917531e-01 9.85781625e-01 -6.18787822e-03 -4.38039772e+01] [-3.52965945e-02 2.60813588e-04 9.99376847e-01 -7.81128075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:240.64, Y:-43.81, Z:-7.81 [[ 9.85230218e-01 1.67799286e-01 3.41294107e-02 2.40637661e+02] [-1.67689450e-01 9.85821145e-01 -6.07599965e-03 -4.38084776e+01] [-3.46650431e-02 2.63116355e-04 9.99398952e-01 -7.81246875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17401273899998 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:240.67, Y:-43.81, Z:-7.81 [[ 9.85254400e-01 1.67781742e-01 3.35120072e-02 2.40666599e+02] [-1.67675862e-01 9.85824133e-01 -5.96531956e-03 -4.38128833e+01] [-3.40378171e-02 2.58202653e-04 9.99420512e-01 -7.81416159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:240.70, Y:-43.82, Z:-7.82 [[ 9.85302863e-01 1.67537011e-01 3.33109371e-02 2.40695401e+02] [-1.67432284e-01 9.85865752e-01 -5.92876945e-03 -4.38172162e+01] [-3.38334003e-02 2.64307241e-04 9.99427452e-01 -7.81564980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23401273899998 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:240.72, Y:-43.82, Z:-7.82 [[ 9.85325920e-01 1.67380706e-01 3.34145222e-02 2.40724220e+02] [-1.67275289e-01 9.85892300e-01 -5.94562685e-03 -4.38221676e+01] [-3.39383034e-02 2.68956367e-04 9.99423894e-01 -7.81583227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:240.75, Y:-43.83, Z:-7.82 [[ 9.85326635e-01 1.67244862e-01 3.40672715e-02 2.40752555e+02] [-1.67135261e-01 9.85915351e-01 -6.06014032e-03 -4.38255848e+01] [-3.46009733e-02 2.77375353e-04 9.99401169e-01 -7.81612388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29401273899998 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:240.78, Y:-43.83, Z:-7.82 [[ 9.85332314e-01 1.67211342e-01 3.40675482e-02 2.40781427e+02] [-1.67101775e-01 9.85921037e-01 -6.05858477e-03 -4.38306360e+01] [-3.46009765e-02 2.76971578e-04 9.99401169e-01 -7.81714505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:240.81, Y:-43.83, Z:-7.82 [[ 9.85290574e-01 1.67462675e-01 3.40402375e-02 2.40809019e+02] [-1.67353474e-01 9.85878381e-01 -6.05254087e-03 -4.38343570e+01] [-3.45731089e-02 2.66759470e-04 9.99402136e-01 -7.81823533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35401273899998 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:240.84, Y:-43.84, Z:-7.82 [[ 9.85223323e-01 1.67801736e-01 3.43159185e-02 2.40837560e+02] [-1.67691035e-01 9.85820730e-01 -6.09954715e-03 -4.38390690e+01] [-3.48528585e-02 2.54944224e-04 9.99392422e-01 -7.81953709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:240.87, Y:-43.84, Z:-7.82 [[ 9.85123302e-01 1.68148180e-01 3.54720838e-02 2.40865593e+02] [-1.68030181e-01 9.85761699e-01 -6.30324887e-03 -4.38428084e+01] [-3.60269014e-02 2.49096700e-04 9.99350789e-01 -7.82014049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414012739 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:240.90, Y:-43.85, Z:-7.82 [[ 9.85146313e-01 1.67915482e-01 3.59323228e-02 2.40895361e+02] [-1.67794294e-01 9.85801361e-01 -6.38370485e-03 -4.38469698e+01] [-3.64940556e-02 2.59644577e-04 9.99333836e-01 -7.82130886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:240.92, Y:-43.85, Z:-7.82 [[ 9.85338122e-01 1.66882355e-01 3.54832922e-02 2.40923630e+02] [-1.66763539e-01 9.85976771e-01 -6.30306284e-03 -4.38506706e+01] [-3.60375719e-02 2.93328724e-04 9.99350393e-01 -7.82269838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474012739 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:240.95, Y:-43.86, Z:-7.82 [[ 9.85473715e-01 1.66200173e-01 3.49150314e-02 2.40952188e+02] [-1.66084749e-01 9.86091986e-01 -6.20087400e-03 -4.38559559e+01] [-3.54600190e-02 3.11944097e-04 9.99371047e-01 -7.82390283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:240.98, Y:-43.86, Z:-7.83 [[ 9.85536862e-01 1.65845054e-01 3.48211301e-02 2.40980720e+02] [-1.65730073e-01 9.86151770e-01 -6.18294641e-03 -4.38611243e+01] [-3.53643302e-02 3.22613155e-04 9.99374434e-01 -7.82521993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534012739 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:241.01, Y:-43.87, Z:-7.82 [[ 9.85260248e-01 1.67360553e-01 3.53933484e-02 2.41009139e+02] [-1.67242784e-01 9.85895721e-01 -6.28326305e-03 -4.38656223e+01] [-3.59457211e-02 2.71367188e-04 9.99353707e-01 -7.82460645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:241.04, Y:-43.87, Z:-7.83 [[ 9.84750403e-01 1.70122470e-01 3.64003861e-02 2.41036361e+02] [-1.69999854e-01 9.85422912e-01 -6.46024595e-03 -4.38700738e+01] [-3.69688075e-02 1.73669486e-04 9.99316405e-01 -7.82526175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.594012739 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:241.06, Y:-43.87, Z:-7.83 [[ 9.84507287e-01 1.71530413e-01 3.63692160e-02 2.41064581e+02] [-1.71409045e-01 9.85178818e-01 -6.45260481e-03 -4.38747652e+01] [-3.69369992e-02 1.18623873e-04 9.99317589e-01 -7.82649875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:241.09, Y:-43.88, Z:-7.83 [[ 9.84290778e-01 1.72880048e-01 3.58350948e-02 2.41093237e+02] [-1.72763173e-01 9.84942884e-01 -6.35619014e-03 -4.38788707e+01] [-3.63943801e-02 6.53546514e-05 9.99337503e-01 -7.82783423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65401273899997 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:241.12, Y:-43.88, Z:-7.83 [[ 9.83880264e-01 1.75199789e-01 3.58421522e-02 2.41121821e+02] [-1.75084469e-01 9.84532901e-01 -6.35573165e-03 -4.38821703e+01] [-3.64013009e-02 -2.21252417e-05 9.99337253e-01 -7.82840921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:241.15, Y:-43.89, Z:-7.83 [[ 9.83662329e-01 1.76391693e-01 3.59776812e-02 2.41148862e+02] [-1.76276359e-01 9.84320053e-01 -6.37802830e-03 -4.38868136e+01] [-3.65385842e-02 -6.81884785e-05 9.99332241e-01 -7.82925935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71401273899997 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:241.18, Y:-43.89, Z:-7.83 [[ 9.83452144e-01 1.77666667e-01 3.54462378e-02 2.41177551e+02] [-1.77555618e-01 9.84090718e-01 -6.28176135e-03 -4.38910799e+01] [-3.59983732e-02 -1.15866988e-04 9.99351842e-01 -7.83041390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:241.21, Y:-43.89, Z:-7.83 [[ 9.83534964e-01 1.77329609e-01 3.48307874e-02 2.41206687e+02] [-1.77222229e-01 9.84151512e-01 -6.17108196e-03 -4.38943174e+01] [-3.53730876e-02 -1.03314915e-04 9.99374171e-01 -7.83219797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77401273899997 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:241.23, Y:-43.90, Z:-7.83 [[ 9.83733369e-01 1.76456550e-01 3.36413979e-02 2.41233986e+02] [-1.76355923e-01 9.84308428e-01 -5.95882374e-03 -4.38976431e+01] [-3.41649849e-02 -7.09660226e-05 9.99416204e-01 -7.83351487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:241.26, Y:-43.90, Z:-7.84 [[ 9.84589667e-01 1.71781136e-01 3.27784958e-02 2.41261199e+02] [-1.71683076e-01 9.85135135e-01 -5.80410531e-03 -4.39027801e+01] [-3.32882837e-02 8.71491123e-05 9.99445788e-01 -7.83565278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83401273899997 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:241.29, Y:-43.91, Z:-7.84 [[ 9.85143950e-01 1.68479361e-01 3.32581168e-02 2.41289696e+02] [-1.68376594e-01 9.85705161e-01 -5.88706354e-03 -4.39079826e+01] [-3.37745461e-02 1.99716596e-04 9.99429457e-01 -7.83620448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:241.32, Y:-43.91, Z:-7.84 [[ 9.86239811e-01 1.61963932e-01 3.31469354e-02 2.41317939e+02] [-1.61858220e-01 9.86796589e-01 -5.86585833e-03 -4.39126619e+01] [-3.36593403e-02 4.20039030e-04 9.99433276e-01 -7.83669759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89401273899998 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:241.35, Y:-43.92, Z:-7.84 [[ 9.86737695e-01 1.59022805e-01 3.25648403e-02 2.41346287e+02] [-1.58919223e-01 9.87274778e-01 -5.76132683e-03 -4.39183641e+01] [-3.30666278e-02 5.09739251e-04 9.99453020e-01 -7.83800057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:241.37, Y:-43.93, Z:-7.84 [[ 9.87155824e-01 1.56437958e-01 3.24121005e-02 2.41374375e+02] [-1.56333990e-01 9.87687610e-01 -5.73319787e-03 -4.39250572e+01] [-3.29099198e-02 5.92446693e-04 9.99458146e-01 -7.84009279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95401273899998 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:241.40, Y:-43.93, Z:-7.84 [[ 9.87815867e-01 1.52008593e-01 3.33646609e-02 2.41402862e+02] [-1.51895947e-01 9.88378880e-01 -5.90012125e-03 -4.39330580e+01] [-3.38737953e-02 7.60276613e-04 9.99425829e-01 -7.83999672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:241.43, Y:-43.94, Z:-7.84 [[ 9.87976764e-01 1.50782892e-01 3.41530956e-02 2.41432721e+02] [-1.50664154e-01 9.88566561e-01 -6.03872252e-03 -4.39394575e+01] [-3.46731443e-02 8.20470271e-04 9.99398369e-01 -7.84128009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01401273899998 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:241.46, Y:-43.95, Z:-7.84 [[ 9.88232012e-01 1.49253153e-01 3.34811487e-02 2.41461569e+02] [-1.49138168e-01 9.88798646e-01 -5.91986974e-03 -4.39503833e+01] [-3.39896737e-02 8.56887610e-04 9.99421817e-01 -7.84254162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:241.49, Y:-43.96, Z:-7.84 [[ 9.88292984e-01 1.48893242e-01 3.32833429e-02 2.41490450e+02] [-1.48779346e-01 9.88852897e-01 -5.88673637e-03 -4.39594607e+01] [-3.37888253e-02 8.65946268e-04 9.99428619e-01 -7.84382248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07401273899998 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:241.52, Y:-43.97, Z:-7.84 [[ 9.88298918e-01 1.48928017e-01 3.29498854e-02 2.41520053e+02] [-1.48816398e-01 9.88847669e-01 -5.82815003e-03 -4.39679002e+01] [-3.34503922e-02 8.56471096e-04 9.99440012e-01 -7.84420840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:241.55, Y:-43.98, Z:-7.84 [[ 9.88224943e-01 1.49572905e-01 3.22398502e-02 2.41549605e+02] [-1.49466390e-01 9.88750362e-01 -5.70253620e-03 -4.39754488e+01] [-3.27301085e-02 8.16614482e-04 9.99463893e-01 -7.84479948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13401273899999 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:241.58, Y:-43.98, Z:-7.85 [[ 9.88061036e-01 1.50638330e-01 3.23029896e-02 2.41579893e+02] [-1.50531953e-01 9.88588630e-01 -5.71409698e-03 -4.39818659e+01] [-3.27951303e-02 7.83244462e-04 9.99461788e-01 -7.84578923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:241.61, Y:-43.99, Z:-7.85 [[ 9.87487257e-01 1.54117669e-01 3.34164878e-02 2.41608209e+02] [-1.54005819e-01 9.88052259e-01 -5.91107433e-03 -4.39921839e+01] [-3.39282373e-02 6.90777008e-04 9.99424033e-01 -7.84676327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194012739 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:241.64, Y:-44.00, Z:-7.85 [[ 9.87159810e-01 1.56098897e-01 3.38916586e-02 2.41638104e+02] [-1.55985022e-01 9.87741229e-01 -5.99472944e-03 -4.39991978e+01] [-3.44119592e-02 6.31164847e-04 9.99407534e-01 -7.84743929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:241.67, Y:-44.01, Z:-7.85 [[ 9.86781577e-01 1.58378884e-01 3.43256103e-02 2.41668545e+02] [-1.58263452e-01 9.87378254e-01 -6.07148747e-03 -4.40059622e+01] [-3.48539566e-02 5.58742412e-04 9.99392260e-01 -7.84870146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254012739 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:241.70, Y:-44.01, Z:-7.85 [[ 9.86211712e-01 1.61760927e-01 3.49265158e-02 2.41699101e+02] [-1.61643505e-01 9.86829875e-01 -6.17861596e-03 -4.40142817e+01] [-3.54659879e-02 4.47778977e-04 9.99370784e-01 -7.85073035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:241.73, Y:-44.02, Z:-7.85 [[ 9.86070467e-01 1.62672939e-01 3.46777978e-02 2.41728570e+02] [-1.62557719e-01 9.86679960e-01 -6.13544357e-03 -4.40218186e+01] [-3.52139588e-02 4.12836008e-04 9.99379711e-01 -7.85198528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314012739 meters Centerline goodness : 0.988598 Centerline is valid? [True, True] Translation: X:241.76, Y:-44.03, Z:-7.84 [[ 9.86002417e-01 1.63337537e-01 3.34676470e-02 2.41759172e+02] [-1.63230543e-01 9.86570173e-01 -5.92312510e-03 -4.40300263e+01] [-3.39856510e-02 3.77273474e-04 9.99422250e-01 -7.84092267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:241.79, Y:-44.04, Z:-7.85 [[ 9.85781172e-01 1.64751937e-01 3.30496773e-02 2.41788356e+02] [-1.64648352e-01 9.86334980e-01 -5.85037947e-03 -4.40379913e+01] [-3.35619141e-02 3.25619043e-04 9.99436587e-01 -7.85484059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.374012739 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:241.82, Y:-44.04, Z:-7.86 [[ 9.85556686e-01 1.66031870e-01 3.33382083e-02 2.41817526e+02] [-1.65927186e-01 9.86120346e-01 -5.90186639e-03 -4.40445046e+01] [-3.38553834e-02 2.84908809e-04 9.99426702e-01 -7.85575975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:241.85, Y:-44.05, Z:-7.86 [[ 9.85007198e-01 1.68947926e-01 3.48915129e-02 2.41846929e+02] [-1.68835068e-01 9.85624960e-01 -6.17727776e-03 -4.40519399e+01] [-3.54335842e-02 1.93752101e-04 9.99372015e-01 -7.85644393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43401273899997 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:241.88, Y:-44.06, Z:-7.86 [[ 9.84726109e-01 1.70494579e-01 3.52999886e-02 2.41876594e+02] [-1.70380057e-01 9.85358604e-01 -6.24955766e-03 -4.40584458e+01] [-3.58486632e-02 1.39688527e-04 9.99357220e-01 -7.85668678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:241.91, Y:-44.06, Z:-7.86 [[ 9.84406957e-01 1.72282879e-01 3.55183491e-02 2.41906349e+02] [-1.72168031e-01 9.85047513e-01 -6.29012943e-03 -4.40649687e+01] [-3.60709430e-02 7.69229655e-05 9.99349229e-01 -7.85770343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49401273899997 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:241.94, Y:-44.07, Z:-7.86 [[ 9.83717206e-01 1.76083556e-01 3.59866754e-02 2.41935502e+02] [-1.75968197e-01 9.84375222e-01 -6.37308726e-03 -4.40709901e+01] [-3.65465874e-02 -6.31947821e-05 9.99331948e-01 -7.85747327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:241.97, Y:-44.08, Z:-7.86 [[ 9.83403486e-01 1.77662444e-01 3.67918517e-02 2.41965689e+02] [-1.77542952e-01 9.84091480e-01 -6.51608117e-03 -4.40763114e+01] [-3.73642107e-02 -1.24197032e-04 9.99301706e-01 -7.85870217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55401273899997 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:241.99, Y:-44.08, Z:-7.86 [[ 9.83086648e-01 1.79433412e-01 3.66645936e-02 2.41994976e+02] [-1.79315972e-01 9.83770102e-01 -6.49367847e-03 -4.40822287e+01] [-3.72347139e-02 -1.90698625e-04 9.99306529e-01 -7.86096410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:242.03, Y:-44.09, Z:-7.86 [[ 9.83134390e-01 1.79213887e-01 3.64575549e-02 2.42025393e+02] [-1.79097548e-01 9.83810119e-01 -6.45894899e-03 -4.40875874e+01] [-3.70248448e-02 -1.79443803e-04 9.99314329e-01 -7.86234112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61401273899997 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:242.05, Y:-44.09, Z:-7.86 [[ 9.83248731e-01 1.78657465e-01 3.61032283e-02 2.42054743e+02] [-1.78543002e-01 9.83911320e-01 -6.39615324e-03 -4.40920087e+01] [-3.66650955e-02 -1.56969198e-04 9.99327597e-01 -7.86318858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:242.09, Y:-44.09, Z:-7.87 [[ 9.83652222e-01 1.76672372e-01 3.48594248e-02 2.42085081e+02] [-1.76564430e-01 9.84269712e-01 -6.17539771e-03 -4.40949934e+01] [-3.54020982e-02 -8.04908061e-05 9.99373146e-01 -7.86504219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67401273899998 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:242.11, Y:-44.10, Z:-7.87 [[ 9.83864214e-01 1.75668788e-01 3.39364800e-02 2.42113933e+02] [-1.75565891e-01 9.84449326e-01 -6.01189252e-03 -4.40999627e+01] [-3.44648468e-02 -4.32024625e-05 9.99405910e-01 -7.86637541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:242.14, Y:-44.10, Z:-7.86 [[ 9.84397914e-01 1.73058053e-01 3.18065530e-02 2.42144242e+02] [-1.72966294e-01 9.84911625e-01 -5.63496279e-03 -4.41048337e+01] [-3.23018195e-02 4.55840235e-05 9.99478159e-01 -7.85817445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73401273899998 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:242.17, Y:-44.11, Z:-7.87 [[ 9.84735318e-01 1.71082025e-01 3.20514454e-02 2.42173009e+02] [-1.70987800e-01 9.85256783e-01 -5.67837589e-03 -4.41069639e+01] [-3.25503720e-02 1.11291164e-04 9.99470090e-01 -7.86930655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:242.20, Y:-44.11, Z:-7.87 [[ 9.85066747e-01 1.69099116e-01 3.23881551e-02 2.42202735e+02] [-1.69001840e-01 9.85599035e-01 -5.73765320e-03 -4.41098118e+01] [-3.28919665e-02 1.78313545e-04 9.99458897e-01 -7.87050232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79401273899998 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:242.23, Y:-44.11, Z:-7.87 [[ 9.85839668e-01 1.64343963e-01 3.33348173e-02 2.42232752e+02] [-1.64238225e-01 9.86403032e-01 -5.90450776e-03 -4.41120337e+01] [-3.38519351e-02 3.46046747e-04 9.99426799e-01 -7.87133859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:242.26, Y:-44.12, Z:-7.87 [[ 9.86281206e-01 1.61691649e-01 3.32444560e-02 2.42262081e+02] [-1.61584963e-01 9.86841234e-01 -5.88892028e-03 -4.41164795e+01] [-3.37591892e-02 4.36327188e-04 9.99429901e-01 -7.87268683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85401273899998 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:242.29, Y:-44.12, Z:-7.87 [[ 9.87158321e-01 1.56251123e-01 3.32270258e-02 2.42293122e+02] [-1.56141481e-01 9.87717166e-01 -5.88540850e-03 -4.41202983e+01] [-3.37385054e-02 6.21712975e-04 9.99430501e-01 -7.87368048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:242.32, Y:-44.13, Z:-7.88 [[ 9.87492961e-01 1.54026790e-01 3.36659926e-02 2.42323860e+02] [-1.53912910e-01 9.88066418e-01 -5.96396978e-03 -4.41254761e+01] [-3.41828478e-02 7.07747283e-04 9.99415345e-01 -7.87522027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914012739 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:242.36, Y:-44.13, Z:-7.88 [[ 9.87877318e-01 1.51643260e-01 3.32073131e-02 2.42356392e+02] [-1.51495118e-01 9.88433591e-01 -6.94729324e-03 -4.41303599e+01] [-3.38767339e-02 1.83232760e-03 9.99424339e-01 -7.87617896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:242.39, Y:-44.14, Z:-7.88 [[ 9.88651676e-01 1.46649187e-01 3.25864931e-02 2.42386726e+02] [-1.46572853e-01 9.89188560e-01 -4.73203779e-03 -4.41376706e+01] [-3.29281357e-02 -9.79581913e-05 9.99457717e-01 -7.87780193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974012739 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:242.42, Y:-44.14, Z:-7.88 [[ 9.89116170e-01 1.43773042e-01 3.12812036e-02 2.42417827e+02] [-1.43669340e-01 9.89610187e-01 -5.54963525e-03 -4.41434008e+01] [-3.17540857e-02 9.95084070e-04 9.99495217e-01 -7.87838796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:242.45, Y:-44.15, Z:-7.88 [[ 9.89788768e-01 1.39137195e-01 3.09683156e-02 2.42449223e+02] [-1.39033183e-01 9.90272463e-01 -5.49753728e-03 -4.41534160e+01] [-3.14319821e-02 1.13577716e-03 9.99505248e-01 -7.87958197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034012739 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:242.48, Y:-44.16, Z:-7.88 [[ 9.89965404e-01 1.37645697e-01 3.19712380e-02 2.42480027e+02] [-1.37533849e-01 9.90480769e-01 -5.68209879e-03 -4.41627117e+01] [-3.24490129e-02 1.22795382e-03 9.99472638e-01 -7.88063330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:242.51, Y:-44.18, Z:-7.88 [[ 9.90234200e-01 1.35050094e-01 3.46078148e-02 2.42510293e+02] [-1.34917289e-01 9.90837746e-01 -6.15516154e-03 -4.41761947e+01] [-3.51219843e-02 1.42585890e-03 9.99382016e-01 -7.88050938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.094012739 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:242.54, Y:-44.19, Z:-7.88 [[ 9.90270249e-01 1.34775850e-01 3.46454148e-02 2.42542182e+02] [-1.34642374e-01 9.90875061e-01 -6.16795630e-03 -4.41855366e+01] [-3.51605690e-02 1.44320273e-03 9.99380634e-01 -7.88094667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:242.57, Y:-44.20, Z:-7.88 [[ 9.90129005e-01 1.36073883e-01 3.35924463e-02 2.42572175e+02] [-1.35948935e-01 9.90697757e-01 -5.98668871e-03 -4.41980419e+01] [-3.40945932e-02 1.36073683e-03 9.99417684e-01 -7.88292058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15401273899997 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:242.60, Y:-44.21, Z:-7.88 [[ 9.89942794e-01 1.37634342e-01 3.27116441e-02 2.42603771e+02] [-1.37516512e-01 9.90482283e-01 -5.83575061e-03 -4.42072430e+01] [-3.32035036e-02 1.27866805e-03 9.99447794e-01 -7.88366911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:242.64, Y:-44.21, Z:-7.88 [[ 9.89932233e-01 1.37710533e-01 3.27105898e-02 2.42636714e+02] [-1.37592550e-01 9.90471688e-01 -5.84165436e-03 -4.42132621e+01] [-3.32033704e-02 1.28210850e-03 9.99447794e-01 -7.88483563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21401273899997 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:242.67, Y:-44.22, Z:-7.89 [[ 9.89622113e-01 1.39998296e-01 3.23813416e-02 2.42669060e+02] [-1.39883823e-01 9.90151023e-01 -5.78518402e-03 -4.42222668e+01] [-3.28723344e-02 1.19552017e-03 9.99458844e-01 -7.88641899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:242.70, Y:-44.23, Z:-7.89 [[ 9.88992342e-01 1.44434300e-01 3.21384483e-02 2.42700921e+02] [-1.44323673e-01 9.89513839e-01 -5.74798222e-03 -4.42329872e+01] [-3.26316451e-02 1.04637149e-03 9.99466898e-01 -7.88736299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27401273899997 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:242.73, Y:-44.24, Z:-7.89 [[ 9.88624319e-01 1.46955402e-01 3.20322684e-02 2.42732356e+02] [-1.46846686e-01 9.89142649e-01 -5.73330620e-03 -4.42408719e+01] [-3.25270231e-02 9.64253475e-04 9.99470391e-01 -7.88752075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:242.76, Y:-44.25, Z:-7.89 [[ 9.87955633e-01 1.51406040e-01 3.19355299e-02 2.42762750e+02] [-1.51300176e-01 9.88471315e-01 -5.71984362e-03 -4.42501376e+01] [-3.24333741e-02 8.19100444e-04 9.99473564e-01 -7.88905199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33401273899997 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:242.79, Y:-44.26, Z:-7.89 [[ 9.87680611e-01 1.53150302e-01 3.21246866e-02 2.42794916e+02] [-1.53043981e-01 9.88202607e-01 -5.75743004e-03 -4.42569532e+01] [-3.26274512e-02 7.70012100e-04 9.99467286e-01 -7.89017506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:242.83, Y:-44.26, Z:-7.89 [[ 9.87470023e-01 1.54416948e-01 3.25324550e-02 2.42826242e+02] [-1.54308379e-01 9.88005492e-01 -5.83706687e-03 -4.42628990e+01] [-3.30435863e-02 7.43898165e-04 9.99453635e-01 -7.89132784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39401273899998 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:242.86, Y:-44.27, Z:-7.89 [[ 9.87070313e-01 1.56597386e-01 3.41973041e-02 2.42857226e+02] [-1.56478493e-01 9.87662266e-01 -6.14241403e-03 -4.42706219e+01] [-3.47372729e-02 7.11851923e-04 9.99396225e-01 -7.89197920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:242.89, Y:-44.28, Z:-7.89 [[ 9.86901324e-01 1.57620143e-01 3.43753916e-02 2.42889376e+02] [-1.57500481e-01 9.87499581e-01 -6.17860746e-03 -4.42779669e+01] [-3.49195578e-02 6.83535159e-04 9.99389893e-01 -7.89312395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45401273899998 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:242.92, Y:-44.29, Z:-7.90 [[ 9.86764670e-01 1.58739897e-01 3.31229546e-02 2.42920609e+02] [-1.58629341e-01 9.87320240e-01 -5.95610988e-03 -4.42860121e+01] [-3.36484358e-02 6.23006331e-04 9.99433537e-01 -7.89508645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:242.95, Y:-44.29, Z:-7.90 [[ 9.86812298e-01 1.58585311e-01 3.24374288e-02 2.42953058e+02] [-1.58479011e-01 9.87345083e-01 -5.83862334e-03 -4.42931735e+01] [-3.29528558e-02 6.20973660e-04 9.99456714e-01 -7.89730690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51401273899998 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:242.98, Y:-44.30, Z:-7.90 [[ 9.86903168e-01 1.58069200e-01 3.21910555e-02 2.42984965e+02] [-1.57964033e-01 9.87427830e-01 -5.80045423e-03 -4.43008687e+01] [-3.27032173e-02 6.39457712e-04 9.99464902e-01 -7.89858321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:243.02, Y:-44.31, Z:-7.90 [[ 9.86958405e-01 1.57723050e-01 3.21954242e-02 2.43016123e+02] [-1.57617461e-01 9.87483168e-01 -5.80763301e-03 -4.43089924e+01] [-3.27084371e-02 6.57331206e-04 9.99464720e-01 -7.89926176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57401273899998 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:243.05, Y:-44.32, Z:-7.90 [[ 9.86691137e-01 1.59266475e-01 3.27840046e-02 2.43047984e+02] [-1.59157710e-01 9.87235435e-01 -5.91771278e-03 -4.43185707e+01] [-3.33080243e-02 6.21127656e-04 9.99444941e-01 -7.89840842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:243.08, Y:-44.33, Z:-7.90 [[ 9.86348874e-01 1.61224641e-01 3.35039450e-02 2.43080720e+02] [-1.61111949e-01 9.86917568e-01 -6.05424661e-03 -4.43256266e+01] [-3.40417257e-02 5.73713438e-04 9.99420248e-01 -7.89955338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63401273899999 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:243.11, Y:-44.33, Z:-7.90 [[ 9.85291991e-01 1.67610171e-01 3.32644548e-02 2.43113124e+02] [-1.67502505e-01 9.85853287e-01 -6.01728914e-03 -4.43321815e+01] [-3.38024310e-02 3.56907289e-04 9.99428471e-01 -7.90106990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:243.14, Y:-44.34, Z:-7.90 [[ 9.84679142e-01 1.71349576e-01 3.23467182e-02 2.43144248e+02] [-1.71249586e-01 9.85210267e-01 -5.85734757e-03 -4.43380495e+01] [-3.28719729e-02 2.28245885e-04 9.99459545e-01 -7.90270595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:243.18, Y:-44.34, Z:-7.90 [[ 9.83432849e-01 1.78626784e-01 3.08594186e-02 2.43176702e+02] [-1.78539193e-01 9.83916903e-01 -5.59326022e-03 -4.43437380e+01] [-3.13622096e-02 -9.01984526e-06 9.99508085e-01 -7.90472734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:243.21, Y:-44.35, Z:-7.91 [[ 9.82848908e-01 1.81798853e-01 3.09386588e-02 2.43207012e+02] [-1.81712190e-01 9.83335734e-01 -5.61371343e-03 -4.43487672e+01] [-3.14436554e-02 -1.04499326e-04 9.99505521e-01 -7.90526360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754012739 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:243.24, Y:-44.35, Z:-7.91 [[ 9.82362603e-01 1.84283495e-01 3.16750664e-02 2.43238251e+02] [-1.84193773e-01 9.82873115e-01 -5.75274772e-03 -4.43539766e+01] [-3.21927076e-02 -1.83065757e-04 9.99481664e-01 -7.90677280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:243.27, Y:-44.36, Z:-7.91 [[ 9.81771920e-01 1.87256806e-01 3.25389764e-02 2.43269393e+02] [-1.87163727e-01 9.82310952e-01 -5.91042887e-03 -4.43588714e+01] [-3.30701609e-02 -2.87422994e-04 9.99452991e-01 -7.90684268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814012739 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:243.30, Y:-44.36, Z:-7.91 [[ 9.81717693e-01 1.87546769e-01 3.25050884e-02 2.43299819e+02] [-1.87454017e-01 9.82255629e-01 -5.90506234e-03 -4.43633571e+01] [-3.30357814e-02 -2.96105223e-04 9.99454126e-01 -7.90815713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:243.33, Y:-44.37, Z:-7.91 [[ 9.81816106e-01 1.86923039e-01 3.31196702e-02 2.43328812e+02] [-1.86773954e-01 9.82373774e-01 -7.56695165e-03 -4.43659243e+01] [-3.39503330e-02 1.24346326e-03 9.99422748e-01 -7.90973638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.874012739 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:243.36, Y:-44.37, Z:-7.91 [[ 9.81964953e-01 1.85873335e-01 3.45822817e-02 2.43360233e+02] [-1.85805282e-01 9.82572828e-01 -5.19958557e-03 -4.43724462e+01] [-3.49460747e-02 -1.31975982e-03 9.99388328e-01 -7.91084568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:243.39, Y:-44.38, Z:-7.91 [[ 9.82220000e-01 1.84473410e-01 3.48343628e-02 2.43392109e+02] [-1.84384493e-01 9.82837219e-01 -5.77582061e-03 -4.43768192e+01] [-3.53019936e-02 -7.49789800e-04 9.99376409e-01 -7.91150066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93401273899997 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:243.43, Y:-44.38, Z:-7.91 [[ 9.82369567e-01 1.83714854e-01 3.46249481e-02 2.43425643e+02] [-1.83606643e-01 9.82979566e-01 -6.30667863e-03 -4.43790221e+01] [-3.51942469e-02 -1.61881330e-04 9.99380477e-01 -7.91294136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:243.46, Y:-44.38, Z:-7.91 [[ 9.82408483e-01 1.83708857e-01 3.35354708e-02 2.43456701e+02] [-1.83607130e-01 9.82980688e-01 -6.11462622e-03 -4.43825394e+01] [-3.40880312e-02 -1.50290868e-04 9.99418823e-01 -7.91380268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99401273899997 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:243.49, Y:-44.38, Z:-7.91 [[ 9.82516694e-01 1.83275738e-01 3.27253616e-02 2.43487929e+02] [-1.83178453e-01 9.83061538e-01 -5.97217038e-03 -4.43839894e+01] [-3.32655983e-02 -1.26824015e-04 9.99446539e-01 -7.91464567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:243.52, Y:-44.39, Z:-7.92 [[ 9.82551081e-01 1.82979711e-01 3.33436459e-02 2.43519501e+02] [-1.82878520e-01 9.83116682e-01 -6.08570005e-03 -4.43883952e+01] [-3.38942542e-02 -1.18325443e-04 9.99425418e-01 -7.91542708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05401273899997 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:243.55, Y:-44.39, Z:-7.92 [[ 9.82649937e-01 1.82347636e-01 3.38886611e-02 2.43550221e+02] [-1.82242523e-01 9.83234118e-01 -6.19125413e-03 -4.43933528e+01] [-3.44494484e-02 -9.21196220e-05 9.99406437e-01 -7.91570705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:243.58, Y:-44.40, Z:-7.92 [[ 9.83196344e-01 1.78904006e-01 3.63084924e-02 2.43582389e+02] [-1.78780847e-01 9.83866533e-01 -6.63726964e-03 -4.43978506e+01] [-3.69101447e-02 3.44762248e-05 9.99318588e-01 -7.91692866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11401273899997 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:243.61, Y:-44.41, Z:-7.91 [[ 9.83588979e-01 1.76964826e-01 3.51592207e-02 2.43613687e+02] [-1.77154859e-01 9.84180206e-01 2.34042327e-03 -4.44093592e+01] [-3.41888364e-02 -8.53064131e-03 9.99378983e-01 -7.91217820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:243.65, Y:-44.41, Z:-7.92 [[ 9.84322650e-01 1.73072811e-01 3.39812097e-02 2.43646032e+02] [-1.72647015e-01 9.84867847e-01 -1.51106710e-02 -4.44054919e+01] [-3.60822472e-02 9.00702132e-03 9.99308233e-01 -7.91904429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17401273899998 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:243.68, Y:-44.42, Z:-7.92 [[ 9.84665584e-01 1.70881665e-01 3.51161495e-02 2.43676000e+02] [-1.70797990e-01 9.85291318e-01 -5.39121975e-03 -4.44183209e+01] [-3.55208978e-02 -6.89219202e-04 9.99368696e-01 -7.92050691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:243.71, Y:-44.43, Z:-7.92 [[ 9.85159348e-01 1.68066735e-01 3.48515526e-02 2.43708339e+02] [-1.68021169e-01 9.85774212e-01 -4.25314117e-03 -4.44253926e+01] [-3.50705734e-02 -1.66577681e-03 9.99383450e-01 -7.92284277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23401273899998 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:243.74, Y:-44.43, Z:-7.92 [[ 9.85290652e-01 1.67615408e-01 3.32776978e-02 2.43740709e+02] [-1.67396960e-01 9.85846039e-01 -9.26525034e-03 -4.44279020e+01] [-3.43596853e-02 3.55837909e-03 9.99403197e-01 -7.92408756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:243.77, Y:-44.44, Z:-7.93 [[ 9.85322659e-01 1.67205581e-01 3.43737008e-02 2.43772538e+02] [-1.67087054e-01 9.85921937e-01 -6.31269173e-03 -4.44364231e+01] [-3.49453030e-02 4.76637804e-04 9.99389113e-01 -7.92566617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29401273899998 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:243.80, Y:-44.44, Z:-7.93 [[ 9.85378388e-01 1.66895027e-01 3.42853003e-02 2.43804045e+02] [-1.66776686e-01 9.85974547e-01 -6.30316869e-03 -4.44444557e+01] [-3.48564009e-02 4.93017426e-04 9.99392209e-01 -7.92577506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:243.84, Y:-44.45, Z:-7.93 [[ 9.85411464e-01 1.66894945e-01 3.33215111e-02 2.43836220e+02] [-1.66782966e-01 9.85974565e-01 -6.13188728e-03 -4.44526798e+01] [-3.38775434e-02 4.84971566e-04 9.99425874e-01 -7.92741003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35401273899998 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:243.87, Y:-44.46, Z:-7.93 [[ 9.85385323e-01 1.67059436e-01 3.32702692e-02 2.43867324e+02] [-1.66947674e-01 9.85946707e-01 -6.12899282e-03 -4.44599490e+01] [-3.38266184e-02 4.85025511e-04 9.99427598e-01 -7.92882763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:243.90, Y:-44.47, Z:-7.93 [[ 9.85305801e-01 1.67400162e-01 3.39066948e-02 2.43898875e+02] [-1.67284064e-01 9.85888912e-01 -6.25260877e-03 -4.44674839e+01] [-3.44749222e-02 4.88681989e-04 9.99405444e-01 -7.93040126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414012739 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:243.93, Y:-44.48, Z:-7.93 [[ 9.85157934e-01 1.68044040e-01 3.50006479e-02 2.43930528e+02] [-1.67920575e-01 9.85779369e-01 -6.45877184e-03 -4.44751290e+01] [-3.55882747e-02 4.85581390e-04 9.99366419e-01 -7.93127198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:243.96, Y:-44.48, Z:-7.93 [[ 9.84921987e-01 1.69491026e-01 3.46622429e-02 2.43963150e+02] [-1.69370597e-01 9.85531634e-01 -6.40300415e-03 -4.44819291e+01] [-3.52459886e-02 4.35694786e-04 9.99378572e-01 -7.93213626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474012739 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:244.00, Y:-44.49, Z:-7.93 [[ 9.84519491e-01 1.72182123e-01 3.27824440e-02 2.43995935e+02] [-1.72075697e-01 9.85065079e-01 -6.06175865e-03 -4.44860558e+01] [-3.33365673e-02 3.26857645e-04 9.99444129e-01 -7.93403106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:244.03, Y:-44.49, Z:-7.93 [[ 9.84196005e-01 1.74048318e-01 3.26405774e-02 2.44027694e+02] [-1.73943626e-01 9.84737077e-01 -6.04187818e-03 -4.44914436e+01] [-3.31939655e-02 2.68771985e-04 9.99448892e-01 -7.93469449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534012739 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:244.06, Y:-44.50, Z:-7.94 [[ 9.83923153e-01 1.75386968e-01 3.36844154e-02 2.44059723e+02] [-1.75276036e-01 9.84499546e-01 -6.24147534e-03 -4.44966789e+01] [-3.42569651e-02 2.37061297e-04 9.99413030e-01 -7.93527529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:244.09, Y:-44.50, Z:-7.94 [[ 9.83596693e-01 1.76908759e-01 3.52255242e-02 2.44092511e+02] [-1.76788254e-01 9.84227236e-01 -6.53154029e-03 -4.45013515e+01] [-3.58254070e-02 1.96942503e-04 9.99358045e-01 -7.93544597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.594012739 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:244.12, Y:-44.51, Z:-7.94 [[ 9.83594504e-01 1.76992366e-01 3.48647977e-02 2.44124089e+02] [-1.76874128e-01 9.84212204e-01 -6.47147345e-03 -4.45068092e+01] [-3.54597608e-02 1.98625017e-04 9.99371085e-01 -7.93702162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:244.15, Y:-44.51, Z:-7.94 [[ 9.83956238e-01 1.75306741e-01 3.31310898e-02 2.44154931e+02] [-1.75198823e-01 9.84513831e-01 -6.15545111e-03 -4.45134311e+01] [-3.36971082e-02 2.52166585e-04 9.99432059e-01 -7.93808834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65401273899997 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:244.19, Y:-44.52, Z:-7.94 [[ 9.84120573e-01 1.74335013e-01 3.33766620e-02 2.44186945e+02] [-1.74224722e-01 9.84686355e-01 -6.20719694e-03 -4.45198362e+01] [-3.39476754e-02 2.93590565e-04 9.99423568e-01 -7.93976747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:244.22, Y:-44.53, Z:-7.94 [[ 9.84161808e-01 1.73846003e-01 3.46857834e-02 2.44218673e+02] [-1.73726335e-01 9.84772795e-01 -6.45772098e-03 -4.45260371e+01] [-3.52802649e-02 3.29608338e-04 9.99377403e-01 -7.93968523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71401273899997 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:244.25, Y:-44.53, Z:-7.94 [[ 9.83847743e-01 1.74838105e-01 3.84090523e-02 2.44249676e+02] [-1.74701267e-01 9.84597191e-01 -6.91658839e-03 -4.45316297e+01] [-3.90267282e-02 9.47597864e-05 9.99238163e-01 -7.93901461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:244.28, Y:-44.54, Z:-7.94 [[ 9.83623187e-01 1.75995594e-01 3.88712966e-02 2.44281978e+02] [-1.75840248e-01 9.84390851e-01 -7.40668982e-03 -4.45366565e+01] [-3.95680935e-02 4.50253427e-04 9.99216775e-01 -7.93995743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77401273899997 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:244.31, Y:-44.54, Z:-7.94 [[ 9.82890076e-01 1.80354447e-01 3.74081892e-02 2.44314400e+02] [-1.80219495e-01 9.83601678e-01 -6.97664679e-03 -4.45411949e+01] [-3.80530269e-02 1.15591940e-04 9.99275715e-01 -7.94247376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:244.35, Y:-44.55, Z:-7.94 [[ 9.82581633e-01 1.82160753e-01 3.67531510e-02 2.44346263e+02] [-1.82031483e-01 9.83268761e-01 -6.86161739e-03 -4.45463081e+01] [-3.73881426e-02 5.18686255e-05 9.99300818e-01 -7.94414985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83401273899997 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:244.38, Y:-44.55, Z:-7.94 [[ 9.82345683e-01 1.83532676e-01 3.62314361e-02 2.44378063e+02] [-1.83407740e-01 9.83013610e-01 -6.77082304e-03 -4.45522428e+01] [-3.68586621e-02 6.16296790e-06 9.99320489e-01 -7.94486992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:244.41, Y:-44.56, Z:-7.95 [[ 9.81910247e-01 1.85855572e-01 3.61935477e-02 2.44409566e+02] [-1.85732230e-01 9.82577071e-01 -6.77035436e-03 -4.45574252e+01] [-3.68212582e-02 -7.44280202e-05 9.99321865e-01 -7.94658036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89401273899998 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:244.44, Y:-44.56, Z:-7.95 [[ 9.81696738e-01 1.87116025e-01 3.54839017e-02 2.44439893e+02] [-1.86998082e-01 9.82337814e-01 -6.64355235e-03 -4.45622246e+01] [-3.61002935e-02 -1.13467892e-04 9.99348166e-01 -7.94775975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:244.47, Y:-44.57, Z:-7.95 [[ 9.81581338e-01 1.87862413e-01 3.47244997e-02 2.44470355e+02] [-1.87749745e-01 9.82195345e-01 -6.50667524e-03 -4.45669604e+01] [-3.53286017e-02 -1.32684992e-04 9.99375741e-01 -7.94959374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95401273899998 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:244.50, Y:-44.57, Z:-7.95 [[ 9.81533277e-01 1.88307091e-01 3.36580665e-02 2.44499847e+02] [-1.88201473e-01 9.82110187e-01 -6.30764824e-03 -4.45715466e+01] [-3.42437048e-02 -1.43331049e-04 9.99413502e-01 -7.94977534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:244.53, Y:-44.58, Z:-7.95 [[ 9.81582439e-01 1.87702971e-01 3.55458915e-02 2.44529962e+02] [-1.87584789e-01 9.82225828e-01 -6.66100298e-03 -4.45774098e+01] [-3.61643827e-02 -1.29545003e-04 9.99345846e-01 -7.94983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01401273899998 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:244.56, Y:-44.58, Z:-7.95 [[ 9.81652368e-01 1.87089093e-01 3.68279832e-02 2.44560800e+02] [-1.86961795e-01 9.82342944e-01 -6.90131675e-03 -4.45833667e+01] [-3.74688705e-02 -1.10731911e-04 9.99297789e-01 -7.95076275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:244.59, Y:-44.59, Z:-7.95 [[ 9.81716699e-01 1.86681144e-01 3.71816341e-02 2.44591371e+02] [-1.86551063e-01 9.82420552e-01 -6.96847552e-03 -4.45893981e+01] [-3.78288845e-02 -9.52045871e-05 9.99284227e-01 -7.95209872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07401273899998 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:244.62, Y:-44.60, Z:-7.94 [[ 9.81744824e-01 1.86764929e-01 3.59994775e-02 2.44621923e+02] [-1.86643017e-01 9.82404628e-01 -6.74774198e-03 -4.45968118e+01] [-3.66262948e-02 -9.44903028e-05 9.99329028e-01 -7.94236326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:244.65, Y:-44.60, Z:-7.94 [[ 9.81738464e-01 1.86798386e-01 3.59993207e-02 2.44653185e+02] [-1.86676465e-01 9.82398266e-01 -6.74857809e-03 -4.46027251e+01] [-3.66262938e-02 -9.48872652e-05 9.99329028e-01 -7.94347328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13401273899999 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:244.68, Y:-44.61, Z:-7.96 [[ 9.81548767e-01 1.88194286e-01 3.38367872e-02 2.44682945e+02] [-1.88087367e-01 9.82131810e-01 -6.34431682e-03 -4.46068782e+01] [-3.44261492e-02 -1.37015861e-04 9.99407235e-01 -7.95692491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:244.71, Y:-44.61, Z:-7.96 [[ 9.81106494e-01 1.90629527e-01 3.30216630e-02 2.44711065e+02] [-1.90529075e-01 9.81662028e-01 -6.19152684e-03 -4.46115982e+01] [-3.35964005e-02 -2.17039731e-04 9.99435458e-01 -7.95662749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:244.74, Y:-44.62, Z:-7.96 [[ 9.80920194e-01 1.91540386e-01 3.32844241e-02 2.44740179e+02] [-1.91438894e-01 9.81484700e-01 -6.23960283e-03 -4.46165108e+01] [-3.38632889e-02 -2.51380922e-04 9.99426443e-01 -7.95772024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:244.77, Y:-44.62, Z:-7.96 [[ 9.80654770e-01 1.92826287e-01 3.36785562e-02 2.44768980e+02] [-1.92723161e-01 9.81232864e-01 -6.31268824e-03 -4.46213549e+01] [-3.42637584e-02 -3.00069983e-04 9.99412780e-01 -7.95824321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254012739 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:244.80, Y:-44.62, Z:-7.96 [[ 9.79988799e-01 1.95977692e-01 3.48525201e-02 2.44797193e+02] [-1.95869272e-01 9.80608262e-01 -6.53186657e-03 -4.46241230e+01] [-3.54567693e-02 -4.25381650e-04 9.99371121e-01 -7.95793933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:244.83, Y:-44.63, Z:-7.96 [[ 9.79711863e-01 1.97265981e-01 3.53666261e-02 2.44825991e+02] [-1.97155257e-01 9.80349887e-01 -6.62597171e-03 -4.46274863e+01] [-3.59787467e-02 -4.81173146e-04 9.99352439e-01 -7.95893833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314012739 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:244.85, Y:-44.63, Z:-7.96 [[ 9.79388689e-01 1.98850934e-01 3.54415309e-02 2.44853780e+02] [-1.98740837e-01 9.80029598e-01 -6.63834283e-03 -4.46283268e+01] [-3.60537900e-02 -5.42161648e-04 9.99349704e-01 -7.96050916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:244.88, Y:-44.63, Z:-7.96 [[ 9.79378802e-01 1.98867196e-01 3.56230384e-02 2.44882462e+02] [-1.98756053e-01 9.80026295e-01 -6.67028898e-03 -4.46318962e+01] [-3.62380160e-02 -5.47554880e-04 9.99343037e-01 -7.96128948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.374012739 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:244.91, Y:-44.64, Z:-7.96 [[ 9.79437175e-01 1.98620798e-01 3.53920801e-02 2.44910675e+02] [-1.98510989e-01 9.80076268e-01 -6.62542274e-03 -4.46354971e+01] [-3.60028845e-02 -5.36531497e-04 9.99351542e-01 -7.96247454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:244.94, Y:-44.64, Z:-7.96 [[ 9.79844128e-01 1.96752039e-01 3.45560463e-02 2.44939103e+02] [-1.96646251e-01 9.80453173e-01 -6.46736111e-03 -4.46360135e+01] [-3.51530517e-02 -4.58311141e-04 9.99381835e-01 -7.96382778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43401273899997 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:244.97, Y:-44.64, Z:-7.96 [[ 9.80128347e-01 1.95377927e-01 3.42912385e-02 2.44968053e+02] [-1.95272981e-01 9.80727944e-01 -6.41585857e-03 -4.46395978e+01] [-3.48838929e-02 -4.07787513e-04 9.99391289e-01 -7.96497305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:245.00, Y:-44.64, Z:-7.97 [[ 9.80621867e-01 1.92753455e-01 3.50265537e-02 2.44996670e+02] [-1.92642347e-01 9.81247166e-01 -6.55169841e-03 -4.46443555e+01] [-3.56325690e-02 -3.22858788e-04 9.99364906e-01 -7.96594427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49401273899997 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:245.03, Y:-44.65, Z:-7.96 [[ 9.80885402e-01 1.91452172e-01 3.47835180e-02 2.45026284e+02] [-1.91341827e-01 9.81501905e-01 -6.50498578e-03 -4.46507923e+01] [-3.53854829e-02 -2.74896302e-04 9.99373700e-01 -7.95528597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:245.05, Y:-44.66, Z:-7.95 [[ 9.81024358e-01 1.90570322e-01 3.56954040e-02 2.45054757e+02] [-1.90453562e-01 9.81673515e-01 -6.67462800e-03 -4.46552533e+01] [-3.63132187e-02 -2.50344199e-04 9.99340426e-01 -7.95443017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55401273899997 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:245.08, Y:-44.66, Z:-7.97 [[ 9.80887660e-01 1.91074795e-01 3.67399130e-02 2.45084133e+02] [-1.90951489e-01 9.81575441e-01 -6.86902202e-03 -4.46595013e+01] [-3.73754933e-02 -2.77802145e-04 9.99301254e-01 -7.96803815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:245.11, Y:-44.67, Z:-7.97 [[ 9.80850079e-01 1.91246410e-01 3.68501388e-02 2.45112837e+02] [-1.91122516e-01 9.81542016e-01 -6.88874841e-03 -4.46650290e+01] [-3.74874079e-02 -2.86061818e-04 9.99297059e-01 -7.96929868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61401273899997 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:245.14, Y:-44.67, Z:-7.97 [[ 9.80928021e-01 1.90938069e-01 3.63713071e-02 2.45141333e+02] [-1.90817195e-01 9.81602048e-01 -6.79838356e-03 -4.46721932e+01] [-3.70002197e-02 -2.71545849e-04 9.99315221e-01 -7.97047196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:245.17, Y:-44.68, Z:-7.97 [[ 9.81007420e-01 1.90854985e-01 3.46239324e-02 2.45169274e+02] [-1.90745426e-01 9.81618209e-01 -6.47096721e-03 -4.46809635e+01] [-3.52224989e-02 -2.56289905e-04 9.99379462e-01 -7.97102622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67401273899998 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:245.20, Y:-44.69, Z:-7.97 [[ 9.80995755e-01 1.91016291e-01 3.40603139e-02 2.45198423e+02] [-1.90910382e-01 9.81586833e-01 -6.36522484e-03 -4.46874367e+01] [-3.46490173e-02 -2.58208996e-04 9.99399509e-01 -7.97164106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:245.23, Y:-44.69, Z:-7.97 [[ 9.80955003e-01 1.91297218e-01 3.36549610e-02 2.45226877e+02] [-1.91194008e-01 9.81532121e-01 -6.28866031e-03 -4.46928902e+01] [-3.42364285e-02 -2.65734105e-04 9.99413726e-01 -7.97218746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73401273899998 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:245.26, Y:-44.70, Z:-7.97 [[ 9.80430634e-01 1.93714526e-01 3.50778362e-02 2.45255974e+02] [-1.93603996e-01 9.81057872e-01 -6.55320357e-03 -4.46975918e+01] [-3.56828381e-02 -3.66247708e-04 9.99363098e-01 -7.97323109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:245.28, Y:-44.70, Z:-7.97 [[ 9.80075831e-01 1.95267449e-01 3.63591684e-02 2.45283822e+02] [-1.95149796e-01 9.80749933e-01 -6.79165161e-03 -4.47022814e+01] [-3.69854405e-02 -4.39150713e-04 9.99315708e-01 -7.97395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79401273899998 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:245.31, Y:-44.71, Z:-7.97 [[ 9.79422410e-01 1.98344918e-01 3.72966008e-02 2.45313707e+02] [-1.98223383e-01 9.80132118e-01 -6.96581426e-03 -4.47055426e+01] [-3.79372302e-02 -5.70583773e-04 9.99279961e-01 -7.97425581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:245.34, Y:-44.71, Z:-7.98 [[ 9.79167510e-01 1.99757865e-01 3.64387610e-02 2.45342621e+02] [-1.99642868e-01 9.79845100e-01 -6.80472197e-03 -4.47087495e+01] [-3.70636382e-02 -6.11776105e-04 9.99312720e-01 -7.97542403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85401273899998 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:245.37, Y:-44.71, Z:-7.98 [[ 9.79017811e-01 2.00667987e-01 3.54469328e-02 2.45370768e+02] [-2.00559794e-01 9.79659105e-01 -6.61861633e-03 -4.47116121e+01] [-3.60540549e-02 -6.29486285e-04 9.99349643e-01 -7.97725547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:245.40, Y:-44.71, Z:-7.98 [[ 9.78981245e-01 2.00930754e-01 3.49650541e-02 2.45399864e+02] [-2.00825723e-01 9.79605243e-01 -6.52661198e-03 -4.47143195e+01] [-3.55633473e-02 -6.32451546e-04 9.99367224e-01 -7.97837116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914012739 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:245.43, Y:-44.72, Z:-7.98 [[ 9.79094805e-01 2.00290379e-01 3.54559796e-02 2.45428440e+02] [-2.00182021e-01 9.79736383e-01 -6.61651317e-03 -4.47183365e+01] [-3.60627372e-02 -6.19455986e-04 9.99349336e-01 -7.97863975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:245.46, Y:-44.72, Z:-7.98 [[ 9.79503220e-01 1.98165274e-01 3.61104661e-02 2.45456493e+02] [-1.98051499e-01 9.80168464e-01 -6.73688214e-03 -4.47200623e+01] [-3.67293562e-02 -5.52934171e-04 9.99325097e-01 -7.97919324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974012739 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:245.49, Y:-44.71, Z:-7.98 [[ 9.79716777e-01 1.98498519e-01 2.74476730e-02 2.45485633e+02] [-1.97875612e-01 9.79937437e-01 -2.38298310e-02 -4.47122068e+01] [-3.16271886e-02 1.79152601e-02 9.99339164e-01 -7.97726727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:245.51, Y:-44.72, Z:-7.98 [[ 9.80020278e-01 1.96911007e-01 2.80412129e-02 2.45512741e+02] [-1.96680987e-01 9.80408440e-01 -1.07647809e-02 -4.47241639e+01] [-2.96115456e-02 5.03453016e-03 9.99548803e-01 -7.97744070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:245.54, Y:-44.73, Z:-7.98 [[ 9.80078725e-01 1.96018144e-01 3.19777972e-02 2.45540224e+02] [-1.96151123e-01 9.80573120e-01 1.04510420e-03 -4.47346619e+01] [-3.11517090e-02 -7.29676523e-03 9.99488033e-01 -7.97881151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:245.57, Y:-44.74, Z:-7.98 [[ 9.79904136e-01 1.95803547e-01 3.80638230e-02 2.45567371e+02] [-1.96289380e-01 9.80500579e-01 9.43899681e-03 -4.47441347e+01] [-3.54734114e-02 -1.67208362e-02 9.99230729e-01 -7.98222498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.094012739 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:245.60, Y:-44.74, Z:-7.98 [[ 9.79617307e-01 1.97222626e-01 3.81204232e-02 2.45596336e+02] [-1.97236304e-01 9.80349945e-01 -3.43894578e-03 -4.47384979e+01] [-3.80495927e-02 -4.14988057e-03 9.99267235e-01 -7.98242737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:245.63, Y:-44.74, Z:-7.98 [[ 9.79744270e-01 1.96794458e-01 3.70554515e-02 2.45625821e+02] [-1.96571083e-01 9.80442442e-01 -9.61388518e-03 -4.47384165e+01] [-3.82226967e-02 2.13511869e-03 9.99266965e-01 -7.98262235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15401273899997 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:245.65, Y:-44.74, Z:-7.98 [[ 9.79845336e-01 1.96121662e-01 3.79395833e-02 2.45654509e+02] [-1.95994646e-01 9.80579441e-01 -7.07518170e-03 -4.47439304e+01] [-3.85903718e-02 -5.03371419e-04 9.99254987e-01 -7.98399079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:245.68, Y:-44.75, Z:-7.99 [[ 9.80227576e-01 1.94137630e-01 3.82685305e-02 2.45681609e+02] [-1.94104583e-01 9.80969996e-01 -4.61279928e-03 -4.47474460e+01] [-3.84357981e-02 -2.90650410e-03 9.99256845e-01 -7.98505763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21401273899997 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:245.71, Y:-44.76, Z:-7.99 [[ 9.80295670e-01 1.93152951e-01 4.13803943e-02 2.45706341e+02] [-1.93350256e-01 9.81129485e-01 7.82105197e-04 -4.47558628e+01] [-4.04484590e-02 -8.76760416e-03 9.99143159e-01 -7.98835760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:245.74, Y:-44.75, Z:-7.99 [[ 9.81772723e-01 1.86851194e-01 3.47699844e-02 2.45740681e+02] [-1.86357239e-01 9.82335456e-01 -1.69715190e-02 -4.47508418e+01] [-3.73269371e-02 1.01825361e-02 9.99251228e-01 -7.98773808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27401273899997 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:245.77, Y:-44.76, Z:-7.99 [[ 9.82246720e-01 1.84009988e-01 3.64925381e-02 2.45767601e+02] [-1.83884021e-01 9.82924373e-01 -6.80757684e-03 -4.47641786e+01] [-3.71220673e-02 -2.36746158e-05 9.99310738e-01 -7.98983180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:245.80, Y:-44.77, Z:-7.99 [[ 9.82870152e-01 1.80580545e-01 3.68365488e-02 2.45796649e+02] [-1.80449832e-01 9.83560194e-01 -6.87042766e-03 -4.47712159e+01] [-3.74716286e-02 1.05589252e-04 9.99297686e-01 -7.99047520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33401273899997 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:245.82, Y:-44.78, Z:-7.99 [[ 9.82984487e-01 1.79983729e-01 3.67063521e-02 2.45824352e+02] [-1.79853556e-01 9.83669579e-01 -6.84523215e-03 -4.47767654e+01] [-3.73389524e-02 1.26989045e-04 9.99302650e-01 -7.99121105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:245.85, Y:-44.78, Z:-7.99 [[ 9.83083392e-01 1.79591739e-01 3.59701554e-02 2.45853113e+02] [-1.79466521e-01 9.83741220e-01 -6.70669024e-03 -4.47826329e+01] [-3.65897907e-02 1.37797150e-04 9.99330360e-01 -7.99284574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39401273899998 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:245.88, Y:-44.79, Z:-7.99 [[ 9.83177500e-01 1.79376841e-01 3.44376718e-02 2.45881087e+02] [-1.79261964e-01 9.83780428e-01 -6.42015892e-03 -4.47923492e+01] [-3.50307353e-02 1.38791109e-04 9.99386226e-01 -7.99479909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:245.91, Y:-44.80, Z:-8.00 [[ 9.83237771e-01 1.79063159e-01 3.43492481e-02 2.45910340e+02] [-1.78948709e-01 9.83837569e-01 -6.40284828e-03 -4.48006315e+01] [-3.49405950e-02 1.48768661e-04 9.99389380e-01 -7.99524483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45401273899998 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:245.94, Y:-44.81, Z:-7.98 [[ 9.83359288e-01 1.78310830e-01 3.47815804e-02 2.45938237e+02] [-1.78193010e-01 9.83974195e-01 -6.48342927e-03 -4.48119243e+01] [-3.53802432e-02 1.77705869e-04 9.99373907e-01 -7.98373768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:245.97, Y:-44.82, Z:-8.00 [[ 9.83139812e-01 1.79327679e-01 3.57448402e-02 2.45967235e+02] [-1.79203928e-01 9.83789389e-01 -6.66255326e-03 -4.48189867e+01] [-3.63601748e-02 1.44605601e-04 9.99338740e-01 -7.99655594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51401273899998 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:246.00, Y:-44.83, Z:-8.00 [[ 9.82970862e-01 1.80235788e-01 3.58238028e-02 2.45996331e+02] [-1.80112093e-01 9.83623428e-01 -6.67725121e-03 -4.48262004e+01] [-3.64406114e-02 1.11243266e-04 9.99335814e-01 -7.99807368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:246.02, Y:-44.83, Z:-8.00 [[ 9.82508484e-01 1.82909511e-01 3.49455217e-02 2.46024648e+02] [-1.82793513e-01 9.83129753e-01 -6.51314495e-03 -4.48346968e+01] [-3.55472982e-02 1.14054983e-05 9.99367995e-01 -7.99934297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57401273899998 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:246.05, Y:-44.84, Z:-8.00 [[ 9.82200246e-01 1.84654571e-01 3.44291471e-02 2.46053534e+02] [-1.84543048e-01 9.82803483e-01 -6.41689666e-03 -4.48409985e+01] [-3.50219950e-02 -5.09822731e-05 9.99386540e-01 -8.00041684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:246.08, Y:-44.85, Z:-8.00 [[ 9.81831615e-01 1.86666730e-01 3.40912362e-02 2.46081969e+02] [-1.86558626e-01 9.82423288e-01 -6.35310578e-03 -4.48470496e+01] [-3.46779378e-02 -1.22334075e-04 9.99398532e-01 -8.00089492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63401273899999 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:246.11, Y:-44.85, Z:-8.00 [[ 9.81231731e-01 1.89617901e-01 3.50619746e-02 2.46110473e+02] [-1.89505479e-01 9.81857931e-01 -6.53272915e-03 -4.48536170e+01] [-3.56646003e-02 -2.34315163e-04 9.99363788e-01 -8.00175068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:246.14, Y:-44.86, Z:-8.00 [[ 9.80687015e-01 1.92221648e-01 3.61084094e-02 2.46138765e+02] [-1.92104211e-01 9.81351478e-01 -6.72676227e-03 -4.48582374e+01] [-3.67280702e-02 -3.39729084e-04 9.99325239e-01 -8.00247832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:246.17, Y:-44.86, Z:-8.00 [[ 9.80429377e-01 1.93533597e-01 3.60968653e-02 2.46166640e+02] [-1.93417173e-01 9.81093571e-01 -6.72326328e-03 -4.48632613e+01] [-3.67155798e-02 -3.90068811e-04 9.99325680e-01 -8.00348838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:246.19, Y:-44.87, Z:-8.01 [[ 9.80296283e-01 1.94323457e-01 3.54625370e-02 2.46193817e+02] [-1.94211668e-01 9.80937420e-01 -6.60344167e-03 -4.48681081e+01] [-3.60697331e-02 -4.13909121e-04 9.99349190e-01 -8.00514703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754012739 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:246.22, Y:-44.87, Z:-8.01 [[ 9.80286179e-01 1.94521078e-01 3.46490591e-02 2.46221407e+02] [-1.94414554e-01 9.80898251e-01 -6.44995837e-03 -4.48737478e+01] [-3.52418543e-02 -4.13476320e-04 9.99378727e-01 -8.00621573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:246.25, Y:-44.88, Z:-8.01 [[ 9.80076607e-01 1.95141294e-01 3.70097302e-02 2.46250521e+02] [-1.95020287e-01 9.80775029e-01 -6.88702309e-03 -4.48789994e+01] [-3.76421618e-02 -4.67837991e-04 9.99291173e-01 -8.00574606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814012739 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:246.28, Y:-44.88, Z:-8.01 [[ 9.79959541e-01 1.95623033e-01 3.75623010e-02 2.46279324e+02] [-1.95498774e-01 9.80679042e-01 -6.98891628e-03 -4.48838244e+01] [-3.82037544e-02 -4.94528621e-04 9.99269848e-01 -8.00639803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:246.31, Y:-44.89, Z:-8.01 [[ 9.79947869e-01 1.95731603e-01 3.73003182e-02 2.46307990e+02] [-1.95609185e-01 9.80657378e-01 -6.93926244e-03 -4.48887548e+01] [-3.79370652e-02 -4.96169410e-04 9.99280007e-01 -8.00760983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.874012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:246.34, Y:-44.89, Z:-8.01 [[ 9.79916413e-01 1.96033102e-01 3.65355480e-02 2.46337627e+02] [-1.95915896e-01 9.80597152e-01 -6.79611452e-03 -4.48935624e+01] [-3.71589178e-02 -4.98270466e-04 9.99309245e-01 -8.00867270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:246.37, Y:-44.90, Z:-8.01 [[ 9.79877800e-01 1.96086978e-01 3.72745731e-02 2.46367107e+02] [-1.95965054e-01 9.80586373e-01 -6.93266649e-03 -4.48992275e+01] [-3.79103441e-02 -5.11347748e-04 9.99281014e-01 -8.00975096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93401273899997 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:246.39, Y:-44.91, Z:-8.01 [[ 9.80216867e-01 1.94034574e-01 3.90573695e-02 2.46394666e+02] [-1.93899117e-01 9.80994586e-01 -7.26319715e-03 -4.49058199e+01] [-3.97243794e-02 -4.53681102e-04 9.99210572e-01 -8.01046306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:246.42, Y:-44.91, Z:-8.01 [[ 9.80606771e-01 1.92076195e-01 3.89499079e-02 2.46423190e+02] [-1.91939991e-01 9.81379944e-01 -7.24186052e-03 -4.49123022e+01] [-3.96156475e-02 -3.74627530e-04 9.99214922e-01 -8.01151104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99401273899997 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:246.45, Y:-44.92, Z:-8.01 [[ 9.80608996e-01 1.92064803e-01 3.89500656e-02 2.46452837e+02] [-1.91928625e-01 9.81382174e-01 -7.24101245e-03 -4.49177742e+01] [-3.96156437e-02 -3.75030571e-04 9.99214922e-01 -8.01255933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:246.48, Y:-44.93, Z:-8.01 [[ 9.81127227e-01 1.89518454e-01 3.83682254e-02 2.46482711e+02] [-1.89384384e-01 9.81877122e-01 -7.13244177e-03 -4.49250666e+01] [-3.90246121e-02 -2.68509923e-04 9.99238214e-01 -8.01379180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05401273900003 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:246.51, Y:-44.93, Z:-8.02 [[ 9.82125313e-01 1.84541659e-01 3.70708278e-02 2.46512851e+02] [-1.84412955e-01 9.82824690e-01 -6.89133347e-03 -4.49349438e+01] [-3.77058630e-02 -6.81878760e-05 9.99288879e-01 -8.01536762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:246.54, Y:-44.94, Z:-8.02 [[ 9.82378423e-01 1.83147328e-01 3.72785455e-02 2.46543750e+02] [-1.83016122e-01 9.83085478e-01 -6.93131752e-03 -4.49428388e+01] [-3.79174490e-02 -1.33980501e-05 9.99280875e-01 -8.01635305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11401273900003 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:246.57, Y:-44.95, Z:-8.02 [[ 9.82204880e-01 1.84050400e-01 3.74035370e-02 2.46573689e+02] [-1.83862261e-01 9.82915794e-01 -8.43866434e-03 -4.49502837e+01] [-3.83176668e-02 1.41139843e-03 9.99264612e-01 -8.01676007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:246.60, Y:-44.96, Z:-8.02 [[ 9.82019184e-01 1.84803515e-01 3.85484637e-02 2.46604315e+02] [-1.84724966e-01 9.82774184e-01 -5.62054436e-03 -4.49588870e+01] [-3.89231313e-02 -1.60138126e-03 9.99240925e-01 -8.01802094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17401273900003 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:246.63, Y:-44.96, Z:-8.02 [[ 9.81267457e-01 1.88698145e-01 3.88225164e-02 2.46634889e+02] [-1.88559622e-01 9.82035112e-01 -7.23246528e-03 -4.49641890e+01] [-3.94898270e-02 -2.23376212e-04 9.99219948e-01 -8.01974532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:246.67, Y:-44.97, Z:-8.02 [[ 9.80899404e-01 1.90563741e-01 3.90105066e-02 2.46666567e+02] [-1.90425281e-01 9.81674779e-01 -7.26915944e-03 -4.49696555e+01] [-3.96808686e-02 -2.98272518e-04 9.99212360e-01 -8.02034845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23401273900004 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:246.70, Y:-44.97, Z:-8.02 [[ 9.80499250e-01 1.92556173e-01 3.92853883e-02 2.46696994e+02] [-1.92417091e-01 9.81285881e-01 -7.32690940e-03 -4.49748545e+01] [-3.99610385e-02 -3.75150971e-04 9.99201168e-01 -8.02132501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:246.73, Y:-44.98, Z:-8.02 [[ 9.80022749e-01 1.94972434e-01 3.92576357e-02 2.46726611e+02] [-1.94835352e-01 9.80808610e-01 -7.32506893e-03 -4.49804891e+01] [-3.99324136e-02 -4.70041067e-04 9.99202273e-01 -8.02320316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294012739 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:246.76, Y:-44.99, Z:-8.02 [[ 9.79955486e-01 1.95360548e-01 3.90064369e-02 2.46757494e+02] [-1.95225517e-01 9.80731372e-01 -7.27831739e-03 -4.49866292e+01] [-3.96767324e-02 -4.82624755e-04 9.99212452e-01 -8.02468841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:246.79, Y:-44.99, Z:-8.03 [[ 9.80155589e-01 1.94407224e-01 3.87408514e-02 2.46787484e+02] [-1.94273247e-01 9.80920811e-01 -7.22965431e-03 -4.49930450e+01] [-3.94072044e-02 -4.40124907e-04 9.99223138e-01 -8.02613944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:246.82, Y:-45.00, Z:-8.03 [[ 9.80331685e-01 1.93482160e-01 3.89158116e-02 2.46818071e+02] [-1.93346220e-01 9.81103710e-01 -7.26284087e-03 -4.49987070e+01] [-3.95856773e-02 -4.04232058e-04 9.99216098e-01 -8.02689187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:246.85, Y:-45.00, Z:-8.03 [[ 9.80533261e-01 1.92433445e-01 3.90370707e-02 2.46848707e+02] [-1.92295787e-01 9.81309960e-01 -7.28642116e-03 -4.50045775e+01] [-3.97096174e-02 -3.62085936e-04 9.99211196e-01 -8.02818840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414012739 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:246.88, Y:-45.01, Z:-8.03 [[ 9.80753010e-01 1.91325392e-01 3.89631616e-02 2.46878033e+02] [-1.91187346e-01 9.81526614e-01 -7.27351015e-03 -4.50110916e+01] [-3.96349873e-02 -3.15746488e-04 9.99214175e-01 -8.02979137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:246.91, Y:-45.02, Z:-8.03 [[ 9.81119849e-01 1.89615817e-01 3.80747209e-02 2.46909897e+02] [-1.89482664e-01 9.81858332e-01 -7.10885830e-03 -4.50191385e+01] [-3.87319339e-02 -2.39857551e-04 9.99249608e-01 -8.03103588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474012739 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:246.94, Y:-45.02, Z:-8.03 [[ 9.81136101e-01 1.89840158e-01 3.65056876e-02 2.46942124e+02] [-1.89717648e-01 9.81814983e-01 -6.82299725e-03 -4.50240051e+01] [-3.71371100e-02 -2.31484278e-04 9.99310153e-01 -8.03283704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:246.97, Y:-45.03, Z:-8.03 [[ 9.81020955e-01 1.90511325e-01 3.61015450e-02 2.46973275e+02] [-1.90391735e-01 9.81684967e-01 -6.75377385e-03 -4.50294536e+01] [-3.67270144e-02 -2.47842141e-04 9.99325305e-01 -8.03392791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534012739 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:247.00, Y:-45.03, Z:-8.03 [[ 9.80897267e-01 1.91075437e-01 3.64791653e-02 2.47002091e+02] [-1.90953510e-01 9.81575319e-01 -6.83012006e-03 -4.50339230e+01] [-3.71121165e-02 -2.66178544e-04 9.99311073e-01 -8.03496071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:247.03, Y:-45.04, Z:-8.03 [[ 9.80449082e-01 1.93199251e-01 3.73315948e-02 2.47032540e+02] [-1.93073078e-01 9.81159479e-01 -6.99018020e-03 -4.50363588e+01] [-3.79787457e-02 -3.54210140e-04 9.99278484e-01 -8.03432701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594012739 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:247.06, Y:-45.04, Z:-8.04 [[ 9.80212567e-01 1.94349424e-01 3.75715874e-02 2.47062833e+02] [-1.94222467e-01 9.80932281e-01 -7.03511779e-03 -4.50393991e+01] [-3.82224540e-02 -4.01335530e-04 9.99269174e-01 -8.03521807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:247.09, Y:-45.04, Z:-8.04 [[ 9.79846488e-01 1.96106169e-01 3.79898657e-02 2.47093488e+02] [-1.95977688e-01 9.80582554e-01 -7.11343858e-03 -4.50401002e+01] [-3.86471887e-02 -4.75088235e-04 9.99252805e-01 -8.03695278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654012739 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:247.12, Y:-45.04, Z:-8.04 [[ 9.79773169e-01 1.96406388e-01 3.83284318e-02 2.47123064e+02] [-1.96275834e-01 9.80522457e-01 -7.17688573e-03 -4.50441443e+01] [-3.89914744e-02 -4.91224832e-04 9.99239423e-01 -8.03907692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:247.15, Y:-45.05, Z:-8.04 [[ 9.79875595e-01 1.95856991e-01 3.85208602e-02 2.47152356e+02] [-1.95724685e-01 9.80632356e-01 -7.21323930e-03 -4.50481049e+01] [-3.91875652e-02 -4.71406093e-04 9.99231761e-01 -8.03983712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714012739 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:247.18, Y:-45.05, Z:-8.04 [[ 9.80247453e-01 1.93752285e-01 3.96860450e-02 2.47183024e+02] [-1.93610161e-01 9.81050402e-01 -7.43056628e-03 -4.50502353e+01] [-4.03736996e-02 -3.99827899e-04 9.99184570e-01 -8.04185977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:247.21, Y:-45.05, Z:-8.04 [[ 9.80515883e-01 1.92371800e-01 3.97705108e-02 2.47212493e+02] [-1.92227938e-01 9.81322053e-01 -7.44631194e-03 -4.50534971e+01] [-4.04601397e-02 -3.43776155e-04 9.99181094e-01 -8.04282789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774012739 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:247.24, Y:-45.05, Z:-8.04 [[ 9.81189260e-01 1.88973729e-01 3.94533279e-02 2.47242949e+02] [-1.88829423e-01 9.81982122e-01 -7.38650761e-03 -4.50547674e+01] [-4.01383185e-02 -2.02387179e-04 9.99194112e-01 -8.04471947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:247.27, Y:-45.06, Z:-8.05 [[ 9.81493749e-01 1.87442611e-01 3.91827496e-02 2.47271775e+02] [-1.87299060e-01 9.82275546e-01 -7.33578751e-03 -4.50587271e+01] [-3.98632959e-02 -1.38862578e-04 9.99205133e-01 -8.04580292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834012739 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:247.30, Y:-45.06, Z:-8.05 [[ 9.81795301e-01 1.85844728e-01 3.92393261e-02 2.47300980e+02] [-1.85699507e-01 9.82579122e-01 -7.34584042e-03 -4.50626440e+01] [-3.99209283e-02 -7.46119260e-05 9.99202839e-01 -8.04700946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:247.33, Y:-45.07, Z:-8.05 [[ 9.82292633e-01 1.82561127e-01 4.21024637e-02 2.47330804e+02] [-1.82499747e-01 9.83191456e-01 -5.32945163e-03 -4.50663970e+01] [-4.23677333e-02 -2.44860790e-03 9.99099084e-01 -8.04876151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:247.36, Y:-45.07, Z:-8.05 [[ 9.82479210e-01 1.81782820e-01 4.11048588e-02 2.47361631e+02] [-1.81512105e-01 9.83335225e-01 -1.02562302e-02 -4.50670608e+01] [-4.22842620e-02 2.61550353e-03 9.99102197e-01 -8.04923949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:247.39, Y:-45.07, Z:-8.05 [[ 9.82892593e-01 1.79320570e-01 4.20271720e-02 2.47391580e+02] [-1.79147860e-01 9.83790674e-01 -7.87108731e-03 -4.50706518e+01] [-4.27573877e-02 2.07355484e-04 9.99085463e-01 -8.05024417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954012739 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:247.42, Y:-45.07, Z:-8.05 [[ 9.83139413e-01 1.78057825e-01 4.16209785e-02 2.47422826e+02] [-1.77887283e-01 9.84019991e-01 -7.79560933e-03 -4.50743438e+01] [-4.23439441e-02 2.60327995e-04 9.99103059e-01 -8.05224042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:247.45, Y:-45.08, Z:-8.05 [[ 9.83573149e-01 1.75939554e-01 4.03625400e-02 2.47453484e+02] [-1.75777353e-01 9.84400913e-01 -7.56080466e-03 -4.50760665e+01] [-4.10631658e-02 3.41784010e-04 9.99156494e-01 -8.05383435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:247.48, Y:-45.08, Z:-8.05 [[ 9.83716036e-01 1.75111129e-01 4.04827555e-02 2.47483345e+02] [-1.74947241e-01 9.84548602e-01 -7.58374698e-03 -4.50802423e+01] [-4.11852388e-02 3.77907146e-04 9.99151457e-01 -8.05468367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:247.51, Y:-45.08, Z:-8.06 [[ 9.83624592e-01 1.75240380e-01 4.21125976e-02 2.47512902e+02] [-1.75063137e-01 9.84525601e-01 -7.88916562e-03 -4.50818782e+01] [-4.28434308e-02 3.87613863e-04 9.99081723e-01 -8.05520144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074012739 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:247.54, Y:-45.08, Z:-8.06 [[ 9.83534764e-01 1.75476381e-01 4.32135211e-02 2.47543542e+02] [-1.75289954e-01 9.84483565e-01 -8.09583112e-03 -4.50846858e+01] [-4.39636285e-02 3.87635221e-04 9.99033057e-01 -8.05570867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:247.57, Y:-45.09, Z:-8.06 [[ 9.83451659e-01 1.75722512e-01 4.40957360e-02 2.47573211e+02] [-1.75528644e-01 9.84439664e-01 -8.26099180e-03 -4.50879001e+01] [-4.48612337e-02 3.84221337e-04 9.98993154e-01 -8.05633300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134012739 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:247.60, Y:-45.10, Z:-8.06 [[ 9.83370133e-01 1.75317624e-01 4.74016162e-02 2.47601636e+02] [-1.75466395e-01 9.84484875e-01 -1.03659648e-03 -4.50975751e+01] [-4.68479078e-02 -7.29803270e-03 9.98875374e-01 -8.05976466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:247.63, Y:-45.09, Z:-8.06 [[ 9.83693961e-01 1.74789543e-01 4.23651582e-02 2.47634383e+02] [-1.74274226e-01 9.84573662e-01 -1.55948135e-02 -4.50949454e+01] [-4.44374293e-02 7.95736871e-03 9.98980478e-01 -8.06012866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194012739 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:247.66, Y:-45.11, Z:-8.06 [[ 9.84177831e-01 1.71702742e-01 4.37283148e-02 2.47663810e+02] [-1.71507796e-01 9.85148640e-01 -8.19953962e-03 -4.51081790e+01] [-4.44867733e-02 5.70058224e-04 9.99009811e-01 -8.06218851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:247.69, Y:-45.12, Z:-8.05 [[ 9.84469035e-01 1.70316856e-01 4.25780310e-02 2.47694391e+02] [-1.70130597e-01 9.85389154e-01 -7.98716690e-03 -4.51158867e+01] [-4.33162791e-02 6.19292653e-04 9.99061218e-01 -8.05228495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254012739 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:247.72, Y:-45.13, Z:-8.07 [[ 9.84621547e-01 1.68431768e-01 4.63804782e-02 2.47724025e+02] [-1.68589455e-01 9.85686221e-01 -5.18822695e-04 -4.51276705e+01] [-4.58039846e-02 -7.30841555e-03 9.98923712e-01 -8.06624392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:247.76, Y:-45.13, Z:-8.07 [[ 9.84957933e-01 1.68116959e-01 3.99319158e-02 2.47756074e+02] [-1.67609461e-01 9.85727526e-01 -1.57579555e-02 -4.51264271e+01] [-4.20111681e-02 8.82795644e-03 9.99078140e-01 -8.06701854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:247.79, Y:-45.14, Z:-8.07 [[ 9.84830541e-01 1.68540622e-01 4.12657652e-02 2.47787629e+02] [-1.68363732e-01 9.85694471e-01 -7.75010628e-03 -4.51390968e+01] [-4.19816443e-02 6.84883128e-04 9.99118147e-01 -8.06927100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:247.82, Y:-45.15, Z:-8.07 [[ 9.84248505e-01 1.71836226e-01 4.15594899e-02 2.47817589e+02] [-1.71659406e-01 9.85125374e-01 -7.81321436e-03 -4.51472805e+01] [-4.22839013e-02 5.56067231e-04 9.99105481e-01 -8.07063320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374012739 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:247.85, Y:-45.15, Z:-8.07 [[ 9.83856280e-01 1.74063105e-01 4.15795125e-02 2.47846713e+02] [-1.73887865e-01 9.84734390e-01 -7.82252287e-03 -4.51539423e+01] [-4.23063885e-02 4.66065578e-04 9.99104575e-01 -8.07215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:247.88, Y:-45.16, Z:-8.07 [[ 9.83186533e-01 1.77907383e-01 4.11485663e-02 2.47878006e+02] [-1.77739055e-01 9.84047191e-01 -7.74304251e-03 -4.51621279e+01] [-4.18696755e-02 2.99147832e-04 9.99123036e-01 -8.07372319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434012739 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:247.91, Y:-45.17, Z:-8.08 [[ 9.83054699e-01 1.78615440e-01 4.12308442e-02 2.47909873e+02] [-1.78446754e-01 9.83918924e-01 -7.76580274e-03 -4.51690562e+01] [-4.19549001e-02 2.76698555e-04 9.99119467e-01 -8.07582527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:247.94, Y:-45.18, Z:-8.08 [[ 9.83061069e-01 1.78619938e-01 4.10591306e-02 2.47940518e+02] [-1.78452377e-01 9.83918105e-01 -7.74020905e-03 -4.51759447e+01] [-4.17813776e-02 2.81998735e-04 9.99126737e-01 -8.07652442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494012739 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:247.97, Y:-45.18, Z:-8.08 [[ 9.83246441e-01 1.77438500e-01 4.17374516e-02 2.47970715e+02] [-1.77264136e-01 9.84131832e-01 -7.87171875e-03 -4.51849747e+01] [-4.24719007e-02 3.41286137e-04 9.99097603e-01 -8.07786833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:248.00, Y:-45.19, Z:-8.08 [[ 9.83291953e-01 1.77264110e-01 4.14049696e-02 2.48002004e+02] [-1.77092274e-01 9.84163256e-01 -7.81104237e-03 -4.51923585e+01] [-4.21338672e-02 3.48034887e-04 9.99111914e-01 -8.07887684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55401273900003 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:248.03, Y:-45.20, Z:-8.08 [[ 9.82957069e-01 1.79225740e-01 4.09088699e-02 2.48032222e+02] [-1.79059412e-01 9.83807940e-01 -7.72426207e-03 -4.51975385e+01] [-4.16308576e-02 2.67499813e-04 9.99133024e-01 -8.08069433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:248.06, Y:-45.20, Z:-8.08 [[ 9.82490976e-01 1.81812778e-01 4.06890067e-02 2.48061189e+02] [-1.81650231e-01 9.83333152e-01 -7.68804808e-03 -4.52013746e+01] [-4.14086346e-02 1.62270383e-04 9.99142281e-01 -8.08218933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61401273900003 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:248.09, Y:-45.20, Z:-8.08 [[ 9.81304927e-01 1.87830884e-01 4.19547236e-02 2.48090853e+02] [-1.87663579e-01 9.82201380e-01 -7.92659471e-03 -4.52035824e+01] [-4.26968467e-02 -9.49671457e-05 9.99088069e-01 -8.08278714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:248.12, Y:-45.21, Z:-8.08 [[ 9.80814443e-01 1.90215613e-01 4.26737395e-02 2.48121332e+02] [-1.90044814e-01 9.81742318e-01 -8.06158328e-03 -4.52084337e+01] [-4.34280549e-02 -2.03005585e-04 9.99056536e-01 -8.08368855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67401273900003 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:248.15, Y:-45.21, Z:-8.08 [[ 9.80566556e-01 1.91414631e-01 4.30077613e-02 2.48150708e+02] [-1.91242295e-01 9.81509232e-01 -8.12478978e-03 -4.52134830e+01] [-4.37677184e-02 -2.58005843e-04 9.99041701e-01 -8.08438419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:248.18, Y:-45.22, Z:-8.09 [[ 9.80716435e-01 1.90288606e-01 4.45591790e-02 2.48179728e+02] [-1.90102435e-01 9.81728170e-01 -8.41806100e-03 -4.52201918e+01] [-4.53468624e-02 -2.15077678e-04 9.98971279e-01 -8.08653537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73401273900004 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:248.21, Y:-45.23, Z:-8.09 [[ 9.80926549e-01 1.88943934e-01 4.56431299e-02 2.48209321e+02] [-1.88747175e-01 9.81987864e-01 -8.62198541e-03 -4.52263731e+01] [-4.64500715e-02 -1.57477463e-04 9.98920600e-01 -8.08706503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:248.24, Y:-45.23, Z:-8.09 [[ 9.81076920e-01 1.87821327e-01 4.70236861e-02 2.48239049e+02] [-1.87611183e-01 9.82203206e-01 -8.88292474e-03 -4.52325886e+01] [-4.78552179e-02 -1.07336943e-04 9.98854277e-01 -8.08809236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794012739 meters Centerline goodness : 0.996742 Centerline is valid? [True, True] Translation: X:248.27, Y:-45.24, Z:-8.09 [[ 9.81053850e-01 1.87949267e-01 4.69937909e-02 2.48270284e+02] [-1.87739502e-01 9.82178731e-01 -8.87800045e-03 -4.52379526e+01] [-4.78249156e-02 -1.12794382e-04 9.98855728e-01 -8.08923559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:248.30, Y:-45.24, Z:-8.09 [[ 9.80818954e-01 1.89220133e-01 4.67965924e-02 2.48301129e+02] [-1.89013517e-01 9.81934678e-01 -8.84189112e-03 -4.52434396e+01] [-4.76242607e-02 -1.72894088e-04 9.98865306e-01 -8.09172325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854012739 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:248.33, Y:-45.25, Z:-8.09 [[ 9.80226286e-01 1.92849808e-01 4.43326091e-02 2.48330257e+02] [-1.92668064e-01 9.81228232e-01 -8.37701329e-03 -4.52481259e+01] [-4.51159131e-02 -3.30109357e-04 9.98981704e-01 -8.09312623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:248.36, Y:-45.25, Z:-8.09 [[ 9.79844556e-01 1.94894394e-01 4.38271705e-02 2.48359502e+02] [-1.94718845e-01 9.80824143e-01 -8.28086513e-03 -4.52541417e+01] [-4.46006411e-02 -4.20015393e-04 9.99004808e-01 -8.09497365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914012739 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:248.39, Y:-45.26, Z:-8.10 [[ 9.79846802e-01 1.94883062e-01 4.38273409e-02 2.48389132e+02] [-1.94707542e-01 9.80826394e-01 -8.27996326e-03 -4.52597003e+01] [-4.46006373e-02 -4.20418281e-04 9.99004808e-01 -8.09602790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:248.42, Y:-45.27, Z:-8.10 [[ 9.79307183e-01 1.97524732e-01 4.40615564e-02 2.48418554e+02] [-1.97350019e-01 9.80297753e-01 -8.32379920e-03 -4.52668890e+01] [-4.48376009e-02 -5.43992652e-04 9.98994141e-01 -8.09824007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974012739 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:248.45, Y:-45.27, Z:-8.10 [[ 9.79240509e-01 1.97713870e-01 4.46906153e-02 2.48448070e+02] [-1.97534327e-01 9.80259614e-01 -8.44263659e-03 -4.52730505e+01] [-4.54776317e-02 -5.60558875e-04 9.98965200e-01 -8.09993186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:248.48, Y:-45.28, Z:-8.10 [[ 9.79349660e-01 1.97262476e-01 4.42917453e-02 2.48476443e+02] [-1.97085670e-01 9.80350565e-01 -8.36716174e-03 -4.52792358e+01] [-4.50719645e-02 -5.34891273e-04 9.98983599e-01 -8.10123789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034012739 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:248.51, Y:-45.29, Z:-8.10 [[ 9.79543069e-01 1.96480647e-01 4.34825450e-02 2.48505175e+02] [-1.96309488e-01 9.80507580e-01 -8.21399678e-03 -4.52865557e+01] [-4.42488564e-02 -4.90072546e-04 9.99020419e-01 -8.10372160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:248.53, Y:-45.29, Z:-8.10 [[ 9.79512888e-01 1.96733370e-01 4.30172420e-02 2.48532929e+02] [-1.96566090e-01 9.80456901e-01 -8.12632681e-03 -4.52917521e+01] [-4.37752714e-02 -4.95889219e-04 9.99041280e-01 -8.10410304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094012739 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:248.56, Y:-45.29, Z:-8.11 [[ 9.79048514e-01 1.98998953e-01 4.31673924e-02 2.48561565e+02] [-1.98832758e-01 9.79999518e-01 -8.15343626e-03 -4.52946184e+01] [-4.39265490e-02 -6.00482010e-04 9.99034583e-01 -8.10562699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:248.59, Y:-45.30, Z:-8.11 [[ 9.78716405e-01 2.00643020e-01 4.30880107e-02 2.48588923e+02] [-2.00479120e-01 9.79664189e-01 -8.13633038e-03 -4.52987680e+01] [-4.38442789e-02 -6.75086441e-04 9.99038149e-01 -8.10745304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154012739 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:248.62, Y:-45.30, Z:-8.11 [[ 9.78456979e-01 2.01988409e-01 4.26921801e-02 2.48617074e+02] [-2.01828890e-01 9.79387639e-01 -8.05921233e-03 -4.53030518e+01] [-4.34400610e-02 -7.30922783e-04 9.99055768e-01 -8.10930857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:248.65, Y:-45.31, Z:-8.11 [[ 9.77922085e-01 2.04844418e-01 4.13178018e-02 2.48645099e+02] [-2.04697635e-01 9.78794193e-01 -7.79781836e-03 -4.53054746e+01] [-4.20389640e-02 -8.31997512e-04 9.99115626e-01 -8.11146510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214012739 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:248.67, Y:-45.31, Z:-8.11 [[ 9.77557388e-01 2.06554604e-01 4.14336757e-02 2.48673357e+02] [-2.06408629e-01 9.78434651e-01 -7.81734126e-03 -4.53086518e+01] [-4.21548519e-02 -9.10368505e-04 9.99110674e-01 -8.11294626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:248.70, Y:-45.31, Z:-8.11 [[ 9.77130754e-01 2.08176678e-01 4.33354431e-02 2.48700736e+02] [-2.08018687e-01 9.78090699e-01 -8.17381257e-03 -4.53111423e+01] [-4.40875910e-02 -1.02769835e-03 9.99027141e-01 -8.11379981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274012739 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:248.73, Y:-45.32, Z:-8.11 [[ 9.77282311e-01 2.07283436e-01 4.41912035e-02 2.48729281e+02] [-2.07118348e-01 9.78280409e-01 -8.33258668e-03 -4.53155828e+01] [-4.49585958e-02 -1.00951947e-03 9.98988341e-01 -8.11457143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:248.76, Y:-45.32, Z:-8.12 [[ 9.77626441e-01 2.05599172e-01 4.44468417e-02 2.48758242e+02] [-2.05430527e-01 9.78635835e-01 -8.37861176e-03 -4.53197250e+01] [-4.52199077e-02 -9.39585711e-04 9.98976615e-01 -8.11615497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334012739 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:248.79, Y:-45.32, Z:-8.12 [[ 9.78499071e-01 2.01494235e-01 4.40413585e-02 2.48787453e+02] [-2.01324583e-01 9.79489417e-01 -8.30023048e-03 -4.53244156e+01] [-4.48104932e-02 -7.44840309e-04 9.98995228e-01 -8.11904462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:248.82, Y:-45.33, Z:-8.12 [[ 9.79039513e-01 1.98973105e-01 4.34894813e-02 2.48815108e+02] [-1.98805246e-01 9.80004753e-01 -8.19502548e-03 -4.53304907e+01] [-4.42504880e-02 -6.22683272e-04 9.99020273e-01 -8.12012028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394012739 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:248.84, Y:-45.34, Z:-8.12 [[ 9.79858590e-01 1.94731387e-01 4.42360813e-02 2.48843245e+02] [-1.94553470e-01 9.80856510e-01 -8.33392348e-03 -4.53371688e+01] [-4.50121248e-02 -4.40216592e-04 9.98986344e-01 -8.12133341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:248.87, Y:-45.34, Z:-8.12 [[ 9.80268486e-01 1.92585370e-01 4.45485253e-02 2.48873483e+02] [-1.92402789e-01 9.81280162e-01 -8.39113012e-03 -4.53429556e+01] [-4.53305930e-02 -3.45700083e-04 9.98971981e-01 -8.12224097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454012739 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:248.90, Y:-45.35, Z:-8.12 [[ 9.80754217e-01 1.90140812e-01 4.43580675e-02 2.48902221e+02] [-1.89957295e-01 9.81756802e-01 -8.35513129e-03 -4.53478385e+01] [-4.51374860e-02 -2.31808283e-04 9.98980757e-01 -8.12297133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:248.93, Y:-45.35, Z:-8.12 [[ 9.80763556e-01 1.90052704e-01 4.45288212e-02 2.48932028e+02] [-1.89867700e-01 9.81773862e-01 -8.38686588e-03 -4.53529872e+01] [-4.53111794e-02 -2.29052455e-04 9.98972895e-01 -8.12431939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:248.96, Y:-45.36, Z:-8.13 [[ 9.80500972e-01 1.91340700e-01 4.47948685e-02 2.48961046e+02] [-1.91154825e-01 9.81523638e-01 -8.43684658e-03 -4.53572235e+01] [-4.55815344e-02 -2.90418982e-04 9.98960579e-01 -8.12550507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:248.99, Y:-45.36, Z:-8.13 [[ 9.80347603e-01 1.92084582e-01 4.49676576e-02 2.48990223e+02] [-1.91898083e-01 9.81378320e-01 -8.46870581e-03 -4.53612446e+01] [-4.57569921e-02 -3.26931860e-04 9.98952547e-01 -8.12677181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:249.02, Y:-45.36, Z:-8.13 [[ 9.80198416e-01 1.92845636e-01 4.49624953e-02 2.49018370e+02] [-1.92660037e-01 9.81229040e-01 -8.46650097e-03 -4.53648332e+01] [-4.57512338e-02 -3.63625153e-04 9.98952798e-01 -8.12860562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:249.05, Y:-45.37, Z:-8.13 [[ 9.80119887e-01 1.93201015e-01 4.51483553e-02 2.49047886e+02] [-1.93014325e-01 9.81159121e-01 -8.49996859e-03 -4.53668254e+01] [-4.59399232e-02 -3.83291069e-04 9.98944131e-01 -8.13130601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634012739 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:249.08, Y:-45.37, Z:-8.13 [[ 9.80317265e-01 1.92284295e-01 4.47751104e-02 2.49075815e+02] [-1.92099774e-01 9.81339205e-01 -8.42860686e-03 -4.53710065e+01] [-4.55602599e-02 -3.38579761e-04 9.98961535e-01 -8.13235358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:249.10, Y:-45.38, Z:-8.13 [[ 9.81109504e-01 1.88552452e-01 4.32679281e-02 2.49103913e+02] [-1.88376571e-01 9.82063107e-01 -8.14375283e-03 -4.53753852e+01] [-4.40273605e-02 -1.60750607e-04 9.99030313e-01 -8.13441523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694012739 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:249.13, Y:-45.38, Z:-8.14 [[ 9.81666792e-01 1.85648296e-01 4.31858747e-02 2.49133183e+02] [-1.85470334e-01 9.82616257e-01 -8.12686126e-03 -4.53807849e+01] [-4.39438805e-02 -3.18287855e-05 9.99034001e-01 -8.13603049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:249.16, Y:-45.39, Z:-8.14 [[ 9.82881446e-01 1.78835250e-01 4.42946642e-02 2.49161573e+02] [-1.78641148e-01 9.83878994e-01 -8.33455070e-03 -4.53867974e+01] [-4.50711012e-02 2.79025552e-04 9.98983743e-01 -8.13792466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754012739 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:249.19, Y:-45.39, Z:-8.14 [[ 9.83528403e-01 1.75249406e-01 4.42665416e-02 2.49191569e+02] [-1.75051926e-01 9.84523971e-01 -8.32908250e-03 -4.53940844e+01] [-4.50411381e-02 4.42945824e-04 9.98985035e-01 -8.13931489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:249.22, Y:-45.40, Z:-8.14 [[ 9.84730727e-01 1.68872347e-01 4.22791499e-02 2.49221924e+02] [-1.68686236e-01 9.85637679e-01 -7.95731871e-03 -4.54044554e+01] [-4.30156943e-02 7.03905587e-04 9.99074149e-01 -8.14143949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814012739 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:249.25, Y:-45.41, Z:-8.14 [[ 9.85100881e-01 1.67037128e-01 4.09249566e-02 2.49252793e+02] [-1.66860881e-01 9.85950309e-01 -7.70940600e-03 -4.54128398e+01] [-4.16377307e-02 7.65768337e-04 9.99132480e-01 -8.14299769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:249.28, Y:-45.42, Z:-8.14 [[ 9.85285005e-01 1.66064509e-01 4.04479739e-02 2.49283471e+02] [-1.65891260e-01 9.86114564e-01 -7.62609552e-03 -4.54211905e+01] [-4.11527599e-02 8.03912219e-04 9.99152543e-01 -8.14435938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874012739 meters Centerline goodness : 0.996168 Centerline is valid? [True, True] Translation: X:249.31, Y:-45.43, Z:-8.15 [[ 9.84903261e-01 1.68085654e-01 4.13857412e-02 2.49313378e+02] [-1.67905769e-01 9.85772114e-01 -7.80972053e-03 -4.54310419e+01] [-4.21096116e-02 7.42914496e-04 9.99112721e-01 -8.14590262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:249.34, Y:-45.44, Z:-8.15 [[ 9.84406098e-01 1.70776848e-01 4.21888803e-02 2.49343456e+02] [-1.70592101e-01 9.85309520e-01 -7.96773517e-03 -4.54381359e+01] [-4.29298101e-02 6.46397377e-04 9.99077882e-01 -8.14675429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934012739 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:249.37, Y:-45.44, Z:-8.15 [[ 9.83103347e-01 1.77809708e-01 4.34915767e-02 2.49372880e+02] [-1.77619999e-01 9.84064826e-01 -8.21914924e-03 -4.54445176e+01] [-4.42599753e-02 3.55299337e-04 9.99019984e-01 -8.14668921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:249.40, Y:-45.45, Z:-8.15 [[ 9.82439448e-01 1.81496128e-01 4.32653122e-02 2.49401649e+02] [-1.81311947e-01 9.83391641e-01 -8.17667765e-03 -4.54493732e+01] [-4.40307817e-02 1.88572698e-04 9.99030157e-01 -8.14805347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994012739 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:249.43, Y:-45.45, Z:-8.15 [[ 9.81791125e-01 1.85166192e-01 4.24225006e-02 2.49432240e+02] [-1.84992545e-01 9.82707220e-01 -8.01731169e-03 -4.54541687e+01] [-4.31734327e-02 2.34790910e-05 9.99067592e-01 -8.15011691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:249.46, Y:-45.46, Z:-8.15 [[ 9.80467544e-01 1.92134254e-01 4.20455022e-02 2.49461664e+02] [-1.91970026e-01 9.81368611e-01 -7.94723745e-03 -4.54572351e+01] [-4.27890726e-02 -2.79467767e-04 9.99084089e-01 -8.15251824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05401273900003 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:249.49, Y:-45.46, Z:-8.15 [[ 9.79930965e-01 1.95136832e-01 4.07052907e-02 2.49490692e+02] [-1.94825308e-01 9.80770268e-01 -1.15230989e-02 -4.54588098e+01] [-4.21711199e-02 3.36142064e-03 9.99104748e-01 -8.15328688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:249.52, Y:-45.47, Z:-8.16 [[ 9.79293313e-01 1.97848640e-01 4.29013263e-02 2.49517253e+02] [-1.97850046e-01 9.80223061e-01 -4.25562519e-03 -4.54665642e+01] [-4.28948391e-02 -4.32052411e-03 9.99070251e-01 -8.15578498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11401273900003 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:249.55, Y:-45.47, Z:-8.16 [[ 9.79292445e-01 1.98246719e-01 4.10432112e-02 2.49546450e+02] [-1.98095792e-01 9.80152003e-01 -7.75294843e-03 -4.54691435e+01] [-4.17655822e-02 -5.38083591e-04 9.99127292e-01 -8.15710646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:249.57, Y:-45.47, Z:-8.16 [[ 9.79497623e-01 1.97508415e-01 3.96841555e-02 2.49573837e+02] [-1.97366793e-01 9.80301068e-01 -7.49430556e-03 -4.54736422e+01] [-4.03826084e-02 -4.91680023e-04 9.99184169e-01 -8.15892370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17401273900003 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:249.60, Y:-45.48, Z:-8.16 [[ 9.80066148e-01 1.95037318e-01 3.78257974e-02 2.49601832e+02] [-1.94906896e-01 9.80795751e-01 -7.14119449e-03 -4.54775780e+01] [-3.84921808e-02 -3.73665801e-04 9.99258832e-01 -8.16107958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:249.63, Y:-45.48, Z:-8.16 [[ 9.80370281e-01 1.93503249e-01 3.78233296e-02 2.49631568e+02] [-1.93371785e-01 9.81099584e-01 -7.13861055e-03 -4.54823563e+01] [-3.84897972e-02 -3.15483126e-04 9.99258943e-01 -8.16287946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23401273900004 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:249.66, Y:-45.49, Z:-8.16 [[ 9.80790676e-01 1.91299735e-01 3.81321480e-02 2.49659432e+02] [-1.91164487e-01 9.81531639e-01 -7.19592217e-03 -4.54872724e+01] [-3.88044877e-02 -2.31819133e-04 9.99246795e-01 -8.16474704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:249.69, Y:-45.49, Z:-8.17 [[ 9.81033450e-01 1.90067286e-01 3.80499213e-02 2.49687266e+02] [-1.89931733e-01 9.81771049e-01 -7.17940195e-03 -4.54931002e+01] [-3.87208806e-02 -1.83654004e-04 9.99250049e-01 -8.16592447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:249.71, Y:-45.50, Z:-8.17 [[ 9.81438454e-01 1.87964503e-01 3.80513691e-02 2.49714633e+02] [-1.87827416e-01 9.82175817e-01 -7.17820874e-03 -4.54985234e+01] [-3.87223830e-02 -1.02120254e-04 9.99250002e-01 -8.16742940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:249.74, Y:-45.50, Z:-8.17 [[ 9.82343616e-01 1.83254142e-01 3.76688096e-02 2.49743162e+02] [-1.83116414e-01 9.83065569e-01 -7.10395599e-03 -4.55047886e+01] [-3.83327391e-02 8.07484798e-05 9.99265027e-01 -8.16897280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:249.77, Y:-45.51, Z:-8.17 [[ 9.83188522e-01 1.78659531e-01 3.76975174e-02 2.49771765e+02] [-1.78518247e-01 9.83910923e-01 -7.10847892e-03 -4.55129950e+01] [-3.83609967e-02 2.59280147e-04 9.99263912e-01 -8.17057834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:249.80, Y:-45.52, Z:-8.17 [[ 9.83714749e-01 1.75820074e-01 3.73174916e-02 2.49800444e+02] [-1.75679597e-01 9.84422251e-01 -7.03643633e-03 -4.55206765e+01] [-3.79733159e-02 3.65924296e-04 9.99278687e-01 -8.17138235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414012739 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:249.83, Y:-45.53, Z:-8.17 [[ 9.84262871e-01 1.72816332e-01 3.68933072e-02 2.49830353e+02] [-1.72676904e-01 9.84953952e-01 -6.95692787e-03 -4.55291538e+01] [-3.75404795e-02 4.76823734e-04 9.99294994e-01 -8.17303941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:249.86, Y:-45.54, Z:-8.18 [[ 9.85251383e-01 1.67378439e-01 3.55551665e-02 2.49860489e+02] [-1.67245370e-01 9.85892500e-01 -6.70550848e-03 -4.55390974e+01] [-3.61759295e-02 6.60174537e-04 9.99345219e-01 -8.17541824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474012739 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:249.89, Y:-45.55, Z:-8.18 [[ 9.85672930e-01 1.64958754e-01 3.51778848e-02 2.49890258e+02] [-1.64826836e-01 9.86300185e-01 -6.63768255e-03 -4.55471334e+01] [-3.57908981e-02 7.44324581e-04 9.99359023e-01 -8.17747630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:249.92, Y:-45.56, Z:-8.18 [[ 9.86051071e-01 1.62687648e-01 3.51569913e-02 2.49922047e+02] [-1.62554251e-01 9.86677271e-01 -6.63910708e-03 -4.55568807e+01] [-3.57687049e-02 8.31580274e-04 9.99359749e-01 -8.17854021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534012739 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:249.95, Y:-45.57, Z:-8.18 [[ 9.86502802e-01 1.59703736e-01 3.61515891e-02 2.49951411e+02] [-1.59560418e-01 9.87164510e-01 -6.83401343e-03 -4.55718265e+01] [-3.67789832e-02 9.73410718e-04 9.99322950e-01 -8.17969641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:249.98, Y:-45.58, Z:-8.18 [[ 9.86613874e-01 1.58962413e-01 3.63870222e-02 2.49982806e+02] [-1.58816473e-01 9.87284115e-01 -6.88511494e-03 -4.55820285e+01] [-3.70188034e-02 1.01409139e-03 9.99314055e-01 -8.18031274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594012739 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:250.01, Y:-45.59, Z:-8.18 [[ 9.86677542e-01 1.58861476e-01 3.50779040e-02 2.50013619e+02] [-1.58725559e-01 9.87300388e-01 -6.64386872e-03 -4.55940270e+01] [-3.56878830e-02 9.87596152e-04 9.99362497e-01 -8.18205213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:250.04, Y:-45.60, Z:-8.18 [[ 9.86526879e-01 1.59997784e-01 3.41383437e-02 2.50044274e+02] [-1.59869509e-01 9.87116938e-01 -6.47233705e-03 -4.56034858e+01] [-3.47340968e-02 9.27454237e-04 9.99396159e-01 -8.18418652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654012739 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:250.07, Y:-45.62, Z:-8.19 [[ 9.86019703e-01 1.63217001e-01 3.35463203e-02 2.50074762e+02] [-1.63094797e-01 9.86589865e-01 -6.36601201e-03 -4.56184374e+01] [-3.41355010e-02 8.05782973e-04 9.99416889e-01 -8.18536073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:250.11, Y:-45.63, Z:-8.19 [[ 9.85678154e-01 1.65321091e-01 3.32793404e-02 2.50105086e+02] [-1.65201796e-01 9.86239524e-01 -6.32200018e-03 -4.56279544e+01] [-3.38665608e-02 7.33650652e-04 9.99426094e-01 -8.18668150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714012739 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:250.14, Y:-45.64, Z:-8.19 [[ 9.85350742e-01 1.67340197e-01 3.28812149e-02 2.50136861e+02] [-1.67224659e-01 9.85898991e-01 -6.25247744e-03 -4.56377756e+01] [-3.34638474e-02 6.62333344e-04 9.99439709e-01 -8.18810249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:250.17, Y:-45.65, Z:-8.19 [[ 9.84702438e-01 1.71338986e-01 3.16869124e-02 2.50168245e+02] [-1.71233573e-01 9.85212002e-01 -6.03115986e-03 -4.56506151e+01] [-3.22516992e-02 5.13034585e-04 9.99479647e-01 -8.18995010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:250.20, Y:-45.66, Z:-8.19 [[ 9.84357734e-01 1.73489967e-01 3.06770872e-02 2.50199280e+02] [-1.73392028e-01 9.84835541e-01 -5.84481464e-03 -4.56604767e+01] [-3.12259024e-02 4.34226127e-04 9.99512258e-01 -8.19169666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:250.23, Y:-45.67, Z:-8.19 [[ 9.83733407e-01 1.77099303e-01 3.00735925e-02 2.50230609e+02] [-1.77006701e-01 9.84192936e-01 -5.73518245e-03 -4.56727302e+01] [-3.06139141e-02 3.18663160e-04 9.99531233e-01 -8.19333314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834012739 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:250.26, Y:-45.68, Z:-8.19 [[ 9.83718725e-01 1.77181035e-01 3.00724243e-02 2.50263474e+02] [-1.77088285e-01 9.84178224e-01 -5.74130105e-03 -4.56791423e+01] [-3.06138748e-02 3.22351304e-04 9.99531234e-01 -8.19450436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:250.29, Y:-45.69, Z:-8.20 [[ 9.83256204e-01 1.79762336e-01 2.98787447e-02 2.50294524e+02] [-1.79671903e-01 9.83710041e-01 -5.70644189e-03 -4.56873328e+01] [-3.04178245e-02 2.42523472e-04 9.99537241e-01 -8.19536011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894012739 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:250.33, Y:-45.69, Z:-8.20 [[ 9.82051225e-01 1.86252447e-01 2.97559633e-02 2.50327020e+02] [-1.86165568e-01 9.82501921e-01 -5.68834935e-03 -4.56948978e+01] [-3.02947601e-02 4.67146371e-05 9.99541007e-01 -8.19607685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:250.36, Y:-45.70, Z:-8.20 [[ 9.81299013e-01 1.90011707e-01 3.07863476e-02 2.50357763e+02] [-1.89920353e-01 9.81781823e-01 -5.89171569e-03 -4.57004801e+01] [-3.13449714e-02 -6.54192209e-05 9.99508624e-01 -8.19676552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954012739 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:250.39, Y:-45.71, Z:-8.20 [[ 9.80600150e-01 1.93483974e-01 3.14213034e-02 2.50389209e+02] [-1.93390431e-01 9.81103420e-01 -6.01829804e-03 -4.57063402e+01] [-3.19919925e-02 -1.75035458e-04 9.99488110e-01 -8.19753929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:250.42, Y:-45.71, Z:-8.20 [[ 9.79496192e-01 1.98791828e-01 3.26958439e-02 2.50419638e+02] [-1.98693295e-01 9.80041674e-01 -6.26839592e-03 -4.57125427e+01] [-3.32893955e-02 -3.56575011e-04 9.99445691e-01 -8.19826069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014012739 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:250.45, Y:-45.72, Z:-8.20 [[ 9.78920143e-01 2.01662031e-01 3.23694103e-02 2.50449678e+02] [-2.01566997e-01 9.79455065e-01 -6.20660548e-03 -4.57175739e+01] [-3.29560195e-02 -4.48833703e-04 9.99456702e-01 -8.20061219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:250.48, Y:-45.72, Z:-8.20 [[ 9.78855999e-01 2.02136387e-01 3.13339281e-02 2.50480612e+02] [-2.02047570e-01 9.79357278e-01 -6.00838343e-03 -4.57226440e+01] [-3.19016235e-02 -4.49601867e-04 9.99490913e-01 -8.20251021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074012739 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:250.51, Y:-45.73, Z:-8.21 [[ 9.78946311e-01 2.01785367e-01 3.07698915e-02 2.50511849e+02] [-2.01699523e-01 9.79429671e-01 -5.90094428e-03 -4.57277223e+01] [-3.13276689e-02 -4.29564803e-04 9.99509076e-01 -8.20503639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:250.54, Y:-45.73, Z:-8.21 [[ 9.79427623e-01 1.99334336e-01 3.14222022e-02 2.50541918e+02] [-1.99243526e-01 9.79931474e-01 -6.02685541e-03 -4.57336457e+01] [-3.19929642e-02 -3.57801684e-04 9.99488030e-01 -8.20526802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134012739 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:250.57, Y:-45.74, Z:-8.21 [[ 9.79789059e-01 1.97494681e-01 3.17687047e-02 2.50572278e+02] [-1.97400878e-01 9.80303912e-01 -6.09367265e-03 -4.57403972e+01] [-3.23464535e-02 -3.00656413e-04 9.99476671e-01 -8.20644954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:250.60, Y:-45.75, Z:-8.21 [[ 9.80131047e-01 1.95887386e-01 3.11650727e-02 2.50603829e+02] [-1.95796294e-01 9.80626368e-01 -5.97815485e-03 -4.57476156e+01] [-3.17323372e-02 -2.42630559e-04 9.99496373e-01 -8.20769304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:250.64, Y:-45.76, Z:-8.21 [[ 9.80606021e-01 1.93620884e-01 3.03773698e-02 2.50636222e+02] [-1.93533100e-01 9.81076413e-01 -5.83194395e-03 -4.57556807e+01] [-3.09317072e-02 -1.60187203e-04 9.99521487e-01 -8.20879078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:250.67, Y:-45.76, Z:-8.21 [[ 9.80609567e-01 1.93598836e-01 3.04034172e-02 2.50667312e+02] [-1.93510706e-01 9.81080765e-01 -5.84290924e-03 -4.57626996e+01] [-3.09593882e-02 -1.53774015e-04 9.99520631e-01 -8.20985647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254012739 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:250.70, Y:-45.77, Z:-8.21 [[ 9.80315063e-01 1.94874548e-01 3.17220529e-02 2.50698410e+02] [-1.94779077e-01 9.80828156e-01 -6.10239284e-03 -4.57710175e+01] [-3.23030837e-02 -1.96524578e-04 9.99478100e-01 -8.21058859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:250.73, Y:-45.78, Z:-8.21 [[ 9.80073892e-01 1.96021698e-01 3.21038956e-02 2.50730803e+02] [-1.95924353e-01 9.80599531e-01 -6.18126284e-03 -4.57790360e+01] [-3.26927266e-02 -2.31840644e-04 9.99465423e-01 -8.21181745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314012739 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:250.76, Y:-45.79, Z:-8.21 [[ 9.79445718e-01 1.99338640e-01 3.08252002e-02 2.50761702e+02] [-1.99250358e-01 9.79930611e-01 -5.94076290e-03 -4.57887119e+01] [-3.13907809e-02 -3.23277405e-04 9.99507136e-01 -8.21399991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:250.79, Y:-45.80, Z:-8.22 [[ 9.79154564e-01 2.00917189e-01 2.98097728e-02 2.50792621e+02] [-2.00835202e-01 9.79608165e-01 -5.75024848e-03 -4.57959375e+01] [-3.03572206e-02 -3.56469703e-04 9.99539050e-01 -8.21529104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374012739 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:250.82, Y:-45.80, Z:-8.22 [[ 9.78819905e-01 2.02631845e-01 2.91878231e-02 2.50823230e+02] [-2.02553861e-01 9.79254910e-01 -5.63516199e-03 -4.58025641e+01] [-2.97241824e-02 -3.96297538e-04 9.99558060e-01 -8.21672072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:250.85, Y:-45.81, Z:-8.22 [[ 9.78044832e-01 2.06412489e-01 2.86738617e-02 2.50853236e+02] [-2.06338698e-01 9.78464939e-01 -5.54112879e-03 -4.58081658e+01] [-2.92001265e-02 -4.97054911e-04 9.99573462e-01 -8.21837088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434012739 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:250.88, Y:-45.81, Z:-8.22 [[ 9.77624585e-01 2.08333108e-01 2.91116239e-02 2.50882668e+02] [-2.08257885e-01 9.78057769e-01 -5.62613381e-03 -4.58141287e+01] [-2.96449598e-02 -5.62478490e-04 9.99560333e-01 -8.21891901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:250.91, Y:-45.82, Z:-8.22 [[ 9.76947419e-01 2.11154241e-01 3.14265371e-02 2.50913300e+02] [-2.11068037e-01 9.77452504e-01 -6.07344542e-03 -4.58197419e+01] [-3.20003811e-02 -6.99700667e-04 9.99487612e-01 -8.21839287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494012739 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:250.95, Y:-45.82, Z:-8.22 [[ 9.76668443e-01 2.12321090e-01 3.22258618e-02 2.50945529e+02] [-2.12231065e-01 9.77199664e-01 -6.22835418e-03 -4.58245020e+01] [-3.28135123e-02 -7.56291992e-04 9.99461206e-01 -8.21876755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:250.98, Y:-45.83, Z:-8.22 [[ 9.76716395e-01 2.12074846e-01 3.23935752e-02 2.50977363e+02] [-2.11983528e-01 9.77253142e-01 -6.26737925e-03 -4.58286179e+01] [-3.29858767e-02 -7.45452281e-04 9.99455540e-01 -8.22050682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55401273900003 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:251.01, Y:-45.83, Z:-8.22 [[ 9.77044906e-01 2.10604290e-01 3.20793579e-02 2.51009583e+02] [-2.10513749e-01 9.77571157e-01 -6.21252205e-03 -4.58349337e+01] [-3.26682388e-02 -6.83232861e-04 9.99466017e-01 -8.22229420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:251.04, Y:-45.84, Z:-8.22 [[ 9.77434491e-01 2.08826490e-01 3.18325826e-02 2.51040531e+02] [-2.08736189e-01 9.77952515e-01 -6.17104135e-03 -4.58411071e+01] [-3.24194311e-02 -6.12823312e-04 9.99474164e-01 -8.22343584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61401273900003 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:251.07, Y:-45.85, Z:-8.22 [[ 9.78402247e-01 2.04222423e-01 3.19725698e-02 2.51072397e+02] [-2.04128673e-01 9.78924406e-01 -6.20415128e-03 -4.58466381e+01] [-3.25657557e-02 -4.56362686e-04 9.99469491e-01 -8.22381718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:251.10, Y:-45.85, Z:-8.23 [[ 9.78844534e-01 2.02155769e-01 3.15661753e-02 2.51103618e+02] [-2.02063128e-01 9.79353309e-01 -6.13100047e-03 -4.58526788e+01] [-3.21538553e-02 -3.77063825e-04 9.99482860e-01 -8.22571295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67401273900003 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:251.14, Y:-45.86, Z:-8.23 [[ 9.79367601e-01 1.99711846e-01 3.08914257e-02 2.51135801e+02] [-1.99621750e-01 9.79854631e-01 -6.00497526e-03 -4.58594986e+01] [-3.14683712e-02 -2.85522254e-04 9.99504707e-01 -8.22688833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:251.17, Y:-45.87, Z:-8.23 [[ 9.80488549e-01 1.94257557e-01 3.01032634e-02 2.51167395e+02] [-1.94169253e-01 9.80950555e-01 -5.85748757e-03 -4.58682188e+01] [-3.06676742e-02 -1.01928689e-04 9.99529631e-01 -8.22758805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73401273900004 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:251.20, Y:-45.87, Z:-8.23 [[ 9.80969060e-01 1.91853814e-01 2.98633176e-02 2.51198592e+02] [-1.91765619e-01 9.81423514e-01 -5.81668217e-03 -4.58749722e+01] [-3.04245148e-02 -2.07723396e-05 9.99537067e-01 -8.22922349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:251.23, Y:-45.88, Z:-8.23 [[ 9.81627022e-01 1.88505316e-01 2.95657846e-02 2.51230968e+02] [-1.88417191e-01 9.82072166e-01 -5.76401897e-03 -4.58807732e+01] [-3.01222823e-02 8.74147019e-05 9.99546217e-01 -8.23085300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:251.26, Y:-45.89, Z:-8.23 [[ 9.81777928e-01 1.87731754e-01 2.94769281e-02 2.51263620e+02] [-1.87643632e-01 9.82220329e-01 -5.75261454e-03 -4.58872260e+01] [-3.00327865e-02 1.16632135e-04 9.99548907e-01 -8.23224529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:251.30, Y:-45.89, Z:-8.23 [[ 9.81862838e-01 1.87389511e-01 2.88190796e-02 2.51295307e+02] [-1.87304963e-01 9.82285679e-01 -5.62996185e-03 -4.58940438e+01] [-2.93635650e-02 1.29893676e-04 9.99568789e-01 -8.23371050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854012739 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:251.33, Y:-45.90, Z:-8.24 [[ 9.81995266e-01 1.86942299e-01 2.71638338e-02 2.51326790e+02] [-1.86866883e-01 9.82370886e-01 -5.31136364e-03 -4.58997147e+01] [-2.76778780e-02 1.39712992e-04 9.99616884e-01 -8.23577283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:251.36, Y:-45.90, Z:-8.24 [[ 9.81709662e-01 1.88538880e-01 2.64429677e-02 2.51358630e+02] [-1.88467862e-01 9.82065721e-01 -5.17531722e-03 -4.59044909e+01] [-2.69444807e-02 9.70093331e-05 9.99636927e-01 -8.23714994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914012739 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:251.39, Y:-45.91, Z:-8.24 [[ 9.81448518e-01 1.89854312e-01 2.67235126e-02 2.51390455e+02] [-1.89782139e-01 9.81812271e-01 -5.23486617e-03 -4.59111436e+01] [-2.72313345e-02 6.61062538e-05 9.99629156e-01 -8.23808810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:251.42, Y:-45.92, Z:-8.24 [[ 9.81216935e-01 1.90999917e-01 2.70620987e-02 2.51421036e+02] [-1.90926204e-01 9.81590052e-01 -5.30610431e-03 -4.59173877e+01] [-2.75773524e-02 3.95756426e-05 9.99619672e-01 -8.23877617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974012739 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:251.45, Y:-45.92, Z:-8.24 [[ 9.80725784e-01 1.93381535e-01 2.79377556e-02 2.51453321e+02] [-1.93303806e-01 9.81123632e-01 -5.48245368e-03 -4.59203652e+01] [-2.84705975e-02 -2.36908068e-05 9.99594630e-01 -8.23874808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:251.48, Y:-45.92, Z:-8.24 [[ 9.80459472e-01 1.94683955e-01 2.82379543e-02 2.51483939e+02] [-1.94604940e-01 9.80866023e-01 -5.54642983e-03 -4.59246931e+01] [-2.87774508e-02 -5.71957347e-05 9.99585842e-01 -8.23984704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034012739 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:251.51, Y:-45.93, Z:-8.24 [[ 9.80211037e-01 1.96002506e-01 2.77369887e-02 2.51514243e+02] [-1.95926649e-01 9.80603391e-01 -5.45329678e-03 -4.59302242e+01] [-2.82678450e-02 -8.90335643e-05 9.99600381e-01 -8.24235179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:251.54, Y:-45.94, Z:-8.24 [[ 9.80186360e-01 1.96220414e-01 2.70601138e-02 2.51543809e+02] [-1.96148278e-01 9.80559810e-01 -5.32095718e-03 -4.59365361e+01] [-2.75781405e-02 -9.22650673e-05 9.99619646e-01 -8.24437882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094012739 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:251.57, Y:-45.94, Z:-8.24 [[ 9.80082392e-01 1.96830401e-01 2.63874581e-02 2.51574634e+02] [-1.96762022e-01 9.80437546e-01 -5.18890993e-03 -4.59421655e+01] [-2.68925899e-02 -1.06490344e-04 9.99638323e-01 -8.24499963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:251.61, Y:-45.95, Z:-8.25 [[ 9.79688236e-01 1.98759130e-01 2.65663165e-02 2.51605518e+02] [-1.98690507e-01 9.80048357e-01 -5.22491541e-03 -4.59452128e+01] [-2.70747745e-02 -1.59686730e-04 9.99633398e-01 -8.24614019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154012739 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:251.63, Y:-45.95, Z:-8.25 [[ 9.79396713e-01 2.00258052e-01 2.60536353e-02 2.51634464e+02] [-2.00192580e-01 9.79743167e-01 -5.12418771e-03 -4.59489708e+01] [-2.65520310e-02 -1.97131866e-04 9.99647413e-01 -8.24687173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:251.66, Y:-45.95, Z:-8.25 [[ 9.79511015e-01 1.99670146e-01 2.62679223e-02 2.51663634e+02] [-1.99603388e-01 9.79863153e-01 -5.16609181e-03 -4.59533057e+01] [-2.67704835e-02 -1.82922443e-04 9.99641590e-01 -8.24812732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:251.69, Y:-45.96, Z:-8.25 [[ 9.79632981e-01 1.98945579e-01 2.72007114e-02 2.51693513e+02] [-1.98873733e-01 9.80010524e-01 -5.34885969e-03 -4.59571318e+01] [-2.77211154e-02 -1.69587655e-04 9.99615682e-01 -8.24921310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:251.72, Y:-45.96, Z:-8.25 [[ 9.79707611e-01 1.98430265e-01 2.82564615e-02 2.51723386e+02] [-1.98352543e-01 9.80114995e-01 -5.55560448e-03 -4.59613395e+01] [-2.87969817e-02 -1.61873005e-04 9.99585268e-01 -8.25006366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274012739 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:251.75, Y:-45.97, Z:-8.25 [[ 9.79940321e-01 1.97253159e-01 2.84281388e-02 2.51752978e+02] [-1.97174005e-01 9.80352577e-01 -5.58901766e-03 -4.59671433e+01] [-2.89720505e-02 -1.28386216e-04 9.99580214e-01 -8.25079571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:251.78, Y:-45.97, Z:-8.25 [[ 9.80130221e-01 1.96465013e-01 2.73175308e-02 2.51782623e+02] [-1.96391565e-01 9.80510830e-01 -5.37258548e-03 -4.59729611e+01] [-2.78406599e-02 -9.90992171e-05 9.99612369e-01 -8.25239512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334012739 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:251.81, Y:-45.98, Z:-8.25 [[ 9.80701338e-01 1.93951584e-01 2.46509496e-02 2.51812896e+02] [-1.93890982e-01 9.81011102e-01 -4.84814440e-03 -4.59786872e+01] [-2.51231605e-02 -2.50151291e-05 9.99684363e-01 -8.25413493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:251.84, Y:-45.98, Z:-8.26 [[ 9.80951230e-01 1.92712635e-01 2.44238687e-02 2.51841818e+02] [-1.92652757e-01 9.81255237e-01 -4.80360440e-03 -4.59842060e+01] [-2.48917643e-02 6.77599557e-06 9.99690152e-01 -8.25615700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394012739 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:251.87, Y:-45.99, Z:-8.26 [[ 9.81239809e-01 1.91384201e-01 2.32492061e-02 2.51870789e+02] [-1.91329576e-01 9.81515199e-01 -4.57244054e-03 -4.59913678e+01] [-2.36945421e-02 3.83999381e-05 9.99719244e-01 -8.25749892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:251.90, Y:-46.00, Z:-8.26 [[ 9.81255688e-01 1.91381013e-01 2.25960862e-02 2.51900895e+02] [-1.91329431e-01 9.81515821e-01 -4.44319698e-03 -4.59978538e+01] [-2.30287596e-02 3.66159917e-05 9.99734802e-01 -8.25950013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454012739 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:251.93, Y:-46.00, Z:-8.26 [[ 9.81180072e-01 1.91860321e-01 2.18010159e-02 2.51929873e+02] [-1.91812421e-01 9.81422242e-01 -4.28701779e-03 -4.60039273e+01] [-2.22185106e-02 2.46307795e-05 9.99753138e-01 -8.26078556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:251.96, Y:-46.01, Z:-8.26 [[ 9.80936092e-01 1.93062178e-01 2.21670772e-02 2.51958546e+02] [-1.93012966e-01 9.81186524e-01 -4.35885308e-03 -4.60121541e+01] [-2.25915671e-02 -2.77701847e-06 9.99744778e-01 -8.26179118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514012739 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:251.99, Y:-46.02, Z:-8.26 [[ 9.80851700e-01 1.93334910e-01 2.34851932e-02 2.51987936e+02] [-1.93279770e-01 9.81132821e-01 -4.61714815e-03 -4.60199705e+01] [-2.39347498e-02 -1.04751353e-05 9.99713523e-01 -8.26192723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:252.02, Y:-46.03, Z:-8.26 [[ 9.80691749e-01 1.93885761e-01 2.55344093e-02 2.52016039e+02] [-1.93820761e-01 9.81024113e-01 -5.02013170e-03 -4.60280276e+01] [-2.60232033e-02 -2.58968909e-05 9.99661339e-01 -8.26127705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574012739 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:252.05, Y:-46.03, Z:-8.26 [[ 9.80681683e-01 1.93867387e-01 2.60551679e-02 2.52047983e+02] [-1.93799753e-01 9.81027744e-01 -5.12057179e-03 -4.60342657e+01] [-2.65535545e-02 -2.78341578e-05 9.99647392e-01 -8.26229516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:252.08, Y:-46.04, Z:-8.26 [[ 9.80617889e-01 1.94204678e-01 2.59441398e-02 2.52078281e+02] [-1.94137610e-01 9.80961030e-01 -5.10356042e-03 -4.60403918e+01] [-2.64413254e-02 -3.20906340e-05 9.99650367e-01 -8.26305589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634012739 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:252.11, Y:-46.05, Z:-8.27 [[ 9.80601837e-01 1.94545851e-01 2.39154592e-02 2.52107685e+02] [-1.94488839e-01 9.80893425e-01 -4.70966799e-03 -4.60476063e+01] [-2.43747630e-02 -3.29808066e-05 9.99702891e-01 -8.26601537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:252.14, Y:-46.05, Z:-8.27 [[ 9.80551430e-01 1.94888006e-01 2.31853041e-02 2.52137680e+02] [-1.94834508e-01 9.80825501e-01 -4.56628002e-03 -4.60543201e+01] [-2.36306507e-02 -3.98249035e-05 9.99720756e-01 -8.26767714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694012739 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:252.17, Y:-46.06, Z:-8.27 [[ 9.80184173e-01 1.96653422e-01 2.37995645e-02 2.52166797e+02] [-1.96597565e-01 9.80473062e-01 -4.68751356e-03 -4.60581244e+01] [-2.42566474e-02 -8.43098209e-05 9.99705761e-01 -8.26742314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:252.20, Y:-46.06, Z:-8.27 [[ 9.80186500e-01 1.96641807e-01 2.37996991e-02 2.52196384e+02] [-1.96585964e-01 9.80475391e-01 -4.68683000e-03 -4.60639111e+01] [-2.42566460e-02 -8.47192900e-05 9.99705761e-01 -8.26847746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754012739 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:252.23, Y:-46.07, Z:-8.27 [[ 9.79881124e-01 1.98119968e-01 2.41134936e-02 2.52225853e+02] [-1.98063093e-01 9.80177771e-01 -4.74845131e-03 -4.60678351e+01] [-2.45762734e-02 -1.23075325e-04 9.99697950e-01 -8.26950823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:252.25, Y:-46.07, Z:-8.27 [[ 9.79704478e-01 1.99029516e-01 2.37989121e-02 2.52253952e+02] [-1.98974398e-01 9.79993485e-01 -4.68592088e-03 -4.60722380e+01] [-2.42554154e-02 -1.44556557e-04 9.99705784e-01 -8.27036358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:252.28, Y:-46.08, Z:-8.27 [[ 9.79699746e-01 1.99077909e-01 2.35880000e-02 2.52283580e+02] [-1.99023792e-01 9.79983656e-01 -4.64381606e-03 -4.60771250e+01] [-2.40403356e-02 -1.45027792e-04 9.99710979e-01 -8.27219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:252.31, Y:-46.08, Z:-8.27 [[ 9.79839443e-01 1.98383497e-01 2.36358612e-02 2.52312039e+02] [-1.98328969e-01 9.80124467e-01 -4.65278358e-03 -4.60825534e+01] [-2.40891214e-02 -1.28695124e-04 9.99709807e-01 -8.27352602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874012739 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:252.34, Y:-46.09, Z:-8.27 [[ 9.80355041e-01 1.95710735e-01 2.45214568e-02 2.52340508e+02] [-1.95651232e-01 9.80661666e-01 -4.82615899e-03 -4.60865374e+01] [-2.49917838e-02 -6.63039309e-05 9.99687654e-01 -8.27338222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:252.37, Y:-46.09, Z:-8.27 [[ 9.80697417e-01 1.93793232e-01 2.60146143e-02 2.52370649e+02] [-1.93725621e-01 9.81042396e-01 -5.11870483e-03 -4.60923921e+01] [-2.65134099e-02 -1.97966963e-05 9.99648458e-01 -8.27379783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934012739 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:252.40, Y:-46.10, Z:-8.27 [[ 9.81458598e-01 1.89740187e-01 2.71603058e-02 2.52401221e+02] [-1.89664940e-01 9.81834331e-01 -5.34395557e-03 -4.60986390e+01] [-2.76808838e-02 9.35133706e-05 9.99616807e-01 -8.27232877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:252.43, Y:-46.10, Z:-8.27 [[ 9.81676834e-01 1.88642580e-01 2.69178627e-02 2.52431930e+02] [-1.88568268e-01 9.82045804e-01 -5.29591468e-03 -4.61040542e+01] [-2.74336091e-02 1.23022012e-04 9.99623620e-01 -8.27316039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:252.46, Y:-46.11, Z:-8.27 [[ 9.81821498e-01 1.87965572e-01 2.63721451e-02 2.52461944e+02] [-1.87893855e-01 9.82175607e-01 -5.19387042e-03 -4.61096063e+01] [-2.68783465e-02 1.44289629e-04 9.99638702e-01 -8.27489827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:252.49, Y:-46.12, Z:-8.27 [[ 9.81841707e-01 1.88239135e-01 2.35136175e-02 2.52491043e+02] [-1.88454562e-01 9.82054860e-01 7.28906478e-03 -4.61240598e+01] [-2.17195751e-02 -1.15879563e-02 9.99696944e-01 -8.26943784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05401273900003 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:252.52, Y:-46.11, Z:-8.28 [[ 9.81582722e-01 1.89763280e-01 2.20285566e-02 2.52523037e+02] [-1.89431856e-01 9.81758814e-01 -1.62850641e-02 -4.61137746e+01] [-2.47170368e-02 1.18122272e-02 9.99624699e-01 -8.27680867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:252.55, Y:-46.13, Z:-8.28 [[ 9.81560474e-01 1.89570231e-01 2.45390027e-02 2.52549742e+02] [-1.89508636e-01 9.81867159e-01 -4.83303303e-03 -4.61283971e+01] [-2.50102400e-02 9.35612769e-05 9.99687191e-01 -8.27716535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11401273900003 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:252.58, Y:-46.14, Z:-8.28 [[ 9.81623436e-01 1.89203068e-01 2.48521508e-02 2.52579119e+02] [-1.89139783e-01 9.81937976e-01 -4.89427782e-03 -4.61360603e+01] [-2.53292830e-02 1.03807394e-04 9.99679157e-01 -8.27848295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:252.61, Y:-46.14, Z:-8.28 [[ 9.81590549e-01 1.89358599e-01 2.49662950e-02 2.52610475e+02] [-1.89294826e-01 9.81907995e-01 -4.91505470e-03 -4.61446111e+01] [-2.54453126e-02 9.85807771e-05 9.99676211e-01 -8.27979279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17401273900003 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:252.64, Y:-46.16, Z:-8.28 [[ 9.81573268e-01 1.89477526e-01 2.47423874e-02 2.52641185e+02] [-1.89414820e-01 9.81885053e-01 -4.87532292e-03 -4.61551193e+01] [-2.52179445e-02 9.89117996e-05 9.99681972e-01 -8.28132550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:252.67, Y:-46.16, Z:-8.28 [[ 9.81591597e-01 1.89398347e-01 2.46212015e-02 2.52672507e+02] [-1.89336106e-01 9.81900328e-01 -4.85632922e-03 -4.61628804e+01] [-2.50953466e-02 1.05249514e-04 9.99685057e-01 -8.28200567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23401273900004 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:252.70, Y:-46.17, Z:-8.28 [[ 9.81425287e-01 1.90437703e-01 2.31924149e-02 2.52702752e+02] [-1.90382675e-01 9.81699279e-01 -4.57841602e-03 -4.61704323e+01] [-2.36398800e-02 7.79392817e-05 9.99720536e-01 -8.28288375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:252.73, Y:-46.18, Z:-8.28 [[ 9.81127177e-01 1.91969395e-01 2.31778869e-02 2.52732001e+02] [-1.91914733e-01 9.81400912e-01 -4.58103343e-03 -4.61770238e+01] [-2.36262175e-02 4.63984246e-05 9.99720861e-01 -8.28445534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294012739 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:252.76, Y:-46.18, Z:-8.29 [[ 9.80755743e-01 1.93750641e-01 2.40595598e-02 2.52762063e+02] [-1.93692266e-01 9.81050809e-01 -4.75573482e-03 -4.61840617e+01] [-2.45250773e-02 4.06356964e-06 9.99699215e-01 -8.28534160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:252.79, Y:-46.19, Z:-8.29 [[ 9.80101713e-01 1.96970391e-01 2.45621059e-02 2.52791392e+02] [-1.96910562e-01 9.80409434e-01 -4.85507063e-03 -4.61926633e+01] [-2.50372255e-02 -7.80750285e-05 9.99686516e-01 -8.28568385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354012739 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:252.82, Y:-46.20, Z:-8.29 [[ 9.79898475e-01 1.98032359e-01 2.41280553e-02 2.52820698e+02] [-1.97974951e-01 9.80195478e-01 -4.76914799e-03 -4.62005748e+01] [-2.45946564e-02 -1.03469718e-04 9.99697500e-01 -8.28671077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:252.85, Y:-46.21, Z:-8.29 [[ 9.79452008e-01 2.00352677e-01 2.30774759e-02 2.52849572e+02] [-2.00300794e-01 9.79723829e-01 -4.56189702e-03 -4.62102114e+01] [-2.35235414e-02 -1.54277548e-04 9.99723271e-01 -8.28756940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:252.88, Y:-46.22, Z:-8.29 [[ 9.79141197e-01 2.01867081e-01 2.30693993e-02 2.52879217e+02] [-2.01815654e-01 9.79412908e-01 -4.56030045e-03 -4.62170395e+01] [-2.35150420e-02 -1.90587873e-04 9.99723465e-01 -8.28829976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters Centerline goodness : 0.996930 Centerline is valid? [True, True] Translation: X:252.91, Y:-46.22, Z:-8.29 [[ 9.78835309e-01 2.03280143e-01 2.36351776e-02 2.52909034e+02] [-2.03226578e-01 9.79120590e-01 -4.67200904e-03 -4.62224750e+01] [-2.40914157e-02 -2.30168849e-04 9.99709733e-01 -8.28946049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474012739 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:252.94, Y:-46.23, Z:-8.29 [[ 9.78277550e-01 2.06071502e-01 2.25293637e-02 2.52937574e+02] [-2.06023552e-01 9.78536895e-01 -4.45425233e-03 -4.62260442e+01] [-2.29637081e-02 -2.84084484e-04 9.99736259e-01 -8.29216166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:252.97, Y:-46.23, Z:-8.29 [[ 9.77930800e-01 2.07904488e-01 2.06657541e-02 2.52966370e+02] [-2.07864570e-01 9.78149085e-01 -4.08499518e-03 -4.62305519e+01] [-2.10634773e-02 -3.00835471e-04 9.99778095e-01 -8.29428934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:252.99, Y:-46.23, Z:-8.30 [[ 9.77159452e-01 2.11693020e-01 1.85868439e-02 2.52994411e+02] [-2.11661411e-01 9.77336148e-01 -3.67425437e-03 -4.62333276e+01] [-1.89434085e-02 -3.43785221e-04 9.99820498e-01 -8.29525450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:253.02, Y:-46.24, Z:-8.30 [[ 9.76868276e-01 2.13045715e-01 1.84362514e-02 2.53022220e+02] [-2.13014877e-01 9.77042163e-01 -3.64339315e-03 -4.62368639e+01] [-1.87892043e-02 -3.68080656e-04 9.99823400e-01 -8.29567163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594012739 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:253.05, Y:-46.24, Z:-8.30 [[ 9.76743745e-01 2.13590270e-01 1.87310729e-02 2.53051083e+02] [-2.13558564e-01 9.76923256e-01 -3.70032971e-03 -4.62399513e+01] [-1.90891751e-02 -3.85907120e-04 9.99817711e-01 -8.29659744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:253.08, Y:-46.24, Z:-8.30 [[ 9.77015674e-01 2.12169703e-01 2.06007277e-02 2.53080702e+02] [-2.12131058e-01 9.77232757e-01 -4.06855615e-03 -4.62411635e+01] [-2.09949303e-02 -3.95011037e-04 9.99779504e-01 -8.29730310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654012739 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:253.11, Y:-46.24, Z:-8.30 [[ 9.77461025e-01 2.10059114e-01 2.10977305e-02 2.53108832e+02] [-2.10018109e-01 9.77688621e-01 -4.16581505e-03 -4.62447640e+01] [-2.15020785e-02 -3.58983625e-04 9.99768739e-01 -8.29769896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:253.14, Y:-46.25, Z:-8.30 [[ 9.78426311e-01 2.05323846e-01 2.28926188e-02 2.53137244e+02] [-2.05274306e-01 9.78694049e-01 -4.51866251e-03 -4.62464114e+01] [-2.33326589e-02 -2.78088145e-04 9.99727718e-01 -8.29729959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714012739 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:253.17, Y:-46.25, Z:-8.30 [[ 9.78973884e-01 2.02649347e-01 2.33104396e-02 2.53166109e+02] [-2.02597260e-01 9.79251344e-01 -4.59961180e-03 -4.62505190e+01] [-2.37588876e-02 -2.19731361e-04 9.99717694e-01 -8.29791476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:253.19, Y:-46.26, Z:-8.30 [[ 9.79459017e-01 2.00260122e-01 2.35778862e-02 2.53194990e+02] [-2.00206167e-01 9.79742750e-01 -4.65127381e-03 -4.62553255e+01] [-2.40317277e-02 -1.64706150e-04 9.99711183e-01 -8.29845381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:253.22, Y:-46.26, Z:-8.30 [[ 9.79958042e-01 1.97815225e-01 2.34813244e-02 2.53222932e+02] [-1.97761032e-01 9.80239321e-01 -4.63127024e-03 -4.62591389e+01] [-2.39334533e-02 -1.05240419e-04 9.99713548e-01 -8.29849934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:253.25, Y:-46.26, Z:-8.30 [[ 9.79989179e-01 1.97861841e-01 2.17232785e-02 2.53252296e+02] [-1.97815499e-01 9.80229913e-01 -4.28327701e-03 -4.62607923e+01] [-2.21413044e-02 -9.96360563e-05 9.99754846e-01 -8.29943396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834012739 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:253.28, Y:-46.26, Z:-8.30 [[ 9.79993966e-01 1.97970619e-01 2.04807435e-02 2.53279759e+02] [-1.97929465e-01 9.80207950e-01 -4.03758817e-03 -4.62644896e+01] [-2.08747114e-02 -9.69305608e-05 9.99782095e-01 -8.30058106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:253.31, Y:-46.27, Z:-8.30 [[ 9.80028689e-01 1.97806740e-01 2.04024849e-02 2.53308268e+02] [-1.97765892e-01 9.80241034e-01 -4.02084076e-03 -4.62693917e+01] [-2.07947023e-02 -9.43763289e-05 9.99783762e-01 -8.30197670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:253.34, Y:-46.27, Z:-8.30 [[ 9.80204962e-01 1.96711423e-01 2.24242807e-02 2.53337021e+02] [-1.96661817e-01 9.80461427e-01 -4.41811653e-03 -4.62738526e+01] [-2.28552363e-02 -7.93400568e-05 9.99738782e-01 -8.30171053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:253.36, Y:-46.28, Z:-8.30 [[ 9.80208205e-01 1.96569977e-01 2.34972063e-02 2.53364687e+02] [-1.96515495e-01 9.80489795e-01 -4.62848686e-03 -4.62777508e+01] [-2.39485925e-02 -8.06843167e-05 9.99713188e-01 -8.30204243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954012739 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:253.39, Y:-46.28, Z:-8.30 [[ 9.80169418e-01 1.96698880e-01 2.40304483e-02 2.53393765e+02] [-1.96641975e-01 9.80463943e-01 -4.73189116e-03 -4.62816983e+01] [-2.44917458e-02 -8.73398150e-05 9.99700028e-01 -8.30314282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:253.42, Y:-46.28, Z:-8.30 [[ 9.80056441e-01 1.97138133e-01 2.50185713e-02 2.53423921e+02] [-1.97076619e-01 9.80375717e-01 -4.92550303e-03 -4.62837973e+01] [-2.54986042e-02 -1.03304457e-04 9.99674852e-01 -8.30399960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014012739 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:253.45, Y:-46.29, Z:-8.31 [[ 9.80000590e-01 1.97339335e-01 2.56130910e-02 2.53452144e+02] [-1.97274945e-01 9.80335236e-01 -5.04198565e-03 -4.62880557e+01] [-2.61043977e-02 -1.11672208e-04 9.99659216e-01 -8.30508479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:253.48, Y:-46.29, Z:-8.31 [[ 9.80113247e-01 1.96605217e-01 2.69149132e-02 2.53479958e+02] [-1.96533863e-01 9.80482728e-01 -5.29732235e-03 -4.62921653e+01] [-2.74310887e-02 -9.77160534e-05 9.99623692e-01 -8.30603455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074012739 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:253.51, Y:-46.30, Z:-8.31 [[ 9.80198532e-01 1.96095711e-01 2.75192635e-02 2.53509404e+02] [-1.96020967e-01 9.80584756e-01 -5.41442070e-03 -4.62974557e+01] [-2.80467150e-02 -8.71454214e-05 9.99606610e-01 -8.30688341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:253.54, Y:-46.30, Z:-8.31 [[ 9.80332054e-01 1.95451732e-01 2.73438302e-02 2.53538511e+02] [-1.95377709e-01 9.80713320e-01 -5.37912102e-03 -4.63023495e+01] [-2.78678170e-02 -6.90501561e-05 9.99611615e-01 -8.30781077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134012739 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:253.57, Y:-46.31, Z:-8.31 [[ 9.80413486e-01 1.95289195e-01 2.55250215e-02 2.53565997e+02] [-1.95224637e-01 9.80745699e-01 -5.02139468e-03 -4.63075830e+01] [-2.60141792e-02 -6.00699930e-05 9.99661572e-01 -8.31014776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:253.59, Y:-46.31, Z:-8.31 [[ 9.80335783e-01 1.96384843e-01 1.93583551e-02 2.53594810e+02] [-1.96100193e-01 9.80458766e-01 -1.56627482e-02 -4.63057370e+01] [-2.20559953e-02 1.15585753e-02 9.99689918e-01 -8.30966154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:253.62, Y:-46.32, Z:-8.31 [[ 9.79946744e-01 1.97457879e-01 2.67350866e-02 2.53621114e+02] [-1.97684373e-01 9.80246834e-01 6.08553807e-03 -4.63247260e+01] [-2.50053465e-02 -1.12486121e-02 9.99624030e-01 -8.30996157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:253.65, Y:-46.32, Z:-8.31 [[ 9.79500860e-01 1.99841486e-01 2.53267859e-02 2.53650664e+02] [-1.99779467e-01 9.79828224e-01 -4.98164130e-03 -4.63208712e+01] [-2.58114382e-02 -1.80249834e-04 9.99666813e-01 -8.30972550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254012739 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:253.68, Y:-46.32, Z:-8.31 [[ 9.79002266e-01 2.02182271e-01 2.60171603e-02 2.53679109e+02] [-2.02117698e-01 9.79347878e-01 -5.11562360e-03 -4.63249453e+01] [-2.65141391e-02 -2.50321442e-04 9.99648407e-01 -8.31012972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:253.71, Y:-46.33, Z:-8.31 [[ 9.77953355e-01 2.07205036e-01 2.59481974e-02 2.53707246e+02] [-2.07142603e-01 9.78297462e-01 -5.10082831e-03 -4.63290217e+01] [-2.64419729e-02 -3.86604980e-04 9.99650275e-01 -8.31161960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314012739 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:253.74, Y:-46.33, Z:-8.31 [[ 9.77291204e-01 2.10309914e-01 2.59160662e-02 2.53736488e+02] [-2.10248759e-01 9.77634655e-01 -5.09328123e-03 -4.63320141e+01] [-2.64076119e-02 -4.71201796e-04 9.99651147e-01 -8.31256227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:253.76, Y:-46.33, Z:-8.31 [[ 9.77115150e-01 2.11245917e-01 2.49227864e-02 2.53764038e+02] [-2.11189691e-01 9.77432828e-01 -4.89701911e-03 -4.63345741e+01] [-2.53948249e-02 -4.78484000e-04 9.99677385e-01 -8.31405918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374012739 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:253.79, Y:-46.34, Z:-8.32 [[ 9.76940442e-01 2.12157735e-01 2.40097416e-02 2.53791844e+02] [-2.12105863e-01 9.77235315e-01 -4.71621675e-03 -4.63370078e+01] [-2.44637492e-02 -4.85144090e-04 9.99700600e-01 -8.31537972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:253.82, Y:-46.34, Z:-8.32 [[ 9.76845610e-01 2.12717604e-01 2.28883277e-02 2.53819534e+02] [-2.12670647e-01 9.77113603e-01 -4.49473444e-03 -4.63390767e+01] [-2.33206055e-02 -4.77013847e-04 9.99727924e-01 -8.31702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:253.85, Y:-46.34, Z:-8.32 [[ 9.76586866e-01 2.14069143e-01 2.12719158e-02 2.53848237e+02] [-2.14028932e-01 9.76818395e-01 -4.17608027e-03 -4.63375610e+01] [-2.16727686e-02 -4.74500269e-04 9.99765005e-01 -8.31916521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:253.88, Y:-46.34, Z:-8.32 [[ 9.76768171e-01 2.13210414e-01 2.15698742e-02 2.53876830e+02] [-2.13168887e-01 9.77006195e-01 -4.23324985e-03 -4.63350118e+01] [-2.19764737e-02 -4.63122379e-04 9.99758381e-01 -8.31964409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494012739 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:253.90, Y:-46.34, Z:-8.32 [[ 9.77104168e-01 2.11545874e-01 2.27109515e-02 2.53904083e+02] [-2.11499426e-01 9.77367966e-01 -4.45553540e-03 -4.63381720e+01] [-2.31395066e-02 -4.49830996e-04 9.99732145e-01 -8.31978879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:253.93, Y:-46.34, Z:-8.32 [[ 9.77631152e-01 2.08915101e-01 2.43271765e-02 2.53931905e+02] [-2.08861050e-01 9.77933692e-01 -4.77024158e-03 -4.63426912e+01] [-2.47869410e-02 -4.17462852e-04 9.99692669e-01 -8.31962694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55401273900003 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:253.96, Y:-46.35, Z:-8.32 [[ 9.79135559e-01 2.01442203e-01 2.67319422e-02 2.53959584e+02] [-2.01374208e-01 9.79500370e-01 -5.23960696e-03 -4.63482177e+01] [-2.72394252e-02 -2.52838193e-04 9.99628906e-01 -8.31887084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:253.99, Y:-46.35, Z:-8.32 [[ 9.79965459e-01 1.97315382e-01 2.70987088e-02 2.53987739e+02] [-1.97243991e-01 9.80340053e-01 -5.30927275e-03 -4.63532837e+01] [-2.76135508e-02 -1.42153559e-04 9.99618663e-01 -8.31987758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61401273900003 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:254.02, Y:-46.36, Z:-8.32 [[ 9.81521648e-01 1.89470684e-01 2.67603275e-02 2.54015178e+02] [-1.89398179e-01 9.81886375e-01 -5.24173477e-03 -4.63586550e+01] [-2.72687561e-02 7.65188610e-05 9.99628135e-01 -8.32116911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:254.04, Y:-46.36, Z:-8.32 [[ 9.81527909e-01 1.89438193e-01 2.67606783e-02 2.54043960e+02] [-1.89365725e-01 9.81892644e-01 -5.23994345e-03 -4.63642049e+01] [-2.72687586e-02 7.55955032e-05 9.99628135e-01 -8.32217966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67401273900003 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:254.07, Y:-46.37, Z:-8.32 [[ 9.82192107e-01 1.85989963e-01 2.65781619e-02 2.54071925e+02] [-1.85917239e-01 9.82551630e-01 -5.20339050e-03 -4.63706179e+01] [-2.70821947e-02 1.69390585e-04 9.99633196e-01 -8.32288764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:254.10, Y:-46.38, Z:-8.32 [[ 9.82744416e-01 1.83061168e-01 2.64957004e-02 2.54099993e+02] [-1.82987864e-01 9.83101494e-01 -5.18601415e-03 -4.63770357e+01] [-2.69973204e-02 2.48134842e-04 9.99635475e-01 -8.32299475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73401273900004 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:254.13, Y:-46.38, Z:-8.32 [[ 9.83315323e-01 1.79918198e-01 2.68405944e-02 2.54128104e+02] [-1.79841835e-01 9.83681518e-01 -5.25224342e-03 -4.63845803e+01] [-2.73475708e-02 3.37549675e-04 9.99625928e-01 -8.32281600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:254.16, Y:-46.39, Z:-8.32 [[ 9.83357406e-01 1.79673074e-01 2.69406576e-02 2.54155678e+02] [-1.79596082e-01 9.83726318e-01 -5.27064563e-03 -4.63907015e+01] [-2.74492270e-02 3.44491864e-04 9.99623140e-01 -8.32346974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794012739 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:254.18, Y:-46.40, Z:-8.32 [[ 9.83181292e-01 1.80659360e-01 2.67720441e-02 2.54183889e+02] [-1.80583742e-01 9.83545676e-01 -5.23589273e-03 -4.63991855e+01] [-2.72774412e-02 3.13235885e-04 9.99627852e-01 -8.32485318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:254.21, Y:-46.41, Z:-8.33 [[ 9.83090366e-01 1.81149681e-01 2.67978497e-02 2.54212998e+02] [-1.81074117e-01 9.83455491e-01 -5.24029426e-03 -4.64063026e+01] [-2.73037701e-02 2.99285853e-04 9.99627138e-01 -8.32669367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854012739 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:254.24, Y:-46.41, Z:-8.33 [[ 9.83018923e-01 1.81520239e-01 2.69109614e-02 2.54240546e+02] [-1.81444190e-01 9.83387166e-01 -5.26181790e-03 -4.64130475e+01] [-2.74190205e-02 2.89628965e-04 9.99623986e-01 -8.32669273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:254.27, Y:-46.42, Z:-8.33 [[ 9.83019100e-01 1.81370839e-01 2.78938634e-02 2.54268749e+02] [-1.81289102e-01 9.83414728e-01 -5.45296359e-03 -4.64198263e+01] [-2.84202447e-02 3.03513908e-04 9.99596017e-01 -8.32767448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914012739 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:254.30, Y:-46.43, Z:-8.33 [[ 9.83214325e-01 1.80235413e-01 2.83687707e-02 2.54297902e+02] [-1.80150440e-01 9.83623444e-01 -5.54430363e-03 -4.64271049e+01] [-2.89034678e-02 3.40592226e-04 9.99582149e-01 -8.32776563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:254.33, Y:-46.44, Z:-8.33 [[ 9.83806756e-01 1.76874161e-01 2.89792543e-02 2.54326404e+02] [-1.76784056e-01 9.84233372e-01 -5.66278374e-03 -4.64378161e+01] [-2.95239493e-02 4.48014791e-04 9.99563973e-01 -8.32908293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974012739 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:254.36, Y:-46.45, Z:-8.33 [[ 9.84187445e-01 1.74794449e-01 2.86700811e-02 2.54356947e+02] [-1.74705378e-01 9.84604817e-01 -5.60223644e-03 -4.64460795e+01] [-2.92079398e-02 5.04833422e-04 9.99573230e-01 -8.33034500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:254.39, Y:-46.45, Z:-8.33 [[ 9.84467725e-01 1.73389273e-01 2.75582635e-02 2.54387328e+02] [-1.73306433e-01 9.84853230e-01 -5.38478079e-03 -4.64535879e+01] [-2.80745081e-02 5.25118529e-04 9.99605695e-01 -8.33196436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:254.42, Y:-46.46, Z:-8.33 [[ 9.84492764e-01 1.73486254e-01 2.60099550e-02 2.54416330e+02] [-1.73412357e-01 9.84836165e-01 -5.08754702e-03 -4.64617351e+01] [-2.64981638e-02 4.98205620e-04 9.99648738e-01 -8.33391893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:254.45, Y:-46.47, Z:-8.34 [[ 9.84203014e-01 1.75118527e-01 2.60370672e-02 2.54446663e+02] [-1.75045052e-01 9.84547254e-01 -5.09265429e-03 -4.64698166e+01] [-2.65265411e-02 4.54545931e-04 9.99648006e-01 -8.33530533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094012739 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:254.48, Y:-46.48, Z:-8.33 [[ 9.83473272e-01 1.79019904e-01 2.70591458e-02 2.54475317e+02] [-1.78941993e-01 9.83845385e-01 -5.29353515e-03 -4.64774571e+01] [-2.75696639e-02 3.64032848e-04 9.99619818e-01 -8.33426819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters Centerline goodness : 0.985908 Centerline is valid? [True, True] Translation: X:254.51, Y:-46.48, Z:-8.32 [[ 9.83241720e-01 1.80350751e-01 2.66332014e-02 2.54506078e+02] [-1.80275779e-01 9.83602310e-01 -5.20960478e-03 -4.64842840e+01] [-2.71360345e-02 3.20979647e-04 9.99631698e-01 -8.32206535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154012739 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:254.53, Y:-46.49, Z:-8.34 [[ 9.83081883e-01 1.81165021e-01 2.70045538e-02 2.54534816e+02] [-1.81088228e-01 9.83452664e-01 -5.28304504e-03 -4.64927494e+01] [-2.75148033e-02 3.03459080e-04 9.99621350e-01 -8.33821580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:254.56, Y:-46.50, Z:-8.34 [[ 9.83228575e-01 1.80419069e-01 2.66557460e-02 2.54563996e+02] [-1.80343962e-01 9.83589781e-01 -5.21523737e-03 -4.65017426e+01] [-2.71592476e-02 3.20567567e-04 9.99631068e-01 -8.33919560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:254.59, Y:-46.51, Z:-8.34 [[ 9.83372358e-01 1.79638002e-01 2.66269469e-02 2.54593587e+02] [-1.79562774e-01 9.83732724e-01 -5.20951411e-03 -4.65105295e+01] [-2.71296257e-02 3.41683741e-04 9.99631866e-01 -8.33999340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:254.62, Y:-46.52, Z:-8.34 [[ 9.83552790e-01 1.78659059e-01 2.65490261e-02 2.54623200e+02] [-1.78583934e-01 9.83910975e-01 -5.19351936e-03 -4.65212535e+01] [-2.70497474e-02 3.66870940e-04 9.99634021e-01 -8.34169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:254.65, Y:-46.53, Z:-8.34 [[ 9.83497761e-01 1.78982900e-01 2.64059925e-02 2.54653679e+02] [-1.78908585e-01 9.83852119e-01 -5.16976525e-03 -4.65298576e+01] [-2.69048913e-02 3.60193788e-04 9.99637933e-01 -8.34271670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:254.68, Y:-46.54, Z:-8.34 [[ 9.83155024e-01 1.80820510e-01 2.66484791e-02 2.54683502e+02] [-1.80745356e-01 9.83516061e-01 -5.22246909e-03 -4.65398080e+01] [-2.71535367e-02 3.17907893e-04 9.99631224e-01 -8.34288792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334012739 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:254.71, Y:-46.55, Z:-8.34 [[ 9.82918063e-01 1.82348956e-01 2.49186473e-02 2.54713938e+02] [-1.82527232e-01 9.83187786e-01 5.05834346e-03 -4.65528567e+01] [-2.35773260e-02 -9.52026888e-03 9.99676685e-01 -8.33890570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:254.75, Y:-46.55, Z:-8.35 [[ 9.82379931e-01 1.85351678e-01 2.39672211e-02 2.54746724e+02] [-1.85039476e-01 9.82621647e-01 -1.46660025e-02 -4.65456184e+01] [-2.62690784e-02 9.97270454e-03 9.99605162e-01 -8.34567685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394012739 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:254.77, Y:-46.56, Z:-8.35 [[ 9.81423534e-01 1.90007541e-01 2.65514772e-02 2.54774392e+02] [-1.89936134e-01 9.81782629e-01 -5.20915382e-03 -4.65555190e+01] [-2.70575576e-02 6.93012120e-05 9.99633875e-01 -8.34692694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:254.80, Y:-46.56, Z:-8.35 [[ 9.80946049e-01 1.92440911e-01 2.66710570e-02 2.54803070e+02] [-1.92369743e-01 9.81308563e-01 -5.23319613e-03 -4.65609466e+01] [-2.71796177e-02 2.77869168e-06 9.99630566e-01 -8.34814682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454012739 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:254.83, Y:-46.57, Z:-8.35 [[ 9.80362615e-01 1.95494588e-01 2.59038601e-02 2.54831798e+02] [-1.95428535e-01 9.80704777e-01 -5.08215486e-03 -4.65659452e+01] [-2.63975732e-02 -7.99988078e-05 9.99651520e-01 -8.34835875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters Centerline goodness : 0.986516 Centerline is valid? [True, True] Translation: X:254.86, Y:-46.57, Z:-8.34 [[ 9.80389520e-01 1.95354283e-01 2.59440252e-02 2.54860235e+02] [-1.95287998e-01 9.80732735e-01 -5.08919163e-03 -4.65703862e+01] [-2.64383502e-02 -7.71666022e-05 9.99650443e-01 -8.33678880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514012739 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:254.89, Y:-46.57, Z:-8.35 [[ 9.80672513e-01 1.93573937e-01 2.84702106e-02 2.54888340e+02] [-1.93493407e-01 9.81085689e-01 -5.58315223e-03 -4.65731882e+01] [-2.90124689e-02 -3.35541229e-05 9.99579049e-01 -8.34961335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:254.92, Y:-46.58, Z:-8.35 [[ 9.81010829e-01 1.91787553e-01 2.89013349e-02 2.54918184e+02] [-1.91703825e-01 9.81436465e-01 -5.66648157e-03 -4.65794537e+01] [-2.94515845e-02 1.83833347e-05 9.99566208e-01 -8.35027574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574012739 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:254.95, Y:-46.59, Z:-8.35 [[ 9.81374153e-01 1.89911059e-01 2.89579291e-02 2.54947971e+02] [-1.89826188e-01 9.81801296e-01 -5.67751811e-03 -4.65864112e+01] [-2.95091558e-02 7.47962274e-05 9.99564507e-01 -8.35154579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:254.98, Y:-46.59, Z:-8.35 [[ 9.81715531e-01 1.88216448e-01 2.84461711e-02 2.54977118e+02] [-1.88133826e-01 9.82127565e-01 -5.57765066e-03 -4.65930554e+01] [-2.89875743e-02 1.23979284e-04 9.99579764e-01 -8.35309092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634012739 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:255.01, Y:-46.60, Z:-8.35 [[ 9.82086550e-01 1.86438821e-01 2.73235159e-02 2.55005746e+02] [-1.86361914e-01 9.82466558e-01 -5.35722064e-03 -4.66001365e+01] [-2.78432345e-02 1.69191624e-04 9.99612288e-01 -8.35392375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:255.04, Y:-46.61, Z:-8.35 [[ 9.81864065e-01 1.87500549e-01 2.80446326e-02 2.55035259e+02] [-1.87419972e-01 9.82264488e-01 -5.49820607e-03 -4.66078271e+01] [-2.85781633e-02 1.42366719e-04 9.99591551e-01 -8.35426625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694012739 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:255.06, Y:-46.61, Z:-8.35 [[ 9.81491755e-01 1.89399768e-01 2.83136554e-02 2.55064391e+02] [-1.89318425e-01 9.81900056e-01 -5.55101433e-03 -4.66137072e+01] [-2.88525407e-02 8.79781297e-05 9.99583675e-01 -8.35467433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:255.10, Y:-46.62, Z:-8.36 [[ 9.81141923e-01 1.91180723e-01 2.84685611e-02 2.55095156e+02] [-1.91099253e-01 9.81554853e-01 -5.58084376e-03 -4.66195659e+01] [-2.90104040e-02 3.52790250e-05 9.99579109e-01 -8.35559528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:255.12, Y:-46.63, Z:-8.36 [[ 9.80774827e-01 1.92985075e-01 2.89395820e-02 2.55124903e+02] [-1.92901647e-01 9.81201692e-01 -5.67398475e-03 -4.66260641e+01] [-2.94905612e-02 -1.75916247e-05 9.99565059e-01 -8.35703035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:255.16, Y:-46.63, Z:-8.36 [[ 9.80342036e-01 1.95049863e-01 2.97496815e-02 2.55155266e+02] [-1.94962637e-01 9.80793324e-01 -5.83314989e-03 -4.66348704e+01] [-3.03160441e-02 -8.15943193e-05 9.99540360e-01 -8.35757804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814012739 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:255.18, Y:-46.64, Z:-8.36 [[ 9.80158898e-01 1.96188509e-01 2.82595909e-02 2.55184839e+02] [-1.96110264e-01 9.80566192e-01 -5.54146028e-03 -4.66421676e+01] [-2.87975703e-02 -1.10484224e-04 9.99585258e-01 -8.35814100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:255.21, Y:-46.65, Z:-8.36 [[ 9.80026578e-01 1.96991559e-01 2.72439390e-02 2.55214688e+02] [-1.96919095e-01 9.80405176e-01 -5.34419733e-03 -4.66477682e+01] [-2.77628606e-02 -1.27396395e-04 9.99614529e-01 -8.35918460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874012739 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:255.24, Y:-46.65, Z:-8.36 [[ 9.79858801e-01 1.97829916e-01 2.72039415e-02 2.55243560e+02] [-1.97757986e-01 9.80236350e-01 -5.33643237e-03 -4.66527283e+01] [-2.77219983e-02 -1.50846465e-04 9.99615660e-01 -8.35986748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:255.27, Y:-46.66, Z:-8.36 [[ 9.79385549e-01 1.99780710e-01 2.98599156e-02 2.55273150e+02] [-1.99694962e-01 9.79840608e-01 -5.85708128e-03 -4.66576019e+01] [-3.04280897e-02 -2.26533957e-04 9.99536933e-01 -8.36062541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934012739 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:255.30, Y:-46.66, Z:-8.36 [[ 9.79195526e-01 2.00488455e-01 3.13129538e-02 2.55303116e+02] [-2.00394547e-01 9.79696030e-01 -6.14123751e-03 -4.66630974e+01] [-3.19084237e-02 -2.61472889e-04 9.99490762e-01 -8.36126236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:255.33, Y:-46.67, Z:-8.36 [[ 9.78971961e-01 2.01484608e-01 3.19037832e-02 2.55332821e+02] [-2.01387651e-01 9.79491635e-01 -6.25708929e-03 -4.66679414e+01] [-3.25101959e-02 -2.99512963e-04 9.99471359e-01 -8.36180206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994012739 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:255.36, Y:-46.67, Z:-8.36 [[ 9.78879713e-01 2.01958162e-01 3.17396968e-02 2.55363972e+02] [-2.01862436e-01 9.79394100e-01 -6.22528004e-03 -4.66738612e+01] [-3.23429179e-02 -3.13252169e-04 9.99476782e-01 -8.36245499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:255.39, Y:-46.68, Z:-8.36 [[ 9.78828826e-01 2.02236037e-01 3.15390982e-02 2.55393310e+02] [-2.02141636e-01 9.79336757e-01 -6.18675140e-03 -4.66794126e+01] [-3.21385823e-02 -3.19594317e-04 9.99483371e-01 -8.36380770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05401273900003 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:255.42, Y:-46.68, Z:-8.36 [[ 9.79016948e-01 2.01320025e-01 3.15604661e-02 2.55423897e+02] [-2.01225008e-01 9.79525479e-01 -6.19131107e-03 -4.66845957e+01] [-3.21607156e-02 -2.89356582e-04 9.99482669e-01 -8.36441172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:255.45, Y:-46.69, Z:-8.37 [[ 9.79468102e-01 1.99146785e-01 3.13495696e-02 2.55453988e+02] [-1.99051894e-01 9.79969648e-01 -6.15075586e-03 -4.66877995e+01] [-3.19465299e-02 -2.15722039e-04 9.99489556e-01 -8.36590146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11401273900003 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:255.48, Y:-46.69, Z:-8.37 [[ 9.79787103e-01 1.97693487e-01 3.05698784e-02 2.55483490e+02] [-1.97602540e-01 9.80263872e-01 -5.99815656e-03 -4.66924406e+01] [-3.11523438e-02 -1.63769169e-04 9.99514635e-01 -8.36711766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:255.51, Y:-46.70, Z:-8.37 [[ 9.80137587e-01 1.96013658e-01 3.01488969e-02 2.55514032e+02] [-1.95924391e-01 9.80601160e-01 -5.91596833e-03 -4.66972917e+01] [-3.07236538e-02 -1.08441343e-04 9.99527911e-01 -8.36835125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17401273900003 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:255.54, Y:-46.70, Z:-8.37 [[ 9.80829689e-01 1.92719132e-01 2.88523257e-02 2.55543556e+02] [-1.92635952e-01 9.81253961e-01 -5.66161019e-03 -4.66993301e+01] [-2.94025595e-02 -4.91985520e-06 9.99567651e-01 -8.36928241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:255.57, Y:-46.70, Z:-8.37 [[ 9.81162810e-01 1.91138633e-01 2.80279027e-02 2.55574195e+02] [-1.91059506e-01 9.81563050e-01 -5.49942953e-03 -4.67039825e+01] [-2.85623071e-02 4.08384822e-05 9.99592013e-01 -8.37048309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23401273900004 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:255.60, Y:-46.71, Z:-8.37 [[ 9.81447554e-01 1.89735839e-01 2.75864121e-02 2.55604157e+02] [-1.89658632e-01 9.81835172e-01 -5.41280349e-03 -4.67090585e+01] [-2.81123125e-02 8.03815594e-05 9.99604768e-01 -8.37137863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:255.63, Y:-46.71, Z:-8.37 [[ 9.81932159e-01 1.87135229e-01 2.81005587e-02 2.55633310e+02] [-1.87054049e-01 9.82334149e-01 -5.51375557e-03 -4.67127854e+01] [-2.86359564e-02 1.57810624e-04 9.99589894e-01 -8.37163915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:255.66, Y:-46.72, Z:-8.37 [[ 9.82109562e-01 1.86111358e-01 2.86944536e-02 2.55662973e+02] [-1.86026285e-01 9.82528639e-01 -5.62986474e-03 -4.67173993e+01] [-2.92409042e-02 1.91221395e-04 9.99572375e-01 -8.37239680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:255.69, Y:-46.72, Z:-8.37 [[ 9.82447448e-01 1.84398424e-01 2.81821413e-02 2.55692124e+02] [-1.84315656e-01 9.82851548e-01 -5.52941708e-03 -4.67221597e+01] [-2.87184770e-02 2.37951834e-04 9.99587511e-01 -8.37460064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354012739 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:255.72, Y:-46.73, Z:-8.38 [[ 9.82559400e-01 1.83873340e-01 2.77059557e-02 2.55721498e+02] [-1.83793151e-01 9.82949914e-01 -5.43551008e-03 -4.67272100e+01] [-2.82330122e-02 2.48546623e-04 9.99601338e-01 -8.37523534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:255.75, Y:-46.73, Z:-8.38 [[ 9.82702217e-01 1.83034024e-01 2.81939491e-02 2.55750854e+02] [-1.82950623e-01 9.83106540e-01 -5.53180984e-03 -4.67317316e+01] [-2.87301652e-02 2.78021247e-04 9.99587165e-01 -8.37649184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414012739 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:255.78, Y:-46.74, Z:-8.38 [[ 9.82965346e-01 1.81615068e-01 2.81974485e-02 2.55779775e+02] [-1.81531087e-01 9.83369649e-01 -5.53162383e-03 -4.67384606e+01] [-2.87331413e-02 3.18681055e-04 9.99587067e-01 -8.37693987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:255.81, Y:-46.74, Z:-8.38 [[ 9.83242343e-01 1.80080491e-01 2.83815393e-02 2.55809997e+02] [-1.79994758e-01 9.83651810e-01 -5.56815929e-03 -4.67444973e+01] [-2.89202694e-02 3.66321682e-04 9.99581654e-01 -8.37807187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:255.84, Y:-46.75, Z:-8.38 [[ 9.83257013e-01 1.80019747e-01 2.82583849e-02 2.55839800e+02] [-1.79934732e-01 9.83662928e-01 -5.54399768e-03 -4.67494741e+01] [-2.87947547e-02 3.66509703e-04 9.99585278e-01 -8.37860160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:255.87, Y:-46.75, Z:-8.38 [[ 9.83190448e-01 1.80396217e-01 2.81735161e-02 2.55870250e+02] [-1.80311870e-01 9.83593961e-01 -5.52720366e-03 -4.67543034e+01] [-2.87083870e-02 3.54274459e-04 9.99587767e-01 -8.38014585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:255.90, Y:-46.76, Z:-8.38 [[ 9.83181830e-01 1.80443199e-01 2.81734069e-02 2.55901463e+02] [-1.80358856e-01 9.83585343e-01 -5.52776038e-03 -4.67604795e+01] [-2.87083969e-02 3.53470128e-04 9.99587767e-01 -8.38124352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:255.93, Y:-46.77, Z:-8.38 [[ 9.83042296e-01 1.81012046e-01 2.93680849e-02 2.55930888e+02] [-1.80920605e-01 9.83480816e-01 -5.76365108e-03 -4.67671164e+01] [-2.99262384e-02 3.52621087e-04 9.99552048e-01 -8.38113957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594012739 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:255.96, Y:-46.77, Z:-8.38 [[ 9.83102576e-01 1.80535958e-01 3.02670139e-02 2.55960195e+02] [-1.80438542e-01 9.83568311e-01 -5.94215420e-03 -4.67734905e+01] [-3.08424482e-02 3.80411248e-04 9.99524186e-01 -8.38134106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:255.99, Y:-46.78, Z:-8.38 [[ 9.83185086e-01 1.79876959e-01 3.14859666e-02 2.55989956e+02] [-1.79771212e-01 9.83689029e-01 -6.18105679e-03 -4.67791325e+01] [-3.20842296e-02 4.16852498e-04 9.99485082e-01 -8.38196612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654012739 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:256.02, Y:-46.79, Z:-8.38 [[ 9.83298743e-01 1.79265145e-01 3.14259459e-02 2.56021530e+02] [-1.79159502e-01 9.83800700e-01 -6.16887048e-03 -4.67860150e+01] [-3.20227311e-02 4.35585768e-04 9.99487046e-01 -8.38363089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:256.05, Y:-46.79, Z:-8.39 [[ 9.83560103e-01 1.77941097e-01 3.07650642e-02 2.56054082e+02] [-1.77839049e-01 9.84041026e-01 -6.04407729e-03 -4.67938160e+01] [-3.13495751e-02 4.73483502e-04 9.99508369e-01 -8.38559341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:256.08, Y:-46.80, Z:-8.39 [[ 9.84286083e-01 1.74264058e-01 2.85121970e-02 2.56084761e+02] [-1.74174714e-01 9.84698803e-01 -5.60680903e-03 -4.68018510e+01] [-2.90529915e-02 5.52600345e-04 9.99577720e-01 -8.38713328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:256.12, Y:-46.81, Z:-8.39 [[ 9.84623728e-01 1.72431751e-01 2.79893742e-02 2.56117235e+02] [-1.72344768e-01 9.85021284e-01 -5.50912828e-03 -4.68087750e+01] [-2.85200780e-02 6.00596213e-04 9.99593039e-01 -8.38854174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:256.15, Y:-46.82, Z:-8.39 [[ 9.84876329e-01 1.71045591e-01 2.76047596e-02 2.56148248e+02] [-1.70960285e-01 9.85262909e-01 -5.43888129e-03 -4.68165513e+01] [-2.81282424e-02 6.37307880e-04 9.99604120e-01 -8.38912339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:256.18, Y:-46.82, Z:-8.39 [[ 9.84840010e-01 1.71204704e-01 2.79124346e-02 2.56179510e+02] [-1.71117398e-01 9.85235268e-01 -5.50481212e-03 -4.68239072e+01] [-2.84427647e-02 6.45056041e-04 9.99595215e-01 -8.38996086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:256.21, Y:-46.83, Z:-8.39 [[ 9.84738742e-01 1.71635782e-01 2.88230558e-02 2.56211671e+02] [-1.71542723e-01 9.85160254e-01 -5.68939312e-03 -4.68305821e+01] [-2.93718324e-02 6.58180357e-04 9.99568338e-01 -8.39037762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:256.24, Y:-46.84, Z:-8.39 [[ 9.84267547e-01 1.73987038e-01 3.07555895e-02 2.56243591e+02] [-1.73882018e-01 9.84747739e-01 -6.07743582e-03 -4.68358261e+01] [-3.13438923e-02 6.33978882e-04 9.99508458e-01 -8.39064960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894012739 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:256.27, Y:-46.84, Z:-8.39 [[ 9.83977936e-01 1.75658266e-01 3.05220504e-02 2.56274958e+02] [-1.75555462e-01 9.84451032e-01 -6.03695098e-03 -4.68423109e+01] [-3.11079044e-02 5.81913895e-04 9.99515863e-01 -8.39214627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:256.31, Y:-46.85, Z:-8.39 [[ 9.83305393e-01 1.79744532e-01 2.83268093e-02 2.56305652e+02] [-1.79657533e-01 9.83713232e-01 -5.60788712e-03 -4.68490255e+01] [-2.88734442e-02 4.25140963e-04 9.99582985e-01 -8.39407402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954012739 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:256.34, Y:-46.85, Z:-8.39 [[ 9.82982373e-01 1.81593465e-01 2.77392895e-02 2.56336314e+02] [-1.81510756e-01 9.83373622e-01 -5.49222145e-03 -4.68540539e+01] [-2.82754372e-02 3.63777465e-04 9.99600104e-01 -8.39497761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:256.37, Y:-46.86, Z:-8.40 [[ 9.82685977e-01 1.83083200e-01 2.84396314e-02 2.56365955e+02] [-1.82996858e-01 9.83097367e-01 -5.63179618e-03 -4.68585518e+01] [-2.89900140e-02 3.29923958e-04 9.99579647e-01 -8.39620960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014012739 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:256.40, Y:-46.86, Z:-8.40 [[ 9.82412860e-01 1.84149762e-01 3.08842653e-02 2.56395639e+02] [-1.84048474e-01 9.82898143e-01 -6.11545023e-03 -4.68634540e+01] [-3.14822458e-02 3.23695035e-04 9.99504259e-01 -8.39633231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:256.43, Y:-46.87, Z:-8.40 [[ 9.82310604e-01 1.84653438e-01 3.11285308e-02 2.56425996e+02] [-1.84550796e-01 9.82803649e-01 -6.16375203e-03 -4.68703687e+01] [-3.17313917e-02 3.09923828e-04 9.99496385e-01 -8.39699996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074012739 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:256.46, Y:-46.88, Z:-8.40 [[ 9.82252502e-01 1.85249095e-01 2.93733777e-02 2.56456198e+02] [-1.85157951e-01 9.82691557e-01 -5.81688374e-03 -4.68776920e+01] [-2.99425427e-02 2.74934183e-04 9.99551584e-01 -8.39886533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:256.48, Y:-46.88, Z:-8.40 [[ 9.82274183e-01 1.85163875e-01 2.91850712e-02 2.56484925e+02] [-1.85073833e-01 9.82707618e-01 -5.78041870e-03 -4.68841974e+01] [-2.97507166e-02 2.76563057e-04 9.99557311e-01 -8.40038082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134012739 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:256.51, Y:-46.89, Z:-8.40 [[ 9.82234049e-01 1.85168808e-01 3.04759964e-02 2.56513547e+02] [-1.85070626e-01 9.82706685e-01 -6.03606048e-03 -4.68935596e+01] [-3.10666555e-02 2.88612373e-04 9.99517273e-01 -8.40032720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:256.54, Y:-46.90, Z:-8.40 [[ 9.82186724e-01 1.85346586e-01 3.09173603e-02 2.56544547e+02] [-1.85245629e-01 9.82673171e-01 -6.12338965e-03 -4.69027712e+01] [-3.15166098e-02 2.87006150e-04 9.99503187e-01 -8.40163522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:256.58, Y:-46.91, Z:-8.40 [[ 9.82173784e-01 1.85474649e-01 3.05583376e-02 2.56575209e+02] [-1.85375926e-01 9.82649008e-01 -6.05744055e-03 -4.69121263e+01] [-3.11516218e-02 2.84679169e-04 9.99514630e-01 -8.40363133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:256.60, Y:-46.92, Z:-8.41 [[ 9.82248326e-01 1.85537867e-01 2.76391980e-02 2.56604817e+02] [-1.85457017e-01 9.82637081e-01 -5.48291650e-03 -4.69248063e+01] [-2.81765894e-02 2.59702336e-04 9.99602927e-01 -8.40609388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:256.63, Y:-46.93, Z:-8.41 [[ 9.82051460e-01 1.86665116e-01 2.70381941e-02 2.56634619e+02] [-1.86588034e-01 9.82423576e-01 -5.36870345e-03 -4.69338780e+01] [-2.75651090e-02 2.27339598e-04 9.99619984e-01 -8.40720775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:256.66, Y:-46.95, Z:-8.41 [[ 9.81188780e-01 1.91089252e-01 2.74495038e-02 2.56664642e+02] [-1.91011389e-01 9.81572659e-01 -5.45560463e-03 -4.69460319e+01] [-2.79861898e-02 1.09810209e-04 9.99608304e-01 -8.40594672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314012739 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:256.70, Y:-46.95, Z:-8.41 [[ 9.80623758e-01 1.93828629e-01 2.84166849e-02 2.56695204e+02] [-1.93746309e-01 9.81035403e-01 -5.64854357e-03 -4.69542891e+01] [-2.89726234e-02 3.34682003e-05 9.99580205e-01 -8.40725181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:256.72, Y:-46.96, Z:-8.41 [[ 9.79592730e-01 1.98810049e-01 2.95406224e-02 2.56724832e+02] [-1.98723327e-01 9.80038035e-01 -5.87269813e-03 -4.69637280e+01] [-3.01184850e-02 -1.17558382e-04 9.99546329e-01 -8.40829637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374012739 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:256.75, Y:-46.97, Z:-8.41 [[ 9.79145538e-01 2.00971093e-01 2.97428248e-02 2.56754963e+02] [-2.00884155e-01 9.79597155e-01 -5.91361575e-03 -4.69719016e+01] [-3.03244524e-02 -1.84571746e-04 9.99540091e-01 -8.40935571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:256.78, Y:-46.98, Z:-8.41 [[ 9.78782886e-01 2.02727995e-01 2.97560333e-02 2.56784907e+02] [-2.02641769e-01 9.79235060e-01 -5.91695324e-03 -4.69796911e+01] [-3.03376831e-02 -2.38402650e-04 9.99539678e-01 -8.40963293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434012739 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:256.81, Y:-46.99, Z:-8.41 [[ 9.78141401e-01 2.05854889e-01 2.93796475e-02 2.56814889e+02] [-2.05772223e-01 9.78582472e-01 -5.84267495e-03 -4.69856412e+01] [-2.99531513e-02 -3.30553109e-04 9.99551249e-01 -8.40934912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:256.85, Y:-46.99, Z:-8.41 [[ 9.77919177e-01 2.06972366e-01 2.89226960e-02 2.56845610e+02] [-2.06892688e-01 9.78346724e-01 -5.75356584e-03 -4.69910812e+01] [-2.94872540e-02 -3.57371948e-04 9.99565092e-01 -8.41074699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494012739 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:256.88, Y:-47.00, Z:-8.41 [[ 9.77936467e-01 2.07134186e-01 2.71237194e-02 2.56875912e+02] [-2.07064159e-01 9.78312483e-01 -5.39630403e-03 -4.69973951e+01] [-2.76532323e-02 -3.39107649e-04 9.99617519e-01 -8.41227167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:256.91, Y:-47.00, Z:-8.41 [[ 9.78180347e-01 2.06034736e-01 2.67001352e-02 2.56905647e+02] [-2.05966450e-01 9.78544632e-01 -5.31277094e-03 -4.70041269e+01] [-2.72218893e-02 -3.02483931e-04 9.99629370e-01 -8.41449117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55401273900003 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:256.94, Y:-47.01, Z:-8.42 [[ 9.78630024e-01 2.03903675e-01 2.65813221e-02 2.56935275e+02] [-2.03835198e-01 9.78990926e-01 -5.28954545e-03 -4.70105761e+01] [-2.71014308e-02 -2.41701037e-04 9.99632660e-01 -8.41523866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:256.97, Y:-47.01, Z:-8.42 [[ 9.79833527e-01 1.98060753e-01 2.64234228e-02 2.56965223e+02] [-1.97877604e-01 9.80181654e-01 -9.40099033e-03 -4.70141239e+01] [-2.77617215e-02 3.98280193e-03 9.99606635e-01 -8.41588418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61401273900003 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:257.00, Y:-47.03, Z:-8.42 [[ 9.80380904e-01 1.94994227e-01 2.88189824e-02 2.56996071e+02] [-1.95026816e-01 9.80796432e-01 -1.70290211e-03 -4.70263203e+01] [-2.85976112e-02 -3.95098166e-03 9.99583196e-01 -8.41670566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:257.03, Y:-47.03, Z:-8.42 [[ 9.81192281e-01 1.91227536e-01 2.63388808e-02 2.57027893e+02] [-1.91155604e-01 9.81545728e-01 -5.24579865e-03 -4.70319943e+01] [-2.68559571e-02 1.12312490e-04 9.99639307e-01 -8.41746687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67401273900003 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:257.06, Y:-47.04, Z:-8.42 [[ 9.81507417e-01 1.89769762e-01 2.51122956e-02 2.57059982e+02] [-1.89703839e-01 9.81828608e-01 -5.00375179e-03 -4.70403257e+01] [-2.56055310e-02 1.47320598e-04 9.99672114e-01 -8.41889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:257.09, Y:-47.05, Z:-8.42 [[ 9.81781883e-01 1.88358209e-01 2.50103792e-02 2.57091842e+02] [-1.88292239e-01 9.82100377e-01 -4.98827764e-03 -4.70488871e+01] [-2.55022858e-02 1.88140322e-04 9.99674746e-01 -8.42037007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73401273900004 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:257.12, Y:-47.06, Z:-8.42 [[ 9.82192658e-01 1.85809433e-01 2.77927664e-02 2.57122957e+02] [-1.85726755e-01 9.82585758e-01 -5.54990508e-03 -4.70588129e+01] [-2.83400011e-02 2.89215716e-04 9.99598300e-01 -8.42069465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:257.15, Y:-47.07, Z:-8.42 [[ 9.82226817e-01 1.85208971e-01 3.04650117e-02 2.57154038e+02] [-1.85109207e-01 9.82699100e-01 -6.08768926e-03 -4.70688573e+01] [-3.10654343e-02 3.40137472e-04 9.99517295e-01 -8.42013460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794012739 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:257.19, Y:-47.08, Z:-8.42 [[ 9.82172529e-01 1.85527353e-01 3.02774534e-02 2.57186222e+02] [-1.85428861e-01 9.82639044e-01 -6.05358160e-03 -4.70781641e+01] [-3.08749128e-02 3.31347854e-04 9.99523201e-01 -8.42086809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:257.22, Y:-47.09, Z:-8.42 [[ 9.82071661e-01 1.86131517e-01 2.98380832e-02 2.57216770e+02] [-1.86035963e-01 9.82524788e-01 -5.97164621e-03 -4.70869392e+01] [-3.04281680e-02 3.13627970e-04 9.99536907e-01 -8.42104860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854012739 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:257.25, Y:-47.09, Z:-8.42 [[ 9.81955853e-01 1.87103420e-01 2.74775129e-02 2.57250088e+02] [-1.86904432e-01 9.82330578e-01 -9.66277945e-03 -4.70911926e+01] [-2.87999402e-02 4.35275389e-03 9.99575718e-01 -8.42109552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:257.28, Y:-47.10, Z:-8.42 [[ 9.81043027e-01 1.91313985e-01 3.08794233e-02 2.57279339e+02] [-1.91343058e-01 9.81521105e-01 -2.03830985e-03 -4.71016247e+01] [-3.06987629e-02 -3.90889361e-03 9.99521039e-01 -8.42126948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914012739 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:257.31, Y:-47.11, Z:-8.42 [[ 9.79949346e-01 1.96712305e-01 3.16788151e-02 2.57311501e+02] [-1.96609657e-01 9.80461253e-01 -6.35404226e-03 -4.71083216e+01] [-3.23097691e-02 -1.72141774e-06 9.99477903e-01 -8.42223159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:257.34, Y:-47.12, Z:-8.42 [[ 9.79594832e-01 1.98465542e-01 3.17079402e-02 2.57342326e+02] [-1.98363412e-01 9.80107864e-01 -6.36638581e-03 -4.71156282e+01] [-3.23407098e-02 -5.32165696e-05 9.99476901e-01 -8.42313787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974012739 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:257.37, Y:-47.12, Z:-8.42 [[ 9.79376970e-01 1.99616628e-01 3.12082042e-02 2.57374975e+02] [-1.99518091e-01 9.79874071e-01 -6.27187001e-03 -4.71227355e+01] [-3.18320797e-02 -8.40762866e-05 9.99493227e-01 -8.42482967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:257.41, Y:-47.13, Z:-8.43 [[ 9.79124064e-01 2.01000030e-01 3.02498769e-02 2.57407392e+02] [-2.00907931e-01 9.79591228e-01 -6.08518967e-03 -4.71295254e+01] [-3.08556374e-02 -1.19284543e-04 9.99523844e-01 -8.42599626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034012739 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:257.44, Y:-47.14, Z:-8.43 [[ 9.78347701e-01 2.04924527e-01 2.90123191e-02 2.57438098e+02] [-2.04841364e-01 9.78777751e-01 -5.84199131e-03 -4.71366410e+01] [-2.95937797e-02 -2.27424260e-04 9.99561982e-01 -8.42718401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:257.47, Y:-47.14, Z:-8.43 [[ 9.77736356e-01 2.07750289e-01 2.95200958e-02 2.57470261e+02] [-2.07665302e-01 9.78181844e-01 -5.95000552e-03 -4.71439706e+01] [-3.01121371e-02 -3.12762905e-04 9.99546478e-01 -8.42745839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094012739 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:257.50, Y:-47.15, Z:-8.43 [[ 9.76512274e-01 2.13349800e-01 3.00938736e-02 2.57502223e+02] [-2.13263943e-01 9.76975754e-01 -6.07177375e-03 -4.71505589e+01] [-3.06963966e-02 -4.88776564e-04 9.99528635e-01 -8.42803896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:257.53, Y:-47.16, Z:-8.43 [[ 9.76099294e-01 2.15281323e-01 2.97341752e-02 2.57534033e+02] [-2.15198223e-01 9.76551926e-01 -6.00509695e-03 -4.71566652e+01] [-3.03297512e-02 -5.37170778e-04 9.99539803e-01 -8.42978622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154012739 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:257.57, Y:-47.16, Z:-8.43 [[ 9.75844161e-01 2.16422755e-01 2.98222208e-02 2.57565322e+02] [-2.16339526e-01 9.76299579e-01 -6.02842385e-03 -4.71629296e+01] [-3.04201097e-02 -5.68922897e-04 9.99537039e-01 -8.43152181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:257.60, Y:-47.17, Z:-8.43 [[ 9.75456761e-01 2.18035912e-01 3.07318887e-02 2.57598075e+02] [-2.17948147e-01 9.75940542e-01 -6.21805892e-03 -4.71699935e+01] [-3.13482563e-02 -6.32510575e-04 9.99508323e-01 -8.43192077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214012739 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:257.63, Y:-47.18, Z:-8.43 [[ 9.75045774e-01 2.19786119e-01 3.13017602e-02 2.57630705e+02] [-2.19695770e-01 9.75547835e-01 -6.33956828e-03 -4.71764684e+01] [-3.19297135e-02 -6.95495060e-04 9.99489875e-01 -8.43275170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:257.66, Y:-47.18, Z:-8.43 [[ 9.74201711e-01 2.23583078e-01 3.06860469e-02 2.57663205e+02] [-2.23497948e-01 9.74684549e-01 -6.22070369e-03 -4.71809121e+01] [-3.13000598e-02 -7.98048330e-04 9.99509714e-01 -8.43434522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:257.69, Y:-47.19, Z:-8.44 [[ 9.73923888e-01 2.24914385e-01 2.97620625e-02 2.57694520e+02] [-2.24834749e-01 9.74378193e-01 -6.03922828e-03 -4.71852935e+01] [-3.03578140e-02 -8.09797166e-04 9.99538767e-01 -8.43616556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:257.73, Y:-47.19, Z:-8.44 [[ 9.73838070e-01 2.25418857e-01 2.87359064e-02 2.57725669e+02] [-2.25344662e-01 9.74261624e-01 -5.83698104e-03 -4.71872588e+01] [-2.93120565e-02 -7.91208787e-04 9.99569996e-01 -8.43802190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334012739 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:257.75, Y:-47.19, Z:-8.44 [[ 9.73911394e-01 2.25013328e-01 2.94210581e-02 2.57754863e+02] [-2.24935341e-01 9.74355360e-01 -5.97703698e-03 -4.71917837e+01] [-3.00114786e-02 -7.96731319e-04 9.99549237e-01 -8.43836291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:257.79, Y:-47.20, Z:-8.44 [[ 9.74103514e-01 2.24098840e-01 3.00341963e-02 2.57786002e+02] [-2.24017150e-01 9.74566105e-01 -6.10109604e-03 -4.71970058e+01] [-3.06375582e-02 -7.85075942e-04 9.99530252e-01 -8.43931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394012739 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:257.82, Y:-47.20, Z:-8.44 [[ 9.74827243e-01 2.20894284e-01 3.02912741e-02 2.57817387e+02] [-2.20809632e-01 9.75297513e-01 -6.15362291e-03 -4.72012185e+01] [-3.09023045e-02 -6.89885839e-04 9.99522172e-01 -8.44138822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:257.85, Y:-47.21, Z:-8.44 [[ 9.75323128e-01 2.18770910e-01 2.97335642e-02 2.57848640e+02] [-2.18688218e-01 9.75776061e-01 -6.04499620e-03 -4.72073977e+01] [-3.03357695e-02 -6.06555587e-04 9.99539581e-01 -8.44281456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454012739 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:257.88, Y:-47.21, Z:-8.44 [[ 9.75315421e-01 2.18805417e-01 2.97324671e-02 2.57879808e+02] [-2.18722577e-01 9.75768327e-01 -6.05038744e-03 -4.72137867e+01] [-3.03358572e-02 -6.02125661e-04 9.99539581e-01 -8.44390791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:257.91, Y:-47.22, Z:-8.44 [[ 9.76429921e-01 2.13954014e-01 2.84304420e-02 2.57910562e+02] [-2.13876205e-01 9.76843638e-01 -5.78578737e-03 -4.72210096e+01] [-2.90099888e-02 -4.31179127e-04 9.99579029e-01 -8.44421980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514012739 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:257.94, Y:-47.23, Z:-8.44 [[ 9.76844526e-01 2.12211332e-01 2.72235542e-02 2.57941961e+02] [-2.12304292e-01 9.77203458e-01 5.37707592e-04 -4.72314285e+01] [-2.64888437e-02 -6.30493413e-03 9.99629226e-01 -8.44226531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:257.97, Y:-47.23, Z:-8.45 [[ 9.76925200e-01 2.11758390e-01 2.78484781e-02 2.57974292e+02] [-2.11502724e-01 9.77305446e-01 -1.18601111e-02 -4.72287204e+01] [-2.97279474e-02 5.69641244e-03 9.99541795e-01 -8.44686883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574012739 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:258.01, Y:-47.23, Z:-8.45 [[ 9.76212864e-01 2.14802392e-01 2.94682138e-02 2.58005432e+02] [-2.14718684e-01 9.76657424e-01 -6.01357260e-03 -4.72342095e+01] [-3.00720795e-02 -4.56849160e-04 9.99547628e-01 -8.44743970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:258.04, Y:-47.24, Z:-8.45 [[ 9.75576747e-01 2.17681116e-01 2.94099052e-02 2.58035321e+02] [-2.17599018e-01 9.76019793e-01 -6.00259581e-03 -4.72374633e+01] [-3.00113013e-02 -5.43573599e-04 9.99549412e-01 -8.44769271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:258.06, Y:-47.24, Z:-8.45 [[ 9.74372268e-01 2.22960144e-01 2.97902238e-02 2.58064729e+02] [-2.22908042e-01 9.74826130e-01 -5.10098251e-03 -4.72388106e+01] [-3.01776044e-02 -1.67022458e-03 9.99543157e-01 -8.44854201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:258.09, Y:-47.24, Z:-8.45 [[ 9.73919393e-01 2.25029132e-01 2.90328491e-02 2.58093097e+02] [-2.24922671e-01 9.74352013e-01 -6.92441726e-03 -4.72410097e+01] [-2.98464106e-02 2.13678272e-04 9.99554474e-01 -8.44934807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694012739 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:258.12, Y:-47.25, Z:-8.45 [[ 9.73729423e-01 2.25764275e-01 2.96901102e-02 2.58121418e+02] [-2.25684458e-01 9.74181629e-01 -6.05629189e-03 -4.72451051e+01] [-3.02908543e-02 -8.03406826e-04 9.99540804e-01 -8.45031275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:258.15, Y:-47.25, Z:-8.45 [[ 9.73911069e-01 2.24884600e-01 3.03997904e-02 2.58148781e+02] [-2.24800525e-01 9.74385080e-01 -6.20000108e-03 -4.72477182e+01] [-3.10153869e-02 -7.95639169e-04 9.99518590e-01 -8.45164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754012739 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:258.18, Y:-47.25, Z:-8.45 [[ 9.74235157e-01 2.23607731e-01 2.94183799e-02 2.58177699e+02] [-2.23528469e-01 9.74678945e-01 -5.99810430e-03 -4.72506501e+01] [-3.00146980e-02 -7.32281325e-04 9.99549189e-01 -8.45301859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:258.21, Y:-47.25, Z:-8.45 [[ 9.74533768e-01 2.22420405e-01 2.85148683e-02 2.58206983e+02] [-2.22345469e-01 9.74950618e-01 -5.81255465e-03 -4.72530816e+01] [-2.90934192e-02 -6.75620975e-04 9.99576469e-01 -8.45429833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:258.24, Y:-47.25, Z:-8.45 [[ 9.74977445e-01 2.20359133e-01 2.93399778e-02 2.58235422e+02] [-2.20278905e-01 9.75418603e-01 -5.97932527e-03 -4.72542396e+01] [-2.99363591e-02 -6.33270920e-04 9.99551606e-01 -8.45395429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:258.26, Y:-47.26, Z:-8.45 [[ 9.75197300e-01 2.19268440e-01 3.01923391e-02 2.58263315e+02] [-2.19183019e-01 9.75664373e-01 -6.15114231e-03 -4.72591294e+01] [-3.08063409e-02 -6.19070643e-04 9.99525180e-01 -8.45430985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:258.29, Y:-47.26, Z:-8.45 [[ 9.75675169e-01 2.17034227e-01 3.08886538e-02 2.58291949e+02] [-2.16943760e-01 9.76163832e-01 -6.29106724e-03 -4.72625523e+01] [-3.15177636e-02 -5.63062603e-04 9.99503033e-01 -8.45482617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:258.32, Y:-47.27, Z:-8.46 [[ 9.75897503e-01 2.16080013e-01 3.05530871e-02 2.58319999e+02] [-2.15991079e-01 9.76375517e-01 -6.22128459e-03 -4.72650782e+01] [-3.11755815e-02 -5.27858168e-04 9.99513784e-01 -8.45575106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934012739 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:258.35, Y:-47.27, Z:-8.46 [[ 9.75834974e-01 2.16475334e-01 2.97411202e-02 2.58348107e+02] [-2.16391302e-01 9.76287945e-01 -6.05419058e-03 -4.72652337e+01] [-3.03464801e-02 -5.27828816e-04 9.99539300e-01 -8.45727424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:258.38, Y:-47.26, Z:-8.46 [[ 9.75772988e-01 2.17111714e-01 2.70107426e-02 2.58378316e+02] [-2.16806860e-01 9.76117254e-01 -1.37801475e-02 -4.72637148e+01] [-2.93574834e-02 7.59018140e-03 9.99540158e-01 -8.45598508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:258.40, Y:-47.28, Z:-8.46 [[ 9.75553772e-01 2.17051908e-01 3.43992196e-02 2.58402692e+02] [-2.17221641e-01 9.76121531e-01 1.23114744e-03 -4.72774575e+01] [-3.33105960e-02 -8.67330545e-03 9.99407413e-01 -8.45757435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:258.43, Y:-47.27, Z:-8.46 [[ 9.75491854e-01 2.17465849e-01 3.35298039e-02 2.58431957e+02] [-2.17359844e-01 9.76067723e-01 -6.81898196e-03 -4.72740348e+01] [-3.42102551e-02 -6.36171605e-04 9.99414455e-01 -8.45779511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05401273900003 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:258.46, Y:-47.28, Z:-8.46 [[ 9.75653003e-01 2.16922791e-01 3.23375863e-02 2.58459803e+02] [-2.16823954e-01 9.76188581e-01 -6.57469082e-03 -4.72786300e+01] [-3.29937828e-02 -5.96946499e-04 9.99455379e-01 -8.46035941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:258.49, Y:-47.27, Z:-8.46 [[ 9.76092783e-01 2.16226804e-01 2.21099201e-02 2.58489084e+02] [-2.15766949e-01 9.76209434e-01 -2.14421309e-02 -4.72719792e+01] [-2.62202760e-02 1.61589192e-02 9.99525581e-01 -8.45929823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11401273900003 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:258.51, Y:-47.30, Z:-8.46 [[ 9.76286556e-01 2.13868977e-01 3.35353800e-02 2.58514322e+02] [-2.14310073e-01 9.76713253e-01 1.01199976e-02 -4.72975398e+01] [-3.05900966e-02 -1.70669874e-02 9.99386294e-01 -8.46341027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:258.54, Y:-47.29, Z:-8.46 [[ 9.76336797e-01 2.14072645e-01 3.06489981e-02 2.58544640e+02] [-2.13982622e-01 9.76817625e-01 -6.22613760e-03 -4.72911768e+01] [-3.12713273e-02 -4.79545751e-04 9.99510817e-01 -8.46335186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17401273900003 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:258.57, Y:-47.30, Z:-8.46 [[ 9.76125610e-01 2.14979349e-01 3.10269788e-02 2.58573329e+02] [-2.14887620e-01 9.76618458e-01 -6.30068244e-03 -4.72956304e+01] [-3.16560368e-02 -5.17056156e-04 9.99498688e-01 -8.46418711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:258.60, Y:-47.30, Z:-8.47 [[ 9.75878707e-01 2.16111825e-01 3.09261765e-02 2.58601945e+02] [-2.16021307e-01 9.76368462e-01 -6.27868950e-03 -4.72999189e+01] [-3.15522424e-02 -5.53473695e-04 9.99501951e-01 -8.46547236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23401273900004 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:258.63, Y:-47.30, Z:-8.47 [[ 9.75285973e-01 2.18900701e-01 2.99959106e-02 2.58630105e+02] [-2.18816907e-01 9.75746941e-01 -6.08844322e-03 -4.73004659e+01] [-3.06011825e-02 -6.25639125e-04 9.99531478e-01 -8.46620867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:258.66, Y:-47.30, Z:-8.47 [[ 9.75042269e-01 2.19972645e-01 3.00767317e-02 2.58657987e+02] [-2.19888965e-01 9.75505815e-01 -6.10304192e-03 -4.73033317e+01] [-3.06825290e-02 -6.62817565e-04 9.99528961e-01 -8.46684047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294012739 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:258.69, Y:-47.30, Z:-8.47 [[ 9.74519355e-01 2.22103580e-01 3.13373087e-02 2.58686383e+02] [-2.22013913e-01 9.75022778e-01 -6.35644673e-03 -4.73036749e+01] [-3.19663794e-02 -7.62838164e-04 9.99488654e-01 -8.46725867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:258.71, Y:-47.31, Z:-8.47 [[ 9.74277616e-01 2.23142738e-01 3.14713517e-02 2.58714794e+02] [-2.23052918e-01 9.74785450e-01 -6.38134471e-03 -4.73068508e+01] [-3.21017664e-02 -8.02575509e-04 9.99484283e-01 -8.46813591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354012739 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:258.74, Y:-47.31, Z:-8.47 [[ 9.74144130e-01 2.23693379e-01 3.16936150e-02 2.58742294e+02] [-2.23602651e-01 9.74659215e-01 -6.42410616e-03 -4.73100455e+01] [-3.23275039e-02 -8.28771043e-04 9.99476986e-01 -8.47089464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:258.77, Y:-47.31, Z:-8.47 [[ 9.74209627e-01 2.23579256e-01 3.04617662e-02 2.58770139e+02] [-2.23495454e-01 9.74685428e-01 -6.17233952e-03 -4.73097954e+01] [-3.10706467e-02 -7.94913688e-04 9.99516875e-01 -8.47198766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414012739 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:258.80, Y:-47.31, Z:-8.47 [[ 9.74496360e-01 2.22350473e-01 3.02838613e-02 2.58798267e+02] [-2.22267134e-01 9.74966512e-01 -6.13371318e-03 -4.73111365e+01] [-3.08895846e-02 -7.53825874e-04 9.99522519e-01 -8.47363697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:258.83, Y:-47.31, Z:-8.47 [[ 9.75573019e-01 2.17431643e-01 3.13171582e-02 2.58826068e+02] [-2.17340056e-01 9.76075353e-01 -6.34072197e-03 -4.73108774e+01] [-3.19465798e-02 -6.20635627e-04 9.99489385e-01 -8.47441216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474012739 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:258.85, Y:-47.32, Z:-8.47 [[ 9.76183924e-01 2.14593100e-01 3.18551194e-02 2.58853748e+02] [-2.14496914e-01 9.76703389e-01 -6.44694715e-03 -4.73151517e+01] [-3.24964735e-02 -5.39418659e-04 9.99471705e-01 -8.47489103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters Centerline goodness : 0.997278 Centerline is valid? [True, True] Translation: X:258.88, Y:-47.32, Z:-8.48 [[ 9.76769509e-01 2.11907765e-01 3.18814356e-02 2.58881820e+02] [-2.11810063e-01 9.77289565e-01 -6.45002076e-03 -4.73187811e+01] [-3.25242038e-02 -4.52625265e-04 9.99470846e-01 -8.47623594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534012739 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:258.91, Y:-47.32, Z:-8.48 [[ 9.77766220e-01 2.07480478e-01 3.04149680e-02 2.58910604e+02] [-2.07389479e-01 9.78239115e-01 -6.15130746e-03 -4.73188714e+01] [-3.10293876e-02 -2.93203727e-04 9.99518430e-01 -8.47830015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:258.94, Y:-47.32, Z:-8.48 [[ 9.78319927e-01 2.04840638e-01 3.05030000e-02 2.58938699e+02] [-2.04747895e-01 9.78795315e-01 -6.16697241e-03 -4.73217467e+01] [-3.11194401e-02 -2.12153030e-04 9.99515650e-01 -8.48003532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594012739 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:258.97, Y:-47.32, Z:-8.48 [[ 9.79622822e-01 1.98407858e-01 3.12001527e-02 2.58965724e+02] [-1.98307636e-01 9.80119545e-01 -6.30552654e-03 -4.73237436e+01] [-3.18309455e-02 -1.01908333e-05 9.99493267e-01 -8.48003284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:258.99, Y:-47.33, Z:-8.48 [[ 9.80285335e-01 1.95075564e-01 3.14036068e-02 2.58993174e+02] [-1.94972410e-01 9.80788211e-01 -6.34381887e-03 -4.73283628e+01] [-3.20378113e-02 9.59156970e-05 9.99486653e-01 -8.48029658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654012739 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:259.02, Y:-47.33, Z:-8.48 [[ 9.80840905e-01 1.92268264e-01 3.13693026e-02 2.59020353e+02] [-1.92163970e-01 9.81342387e-01 -6.33469293e-03 -4.73332639e+01] [-3.20019867e-02 1.85276225e-04 9.99487788e-01 -8.48153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:259.05, Y:-47.34, Z:-8.48 [[ 9.81231271e-01 1.90440323e-01 3.02931679e-02 2.59047599e+02] [-1.90342259e-01 9.81698746e-01 -6.11523371e-03 -4.73381940e+01] [-3.09033520e-02 2.34388533e-04 9.99522350e-01 -8.48234573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:259.07, Y:-47.34, Z:-8.48 [[ 9.81835581e-01 1.87411336e-01 2.95953355e-02 2.59074557e+02] [-1.87316415e-01 9.82281471e-01 -5.97262737e-03 -4.73428223e+01] [-3.01902878e-02 3.20445906e-04 9.99544118e-01 -8.48368591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:259.10, Y:-47.35, Z:-8.49 [[ 9.82120835e-01 1.85904930e-01 2.96314316e-02 2.59101793e+02] [-1.85809141e-01 9.82567669e-01 -5.97828270e-03 -4.73481896e+01] [-3.02262789e-02 3.65605154e-04 9.99543015e-01 -8.48519285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:259.13, Y:-47.36, Z:-8.49 [[ 9.82894342e-01 1.81709311e-01 3.00073238e-02 2.59128790e+02] [-1.81609183e-01 9.83352164e-01 -6.05202793e-03 -4.73557867e+01] [-3.06074766e-02 4.98898436e-04 9.99531357e-01 -8.48592717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:259.16, Y:-47.36, Z:-8.49 [[ 9.83293175e-01 1.79577096e-01 2.97758095e-02 2.59155665e+02] [-1.79477580e-01 9.83743744e-01 -6.00368502e-03 -4.73621690e+01] [-3.03698906e-02 5.59292267e-04 9.99538572e-01 -8.48677754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834012739 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:259.18, Y:-47.37, Z:-8.49 [[ 9.83822845e-01 1.76818449e-01 2.87723064e-02 2.59183577e+02] [-1.76724396e-01 9.84243288e-01 -5.79979303e-03 -4.73700229e+01] [-2.93444599e-02 6.21200412e-04 9.99569166e-01 -8.48875280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:259.21, Y:-47.38, Z:-8.49 [[ 9.84096033e-01 1.75420717e-01 2.79744609e-02 2.59210345e+02] [-1.75331281e-01 9.84493351e-01 -5.63769827e-03 -4.73780087e+01] [-2.85296398e-02 6.43238444e-04 9.99592740e-01 -8.48941728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894012739 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:259.24, Y:-47.39, Z:-8.49 [[ 9.84495308e-01 1.73038286e-01 2.87530775e-02 2.59237604e+02] [-1.72942840e-01 9.84914828e-01 -5.79272866e-03 -4.73899819e+01] [-2.93216962e-02 7.30275299e-04 9.99569760e-01 -8.49072226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters Centerline goodness : 0.989331 Centerline is valid? [True, True] Translation: X:259.27, Y:-47.40, Z:-8.48 [[ 9.84562406e-01 1.72629031e-01 2.89151577e-02 2.59265373e+02] [-1.72532374e-01 9.84986631e-01 -5.82388204e-03 -4.73983764e+01] [-2.94864149e-02 7.45174515e-04 9.99564903e-01 -8.47698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954012739 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:259.29, Y:-47.41, Z:-8.49 [[ 9.84413458e-01 1.73140401e-01 3.08633395e-02 2.59293795e+02] [-1.73030566e-01 9.84896846e-01 -6.21501429e-03 -4.74064136e+01] [-3.14732758e-02 7.77842589e-04 9.99504291e-01 -8.49224337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:259.32, Y:-47.42, Z:-8.49 [[ 9.84094045e-01 1.74795814e-01 3.17069894e-02 2.59321397e+02] [-1.74680778e-01 9.84604423e-01 -6.38402076e-03 -4.74187029e+01] [-3.23347421e-02 7.43875240e-04 9.99476819e-01 -8.49349393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014012739 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:259.35, Y:-47.43, Z:-8.49 [[ 9.83897000e-01 1.75984181e-01 3.12451824e-02 2.59349751e+02] [-1.75873057e-01 9.84392749e-01 -6.29150295e-03 -4.74271930e+01] [-3.18647360e-02 6.95005130e-04 9.99491949e-01 -8.49416370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters Centerline goodness : 0.987200 Centerline is valid? [True, True] Translation: X:259.38, Y:-47.44, Z:-8.48 [[ 9.83287519e-01 1.79690679e-01 2.92731109e-02 2.59377894e+02] [-1.79594801e-01 9.83723015e-01 -5.89382358e-03 -4.74357722e+01] [-2.98556981e-02 5.38024631e-04 9.99554074e-01 -8.47745831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074012739 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:259.41, Y:-47.44, Z:-8.50 [[ 9.82732233e-01 1.82534356e-01 3.03078773e-02 2.59406160e+02] [-1.82432963e-01 9.83199365e-01 -6.10102155e-03 -4.74422459e+01] [-3.09123318e-02 4.66514653e-04 9.99521991e-01 -8.49629992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:259.43, Y:-47.45, Z:-8.50 [[ 9.82145723e-01 1.85688844e-01 3.01567739e-02 2.59434609e+02] [-1.85589969e-01 9.82608528e-01 -6.06986666e-03 -4.74490081e+01] [-3.07594097e-02 3.64698861e-04 9.99526751e-01 -8.49666700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134012739 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:259.46, Y:-47.45, Z:-8.50 [[ 9.80624197e-01 1.93356343e-01 3.14564639e-02 2.59462553e+02] [-1.93252720e-01 9.81128589e-01 -6.33073674e-03 -4.74535508e+01] [-3.20869241e-02 1.29026431e-04 9.99485074e-01 -8.49707884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:259.49, Y:-47.46, Z:-8.50 [[ 9.79738572e-01 1.97573918e-01 3.28158069e-02 2.59491089e+02] [-1.97463577e-01 9.80287992e-01 -6.60219304e-03 -4.74580588e+01] [-3.34733626e-02 -1.15034470e-05 9.99439610e-01 -8.49704019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194012739 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:259.52, Y:-47.46, Z:-8.50 [[ 9.78093569e-01 2.05483026e-01 3.33120981e-02 2.59518457e+02] [-2.05373942e-01 9.78660638e-01 -6.70078681e-03 -4.74610858e+01] [-3.39781372e-02 -2.87440414e-04 9.99422535e-01 -8.49692639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:259.55, Y:-47.47, Z:-8.50 [[ 9.77519371e-01 2.08244097e-01 3.30193103e-02 2.59547465e+02] [-2.08138565e-01 9.78076812e-01 -6.63984371e-03 -4.74650286e+01] [-3.36781300e-02 -3.82016011e-04 9.99432658e-01 -8.49844219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254012739 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:259.58, Y:-47.47, Z:-8.48 [[ 9.77226634e-01 2.09813130e-01 3.17262689e-02 2.59576122e+02] [-2.09716579e-01 9.77741415e-01 -6.37830311e-03 -4.74673734e+01] [-3.23583388e-02 -4.20476896e-04 9.99476243e-01 -8.48465281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:259.60, Y:-47.47, Z:-8.50 [[ 9.77196888e-01 2.09779326e-01 3.28462693e-02 2.59602982e+02] [-2.09675889e-01 9.77748661e-01 -6.60131922e-03 -4.74706832e+01] [-3.35002161e-02 -4.36282125e-04 9.99438615e-01 -8.50116232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314012739 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:259.63, Y:-47.47, Z:-8.50 [[ 9.77200234e-01 2.09882758e-01 3.20769636e-02 2.59630566e+02] [-2.09784244e-01 9.77726466e-01 -6.44432207e-03 -4.74748868e+01] [-3.27150484e-02 -4.31848547e-04 9.99464626e-01 -8.50292239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:259.66, Y:-47.48, Z:-8.50 [[ 9.77213014e-01 2.09823173e-01 3.20774373e-02 2.59658510e+02] [-2.09724705e-01 9.77739254e-01 -6.44196352e-03 -4.74803702e+01] [-3.27150428e-02 -4.32260502e-04 9.99464626e-01 -8.50390236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374012739 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:259.69, Y:-47.48, Z:-8.51 [[ 9.76846867e-01 2.11828747e-01 2.99796633e-02 2.59686200e+02] [-2.11743734e-01 9.77306688e-01 -6.01900986e-03 -4.74809015e+01] [-3.05743248e-02 -4.68354923e-04 9.99532386e-01 -8.50601714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:259.71, Y:-47.48, Z:-8.51 [[ 9.76501259e-01 2.13588230e-01 2.87290638e-02 2.59714491e+02] [-2.13510997e-01 9.76923648e-01 -5.76543885e-03 -4.74828676e+01] [-2.92975317e-02 -5.04012756e-04 9.99570608e-01 -8.50676889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434012739 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:259.74, Y:-47.48, Z:-8.51 [[ 9.75696154e-01 2.17383924e-01 2.75906595e-02 2.59740152e+02] [-2.17263098e-01 9.76085481e-01 -7.34026732e-03 -4.74825001e+01] [-2.85264983e-02 1.16743842e-03 9.99592355e-01 -8.50714424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:259.77, Y:-47.49, Z:-8.51 [[ 9.75755108e-01 2.16811234e-01 2.99141780e-02 2.59770561e+02] [-2.16786173e-01 9.76210429e-01 -4.11750565e-03 -4.74888151e+01] [-3.00952540e-02 -2.46730301e-03 9.99543990e-01 -8.50837047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494012739 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:259.80, Y:-47.49, Z:-8.51 [[ 9.75782952e-01 2.16628118e-01 3.03296605e-02 2.59798186e+02] [-2.16543555e-01 9.76253994e-01 -6.08500216e-03 -4.74908822e+01] [-3.09276348e-02 -6.30051134e-04 9.99521428e-01 -8.50923832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:259.83, Y:-47.49, Z:-8.51 [[ 9.76177610e-01 2.14803840e-01 3.06036497e-02 2.59825905e+02] [-2.14716918e-01 9.76657040e-01 -6.13767508e-03 -4.74925357e+01] [-3.12076661e-02 -5.79660334e-04 9.99512754e-01 -8.51142369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55401273900003 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:259.85, Y:-47.50, Z:-8.51 [[ 9.76538878e-01 2.13192213e-01 3.03463335e-02 2.59853224e+02] [-2.13106037e-01 9.77010135e-01 -6.08384061e-03 -4.74968845e+01] [-3.09457028e-02 -5.25880004e-04 9.99520929e-01 -8.51229696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters Centerline goodness : 0.997333 Centerline is valid? [True, True] Translation: X:259.88, Y:-47.50, Z:-8.51 [[ 9.77336867e-01 2.09451648e-01 3.07027015e-02 2.59880794e+02] [-2.09361661e-01 9.77818918e-01 -6.15301071e-03 -4.74987168e+01] [-3.13104406e-02 -4.14404373e-04 9.99509622e-01 -8.51251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61401273900003 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:259.91, Y:-47.50, Z:-8.51 [[ 9.77601088e-01 2.08242618e-01 3.05143512e-02 2.59908552e+02] [-2.08153225e-01 9.78077129e-01 -6.11261019e-03 -4.75013783e+01] [-3.11182949e-02 -3.75966243e-04 9.99515638e-01 -8.51272509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:259.94, Y:-47.50, Z:-8.51 [[ 9.78016951e-01 2.06073061e-01 3.18863008e-02 2.59935626e+02] [-2.05974373e-01 9.78536555e-01 -6.38502057e-03 -4.75045344e+01] [-3.25176916e-02 -3.23102462e-04 9.99471108e-01 -8.51376943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67401273900003 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:259.96, Y:-47.51, Z:-8.51 [[ 9.78199523e-01 2.05062975e-01 3.27852030e-02 2.59963019e+02] [-2.04958172e-01 9.78748735e-01 -6.56215983e-03 -4.75101678e+01] [-3.34341320e-02 -3.00493642e-04 9.99440878e-01 -8.51455756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:259.99, Y:-47.52, Z:-8.51 [[ 9.78489129e-01 2.03636685e-01 3.30321798e-02 2.59990645e+02] [-2.03529565e-01 9.79046493e-01 -6.60919183e-03 -4.75151079e+01] [-3.36859137e-02 -2.56002809e-04 9.99432436e-01 -8.51461166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73401273900004 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:260.02, Y:-47.52, Z:-8.52 [[ 9.78905448e-01 2.01625675e-01 3.30334721e-02 2.60017184e+02] [-2.01517480e-01 9.79462634e-01 -6.60709063e-03 -4.75183378e+01] [-3.36872107e-02 -1.89105043e-04 9.99432407e-01 -8.51510802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:260.04, Y:-47.52, Z:-8.52 [[ 9.79053111e-01 2.00903580e-01 3.30568742e-02 2.60043872e+02] [-2.00794913e-01 9.79611006e-01 -6.60902557e-03 -4.75234939e+01] [-3.37106547e-02 -1.67065149e-04 9.99431620e-01 -8.51620460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:260.07, Y:-47.53, Z:-8.52 [[ 9.79256944e-01 1.99916685e-01 3.30023718e-02 2.60070841e+02] [-1.99807946e-01 9.79812890e-01 -6.59428621e-03 -4.75297326e+01] [-3.36544571e-02 -1.36635543e-04 9.99433519e-01 -8.51723291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:260.10, Y:-47.53, Z:-8.52 [[ 9.79421052e-01 1.99077949e-01 3.32020092e-02 2.60098802e+02] [-1.98967487e-01 9.79983652e-01 -6.63182706e-03 -4.75349043e+01] [-3.38576768e-02 -1.10769311e-04 9.99426658e-01 -8.51828162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:260.13, Y:-47.54, Z:-8.52 [[ 9.79640313e-01 1.98075365e-01 3.27262290e-02 2.60126489e+02] [-1.97967563e-01 9.80186790e-01 -6.53454024e-03 -4.75405649e+01] [-3.33721488e-02 -7.72327512e-05 9.99442992e-01 -8.51922896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:260.15, Y:-47.55, Z:-8.52 [[ 9.80339387e-01 1.94468856e-01 3.34148365e-02 2.60153859e+02] [-1.94354454e-01 9.80908692e-01 -6.66965143e-03 -4.75489014e+01] [-3.40739431e-02 4.41996911e-05 9.99419314e-01 -8.51998448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914012739 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:260.18, Y:-47.56, Z:-8.52 [[ 9.80786668e-01 1.92036070e-01 3.43461651e-02 2.60180972e+02] [-1.91913793e-01 9.81387860e-01 -6.85308995e-03 -4.75561064e+01] [-3.50229499e-02 1.29916437e-04 9.99386500e-01 -8.52085077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:260.21, Y:-47.56, Z:-8.52 [[ 9.81350621e-01 1.89002949e-01 3.50548687e-02 2.60208548e+02] [-1.88873725e-01 9.81976490e-01 -6.99205366e-03 -4.75634580e+01] [-3.57445757e-02 2.40712578e-04 9.99360929e-01 -8.52164583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974012739 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:260.24, Y:-47.57, Z:-8.52 [[ 9.82691915e-01 1.81877646e-01 3.51727377e-02 2.60235182e+02] [-1.81743045e-01 9.83321042e-01 -7.01382590e-03 -4.75748704e+01] [-3.58617512e-02 5.00029541e-04 9.99356635e-01 -8.52283453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:260.26, Y:-47.59, Z:-8.51 [[ 9.83390272e-01 1.78287159e-01 3.40185547e-02 2.60263461e+02] [-1.78159143e-01 9.83978312e-01 -6.78245164e-03 -4.75852467e+01] [-3.46827440e-02 6.09080416e-04 9.99398187e-01 -8.50944542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034012739 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:260.29, Y:-47.60, Z:-8.53 [[ 9.84386778e-01 1.72861011e-01 3.31925140e-02 2.60290480e+02] [-1.72736081e-01 9.84945918e-01 -6.61695277e-03 -4.75991247e+01] [-3.38366443e-02 7.80096030e-04 9.99427072e-01 -8.52519918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:260.32, Y:-47.61, Z:-8.53 [[ 9.84660379e-01 1.71252697e-01 3.34133338e-02 2.60319899e+02] [-1.71125159e-01 9.85226779e-01 -6.66137917e-03 -4.76086408e+01] [-3.40604904e-02 8.41334066e-04 9.99419419e-01 -8.52588149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094012739 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:260.35, Y:-47.62, Z:-8.53 [[ 9.84733285e-01 1.70642393e-01 3.43734174e-02 2.60347798e+02] [-1.70507047e-01 9.85332627e-01 -6.85277592e-03 -4.76185270e+01] [-3.50386237e-02 8.87246660e-04 9.99385565e-01 -8.52651985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:260.38, Y:-47.63, Z:-8.53 [[ 9.84643190e-01 1.71362637e-01 3.33561952e-02 2.60375009e+02] [-1.71235612e-01 9.85207668e-01 -6.64958226e-03 -4.76331641e+01] [-3.40022692e-02 8.35697392e-04 9.99421406e-01 -8.52699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154012739 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:260.40, Y:-47.64, Z:-8.53 [[ 9.84617474e-01 1.71856792e-01 3.15225848e-02 2.60403691e+02] [-1.71743595e-01 9.85121639e-01 -6.28439049e-03 -4.76426649e+01] [-3.21335956e-02 7.73918661e-04 9.99483283e-01 -8.52838258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:260.43, Y:-47.65, Z:-8.53 [[ 9.84244046e-01 1.74310277e-01 2.96577995e-02 2.60431648e+02] [-1.74211180e-01 9.84690561e-01 -5.91304957e-03 -4.76547154e+01] [-3.02344605e-02 6.53163604e-04 9.99542621e-01 -8.53109855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214012739 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:260.46, Y:-47.66, Z:-8.53 [[ 9.83931379e-01 1.75918848e-01 3.05221190e-02 2.60461112e+02] [-1.75814675e-01 9.84404476e-01 -6.08496082e-03 -4.76639115e+01] [-3.11165699e-02 6.20947447e-04 9.99515569e-01 -8.53179660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:260.49, Y:-47.67, Z:-8.53 [[ 9.83556702e-01 1.77781782e-01 3.17781846e-02 2.60489313e+02] [-1.77669827e-01 9.84069762e-01 -6.33537298e-03 -4.76727226e+01] [-3.23982644e-02 5.85174000e-04 9.99474867e-01 -8.53227015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:260.52, Y:-47.68, Z:-8.53 [[ 9.82848318e-01 1.81648291e-01 3.18289490e-02 2.60517227e+02] [-1.81538003e-01 9.83363457e-01 -6.34551566e-03 -4.76831533e+01] [-3.24520774e-02 4.58515566e-04 9.99473187e-01 -8.53272491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:260.55, Y:-47.69, Z:-8.53 [[ 9.82641574e-01 1.82937286e-01 3.08137343e-02 2.60547062e+02] [-1.82834569e-01 9.83124503e-01 -6.14272987e-03 -4.76915313e+01] [-3.14174716e-02 4.02285923e-04 9.99506268e-01 -8.53443860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334012739 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:260.58, Y:-47.70, Z:-8.54 [[ 9.82421192e-01 1.84176827e-01 3.04548360e-02 2.60575041e+02] [-1.84077083e-01 9.82893060e-01 -6.07122170e-03 -4.77026300e+01] [-3.10520253e-02 3.58459501e-04 9.99517705e-01 -8.53567125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:260.60, Y:-47.71, Z:-8.54 [[ 9.82270041e-01 1.84810600e-01 3.14739500e-02 2.60603012e+02] [-1.84704404e-01 9.82774094e-01 -6.27399628e-03 -4.77114150e+01] [-3.20912837e-02 3.49381401e-04 9.99484881e-01 -8.53601736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394012739 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:260.63, Y:-47.72, Z:-8.54 [[ 9.82139885e-01 1.85269853e-01 3.28074288e-02 2.60634360e+02] [-1.85154741e-01 9.82687621e-01 -6.53924530e-03 -4.77204683e+01] [-3.34509792e-02 3.48002656e-04 9.99440299e-01 -8.53657463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:260.66, Y:-47.73, Z:-8.54 [[ 9.81958547e-01 1.85793070e-01 3.51901616e-02 2.60664258e+02] [-1.85660723e-01 9.82588828e-01 -7.02073430e-03 -4.77323566e+01] [-3.58818634e-02 3.60639211e-04 9.99355974e-01 -8.53727030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:260.69, Y:-47.74, Z:-8.54 [[ 9.81976138e-01 1.86073273e-01 3.31602263e-02 2.60694991e+02] [-1.85955724e-01 9.82535813e-01 -6.62152353e-03 -4.77443801e+01] [-3.38131985e-02 3.35844222e-04 9.99428114e-01 -8.53925722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:260.73, Y:-47.75, Z:-8.53 [[ 9.81963682e-01 1.86471769e-01 3.12347043e-02 2.60725676e+02] [-1.86367496e-01 9.82460271e-01 -6.24281468e-03 -4.77539969e+01] [-3.18509648e-02 3.09083663e-04 9.99492582e-01 -8.52903028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514012739 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:260.76, Y:-47.76, Z:-8.54 [[ 9.81867761e-01 1.87106925e-01 3.04417247e-02 2.60755697e+02] [-1.87008000e-01 9.82339512e-01 -6.09029436e-03 -4.77623308e+01] [-3.10436452e-02 2.87017636e-04 9.99517989e-01 -8.54233740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:260.79, Y:-47.77, Z:-8.54 [[ 9.81011922e-01 1.91437930e-01 3.10986645e-02 2.60787793e+02] [-1.91336853e-01 9.81504710e-01 -6.22200306e-03 -4.77724837e+01] [-3.17146131e-02 1.53538574e-04 9.99496953e-01 -8.54179167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574012739 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:260.82, Y:-47.78, Z:-8.54 [[ 9.80455811e-01 1.94237618e-01 3.12754124e-02 2.60819292e+02] [-1.94136609e-01 9.80954506e-01 -6.26368849e-03 -4.77794797e+01] [-3.18964006e-02 6.95672642e-05 9.99491178e-01 -8.54235390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:260.85, Y:-47.78, Z:-8.54 [[ 9.79277361e-01 2.00257804e-01 3.02102978e-02 2.60850918e+02] [-2.00166253e-01 9.79743231e-01 -6.05580938e-03 -4.77849597e+01] [-3.08110579e-02 -1.16765082e-04 9.99525220e-01 -8.54430467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634012739 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:260.88, Y:-47.79, Z:-8.55 [[ 9.78769568e-01 2.02817925e-01 2.95807708e-02 2.60881912e+02] [-2.02731146e-01 9.79216449e-01 -5.93533461e-03 -4.77902351e+01] [-3.01697696e-02 -1.87618683e-04 9.99544771e-01 -8.54597648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:260.91, Y:-47.80, Z:-8.55 [[ 9.78294675e-01 2.05051383e-01 2.98907873e-02 2.60911586e+02] [-2.04963793e-01 9.78751175e-01 -5.99834789e-03 -4.77954697e+01] [-3.04856127e-02 -2.58377343e-04 9.99535172e-01 -8.54709719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694012739 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:260.94, Y:-47.80, Z:-8.55 [[ 9.77373061e-01 2.09238755e-01 3.10006872e-02 2.60941556e+02] [-2.09146625e-01 9.77864500e-01 -6.22157991e-03 -4.77983915e+01] [-3.16162671e-02 -4.02884510e-04 9.99500000e-01 -8.54711995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:260.97, Y:-47.80, Z:-8.55 [[ 9.77075784e-01 2.10458886e-01 3.20931400e-02 2.60971300e+02] [-2.10360832e-01 9.77602602e-01 -6.43998847e-03 -4.78026382e+01] [-3.27296900e-02 -4.58782844e-04 9.99464135e-01 -8.54793991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754012739 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:261.00, Y:-47.80, Z:-8.55 [[ 9.76986356e-01 2.10854754e-01 3.22169712e-02 2.61000937e+02] [-2.10756156e-01 9.77517288e-01 -6.46485555e-03 -4.78042858e+01] [-3.28557919e-02 -4.73849346e-04 9.99459990e-01 -8.54807671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:261.03, Y:-47.81, Z:-8.55 [[ 9.76971403e-01 2.10928112e-01 3.21902101e-02 2.61030746e+02] [-2.10829730e-01 9.77501460e-01 -6.45909737e-03 -4.78073503e+01] [-3.28283825e-02 -4.76299881e-04 9.99460890e-01 -8.54945084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:261.06, Y:-47.81, Z:-8.55 [[ 9.76959406e-01 2.10963600e-01 3.23214862e-02 2.61059580e+02] [-2.10864460e-01 9.77493800e-01 -6.48464265e-03 -4.78099205e+01] [-3.29620759e-02 -4.80220100e-04 9.99456488e-01 -8.55084812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:261.09, Y:-47.81, Z:-8.55 [[ 9.76788804e-01 2.11741489e-01 3.23909481e-02 2.61088718e+02] [-2.11642380e-01 9.77325577e-01 -6.49765996e-03 -4.78111114e+01] [-3.30323262e-02 -5.08455856e-04 9.99454154e-01 -8.55172106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:261.12, Y:-47.81, Z:-8.55 [[ 9.76576732e-01 2.12579073e-01 3.32870003e-02 2.61117688e+02] [-2.12474947e-01 9.77143711e-01 -6.67572740e-03 -4.78124221e+01] [-3.39453029e-02 -5.53293559e-04 9.99423539e-01 -8.55172449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:261.15, Y:-47.81, Z:-8.55 [[ 9.76579692e-01 2.12542394e-01 3.34340630e-02 2.61146032e+02] [-2.12437381e-01 9.77151688e-01 -6.70355568e-03 -4.78148128e+01] [-3.40949409e-02 -5.56088430e-04 9.99418444e-01 -8.55231321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:261.17, Y:-47.82, Z:-8.55 [[ 9.76666918e-01 2.12106513e-01 3.36535173e-02 2.61174999e+02] [-2.11999929e-01 9.77246401e-01 -6.74546992e-03 -4.78174208e+01] [-3.43185368e-02 -5.46465966e-04 9.99410796e-01 -8.55356569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:261.20, Y:-47.82, Z:-8.56 [[ 9.77095242e-01 2.10218970e-01 3.30586347e-02 2.61203601e+02] [-2.10115096e-01 9.77654213e-01 -6.62463855e-03 -4.78190003e+01] [-3.37125382e-02 -4.73215393e-04 9.99431459e-01 -8.55570475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994012739 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:261.23, Y:-47.82, Z:-8.56 [[ 9.77399076e-01 2.08977297e-01 3.19301602e-02 2.61231159e+02] [-2.08879783e-01 9.77920403e-01 -6.39696105e-03 -4.78229872e+01] [-3.25619747e-02 -4.17181090e-04 9.99469631e-01 -8.55617480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:261.26, Y:-47.83, Z:-8.56 [[ 9.77689808e-01 2.07790628e-01 3.07521535e-02 2.61259654e+02] [-2.07699637e-01 9.78173258e-01 -6.15946010e-03 -4.78254907e+01] [-3.13608123e-02 -3.65169771e-04 9.99508062e-01 -8.55717788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05401273900003 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:261.29, Y:-47.83, Z:-8.56 [[ 9.77846472e-01 2.07154295e-01 3.00561842e-02 2.61288515e+02] [-2.07067123e-01 9.78308225e-01 -6.01856796e-03 -4.78295069e+01] [-3.06509844e-02 -3.38412147e-04 9.99530091e-01 -8.55812254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:261.32, Y:-47.83, Z:-8.56 [[ 9.77939250e-01 2.06785061e-01 2.95763842e-02 2.61316331e+02] [-2.06700523e-01 9.78386342e-01 -5.92110039e-03 -4.78339849e+01] [-3.01615254e-02 -3.22977613e-04 9.99544986e-01 -8.55913539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11401273900003 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:261.34, Y:-47.84, Z:-8.56 [[ 9.78017121e-01 2.06285546e-01 3.04759685e-02 2.61344927e+02] [-2.06195612e-01 9.78491784e-01 -6.09901291e-03 -4.78365699e+01] [-3.10786230e-02 -3.19071918e-04 9.99516892e-01 -8.56055317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:261.37, Y:-47.84, Z:-8.56 [[ 9.77953469e-01 2.06378514e-01 3.18578369e-02 2.61374201e+02] [-2.06280339e-01 9.78472174e-01 -6.37394094e-03 -4.78393786e+01] [-3.24874514e-02 -3.38227760e-04 9.99472086e-01 -8.56044254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17401273900003 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:261.40, Y:-47.84, Z:-8.56 [[ 9.77544367e-01 2.07981664e-01 3.39210577e-02 2.61402778e+02] [-2.07871384e-01 9.78132635e-01 -6.78494997e-03 -4.78385939e+01] [-3.45904387e-02 -4.18627581e-04 9.99401484e-01 -8.55990413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:261.43, Y:-47.84, Z:-8.56 [[ 9.77485858e-01 2.08202938e-01 3.42481193e-02 2.61431785e+02] [-2.08090731e-01 9.78085553e-01 -6.84825020e-03 -4.78421963e+01] [-3.49234165e-02 -4.32648454e-04 9.99389898e-01 -8.56117092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23401273900004 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:261.46, Y:-47.85, Z:-8.56 [[ 9.77698813e-01 2.07282656e-01 3.37480469e-02 2.61458902e+02] [-2.07173210e-01 9.78281015e-01 -6.74661690e-03 -4.78463611e+01] [-3.44135303e-02 -3.95531886e-04 9.99407601e-01 -8.56260655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:261.49, Y:-47.85, Z:-8.56 [[ 9.77705980e-01 2.07248788e-01 3.37484415e-02 2.61487662e+02] [-2.07139390e-01 9.78288190e-01 -6.74464246e-03 -4.78520240e+01] [-3.44135207e-02 -3.96354339e-04 9.99407601e-01 -8.56361399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294012739 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:261.52, Y:-47.86, Z:-8.57 [[ 9.78751704e-01 2.02548293e-01 3.19263321e-02 2.61515905e+02] [-2.02447924e-01 9.79272251e-01 -6.37943233e-03 -4.78553175e+01] [-3.25567142e-02 -2.19539381e-04 9.99469866e-01 -8.56733837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:261.54, Y:-47.86, Z:-8.57 [[ 9.79307164e-01 2.00083922e-01 3.03957562e-02 2.61544051e+02] [-1.99991804e-01 9.79778754e-01 -6.07220053e-03 -4.78598987e+01] [-3.09960659e-02 -1.32352649e-04 9.99519498e-01 -8.56855883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:261.57, Y:-47.86, Z:-8.57 [[ 9.79993475e-01 1.96878535e-01 2.91827125e-02 2.61571526e+02] [-1.96792243e-01 9.80427887e-01 -5.82851629e-03 -4.78635035e+01] [-2.97590549e-02 -3.10235262e-05 9.99557101e-01 -8.56883674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:261.60, Y:-47.87, Z:-8.57 [[ 9.80177806e-01 1.95953204e-01 2.92200427e-02 2.61599905e+02] [-1.95866337e-01 9.80613248e-01 -5.83408522e-03 -4.78688817e+01] [-2.97967686e-02 -4.78185937e-06 9.99555978e-01 -8.56871439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:261.63, Y:-47.87, Z:-8.57 [[ 9.80276556e-01 1.95456749e-01 2.92323885e-02 2.61627292e+02] [-1.95369631e-01 9.80712322e-01 -5.83510510e-03 -4.78740105e+01] [-2.98090743e-02 8.89578968e-06 9.99555611e-01 -8.56931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:261.66, Y:-47.88, Z:-8.57 [[ 9.80298569e-01 1.95281448e-01 2.96626389e-02 2.61655202e+02] [-1.95191725e-01 9.80747244e-01 -5.91899996e-03 -4.78797098e+01] [-3.02474222e-02 1.24855246e-05 9.99542442e-01 -8.57066965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474012739 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:261.68, Y:-47.89, Z:-8.57 [[ 9.80373650e-01 1.94733544e-01 3.07628716e-02 2.61683300e+02] [-1.94636819e-01 9.80856180e-01 -6.13699116e-03 -4.78858775e+01] [-3.13690307e-02 2.89569634e-05 9.99507870e-01 -8.57271264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:261.71, Y:-47.89, Z:-8.57 [[ 9.80565094e-01 1.93929750e-01 2.97211767e-02 2.61709873e+02] [-1.93839138e-01 9.81015418e-01 -5.92782112e-03 -4.78930646e+01] [-3.03065134e-02 5.14872065e-05 9.99540651e-01 -8.57389724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:261.74, Y:-47.90, Z:-8.57 [[ 9.80486777e-01 1.94434743e-01 2.89967397e-02 2.61737113e+02] [-1.94348769e-01 9.80915455e-01 -5.78155111e-03 -4.78995529e+01] [-2.95674845e-02 3.32537381e-05 9.99562786e-01 -8.57488730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:261.76, Y:-47.91, Z:-8.58 [[ 9.80282346e-01 1.95504724e-01 2.87127986e-02 2.61764875e+02] [-1.95420925e-01 9.80702760e-01 -5.72356035e-03 -4.79063403e+01] [-2.92777039e-02 -3.76499561e-07 9.99571316e-01 -8.57584281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594012739 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:261.79, Y:-47.91, Z:-8.58 [[ 9.79765048e-01 1.98174089e-01 2.80620845e-02 2.61792444e+02] [-1.98095178e-01 9.80166835e-01 -5.59251463e-03 -4.79141015e+01] [-2.86138160e-02 -7.96132629e-05 9.99590538e-01 -8.57586220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:261.82, Y:-47.92, Z:-8.58 [[ 9.79429671e-01 1.99770075e-01 2.84506144e-02 2.61820062e+02] [-1.99689674e-01 9.79842794e-01 -5.66867644e-03 -4.79196072e+01] [-2.90095614e-02 -1.29224013e-04 9.99579126e-01 -8.57637061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654012739 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:261.85, Y:-47.92, Z:-8.58 [[ 9.78599488e-01 2.03597458e-01 2.98515751e-02 2.61848956e+02] [-2.03510794e-01 9.79054651e-01 -5.94539546e-03 -4.79240572e+01] [-3.04367908e-02 -2.56956791e-04 9.99536661e-01 -8.57627632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:261.88, Y:-47.93, Z:-8.58 [[ 9.78183483e-01 2.05443230e-01 3.08245503e-02 2.61876617e+02] [-2.05351774e-01 9.78668980e-01 -6.13804987e-03 -4.79288386e+01] [-3.14280520e-02 -3.25737102e-04 9.99505964e-01 -8.57776440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714012739 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:261.90, Y:-47.93, Z:-8.58 [[ 9.77922613e-01 2.06586356e-01 3.14553604e-02 2.61904931e+02] [-2.06491774e-01 9.78428301e-01 -6.26161985e-03 -4.79342549e+01] [-3.20703800e-02 -3.71893536e-04 9.99485544e-01 -8.57895383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:261.93, Y:-47.94, Z:-8.58 [[ 9.78085186e-01 2.05904684e-01 3.08647035e-02 2.61932767e+02] [-2.05813330e-01 9.78571992e-01 -6.14251629e-03 -4.79405600e+01] [-3.14681072e-02 -3.44463221e-04 9.99504697e-01 -8.57973249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774012739 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:261.96, Y:-47.95, Z:-8.58 [[ 9.78431451e-01 2.04385245e-01 2.99761218e-02 2.61959803e+02] [-2.04298407e-01 9.78890489e-01 -5.96425526e-03 -4.79462778e+01] [-3.05623463e-02 -2.88459012e-04 9.99532821e-01 -8.58094931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:261.99, Y:-47.95, Z:-8.58 [[ 9.79140961e-01 2.01058727e-01 2.92978916e-02 2.61988459e+02] [-2.00974341e-01 9.79579172e-01 -5.82746314e-03 -4.79517434e+01] [-2.98712667e-02 -1.82216596e-04 9.99553738e-01 -8.58238870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:262.02, Y:-47.96, Z:-8.58 [[ 9.79344496e-01 1.99933291e-01 3.01834046e-02 2.62016311e+02] [-1.99843238e-01 9.79809500e-01 -6.00204617e-03 -4.79574367e+01] [-3.07739954e-02 -1.53878440e-04 9.99526357e-01 -8.58310632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:262.04, Y:-47.96, Z:-8.58 [[ 9.79444674e-01 1.99307624e-01 3.10580432e-02 2.62044259e+02] [-1.99212011e-01 9.79936963e-01 -6.17439665e-03 -4.79638349e+01] [-3.16655288e-02 -1.39655330e-04 9.99498512e-01 -8.58402261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894012739 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:262.07, Y:-47.97, Z:-8.58 [[ 9.79967328e-01 1.96765681e-01 3.07782867e-02 2.62072431e+02] [-1.96670576e-01 9.80450541e-01 -6.11727735e-03 -4.79699251e+01] [-3.13802581e-02 -5.84514357e-05 9.99507517e-01 -8.58446376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:262.10, Y:-47.98, Z:-8.59 [[ 9.80255610e-01 1.95407688e-01 3.02452433e-02 2.62099560e+02] [-1.95315248e-01 9.80722099e-01 -6.00988739e-03 -4.79754537e+01] [-3.08365567e-02 -1.61313517e-05 9.99524440e-01 -8.58536957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954012739 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:262.13, Y:-47.98, Z:-8.59 [[ 9.80895352e-01 1.92317706e-01 2.92951929e-02 2.62127754e+02] [-1.92229662e-01 9.81332713e-01 -5.81918458e-03 -4.79834583e+01] [-2.98674634e-02 7.66060642e-05 9.99553865e-01 -8.58742283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:262.16, Y:-47.99, Z:-8.59 [[ 9.81277249e-01 1.90471908e-01 2.85554275e-02 2.62155772e+02] [-1.90387493e-01 9.81692638e-01 -5.67158695e-03 -4.79912295e+01] [-2.91129309e-02 1.28803006e-04 9.99576120e-01 -8.58867079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014012739 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:262.18, Y:-48.00, Z:-8.59 [[ 9.82060456e-01 1.86503029e-01 2.78186998e-02 2.62183047e+02] [-1.86421351e-01 9.82454357e-01 -5.52421424e-03 -4.80009690e+01] [-2.83608855e-02 2.39112763e-04 9.99597721e-01 -8.58976401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:262.21, Y:-48.01, Z:-8.59 [[ 9.82406359e-01 1.84703557e-01 2.76105306e-02 2.62211049e+02] [-1.84622415e-01 9.82794237e-01 -5.48185719e-03 -4.80088698e+01] [-2.81479889e-02 2.87888514e-04 9.99603725e-01 -8.59057801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074012739 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:262.24, Y:-48.02, Z:-8.59 [[ 9.82789071e-01 1.82666401e-01 2.75432000e-02 2.62239770e+02] [-1.82584885e-01 9.83174892e-01 -5.46740219e-03 -4.80174993e+01] [-2.80784933e-02 3.44331116e-04 9.99605662e-01 -8.59075594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:262.27, Y:-48.02, Z:-8.59 [[ 9.82774449e-01 1.82618104e-01 2.83727076e-02 2.62268904e+02] [-1.82531603e-01 9.83183860e-01 -5.63135714e-03 -4.80245276e+01] [-2.89239759e-02 3.55438122e-04 9.99581551e-01 -8.59170370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:262.30, Y:-48.03, Z:-8.59 [[ 9.82793824e-01 1.82335116e-01 2.94992326e-02 2.62297139e+02] [-1.82241506e-01 9.83236372e-01 -5.85411340e-03 -4.80338742e+01] [-3.00721289e-02 3.77401936e-04 9.99547660e-01 -8.59300105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:262.32, Y:-48.04, Z:-8.59 [[ 9.82622577e-01 1.83315049e-01 2.91283942e-02 2.62323124e+02] [-1.83211710e-01 9.83053926e-01 -6.20067614e-03 -4.80422010e+01] [-2.97714595e-02 7.56261461e-04 9.99556446e-01 -8.59338677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194012739 meters Centerline goodness : 0.996434 Centerline is valid? [True, True] Translation: X:262.35, Y:-48.05, Z:-8.59 [[ 9.82943738e-01 1.81576472e-01 2.91820693e-02 2.62354749e+02] [-1.81500909e-01 9.83376817e-01 -5.23988068e-03 -4.80514459e+01] [-2.96484095e-02 -1.46064217e-04 9.99560379e-01 -8.59467223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:262.39, Y:-48.06, Z:-8.59 [[ 9.83275916e-01 1.79777530e-01 2.91292481e-02 2.62385021e+02] [-1.79684818e-01 9.83707186e-01 -5.79122250e-03 -4.80623059e+01] [-2.96957824e-02 4.60285949e-04 9.99558877e-01 -8.59495367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254012739 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:262.41, Y:-48.07, Z:-8.60 [[ 9.83388410e-01 1.79144616e-01 2.92308273e-02 2.62414741e+02] [-1.79050975e-01 9.83822634e-01 -5.81149122e-03 -4.80715073e+01] [-2.97990469e-02 4.81144996e-04 9.99555794e-01 -8.59628581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:262.45, Y:-48.09, Z:-8.60 [[ 9.83583825e-01 1.78079887e-01 2.91618321e-02 2.62446134e+02] [-1.77986078e-01 9.84015898e-01 -5.80254900e-03 -4.80851274e+01] [-2.97290237e-02 5.16893228e-04 9.99557861e-01 -8.59731277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:262.48, Y:-48.09, Z:-8.60 [[ 9.83715215e-01 1.77290706e-01 2.95360973e-02 2.62476523e+02] [-1.77193930e-01 9.84158371e-01 -5.88322437e-03 -4.80945566e+01] [-3.01112384e-02 5.53800170e-04 9.99546400e-01 -8.59837493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:262.51, Y:-48.10, Z:-8.60 [[ 9.83855864e-01 1.76462391e-01 2.98104679e-02 2.62508073e+02] [-1.76363254e-01 9.84307206e-01 -5.94359562e-03 -4.81041083e+01] [-3.03914795e-02 5.90170286e-04 9.99537898e-01 -8.59906263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374012739 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:262.54, Y:-48.12, Z:-8.60 [[ 9.83922632e-01 1.76132480e-01 2.95567954e-02 2.62537596e+02] [-1.76034698e-01 9.84366288e-01 -5.89888840e-03 -4.81187210e+01] [-3.01336988e-02 6.01028241e-04 9.99545696e-01 -8.59985155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:262.57, Y:-48.13, Z:-8.60 [[ 9.83925519e-01 1.76188420e-01 2.91240922e-02 2.62567984e+02] [-1.76093347e-01 9.84356280e-01 -5.81787536e-03 -4.81299948e+01] [-2.96935253e-02 5.95797173e-04 9.99558872e-01 -8.60088881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434012739 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:262.60, Y:-48.14, Z:-8.60 [[ 9.83900212e-01 1.76426414e-01 2.85323039e-02 2.62598558e+02] [-1.76335130e-01 9.84313661e-01 -5.70433417e-03 -4.81447380e+01] [-2.90911317e-02 5.81248081e-04 9.99576594e-01 -8.60192635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:262.63, Y:-48.15, Z:-8.60 [[ 9.83906509e-01 1.76367220e-01 2.86807424e-02 2.62630413e+02] [-1.76274797e-01 9.84324263e-01 -5.73950261e-03 -4.81549298e+01] [-2.92434107e-02 5.91441936e-04 9.99572145e-01 -8.60318720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494012739 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:262.66, Y:-48.17, Z:-8.60 [[ 9.83662681e-01 1.77554776e-01 2.96990350e-02 2.62660181e+02] [-1.77456021e-01 9.84110747e-01 -5.94960614e-03 -4.81672451e+01] [-3.02835205e-02 5.82132937e-04 9.99541179e-01 -8.60280065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:262.69, Y:-48.18, Z:-8.60 [[ 9.83418816e-01 1.78811222e-01 3.02320955e-02 2.62691223e+02] [-1.78709301e-01 9.83883242e-01 -6.06226765e-03 -4.81759298e+01] [-3.08288536e-02 5.58991414e-04 9.99524522e-01 -8.60237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55401273900003 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:262.72, Y:-48.18, Z:-8.60 [[ 9.83202563e-01 1.79922091e-01 3.06718224e-02 2.62723272e+02] [-1.79817548e-01 9.83680717e-01 -6.15606149e-03 -4.81845653e+01] [-3.12788917e-02 5.37323530e-04 9.99510551e-01 -8.60273957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:262.75, Y:-48.19, Z:-8.60 [[ 9.82609845e-01 1.83153423e-01 3.05404019e-02 2.62754358e+02] [-1.83051140e-01 9.83084244e-01 -6.13589151e-03 -4.81944366e+01] [-3.11475975e-02 4.38732029e-04 9.99514700e-01 -8.60450245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61401273900003 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:262.79, Y:-48.20, Z:-8.61 [[ 9.82165046e-01 1.85626963e-01 2.99074208e-02 2.62786383e+02] [-1.85529855e-01 9.82620223e-01 -6.01420240e-03 -4.82031850e+01] [-3.05040346e-02 3.58219919e-04 9.99534579e-01 -8.60661131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:262.82, Y:-48.21, Z:-8.61 [[ 9.81572954e-01 1.89134048e-01 2.72552364e-02 2.62817751e+02] [-1.89054617e-01 9.81951250e-01 -5.48577328e-03 -4.82142938e+01] [-2.78008599e-02 2.31958425e-04 9.99613454e-01 -8.60941778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67401273900003 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:262.85, Y:-48.22, Z:-8.61 [[ 9.81537293e-01 1.89387510e-01 2.67752220e-02 2.62850025e+02] [-1.89310801e-01 9.81902398e-01 -5.39452076e-03 -4.82224019e+01] [-2.73123095e-02 2.26084597e-04 9.99626924e-01 -8.61029706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:262.88, Y:-48.23, Z:-8.61 [[ 9.81563920e-01 1.89021669e-01 2.83386636e-02 2.62881195e+02] [-1.88935394e-01 9.81972883e-01 -5.71612549e-03 -4.82304576e+01] [-2.89082708e-02 2.56565966e-04 9.99582036e-01 -8.60838883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73401273900004 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:262.91, Y:-48.24, Z:-8.61 [[ 9.81565235e-01 1.88885341e-01 2.91893323e-02 2.62913478e+02] [-1.88793642e-01 9.81999111e-01 -5.89124093e-03 -4.82387497e+01] [-2.97766674e-02 2.71876957e-04 9.99556540e-01 -8.60922004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:262.95, Y:-48.25, Z:-8.61 [[ 9.81291995e-01 1.90281029e-01 2.93112852e-02 2.62945151e+02] [-1.90189011e-01 9.81729634e-01 -5.92163910e-03 -4.82486145e+01] [-2.99025328e-02 2.36172717e-04 9.99552791e-01 -8.61063226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:262.98, Y:-48.26, Z:-8.61 [[ 9.80915106e-01 1.92197965e-01 2.94193302e-02 2.62976313e+02] [-1.92105950e-01 9.81356158e-01 -5.94944408e-03 -4.82556084e+01] [-3.00143119e-02 1.84271202e-04 9.99549452e-01 -8.61221144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:263.01, Y:-48.26, Z:-8.61 [[ 9.80465441e-01 1.94449271e-01 2.96141775e-02 2.63007921e+02] [-1.94356874e-01 9.80912568e-01 -5.99492081e-03 -4.82623567e+01] [-3.02146268e-02 1.22093711e-04 9.99543426e-01 -8.61309685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854012739 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:263.04, Y:-48.27, Z:-8.61 [[ 9.79586875e-01 1.98950638e-01 2.87784135e-02 2.63038537e+02] [-1.98865172e-01 9.80009512e-01 -5.83094284e-03 -4.82705810e+01] [-2.93631888e-02 -1.11090854e-05 9.99568809e-01 -8.61410964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:263.07, Y:-48.28, Z:-8.62 [[ 9.79002347e-01 2.02144081e-01 2.63092288e-02 2.63070275e+02] [-2.02073692e-01 9.79355789e-01 -5.33492874e-03 -4.82796943e+01] [-2.68445198e-02 -9.34952349e-05 9.99639617e-01 -8.61549253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914012739 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:263.10, Y:-48.29, Z:-8.62 [[ 9.78745375e-01 2.03408946e-01 2.61207095e-02 2.63102145e+02] [-2.03339880e-01 9.79093859e-01 -5.30167806e-03 -4.82870518e+01] [-2.66530350e-02 -1.22389055e-04 9.99644737e-01 -8.61721457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:263.13, Y:-48.29, Z:-8.62 [[ 9.78431920e-01 2.04816931e-01 2.68514973e-02 2.63134486e+02] [-2.04744325e-01 9.78800286e-01 -5.45545348e-03 -4.82939649e+01] [-2.73996224e-02 -1.59901870e-04 9.99624547e-01 -8.61806357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:263.17, Y:-48.30, Z:-8.62 [[ 9.78155351e-01 2.05980099e-01 2.80054994e-02 2.63166643e+02] [-2.05901429e-01 9.78556161e-01 -5.69568824e-03 -4.83004617e+01] [-2.85781524e-02 -1.95104409e-04 9.99591542e-01 -8.61848472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:263.20, Y:-48.30, Z:-8.62 [[ 9.77559323e-01 2.08704088e-01 2.86421589e-02 2.63198181e+02] [-2.08622797e-01 9.77978797e-01 -5.83100308e-03 -4.83046818e+01] [-2.92283783e-02 -2.75255871e-04 9.99572722e-01 -8.61794361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034012739 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:263.23, Y:-48.31, Z:-8.62 [[ 9.76887212e-01 2.11851352e-01 2.84671728e-02 2.63231383e+02] [-2.11772238e-01 9.77301833e-01 -5.80047907e-03 -4.83079843e+01] [-2.90498595e-02 -3.62143077e-04 9.99577898e-01 -8.61825430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:263.26, Y:-48.31, Z:-8.62 [[ 9.76397292e-01 2.14016486e-01 2.90735464e-02 2.63263746e+02] [-2.13934755e-01 9.76829954e-01 -5.92974123e-03 -4.83123508e+01] [-2.96689733e-02 -4.30058735e-04 9.99559687e-01 -8.61891038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094012739 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:263.30, Y:-48.32, Z:-8.62 [[ 9.76051227e-01 2.15460132e-01 3.00155771e-02 2.63296718e+02] [-2.15373516e-01 9.76512518e-01 -6.12785897e-03 -4.83167657e+01] [-3.06308961e-02 -4.83456113e-04 9.99530647e-01 -8.62009610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:263.33, Y:-48.32, Z:-8.62 [[ 9.75860491e-01 2.16379458e-01 2.96012192e-02 2.63329008e+02] [-2.16295455e-01 9.76309214e-01 -6.04940281e-03 -4.83196001e+01] [-3.02089095e-02 -4.99235963e-04 9.99543482e-01 -8.62112211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:263.36, Y:-48.33, Z:-8.62 [[ 9.75848044e-01 2.16435694e-01 2.96004438e-02 2.63360976e+02] [-2.16351602e-01 9.76296750e-01 -6.05319439e-03 -4.83262331e+01] [-3.02089444e-02 -4.97105532e-04 9.99543482e-01 -8.62224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:263.39, Y:-48.33, Z:-8.62 [[ 9.75917184e-01 2.16209604e-01 2.89664934e-02 2.63391430e+02] [-2.16128940e-01 9.76346853e-01 -5.92480393e-03 -4.83311417e+01] [-2.95623442e-02 -4.78379539e-04 9.99562824e-01 -8.62336045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214012739 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:263.42, Y:-48.33, Z:-8.62 [[ 9.76154451e-01 2.15216183e-01 2.83633922e-02 2.63422975e+02] [-2.15138279e-01 9.76566335e-01 -5.80642179e-03 -4.83331522e+01] [-2.89483699e-02 -4.34086916e-04 9.99580814e-01 -8.62431893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:263.45, Y:-48.34, Z:-8.63 [[ 9.76141911e-01 2.15272679e-01 2.83662448e-02 2.63452848e+02] [-2.15194759e-01 9.76553882e-01 -5.80785676e-03 -4.83367239e+01] [-2.89514394e-02 -4.34974824e-04 9.99580725e-01 -8.62500707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274012739 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:263.48, Y:-48.34, Z:-8.63 [[ 9.76083739e-01 2.15509272e-01 2.85707531e-02 2.63482787e+02] [-2.15430337e-01 9.76501692e-01 -5.84933252e-03 -4.83403280e+01] [-2.91599741e-02 -4.45568608e-04 9.99574658e-01 -8.62591583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:263.51, Y:-48.34, Z:-8.63 [[ 9.76054002e-01 2.15357922e-01 3.06521081e-02 2.63514565e+02] [-2.15266992e-01 9.76535069e-01 -6.27537813e-03 -4.83408742e+01] [-3.12843109e-02 -4.73279194e-04 9.99510414e-01 -8.62559087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334012739 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:263.55, Y:-48.34, Z:-8.63 [[ 9.76021650e-01 2.15183521e-01 3.28297453e-02 2.63545906e+02] [-2.15079081e-01 9.76573501e-01 -6.72208112e-03 -4.83395032e+01] [-3.35071404e-02 -5.00094764e-04 9.99438353e-01 -8.62549893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:263.58, Y:-48.34, Z:-8.63 [[ 9.76145606e-01 2.14586660e-01 3.30502852e-02 2.63577881e+02] [-2.14480460e-01 9.76704834e-01 -6.76755100e-03 -4.83429310e+01] [-3.37325995e-02 -4.82525204e-04 9.99430777e-01 -8.62677514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394012739 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:263.61, Y:-48.35, Z:-8.63 [[ 9.76460665e-01 2.13303430e-01 3.20346141e-02 2.63609044e+02] [-2.13202787e-01 9.76985911e-01 -6.56510892e-03 -4.83471235e+01] [-3.26977269e-02 -4.19298368e-04 9.99465198e-01 -8.62844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:263.64, Y:-48.35, Z:-8.63 [[ 9.77912622e-01 2.06919932e-01 2.95134870e-02 2.63641401e+02] [-2.06831468e-01 9.78357863e-01 -6.05280053e-03 -4.83494751e+01] [-3.01271971e-02 -1.85207813e-04 9.99546056e-01 -8.63015397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454012739 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:263.67, Y:-48.35, Z:-8.63 [[ 9.78829899e-01 2.02581943e-01 2.91990671e-02 2.63672813e+02] [-2.02493254e-01 9.79265314e-01 -5.99395844e-03 -4.83531561e+01] [-2.98079013e-02 -4.55483824e-05 9.99555645e-01 -8.63126801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:263.70, Y:-48.36, Z:-8.63 [[ 9.80582148e-01 1.93736807e-01 3.04088759e-02 2.63704091e+02] [-1.93636345e-01 9.81053513e-01 -6.24266278e-03 -4.83570667e+01] [-3.10421681e-02 2.33180093e-04 9.99518049e-01 -8.63102788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514012739 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:263.74, Y:-48.36, Z:-8.63 [[ 9.81193793e-01 1.90480108e-01 3.12421061e-02 2.63735914e+02] [-1.90372248e-01 9.81690993e-01 -6.41884629e-03 -4.83640771e+01] [-3.18927567e-02 3.50502152e-04 9.99491235e-01 -8.63183703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:263.77, Y:-48.37, Z:-8.63 [[ 9.82249142e-01 1.84819675e-01 3.20672817e-02 2.63767293e+02] [-1.84702804e-01 9.82772293e-01 -6.59505727e-03 -4.83707713e+01] [-3.27337323e-02 5.55072495e-04 9.99463954e-01 -8.63187997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574012739 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:263.80, Y:-48.38, Z:-8.63 [[ 9.82628929e-01 1.82670128e-01 3.27415973e-02 2.63799014e+02] [-1.82546882e-01 9.83174047e-01 -6.74009626e-03 -4.83762589e+01] [-3.34219030e-02 6.46137054e-04 9.99441123e-01 -8.63241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:263.83, Y:-48.38, Z:-8.63 [[ 9.82888080e-01 1.81216582e-01 3.30389614e-02 2.63831127e+02] [-1.81090128e-01 9.83442958e-01 -6.80539645e-03 -4.83820043e+01] [-3.37251847e-02 7.05913291e-04 9.99430895e-01 -8.63332642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634012739 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:263.86, Y:-48.39, Z:-8.63 [[ 9.82811301e-01 1.81762965e-01 3.23136289e-02 2.63861780e+02] [-1.81642091e-01 9.83342140e-01 -6.66232168e-03 -4.83913789e+01] [-3.29863164e-02 6.78289923e-04 9.99455573e-01 -8.63478614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:263.89, Y:-48.40, Z:-8.64 [[ 9.82038645e-01 1.85910843e-01 3.22065030e-02 2.63894240e+02] [-1.85792870e-01 9.82566469e-01 -6.64406373e-03 -4.83999107e+01] [-3.28802334e-02 5.40988710e-04 9.99459153e-01 -8.63526899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694012739 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:263.93, Y:-48.41, Z:-8.64 [[ 9.81541318e-01 1.88477440e-01 3.24483465e-02 2.63927128e+02] [-1.88358878e-01 9.82077410e-01 -6.70033596e-03 -4.84058445e+01] [-3.31296502e-02 4.64722462e-04 9.99450954e-01 -8.63665346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:263.96, Y:-48.41, Z:-8.64 [[ 9.81035745e-01 1.91048309e-01 3.27018368e-02 2.63959874e+02] [-1.90929100e-01 9.81580559e-01 -6.75908129e-03 -4.84116347e+01] [-3.33907983e-02 3.87168099e-04 9.99442297e-01 -8.63826943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:263.99, Y:-48.42, Z:-8.64 [[ 9.80063617e-01 1.96099605e-01 3.19413672e-02 2.63990724e+02] [-1.95988349e-01 9.80583958e-01 -6.60824431e-03 -4.84185798e+01] [-3.26170664e-02 2.16363992e-04 9.99467899e-01 -8.63993625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:264.02, Y:-48.42, Z:-8.64 [[ 9.79740519e-01 1.97774453e-01 3.15242986e-02 2.64021386e+02] [-1.97666751e-01 9.80247539e-01 -6.52819119e-03 -4.84246828e+01] [-3.21927256e-02 1.64627766e-04 9.99481666e-01 -8.64105187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814012739 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:264.05, Y:-48.43, Z:-8.64 [[ 9.79261659e-01 2.00367119e-01 2.99936762e-02 2.64052651e+02] [-2.00270817e-01 9.79720885e-01 -6.21192081e-03 -4.84298425e+01] [-3.06300957e-02 7.62378421e-05 9.99530786e-01 -8.64261502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:264.08, Y:-48.44, Z:-8.64 [[ 9.79060643e-01 2.01450440e-01 2.92912621e-02 2.64082868e+02] [-2.01359058e-01 9.79498708e-01 -6.06721097e-03 -4.84358165e+01] [-2.99129957e-02 4.21065255e-05 9.99552505e-01 -8.64394169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874012739 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:264.11, Y:-48.44, Z:-8.64 [[ 9.78765458e-01 2.02958824e-01 2.87383856e-02 2.64111148e+02] [-2.02871495e-01 9.79187273e-01 -5.95324042e-03 -4.84414811e+01] [-2.93485242e-02 -3.37316494e-06 9.99569239e-01 -8.64497403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:264.14, Y:-48.44, Z:-8.65 [[ 9.77930442e-01 2.06967956e-01 2.85712260e-02 2.64139184e+02] [-2.06883367e-01 9.78347714e-01 -5.91796480e-03 -4.84441136e+01] [-2.91774227e-02 -1.23553516e-04 9.99574241e-01 -8.64512884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934012739 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:264.17, Y:-48.45, Z:-8.65 [[ 9.77450625e-01 2.09151764e-01 2.90828892e-02 2.64168288e+02] [-2.09065141e-01 9.77883174e-01 -6.02202696e-03 -4.84478998e+01] [-2.96991856e-02 -1.93984327e-04 9.99558863e-01 -8.64612319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:264.20, Y:-48.45, Z:-8.65 [[ 9.76459120e-01 2.13632943e-01 2.98086015e-02 2.64196079e+02] [-2.13544047e-01 9.76913942e-01 -6.17166386e-03 -4.84491141e+01] [-3.04389091e-02 -3.39071943e-04 9.99536572e-01 -8.64655620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994012739 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:264.23, Y:-48.45, Z:-8.65 [[ 9.76169845e-01 2.14862557e-01 3.04387168e-02 2.64225039e+02] [-2.14770522e-01 9.76644219e-01 -6.30011990e-03 -4.84529923e+01] [-3.10814567e-02 -3.87352026e-04 9.99516780e-01 -8.64731979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:264.25, Y:-48.46, Z:-8.65 [[ 9.75942104e-01 2.15591811e-01 3.25143299e-02 2.64252964e+02] [-2.15487255e-01 9.76483475e-01 -6.72799079e-03 -4.84551469e+01] [-3.32002055e-02 -4.40294195e-04 9.99448624e-01 -8.64741878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05401273900003 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:264.28, Y:-48.46, Z:-8.65 [[ 9.75981476e-01 2.15370288e-01 3.27993641e-02 2.64281327e+02] [-2.15263834e-01 9.76532358e-01 -6.78489883e-03 -4.84585778e+01] [-3.34909059e-02 -4.38581287e-04 9.99438926e-01 -8.64765010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:264.31, Y:-48.46, Z:-8.65 [[ 9.76222963e-01 2.14469315e-01 3.14902993e-02 2.64309758e+02] [-2.14370769e-01 9.76730648e-01 -6.51263787e-03 -4.84581999e+01] [-3.21543014e-02 -3.92813055e-04 9.99482840e-01 -8.64887714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11401273900003 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:264.34, Y:-48.46, Z:-8.65 [[ 9.76284718e-01 2.14250189e-01 3.10645332e-02 2.64337374e+02] [-2.14154240e-01 9.76778742e-01 -6.42269607e-03 -4.84608616e+01] [-3.17192395e-02 -3.82221483e-04 9.99496745e-01 -8.64982188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:264.37, Y:-48.46, Z:-8.65 [[ 9.76155778e-01 2.14757814e-01 3.16066340e-02 2.64366452e+02] [-2.14658816e-01 9.76667249e-01 -6.53278289e-03 -4.84643285e+01] [-3.22721304e-02 -4.07628881e-04 9.99479036e-01 -8.65031495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17401273900003 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:264.39, Y:-48.46, Z:-8.65 [[ 9.75615264e-01 2.16953642e-01 3.32561994e-02 2.64394616e+02] [-2.16845371e-01 9.76181776e-01 -6.87201346e-03 -4.84642954e+01] [-3.39550042e-02 -5.07011700e-04 9.99423234e-01 -8.64954064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:264.42, Y:-48.47, Z:-8.65 [[ 9.75337233e-01 2.18108142e-01 3.38543955e-02 2.64422284e+02] [-2.17996708e-01 9.75924447e-01 -6.99351540e-03 -4.84664606e+01] [-3.45646749e-02 -5.59110834e-04 9.99402307e-01 -8.64988016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23401273900004 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:264.45, Y:-48.47, Z:-8.65 [[ 9.75045568e-01 2.19302372e-01 3.45341845e-02 2.64451122e+02] [-2.19187247e-01 9.75656748e-01 -7.13164754e-03 -4.84664552e+01] [-3.52574974e-02 -6.15771504e-04 9.99378071e-01 -8.65105707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:264.48, Y:-48.47, Z:-8.65 [[ 9.75087033e-01 2.19076219e-01 3.47978100e-02 2.64479093e+02] [-2.18959275e-01 9.75707555e-01 -7.18354565e-03 -4.84693364e+01] [-3.55262302e-02 -6.14721045e-04 9.99368555e-01 -8.65227101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294012739 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:264.51, Y:-48.47, Z:-8.65 [[ 9.75680537e-01 2.16430991e-01 3.47147742e-02 2.64506807e+02] [-2.16313020e-01 9.76297780e-01 -7.16390370e-03 -4.84709429e+01] [-3.54424478e-02 -5.19576233e-04 9.99371584e-01 -8.65344315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:264.53, Y:-48.47, Z:-8.65 [[ 9.76094450e-01 2.14522172e-01 3.49265130e-02 2.64534938e+02] [-2.14401611e-01 9.76719013e-01 -7.20546965e-03 -4.84740125e+01] [-3.56591223e-02 -4.55081703e-04 9.99363908e-01 -8.65405143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:264.56, Y:-48.48, Z:-8.65 [[ 9.76485594e-01 2.12683090e-01 3.52390187e-02 2.64563129e+02] [-2.12559255e-01 9.77121153e-01 -7.26738925e-03 -4.84766903e+01] [-3.59784414e-02 -3.93878662e-04 9.99352489e-01 -8.65494484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:264.59, Y:-48.48, Z:-8.66 [[ 9.76801869e-01 2.11323891e-01 3.46456660e-02 2.64591534e+02] [-2.11203426e-01 9.77416031e-01 -7.14253022e-03 -4.84761918e+01] [-3.53726166e-02 -3.40446478e-04 9.99374135e-01 -8.65631513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414012739 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:264.62, Y:-48.48, Z:-8.66 [[ 9.76812371e-01 2.11422976e-01 3.37330262e-02 2.64619208e+02] [-2.11308917e-01 9.77394604e-01 -6.95197901e-03 -4.84794284e+01] [-3.44402859e-02 -3.37310157e-04 9.99406700e-01 -8.65738099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:264.65, Y:-48.48, Z:-8.66 [[ 9.77063569e-01 2.10540790e-01 3.19273698e-02 2.64647261e+02] [-2.10438220e-01 9.77585030e-01 -6.57760951e-03 -4.84797043e+01] [-3.25965739e-02 -2.91996254e-04 9.99468548e-01 -8.65933203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474012739 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:264.68, Y:-48.48, Z:-8.66 [[ 9.77340728e-01 2.09234501e-01 3.20316264e-02 2.64675569e+02] [-2.09130637e-01 9.77865461e-01 -6.59669746e-03 -4.84828841e+01] [-3.27028778e-02 -2.51573332e-04 9.99465086e-01 -8.66038665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:264.70, Y:-48.49, Z:-8.66 [[ 9.77987094e-01 2.06110724e-01 3.25516963e-02 2.64702255e+02] [-2.06001810e-01 9.78528664e-01 -6.70134717e-03 -4.84854084e+01] [-3.32339874e-02 -1.51877318e-04 9.99447587e-01 -8.66084778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534012739 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:264.73, Y:-48.49, Z:-8.66 [[ 9.78201083e-01 2.05173331e-01 3.20397493e-02 2.64728392e+02] [-2.05067403e-01 9.78725646e-01 -6.59321373e-03 -4.84901139e+01] [-3.27108759e-02 -1.20819373e-04 9.99464849e-01 -8.66159180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:264.76, Y:-48.49, Z:-8.66 [[ 9.78217046e-01 2.05311132e-01 3.06390236e-02 2.64755095e+02] [-2.05214411e-01 9.78696748e-01 -6.30248375e-03 -4.84930204e+01] [-3.12802828e-02 -1.22372143e-04 9.99510645e-01 -8.66270932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594012739 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:264.78, Y:-48.50, Z:-8.66 [[ 9.78053071e-01 2.06148363e-01 3.02496739e-02 2.64782894e+02] [-2.06054565e-01 9.78520736e-01 -6.21982650e-03 -4.84970407e+01] [-3.08821402e-02 -1.49762968e-04 9.99523022e-01 -8.66325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:264.81, Y:-48.50, Z:-8.67 [[ 9.77816543e-01 2.07303281e-01 3.00026377e-02 2.64810498e+02] [-2.07211619e-01 9.78276707e-01 -6.16687157e-03 -4.84997866e+01] [-3.06292943e-02 -1.86826084e-04 9.99530796e-01 -8.66506609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654012739 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:264.84, Y:-48.50, Z:-8.67 [[ 9.77870994e-01 2.07140684e-01 2.93437456e-02 2.64838433e+02] [-2.07052994e-01 9.78311149e-01 -6.02934872e-03 -4.85046974e+01] [-2.99562369e-02 -1.79785136e-04 9.99551195e-01 -8.66604126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:264.87, Y:-48.51, Z:-8.67 [[ 9.78204759e-01 2.05479675e-01 2.98923419e-02 2.64865479e+02] [-2.05387967e-01 9.78661374e-01 -6.13985036e-03 -4.85099272e+01] [-3.05160949e-02 -1.33496490e-04 9.99534267e-01 -8.66773773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714012739 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:264.89, Y:-48.52, Z:-8.67 [[ 9.78524060e-01 2.03818876e-01 3.07982167e-02 2.64891489e+02] [-2.03720775e-01 9.79008610e-01 -6.32355649e-03 -4.85153943e+01] [-3.14405795e-02 -8.64844020e-05 9.99505619e-01 -8.66822064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:264.92, Y:-48.52, Z:-8.67 [[ 9.79127476e-01 2.00786285e-01 3.15317803e-02 2.64918503e+02] [-2.00681972e-01 9.79635069e-01 -6.47133563e-03 -4.85226159e+01] [-3.21889932e-02 8.40266564e-06 9.99481800e-01 -8.66781960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774012739 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:264.94, Y:-48.53, Z:-8.67 [[ 9.79400637e-01 1.99650695e-01 3.02323104e-02 2.64944398e+02] [-1.99554329e-01 9.79867133e-01 -6.20254504e-03 -4.85284245e+01] [-3.08619898e-02 4.17881357e-05 9.99523654e-01 -8.66873945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:264.97, Y:-48.54, Z:-8.67 [[ 9.79688221e-01 1.98480833e-01 2.85718236e-02 2.64971829e+02] [-1.98394335e-01 9.80104767e-01 -5.85953007e-03 -4.85351457e+01] [-2.91663849e-02 7.20246468e-05 9.99574568e-01 -8.67071600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834012739 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:265.00, Y:-48.54, Z:-8.67 [[ 9.79782729e-01 1.97913656e-01 2.92572808e-02 2.64998460e+02] [-1.97822767e-01 9.80219453e-01 -5.99800515e-03 -4.85414567e+01] [-2.98656429e-02 8.89856122e-05 9.99553918e-01 -8.67124888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:265.03, Y:-48.55, Z:-8.67 [[ 9.79907429e-01 1.96923762e-01 3.16616788e-02 2.65025860e+02] [-1.96816923e-01 9.80418796e-01 -6.48710414e-03 -4.85477270e+01] [-3.23191699e-02 1.25207361e-04 9.99477591e-01 -8.67063592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894012739 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:265.05, Y:-48.55, Z:-8.67 [[ 9.80043250e-01 1.96212101e-01 3.18753679e-02 2.65052273e+02] [-1.96103515e-01 9.80561467e-01 -6.52854017e-03 -4.85530631e+01] [-3.25367361e-02 1.47380045e-04 9.99470529e-01 -8.67143980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:265.08, Y:-48.56, Z:-8.67 [[ 9.80181731e-01 1.95557761e-01 3.16375883e-02 2.65079885e+02] [-1.95450536e-01 9.80692171e-01 -6.47712905e-03 -4.85596599e+01] [-3.22933880e-02 1.65179971e-04 9.99478419e-01 -8.67303480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954012739 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:265.11, Y:-48.57, Z:-8.67 [[ 9.80532936e-01 1.93788997e-01 3.16383679e-02 2.65107484e+02] [-1.93680922e-01 9.81043208e-01 -6.47492877e-03 -4.85686994e+01] [-3.22933759e-02 2.21132662e-04 9.99478408e-01 -8.67483055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:265.13, Y:-48.58, Z:-8.68 [[ 9.80855889e-01 1.92083734e-01 3.20244161e-02 2.65134593e+02] [-1.91972148e-01 9.81378500e-01 -6.55235170e-03 -4.85753957e+01] [-3.26866737e-02 2.79116806e-04 9.99465609e-01 -8.67518559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014012739 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:265.16, Y:-48.58, Z:-8.68 [[ 9.81614580e-01 1.87855998e-01 3.38074063e-02 2.65161283e+02] [-1.87729204e-01 9.82196482e-01 -6.91496294e-03 -4.85818810e+01] [-3.45045328e-02 4.41190977e-04 9.99404444e-01 -8.67502724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:265.19, Y:-48.59, Z:-8.68 [[ 9.81620981e-01 1.87822471e-01 3.38078316e-02 2.65190017e+02] [-1.87695729e-01 9.82202894e-01 -6.91288306e-03 -4.85876725e+01] [-3.45045448e-02 4.40245449e-04 9.99404444e-01 -8.67603407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074012739 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:265.22, Y:-48.59, Z:-8.68 [[ 9.82072106e-01 1.85348248e-01 3.43570372e-02 2.65217795e+02] [-1.85215883e-01 9.82672754e-01 -7.02393363e-03 -4.85940177e+01] [-3.50635982e-02 5.34540303e-04 9.99384940e-01 -8.67675365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:265.25, Y:-48.60, Z:-8.68 [[ 9.82342355e-01 1.83960838e-01 3.40867736e-02 2.65245619e+02] [-1.83829768e-01 9.82933404e-01 -6.96707552e-03 -4.86014516e+01] [-3.47866975e-02 5.77889679e-04 9.99394593e-01 -8.67790034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134012739 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:265.27, Y:-48.61, Z:-8.68 [[ 9.82560398e-01 1.82841266e-01 3.38250728e-02 2.65272749e+02] [-1.82711595e-01 9.83142257e-01 -6.91195565e-03 -4.86120112e+01] [-3.45186492e-02 6.11180902e-04 9.99403867e-01 -8.67967703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:265.30, Y:-48.62, Z:-8.68 [[ 9.82836996e-01 1.81361753e-01 3.37543223e-02 2.65302048e+02] [-1.81231794e-01 9.83416228e-01 -6.89627903e-03 -4.86233936e+01] [-3.44452696e-02 6.60561782e-04 9.99406367e-01 -8.67698586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194012739 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:265.33, Y:-48.63, Z:-8.68 [[ 9.82985495e-01 1.80626263e-01 3.33716995e-02 2.65330373e+02] [-1.80498811e-01 9.83551571e-01 -6.81810936e-03 -4.86322995e+01] [-3.40543171e-02 6.78550526e-04 9.99419753e-01 -8.68104703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:265.36, Y:-48.64, Z:-8.68 [[ 9.83116061e-01 1.80031616e-01 3.27326857e-02 2.65358660e+02] [-1.79908684e-01 9.83660586e-01 -6.68715226e-03 -4.86415348e+01] [-3.34017516e-02 6.85352395e-04 9.99441771e-01 -8.68156404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:265.39, Y:-48.65, Z:-8.68 [[ 9.83096357e-01 1.80010015e-01 3.34357237e-02 2.65387443e+02] [-1.79881745e-01 9.83664528e-01 -6.83036006e-03 -4.86544521e+01] [-3.41190686e-02 7.00425759e-04 9.99417530e-01 -8.68341391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:265.42, Y:-48.66, Z:-8.68 [[ 9.82997706e-01 1.80618979e-01 3.30498713e-02 2.65416337e+02] [-1.80493997e-01 9.83552914e-01 -6.75152960e-03 -4.86635231e+01] [-3.37257516e-02 6.71434720e-04 9.99430899e-01 -8.68449215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314012739 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:265.45, Y:-48.67, Z:-8.69 [[ 9.82390322e-01 1.84027115e-01 3.22997940e-02 2.65445849e+02] [-1.83909571e-01 9.82921018e-01 -6.59867847e-03 -4.86742651e+01] [-3.29624822e-02 5.42236602e-04 9.99456443e-01 -8.68507140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:265.47, Y:-48.68, Z:-8.69 [[ 9.81877723e-01 1.86774962e-01 3.21130878e-02 2.65474325e+02] [-1.86660215e-01 9.82402623e-01 -6.56135986e-03 -4.86819175e+01] [-3.27734794e-02 4.48217214e-04 9.99462705e-01 -8.68572603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:265.50, Y:-48.69, Z:-8.69 [[ 9.81285300e-01 1.89890901e-01 3.19469119e-02 2.65502870e+02] [-1.89778976e-01 9.81805138e-01 -6.52780401e-03 -4.86893090e+01] [-3.26052128e-02 3.42785895e-04 9.99468250e-01 -8.68615856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:265.53, Y:-48.70, Z:-8.69 [[ 9.80166909e-01 1.95437485e-01 3.28179689e-02 2.65531428e+02] [-1.95322461e-01 9.80716148e-01 -6.70623663e-03 -4.86979360e+01] [-3.34957621e-02 1.63144786e-04 9.99438846e-01 -8.68755649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434012739 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:265.56, Y:-48.71, Z:-8.69 [[ 9.79751960e-01 1.97427321e-01 3.32948766e-02 2.65559073e+02] [-1.97310105e-01 9.80317522e-01 -6.80286402e-03 -4.87051736e+01] [-3.39826222e-02 9.57037664e-05 9.99422419e-01 -8.68907902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:265.59, Y:-48.71, Z:-8.69 [[ 9.79438152e-01 1.99079860e-01 3.26820324e-02 2.65586140e+02] [-1.98967878e-01 9.79983269e-01 -6.67646614e-03 -4.87144372e+01] [-3.33569949e-02 3.65110074e-05 9.99443500e-01 -8.69011250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494012739 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:265.62, Y:-48.72, Z:-8.69 [[ 9.79531007e-01 1.98662720e-01 3.24365550e-02 2.65615334e+02] [-1.98552226e-01 9.80067917e-01 -6.62513244e-03 -4.87220185e+01] [-3.31061937e-02 4.91724536e-05 9.99451839e-01 -8.69128230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:265.64, Y:-48.73, Z:-8.69 [[ 9.79752472e-01 1.97562339e-01 3.24686973e-02 2.65644017e+02] [-1.97451047e-01 9.80290322e-01 -6.63093515e-03 -4.87293571e+01] [-3.31387728e-02 8.56968205e-05 9.99450756e-01 -8.69185210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55401273900003 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:265.67, Y:-48.74, Z:-8.69 [[ 9.80268590e-01 1.94894283e-01 3.30107441e-02 2.65673075e+02] [-1.94777758e-01 9.80824238e-01 -6.74080787e-03 -4.87397134e+01] [-3.36914829e-02 1.78043501e-04 9.99432265e-01 -8.69371825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:265.70, Y:-48.75, Z:-8.69 [[ 9.80468880e-01 1.93748384e-01 3.37984963e-02 2.65703735e+02] [-1.93625548e-01 9.81051229e-01 -6.90167131e-03 -4.87482442e+01] [-3.44952440e-02 2.22621558e-04 9.99404837e-01 -8.69473906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61401273900003 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:265.73, Y:-48.76, Z:-8.69 [[ 9.80632433e-01 1.92696062e-01 3.50465353e-02 2.65733507e+02] [-1.92563280e-01 9.81258455e-01 -7.15741514e-03 -4.87577740e+01] [-3.57689148e-02 2.70117628e-04 9.99360051e-01 -8.69486819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:265.76, Y:-48.76, Z:-8.70 [[ 9.80628745e-01 1.92756923e-01 3.48142514e-02 2.65764341e+02] [-1.92625901e-01 9.81246502e-01 -7.11090577e-03 -4.87648077e+01] [-3.55320387e-02 2.67032061e-04 9.99368502e-01 -8.69558879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67401273900003 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:265.79, Y:-48.77, Z:-8.70 [[ 9.80365871e-01 1.94269234e-01 3.37968005e-02 2.65794975e+02] [-1.94146551e-01 9.80948226e-01 -6.90619700e-03 -4.87715554e+01] [-3.44945731e-02 2.09067578e-04 9.99404863e-01 -8.69689930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:265.83, Y:-48.78, Z:-8.70 [[ 9.80177501e-01 1.95304303e-01 3.32910702e-02 2.65825317e+02] [-1.95185835e-01 9.80742678e-01 -6.80364155e-03 -4.87792172e+01] [-3.39787538e-02 1.70831024e-04 9.99422541e-01 -8.69818181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73401273900004 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:265.85, Y:-48.79, Z:-8.70 [[ 9.80072905e-01 1.95953847e-01 3.25452143e-02 2.65854255e+02] [-1.95840962e-01 9.80613108e-01 -6.65200666e-03 -4.87890258e+01] [-3.32177500e-02 1.45765426e-04 9.99448128e-01 -8.69980268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:265.88, Y:-48.80, Z:-8.70 [[ 9.80139230e-01 1.95733597e-01 3.18660923e-02 2.65883527e+02] [-1.95625246e-01 9.80657094e-01 -6.51357931e-03 -4.87962497e+01] [-3.25246358e-02 1.50402462e-04 9.99470923e-01 -8.70048886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794012739 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:265.91, Y:-48.80, Z:-8.70 [[ 9.80412357e-01 1.94472534e-01 3.11776027e-02 2.65913797e+02] [-1.94368168e-01 9.80907946e-01 -6.37318749e-03 -4.88021698e+01] [-3.18217682e-02 1.88418256e-04 9.99493542e-01 -8.70178261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:265.94, Y:-48.81, Z:-8.70 [[ 9.80491591e-01 1.94016621e-01 3.15244330e-02 2.65943983e+02] [-1.93909659e-01 9.80998220e-01 -6.44484178e-03 -4.88088183e+01] [-3.21758191e-02 2.06221112e-04 9.99482203e-01 -8.70316773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854012739 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:265.97, Y:-48.82, Z:-8.70 [[ 9.80609905e-01 1.93200352e-01 3.28304470e-02 2.65974381e+02] [-1.93083856e-01 9.81159296e-01 -6.71265641e-03 -4.88175875e+01] [-3.35087859e-02 2.43468057e-04 9.99438393e-01 -8.70419854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:266.01, Y:-48.82, Z:-8.70 [[ 9.80615590e-01 1.93175790e-01 3.28051698e-02 2.66006008e+02] [-1.93059437e-01 9.81164132e-01 -6.70815711e-03 -4.88246031e+01] [-3.34831095e-02 2.44775822e-04 9.99439254e-01 -8.70494875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914012739 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:266.04, Y:-48.83, Z:-8.71 [[ 9.80327178e-01 1.94803927e-01 3.17813372e-02 2.66035709e+02] [-1.94695401e-01 9.80842186e-01 -6.50433043e-03 -4.88294339e+01] [-3.24395453e-02 1.88691720e-04 9.99473682e-01 -8.70545088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:266.07, Y:-48.84, Z:-8.71 [[ 9.80039452e-01 1.96280149e-01 3.15717594e-02 2.66066027e+02] [-1.96173803e-01 9.80547849e-01 -6.46184360e-03 -4.88351477e+01] [-3.22259523e-02 1.39309575e-04 9.99480599e-01 -8.70665513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974012739 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:266.10, Y:-48.84, Z:-8.70 [[ 9.79322623e-01 1.99669450e-01 3.25470733e-02 2.66096546e+02] [-1.99558299e-01 9.79863312e-01 -6.66146270e-03 -4.88419075e+01] [-3.32217736e-02 2.86825278e-05 9.99448004e-01 -8.69701280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:266.13, Y:-48.85, Z:-8.71 [[ 9.78925777e-01 2.01319928e-01 3.42725855e-02 2.66125960e+02] [-2.01197687e-01 9.79525541e-01 -7.01463404e-03 -4.88482102e+01] [-3.49830585e-02 -2.87588457e-05 9.99387905e-01 -8.70778599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034012739 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:266.16, Y:-48.85, Z:-8.71 [[ 9.78691206e-01 2.02299583e-01 3.51909364e-02 2.66155958e+02] [-2.02171318e-01 9.79323682e-01 -7.20303842e-03 -4.88548705e+01] [-3.59204891e-02 -6.50476295e-05 9.99354649e-01 -8.70906145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:266.19, Y:-48.86, Z:-8.71 [[ 9.78528496e-01 2.02788487e-01 3.68620596e-02 2.66186950e+02] [-2.02648056e-01 9.79222560e-01 -7.54607993e-03 -4.88619364e+01] [-3.76264185e-02 -8.59704703e-05 9.99291872e-01 -8.71004124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094012739 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:266.22, Y:-48.87, Z:-8.71 [[ 9.78451208e-01 2.03327486e-01 3.59328057e-02 2.66218191e+02] [-2.03194185e-01 9.79110782e-01 -7.36201672e-03 -4.88687207e+01] [-3.66790978e-02 -9.79630184e-05 9.99327091e-01 -8.71158794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:266.25, Y:-48.88, Z:-8.71 [[ 9.78036187e-01 2.05745875e-01 3.33744139e-02 2.66247837e+02] [-2.05632095e-01 9.78605439e-01 -6.84366068e-03 -4.88759350e+01] [-3.40684379e-02 -1.69502829e-04 9.99419488e-01 -8.71347900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154012739 meters Centerline goodness : 0.991376 Centerline is valid? [True, True] Translation: X:266.28, Y:-48.88, Z:-8.71 [[ 9.77460389e-01 2.08594447e-01 3.25506413e-02 2.66277415e+02] [-2.08487779e-01 9.78002192e-01 -6.67516429e-03 -4.88813992e+01] [-3.32270008e-02 -2.61702224e-04 9.99447797e-01 -8.71441436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:266.31, Y:-48.88, Z:-8.72 [[ 9.75703196e-01 2.16629233e-01 3.27879256e-02 2.66307165e+02] [-2.16525557e-01 9.76253801e-01 -6.72302308e-03 -4.88834239e+01] [-3.34657403e-02 -5.39748755e-04 9.99439719e-01 -8.71512962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214012739 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:266.34, Y:-48.89, Z:-8.72 [[ 9.75037451e-01 2.19623751e-01 3.26707391e-02 2.66335846e+02] [-2.19522521e-01 9.75584439e-01 -6.69817784e-03 -4.88865228e+01] [-3.33441436e-02 -6.40988773e-04 9.99443724e-01 -8.71647614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:266.36, Y:-48.89, Z:-8.72 [[ 9.74610153e-01 2.21588809e-01 3.21473090e-02 2.66364408e+02] [-2.21491904e-01 9.75139945e-01 -6.58968614e-03 -4.88900636e+01] [-3.28083258e-02 -6.97993659e-04 9.99461418e-01 -8.71819144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274012739 meters Centerline goodness : 0.990936 Centerline is valid? [True, True] Translation: X:266.39, Y:-48.89, Z:-8.72 [[ 9.74462151e-01 2.22258448e-01 3.20109298e-02 2.66391910e+02] [-2.22162774e-01 9.74987521e-01 -6.56020106e-03 -4.88928336e+01] [-3.26683172e-02 -7.18969332e-04 9.99465989e-01 -8.71934872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:266.42, Y:-48.90, Z:-8.72 [[ 9.74877861e-01 2.20224436e-01 3.33819344e-02 2.66419662e+02] [-2.20119269e-01 9.75448991e-01 -6.83906932e-03 -4.88957752e+01] [-3.40685044e-02 -6.80749728e-04 9.99419268e-01 -8.72013112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334012739 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:266.45, Y:-48.90, Z:-8.72 [[ 9.75195100e-01 2.18794851e-01 3.35161052e-02 2.66448195e+02] [-2.18688061e-01 9.75770675e-01 -6.86456033e-03 -4.89009575e+01] [-3.42059630e-02 -6.35286469e-04 9.99414603e-01 -8.72115530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:266.48, Y:-48.91, Z:-8.72 [[ 9.75530545e-01 2.17321732e-01 3.33379688e-02 2.66477147e+02] [-2.17215271e-01 9.76099855e-01 -6.82643379e-03 -4.89064230e+01] [-3.40247189e-02 -5.82121240e-04 9.99420822e-01 -8.72227176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394012739 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:266.51, Y:-48.91, Z:-8.72 [[ 9.76395938e-01 2.13543969e-01 3.24028597e-02 2.66505668e+02] [-2.13441343e-01 9.76933355e-01 -6.63417428e-03 -4.89111784e+01] [-3.30721223e-02 -4.38529054e-04 9.99452872e-01 -8.72414227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:266.53, Y:-48.92, Z:-8.72 [[ 9.77001268e-01 2.10642434e-01 3.31404050e-02 2.66533880e+02] [-2.10533455e-01 9.77563114e-01 -6.78390130e-03 -4.89161729e+01] [-3.38258150e-02 -3.49283793e-04 9.99427682e-01 -8.72491569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454012739 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:266.56, Y:-48.92, Z:-8.73 [[ 9.78303382e-01 2.04209711e-01 3.49411915e-02 2.66562434e+02] [-2.04084520e-01 9.78927155e-01 -7.15074529e-03 -4.89237141e+01] [-3.56651328e-02 -1.35357985e-04 9.99363788e-01 -8.72509183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:266.59, Y:-48.93, Z:-8.73 [[ 9.78873608e-01 2.01401972e-01 3.52661914e-02 2.66592795e+02] [-2.01272646e-01 9.79508675e-01 -7.21646447e-03 -4.89326486e+01] [-3.59969506e-02 -3.41130515e-05 9.99351899e-01 -8.72635395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514012739 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:266.62, Y:-48.94, Z:-8.73 [[ 9.79429839e-01 1.98706532e-01 3.51127402e-02 2.66622394e+02] [-1.98576565e-01 9.80059034e-01 -7.18597780e-03 -4.89407914e+01] [-3.58404590e-02 6.55937594e-05 9.99357522e-01 -8.72735609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:266.65, Y:-48.95, Z:-8.73 [[ 9.80099904e-01 1.95534681e-01 3.42106391e-02 2.66653195e+02] [-1.95409305e-01 9.80696771e-01 -7.00333897e-03 -4.89489247e+01] [-3.49196589e-02 1.78894630e-04 9.99390107e-01 -8.72871191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574012739 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:266.68, Y:-48.96, Z:-8.73 [[ 9.80388921e-01 1.94241465e-01 3.32838741e-02 2.66684981e+02] [-1.94121859e-01 9.80953721e-01 -6.81914984e-03 -4.89593556e+01] [-3.39745018e-02 2.24291428e-04 9.99422675e-01 -8.73088152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:266.72, Y:-48.97, Z:-8.73 [[ 9.80466988e-01 1.93969593e-01 3.25619702e-02 2.66716447e+02] [-1.93854755e-01 9.81007514e-01 -6.67773998e-03 -4.89687913e+01] [-3.32388160e-02 2.35010850e-04 9.99447410e-01 -8.73196220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634012739 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:266.75, Y:-48.98, Z:-8.73 [[ 9.80495513e-01 1.93914459e-01 3.20270491e-02 2.66746876e+02] [-1.93803125e-01 9.81018412e-01 -6.57444014e-03 -4.89775623e+01] [-3.26940039e-02 2.39266849e-04 9.99465380e-01 -8.73302456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:266.78, Y:-48.99, Z:-8.73 [[ 9.80234325e-01 1.95426735e-01 3.08068215e-02 2.66776235e+02] [-1.95324281e-01 9.80718286e-01 -6.33002222e-03 -4.89857102e+01] [-3.14498687e-02 1.87584795e-04 9.99505313e-01 -8.73429946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694012739 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:266.81, Y:-48.99, Z:-8.74 [[ 9.79825149e-01 1.97445520e-01 3.09506818e-02 2.66807178e+02] [-1.97343103e-01 9.80313853e-01 -6.35991889e-03 -4.89915467e+01] [-3.15971196e-02 1.23704889e-04 9.99500679e-01 -8.73557695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:266.84, Y:-49.00, Z:-8.73 [[ 9.78987860e-01 2.01261442e-01 3.28116069e-02 2.66836238e+02] [-2.01148446e-01 9.79537560e-01 -6.74321168e-03 -4.89956846e+01] [-3.34973499e-02 1.51864370e-06 9.99438806e-01 -8.73485333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754012739 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:266.87, Y:-49.00, Z:-8.74 [[ 9.78601865e-01 2.03098109e-01 3.30082952e-02 2.66866834e+02] [-2.02984812e-01 9.79158391e-01 -6.78319921e-03 -4.90014662e+01] [-3.36980041e-02 -6.21311897e-05 9.99432059e-01 -8.73541849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:266.90, Y:-49.01, Z:-8.74 [[ 9.78192794e-01 2.05103516e-01 3.27323475e-02 2.66897029e+02] [-2.04993200e-01 9.78740278e-01 -6.72731251e-03 -4.90058227e+01] [-3.34162623e-02 -1.29300045e-04 9.99441512e-01 -8.73686389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814012739 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:266.93, Y:-49.01, Z:-8.74 [[ 9.78098684e-01 2.05571998e-01 3.26055027e-02 2.66927036e+02] [-2.05462797e-01 9.78641984e-01 -6.70124275e-03 -4.90111805e+01] [-3.32867017e-02 -1.44741064e-04 9.99445834e-01 -8.73881164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:266.96, Y:-49.02, Z:-8.74 [[ 9.78180175e-01 2.05269345e-01 3.20630837e-02 2.66956659e+02] [-2.05163585e-01 9.78705512e-01 -6.58976214e-03 -4.90171273e+01] [-3.27329929e-02 -1.32202525e-04 9.99464123e-01 -8.74048579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874012739 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:266.99, Y:-49.02, Z:-8.74 [[ 9.78185125e-01 2.05222228e-01 3.22133261e-02 2.66985861e+02] [-2.05115448e-01 9.78715393e-01 -6.62065779e-03 -4.90226376e+01] [-3.28863842e-02 -1.31221836e-04 9.99459088e-01 -8.74170552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:267.02, Y:-49.03, Z:-8.74 [[ 9.78052788e-01 2.05777356e-01 3.26867397e-02 2.67015567e+02] [-2.05667737e-01 9.78598823e-01 -6.71756493e-03 -4.90276636e+01] [-3.33695278e-02 -1.52474668e-04 9.99443071e-01 -8.74192340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934012739 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:267.05, Y:-49.03, Z:-8.74 [[ 9.77703988e-01 2.07387371e-01 3.29452722e-02 2.67045069e+02] [-2.07276950e-01 9.78258879e-01 -6.76989739e-03 -4.90293138e+01] [-3.36329962e-02 -2.09839862e-04 9.99434229e-01 -8.74159191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:267.07, Y:-49.04, Z:-8.74 [[ 9.77706385e-01 2.07376045e-01 3.29454304e-02 2.67074608e+02] [-2.07265644e-01 9.78261280e-01 -6.76912733e-03 -4.90353432e+01] [-3.36329938e-02 -2.10236849e-04 9.99434229e-01 -8.74262736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:267.10, Y:-49.04, Z:-8.74 [[ 9.77583639e-01 2.08046805e-01 3.23536009e-02 2.67103697e+02] [-2.07940715e-01 9.78118845e-01 -6.64715973e-03 -4.90393546e+01] [-3.30285871e-02 -2.29476298e-04 9.99454381e-01 -8.74475939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:267.13, Y:-49.04, Z:-8.75 [[ 9.77067077e-01 2.10714459e-01 3.06487290e-02 2.67131825e+02] [-2.10620588e-01 9.77547607e-01 -6.29630052e-03 -4.90422739e+01] [-3.12873132e-02 -3.03345363e-04 9.99510386e-01 -8.74636355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05401273900003 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:267.16, Y:-49.05, Z:-8.75 [[ 9.76635223e-01 2.12676674e-01 3.08589239e-02 2.67159826e+02] [-2.12582547e-01 9.77122559e-01 -6.33762812e-03 -4.90463106e+01] [-3.15008164e-02 -3.70517791e-04 9.99503657e-01 -8.74702596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:267.19, Y:-49.05, Z:-8.75 [[ 9.75604967e-01 2.17164315e-01 3.21653469e-02 2.67188098e+02] [-2.17064548e-01 9.76134914e-01 -6.60394566e-03 -4.90481206e+01] [-3.28318595e-02 -5.39114315e-04 9.99460744e-01 -8.74702984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11401273900003 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:267.22, Y:-49.05, Z:-8.75 [[ 9.75139193e-01 2.19160165e-01 3.27471558e-02 2.67215316e+02] [-2.19057951e-01 9.75688700e-01 -6.72127481e-03 -4.90520258e+01] [-3.34240656e-02 -6.19346358e-04 9.99441068e-01 -8.74750224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:267.24, Y:-49.05, Z:-8.75 [[ 9.74434728e-01 2.22250660e-01 3.28877610e-02 2.67243560e+02] [-2.22149394e-01 9.74989287e-01 -6.74805950e-03 -4.90541405e+01] [-3.35649753e-02 -7.30452650e-04 9.99436271e-01 -8.74836377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17401273900003 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:267.27, Y:-49.06, Z:-8.75 [[ 9.74359925e-01 2.22599393e-01 3.27451946e-02 2.67271884e+02] [-2.22499275e-01 9.74909719e-01 -6.71653890e-03 -4.90571651e+01] [-3.34187060e-02 -7.41455733e-04 9.99441164e-01 -8.74989433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:267.30, Y:-49.06, Z:-8.75 [[ 9.74409784e-01 2.22328843e-01 3.30976998e-02 2.67300017e+02] [-2.22226480e-01 9.74971453e-01 -6.78652385e-03 -4.90599209e+01] [-3.37781524e-02 -7.42330071e-04 9.99429080e-01 -8.75149492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234012739 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:267.33, Y:-49.06, Z:-8.75 [[ 9.74708994e-01 2.20939214e-01 3.35892877e-02 2.67327038e+02] [-2.20833044e-01 9.75287324e-01 -6.88495735e-03 -4.90608850e+01] [-3.42803636e-02 -7.06794782e-04 9.99412006e-01 -8.75248957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:267.35, Y:-49.06, Z:-8.75 [[ 9.75292333e-01 2.18205673e-01 3.45130393e-02 2.67354660e+02] [-2.18091970e-01 9.75902601e-01 -7.07147237e-03 -4.90634769e+01] [-3.52244002e-02 -6.30263936e-04 9.99379230e-01 -8.75293706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294012739 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:267.38, Y:-49.07, Z:-8.75 [[ 9.75671845e-01 2.16304896e-01 3.57301550e-02 2.67382641e+02] [-2.16181832e-01 9.76325689e-01 -7.31873333e-03 -4.90676753e+01] [-3.64673461e-02 -5.83528325e-04 9.99334675e-01 -8.75357151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:267.41, Y:-49.07, Z:-8.75 [[ 9.76132158e-01 2.14154676e-01 3.61079588e-02 2.67409515e+02] [-2.14027618e-01 9.76799628e-01 -7.39357179e-03 -4.90713189e+01] [-3.68536087e-02 -5.10997230e-04 9.99320544e-01 -8.75407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354012739 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:267.44, Y:-49.07, Z:-8.76 [[ 9.76922977e-01 2.10764107e-01 3.46408531e-02 2.67437594e+02] [-2.10645149e-01 9.77536881e-01 -7.08995930e-03 -4.90743129e+01] [-3.53570204e-02 -3.70583509e-04 9.99374676e-01 -8.75683548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:267.47, Y:-49.08, Z:-8.76 [[ 9.77361363e-01 2.09001959e-01 3.29081789e-02 2.67465394e+02] [-2.08893665e-01 9.77915178e-01 -6.73358992e-03 -4.90794875e+01] [-3.35887411e-02 -2.93159482e-04 9.99435696e-01 -8.75899989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414012739 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:267.49, Y:-49.09, Z:-8.76 [[ 9.78205968e-01 2.05162590e-01 3.19592856e-02 2.67491957e+02] [-2.05058472e-01 9.78727892e-01 -6.53733675e-03 -4.90866225e+01] [-3.26206612e-02 -1.58660459e-04 9.99467792e-01 -8.76022227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:267.52, Y:-49.09, Z:-8.76 [[ 9.78686300e-01 2.02848837e-01 3.20230559e-02 2.67518988e+02] [-2.02743122e-01 9.79210060e-01 -6.54859171e-03 -4.90936804e+01] [-3.26856727e-02 -8.34373346e-05 9.99465677e-01 -8.76040269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474012739 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:267.55, Y:-49.10, Z:-8.76 [[ 9.79660061e-01 1.97931500e-01 3.30043374e-02 2.67546684e+02] [-1.97816477e-01 9.80215851e-01 -6.74737492e-03 -4.91031004e+01] [-3.36868927e-02 8.13319983e-05 9.99432432e-01 -8.76118494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:267.57, Y:-49.11, Z:-8.76 [[ 9.80177703e-01 1.95349432e-01 3.30192507e-02 2.67574699e+02] [-1.95232893e-01 9.80733690e-01 -6.74880570e-03 -4.91101856e+01] [-3.37014670e-02 1.68585025e-04 9.99431930e-01 -8.76299919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534012739 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:267.60, Y:-49.12, Z:-8.76 [[ 9.80604229e-01 1.93282097e-01 3.25173348e-02 2.67602258e+02] [-1.93167977e-01 9.81143198e-01 -6.64506352e-03 -4.91172788e+01] [-3.31885336e-02 2.34869613e-04 9.99449081e-01 -8.76418077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:267.63, Y:-49.13, Z:-8.77 [[ 9.81012587e-01 1.91363187e-01 3.15346684e-02 2.67629117e+02] [-1.91254913e-01 9.81519254e-01 -6.44294861e-03 -4.91264685e+01] [-3.21848274e-02 2.89453419e-04 9.99481892e-01 -8.76562809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594012739 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:267.66, Y:-49.14, Z:-8.77 [[ 9.81022958e-01 1.91314560e-01 3.15070515e-02 2.67656436e+02] [-1.91206506e-01 9.81528734e-01 -6.43558154e-03 -4.91352377e+01] [-3.21562968e-02 2.89100011e-04 9.99482811e-01 -8.76626528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:267.68, Y:-49.15, Z:-8.77 [[ 9.81005148e-01 1.91216180e-01 3.26385010e-02 2.67683292e+02] [-1.91100217e-01 9.81547901e-01 -6.66522967e-03 -4.91460575e+01] [-3.33107519e-02 3.01399992e-04 9.99444997e-01 -8.76650505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654012739 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:267.71, Y:-49.15, Z:-8.77 [[ 9.80906491e-01 1.91671141e-01 3.29337084e-02 2.67710763e+02] [-1.91553375e-01 9.81459164e-01 -6.72408204e-03 -4.91536456e+01] [-3.36119024e-02 2.87132729e-04 9.99434919e-01 -8.76739919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:267.74, Y:-49.16, Z:-8.77 [[ 9.80647373e-01 1.92948958e-01 3.31877807e-02 2.67737676e+02] [-1.92830147e-01 9.81208765e-01 -6.77451550e-03 -4.91636433e+01] [-3.38712770e-02 2.43806200e-04 9.99426174e-01 -8.76828753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714012739 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:267.77, Y:-49.17, Z:-8.77 [[ 9.80514715e-01 1.93546304e-01 3.36262124e-02 2.67765431e+02] [-1.93424734e-01 9.81091116e-01 -6.86254535e-03 -4.91713196e+01] [-3.43185985e-02 2.24685508e-04 9.99410918e-01 -8.76889470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:267.79, Y:-49.18, Z:-8.77 [[ 9.80227693e-01 1.94886621e-01 3.42472737e-02 2.67793048e+02] [-1.94761388e-01 9.80825761e-01 -6.98778959e-03 -4.91804034e+01] [-3.49524350e-02 1.79578316e-04 9.99388961e-01 -8.76990832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774012739 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:267.82, Y:-49.19, Z:-8.77 [[ 9.80157002e-01 1.95300651e-01 3.39102860e-02 2.67823076e+02] [-1.95178168e-01 9.80743407e-01 -6.91760192e-03 -4.91887162e+01] [-3.46083016e-02 1.61788456e-04 9.99400940e-01 -8.77098274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:267.85, Y:-49.20, Z:-8.77 [[ 9.80030360e-01 1.96028257e-01 3.33679009e-02 2.67852209e+02] [-1.95910056e-01 9.80598238e-01 -6.80775679e-03 -4.91968532e+01] [-3.40550176e-02 1.34701000e-04 9.99419951e-01 -8.77207284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834012739 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:267.88, Y:-49.21, Z:-8.77 [[ 9.79551121e-01 1.98600719e-01 3.22080132e-02 2.67882087e+02] [-1.98491974e-01 9.80080483e-01 -6.57144057e-03 -4.92065012e+01] [-3.28715379e-02 4.40298556e-05 9.99459584e-01 -8.77279899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:267.91, Y:-49.21, Z:-8.77 [[ 9.78716439e-01 2.02542991e-01 3.30222527e-02 2.67910279e+02] [-2.02430863e-01 9.79273368e-01 -6.73919401e-03 -4.92142560e+01] [-3.37027891e-02 -8.89631524e-05 9.99431896e-01 -8.77328247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894012739 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:267.94, Y:-49.22, Z:-8.77 [[ 9.78268145e-01 2.04574215e-01 3.37761208e-02 2.67939276e+02] [-2.04458102e-01 9.78851043e-01 -6.89348885e-03 -4.92214632e+01] [-3.44720212e-02 -1.62121005e-04 9.99405650e-01 -8.77468336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:267.97, Y:-49.23, Z:-8.78 [[ 9.77883528e-01 2.06342398e-01 3.41558159e-02 2.67967255e+02] [-2.06224752e-01 9.78479822e-01 -6.97055629e-03 -4.92284923e+01] [-3.48590980e-02 -2.27382474e-04 9.99392211e-01 -8.77515273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954012739 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:267.99, Y:-49.24, Z:-8.78 [[ 9.77351626e-01 2.08968570e-01 3.34056418e-02 2.67994709e+02] [-2.08857607e-01 9.77922306e-01 -6.81632702e-03 -4.92362408e+01] [-3.40925204e-02 -3.15074135e-04 9.99418631e-01 -8.77629844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:268.02, Y:-49.24, Z:-8.78 [[ 9.77122957e-01 2.10165430e-01 3.25763467e-02 2.68023927e+02] [-2.10060621e-01 9.77665776e-01 -6.64571372e-03 -4.92431504e+01] [-3.32454786e-02 -3.49328185e-04 9.99447155e-01 -8.77721995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014012739 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:268.05, Y:-49.25, Z:-8.78 [[ 9.76180383e-01 2.14596880e-01 3.19380389e-02 2.68051845e+02] [-2.14498531e-01 9.76702584e-01 -6.51478938e-03 -4.92495712e+01] [-3.25920186e-02 -4.91052832e-04 9.99468618e-01 -8.77854642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:268.08, Y:-49.25, Z:-8.78 [[ 9.75642144e-01 2.17047504e-01 3.18243398e-02 2.68080334e+02] [-2.16951191e-01 9.76160875e-01 -6.49051924e-03 -4.92546890e+01] [-3.24744264e-02 -5.71904332e-04 9.99472403e-01 -8.77931710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074012739 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:268.11, Y:-49.26, Z:-8.78 [[ 9.75160303e-01 2.19155553e-01 3.21438513e-02 2.68108662e+02] [-2.19058490e-01 9.75689716e-01 -6.55416818e-03 -4.92597475e+01] [-3.27988075e-02 -6.50018885e-04 9.99461763e-01 -8.78062463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:268.14, Y:-49.26, Z:-8.78 [[ 9.74130566e-01 2.23640097e-01 3.24768887e-02 2.68136577e+02] [-2.23543549e-01 9.74671457e-01 -6.62056147e-03 -4.92626955e+01] [-3.31349194e-02 -8.10707656e-04 9.99450559e-01 -8.78094677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134012739 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:268.16, Y:-49.27, Z:-8.78 [[ 9.73674631e-01 2.25628629e-01 3.23949936e-02 2.68164203e+02] [-2.25533728e-01 9.74212991e-01 -6.60200583e-03 -4.92662201e+01] [-3.30492251e-02 -8.77958099e-04 9.99453340e-01 -8.78158732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:268.19, Y:-49.27, Z:-8.78 [[ 9.73439575e-01 2.26725628e-01 3.17943890e-02 2.68192858e+02] [-2.26634860e-01 9.73958254e-01 -6.47771012e-03 -4.92688331e+01] [-3.24350704e-02 -9.00057492e-04 9.99473439e-01 -8.78275581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194012739 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:268.22, Y:-49.27, Z:-8.78 [[ 9.73505004e-01 2.26409881e-01 3.20401707e-02 2.68220389e+02] [-2.26317581e-01 9.74031704e-01 -6.52632681e-03 -4.92737927e+01] [-3.26857669e-02 -8.97842121e-04 9.99465274e-01 -8.78432038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:268.25, Y:-49.28, Z:-8.79 [[ 9.74017875e-01 2.23996324e-01 3.33890037e-02 2.68248473e+02] [-2.23894739e-01 9.74589616e-01 -6.79901879e-03 -4.92795051e+01] [-3.40635315e-02 -8.53256454e-04 9.99419305e-01 -8.78525296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254012739 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:268.28, Y:-49.28, Z:-8.79 [[ 9.74397358e-01 2.22281303e-01 3.37758856e-02 2.68275868e+02] [-2.22176375e-01 9.74982244e-01 -6.87620214e-03 -4.92849004e+01] [-3.44593399e-02 -8.04050643e-04 9.99405777e-01 -8.78589678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:268.30, Y:-49.29, Z:-8.79 [[ 9.75018675e-01 2.19720674e-01 3.25792545e-02 2.68303990e+02] [-2.19621692e-01 9.75562581e-01 -6.63049554e-03 -4.92905508e+01] [-3.32399585e-02 -6.90254026e-04 9.99447162e-01 -8.78675254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314012739 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:268.33, Y:-49.30, Z:-8.79 [[ 9.75345027e-01 2.18369194e-01 3.18900247e-02 2.68332630e+02] [-2.18273682e-01 9.75866023e-01 -6.48874556e-03 -4.92971322e+01] [-3.25373338e-02 -6.31987418e-04 9.99470321e-01 -8.78805341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:268.36, Y:-49.30, Z:-8.79 [[ 9.75548868e-01 2.17466829e-01 3.18211384e-02 2.68360282e+02] [-2.17371274e-01 9.76067527e-01 -6.47398503e-03 -4.93040427e+01] [-3.24674568e-02 -6.01312626e-04 9.99472612e-01 -8.78896208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374012739 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:268.39, Y:-49.31, Z:-8.79 [[ 9.75342189e-01 2.18225982e-01 3.29398583e-02 2.68387507e+02] [-2.18124062e-01 9.75898047e-01 -6.70037491e-03 -4.93099968e+01] [-3.36081393e-02 -6.49817369e-04 9.99434876e-01 -8.78813317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:268.42, Y:-49.31, Z:-8.79 [[ 9.75112314e-01 2.19174877e-01 3.34417188e-02 2.68415953e+02] [-2.19070452e-01 9.75685344e-01 -6.80048285e-03 -4.93133846e+01] [-3.41190899e-02 -6.94857895e-04 9.99417533e-01 -8.78825349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434012739 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:268.44, Y:-49.32, Z:-8.79 [[ 9.74521451e-01 2.21519925e-01 3.51690778e-02 2.68443919e+02] [-2.21406018e-01 9.75155502e-01 -7.15001446e-03 -4.93159280e+01] [-3.58791904e-02 -8.18803011e-04 9.99355799e-01 -8.78939902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:268.47, Y:-49.32, Z:-8.79 [[ 9.74274995e-01 2.22454185e-01 3.60883560e-02 2.68472195e+02] [-2.22334961e-01 9.74942750e-01 -7.33480942e-03 -4.93219152e+01] [-3.68157401e-02 -8.77581814e-04 9.99321686e-01 -8.79036007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494012739 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:268.50, Y:-49.32, Z:-8.79 [[ 9.74149214e-01 2.22899620e-01 3.67296590e-02 2.68501484e+02] [-2.22776498e-01 9.74840976e-01 -7.46351537e-03 -4.93241390e+01] [-3.74691913e-02 -9.11927155e-04 9.99297367e-01 -8.79109962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:268.53, Y:-49.33, Z:-8.79 [[ 9.74202903e-01 2.22779381e-01 3.60284817e-02 2.68529333e+02] [-2.22660895e-01 9.74868480e-01 -7.31935730e-03 -4.93256573e+01] [-3.67536331e-02 -8.91594870e-04 9.99323959e-01 -8.79222099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55401273900003 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:268.56, Y:-49.33, Z:-8.79 [[ 9.74495398e-01 2.21976518e-01 3.29415522e-02 2.68559089e+02] [-2.21877073e-01 9.75051692e-01 -6.69042316e-03 -4.93256136e+01] [-3.36048330e-02 -7.89188590e-04 9.99434887e-01 -8.79483655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:268.59, Y:-49.33, Z:-8.80 [[ 9.74786573e-01 2.20831452e-01 3.20094645e-02 2.68587532e+02] [-2.20736986e-01 9.75311713e-01 -6.49968444e-03 -4.93296685e+01] [-3.26545404e-02 -7.29867620e-04 9.99466432e-01 -8.79591920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61401273900003 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:268.62, Y:-49.33, Z:-8.80 [[ 9.75434485e-01 2.17776099e-01 3.31833655e-02 2.68615761e+02] [-2.17672865e-01 9.75998538e-01 -6.73636845e-03 -4.93288689e+01] [-3.38539362e-02 -6.52232134e-04 9.99426578e-01 -8.79652006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:268.64, Y:-49.33, Z:-8.80 [[ 9.75837964e-01 2.15855813e-01 3.38605401e-02 2.68643434e+02] [-2.15747238e-01 9.76425066e-01 -6.87172821e-03 -4.93313459e+01] [-3.45455826e-02 -5.99624741e-04 9.99402943e-01 -8.79796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67401273900003 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:268.67, Y:-49.34, Z:-8.80 [[ 9.76315118e-01 2.13680428e-01 3.39037668e-02 2.68671424e+02] [-2.13570332e-01 9.76903475e-01 -6.87855491e-03 -4.93357972e+01] [-3.45905201e-02 -5.25201555e-04 9.99401431e-01 -8.79913028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:268.70, Y:-49.34, Z:-8.80 [[ 9.77616300e-01 2.07783118e-01 3.30536798e-02 2.68698352e+02] [-2.07675154e-01 9.78174872e-01 -6.70452244e-03 -4.93408625e+01] [-3.37253656e-02 -3.09977628e-04 9.99431090e-01 -8.80048177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734012739 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:268.73, Y:-49.34, Z:-8.80 [[ 9.78853420e-01 2.01970582e-01 3.24632975e-02 2.68726751e+02] [-2.01863306e-01 9.79391583e-01 -6.58282157e-03 -4.93444833e+01] [-3.31238167e-02 -1.09531160e-04 9.99451250e-01 -8.80160268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:268.75, Y:-49.35, Z:-8.80 [[ 9.79272233e-01 1.99990378e-01 3.20895876e-02 2.68754366e+02] [-1.99884547e-01 9.79797860e-01 -6.50545469e-03 -4.93503085e+01] [-3.27423376e-02 -4.36015301e-05 9.99463825e-01 -8.80281845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794012739 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:268.78, Y:-49.36, Z:-8.80 [[ 9.79642098e-01 1.98284261e-01 3.13801070e-02 2.68782414e+02] [-1.98182220e-01 9.80144556e-01 -6.36051322e-03 -4.93577249e+01] [-3.20182308e-02 1.20472382e-05 9.99487285e-01 -8.80471108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:268.81, Y:-49.37, Z:-8.81 [[ 9.80085858e-01 1.96431916e-01 2.90897312e-02 2.68810072e+02] [-1.96343449e-01 9.80517464e-01 -5.89508190e-03 -4.93661697e+01] [-2.96809717e-02 6.61082615e-05 9.99559421e-01 -8.80600213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854012739 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:268.84, Y:-49.37, Z:-8.81 [[ 9.80092561e-01 1.96398427e-01 2.90900102e-02 2.68838818e+02] [-1.96309986e-01 9.80524173e-01 -5.89370445e-03 -4.93719081e+01] [-2.96809725e-02 6.57163730e-05 9.99559421e-01 -8.80700891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:268.87, Y:-49.38, Z:-8.81 [[ 9.80192910e-01 1.95830635e-01 2.95333896e-02 2.68866131e+02] [-1.95739249e-01 9.80637729e-01 -5.98256245e-03 -4.93778947e+01] [-3.01331251e-02 8.32218183e-05 9.99545891e-01 -8.80795111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914012739 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:268.89, Y:-49.39, Z:-8.81 [[ 9.80065473e-01 1.96275245e-01 3.07846884e-02 2.68894434e+02] [-1.96176229e-01 9.80548838e-01 -6.23409688e-03 -4.93850797e+01] [-3.14094893e-02 7.05990391e-05 9.99506598e-01 -8.80872785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:268.92, Y:-49.39, Z:-8.81 [[ 9.79713952e-01 1.97761598e-01 3.24179471e-02 2.68922429e+02] [-1.97652657e-01 9.80250147e-01 -6.56332948e-03 -4.93928469e+01] [-3.30756720e-02 2.26920743e-05 9.99452850e-01 -8.80940550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974012739 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:268.95, Y:-49.40, Z:-8.81 [[ 9.78803030e-01 2.02042655e-01 3.35170805e-02 2.68951015e+02] [-2.01928763e-01 9.79376715e-01 -6.78419362e-03 -4.94000932e+01] [-3.41965446e-02 -1.27673329e-04 9.99415119e-01 -8.80815072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:268.98, Y:-49.40, Z:-8.81 [[ 9.78333305e-01 2.04537410e-01 3.20685636e-02 2.68979783e+02] [-2.04434516e-01 9.78858726e-01 -6.49025463e-03 -4.94044608e+01] [-3.27180932e-02 -2.06289013e-04 9.99464599e-01 -8.80855220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034012739 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:269.01, Y:-49.41, Z:-8.81 [[ 9.77198863e-01 2.10234903e-01 2.97265650e-02 2.69008456e+02] [-2.10149153e-01 9.77650832e-01 -6.01529365e-03 -4.94066608e+01] [-3.03268257e-02 -3.68874354e-04 9.99539968e-01 -8.81190437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:269.04, Y:-49.41, Z:-8.81 [[ 9.76645519e-01 2.12769704e-01 2.98761403e-02 2.69037257e+02] [-2.12684320e-01 9.77102272e-01 -6.04408486e-03 -4.94117280e+01] [-3.04780427e-02 -4.51258175e-04 9.99535335e-01 -8.81299600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094012739 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:269.06, Y:-49.41, Z:-8.81 [[ 9.75667274e-01 2.16838033e-01 3.24751945e-02 2.69064443e+02] [-2.16739448e-01 9.76207391e-01 -6.56818927e-03 -4.94135976e+01] [-3.31267582e-02 -6.30288425e-04 9.99450960e-01 -8.81271218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:269.09, Y:-49.42, Z:-8.81 [[ 9.75348855e-01 2.18063085e-01 3.38097989e-02 2.69093613e+02] [-2.17957069e-01 9.75934423e-01 -6.83511505e-03 -4.94157767e+01] [-3.44866328e-02 -7.02463032e-04 9.99404912e-01 -8.81286522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:269.12, Y:-49.42, Z:-8.81 [[ 9.75237826e-01 2.18448163e-01 3.45193274e-02 2.69121754e+02] [-2.18337950e-01 9.75848279e-01 -6.97683255e-03 -4.94187818e+01] [-3.52097025e-02 -7.32808189e-04 9.99379678e-01 -8.81404218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:269.15, Y:-49.42, Z:-8.82 [[ 9.75660114e-01 2.16676126e-01 3.37460923e-02 2.69150796e+02] [-2.16569805e-01 9.76243323e-01 -6.81856233e-03 -4.94210988e+01] [-3.44218170e-02 -6.55785346e-04 9.99407179e-01 -8.81576880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214012739 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:269.18, Y:-49.42, Z:-8.82 [[ 9.75966633e-01 2.15341990e-01 3.34209415e-02 2.69179359e+02] [-2.15236981e-01 9.76538510e-01 -6.75127751e-03 -4.94239820e+01] [-3.40906699e-02 -6.04400965e-04 9.99418561e-01 -8.81684489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:269.21, Y:-49.42, Z:-8.82 [[ 9.76388019e-01 2.13356484e-01 3.38444637e-02 2.69208103e+02] [-2.13247663e-01 9.76974265e-01 -6.83511504e-03 -4.94217821e+01] [-3.45234862e-02 -5.43528369e-04 9.99403739e-01 -8.81708614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274012739 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:269.24, Y:-49.42, Z:-8.82 [[ 9.76705852e-01 2.11919935e-01 3.36989604e-02 2.69235764e+02] [-2.11811265e-01 9.77286907e-01 -6.80364265e-03 -4.94238987e+01] [-3.43753803e-02 -4.92661847e-04 9.99408871e-01 -8.81838452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:269.26, Y:-49.43, Z:-8.82 [[ 9.77084681e-01 2.10239834e-01 3.32376058e-02 2.69263640e+02] [-2.10133216e-01 9.77649747e-01 -6.70850193e-03 -4.94269503e+01] [-3.39051312e-02 -4.29550515e-04 9.99424963e-01 -8.82003748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:269.29, Y:-49.43, Z:-8.82 [[ 9.78009617e-01 2.06089181e-01 3.20068664e-02 2.69292258e+02] [-2.05988149e-01 9.78533174e-01 -6.45829446e-03 -4.94275130e+01] [-3.26507652e-02 -2.76761066e-04 9.99466783e-01 -8.82076111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:269.32, Y:-49.42, Z:-8.82 [[ 9.78687229e-01 2.02901597e-01 3.16583391e-02 2.69320153e+02] [-2.02801158e-01 9.79199118e-01 -6.38572942e-03 -4.94247364e+01] [-3.22954925e-02 -1.70716017e-04 9.99478350e-01 -8.82160343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394012739 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:269.35, Y:-49.43, Z:-8.82 [[ 9.78905865e-01 2.01838531e-01 3.16940708e-02 2.69348518e+02] [-2.01737418e-01 9.79418801e-01 -6.38952400e-03 -4.94269763e+01] [-3.23314210e-02 -1.39137491e-04 9.99477193e-01 -8.82296141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:269.38, Y:-49.43, Z:-8.82 [[ 9.79060389e-01 2.01184807e-01 3.10713316e-02 2.69375339e+02] [-2.01087369e-01 9.79553296e-01 -6.26180392e-03 -4.94299555e+01] [-3.16958051e-02 -1.17368134e-04 9.99497555e-01 -8.82412103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454012739 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:269.40, Y:-49.43, Z:-8.83 [[ 9.79232788e-01 2.00509333e-01 2.99859021e-02 2.69403546e+02] [-2.00418344e-01 9.79691788e-01 -6.04058949e-03 -4.94294794e+01] [-3.05881366e-02 -9.45815586e-05 9.99532069e-01 -8.82511702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:269.43, Y:-49.43, Z:-8.83 [[ 9.79405164e-01 1.99682608e-01 2.98727611e-02 2.69431306e+02] [-1.99591985e-01 9.79860628e-01 -6.01566291e-03 -4.94317554e+01] [-3.04723657e-02 -7.05923811e-05 9.99535607e-01 -8.82565485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514012739 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:269.46, Y:-49.43, Z:-8.83 [[ 9.79939786e-01 1.97066978e-01 2.97089538e-02 2.69458558e+02] [-1.96976208e-01 9.80390028e-01 -5.98058556e-03 -4.94349739e+01] [-3.03049380e-02 8.65666264e-06 9.99540700e-01 -8.82651072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:269.49, Y:-49.44, Z:-8.83 [[ 9.80321042e-01 1.95233901e-01 2.92297610e-02 2.69486135e+02] [-1.95145294e-01 9.80756708e-01 -5.88168185e-03 -4.94406052e+01] [-2.98155878e-02 6.18861804e-05 9.99555415e-01 -8.82774749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574012739 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:269.51, Y:-49.45, Z:-8.83 [[ 9.80838764e-01 1.92573095e-01 2.95113781e-02 2.69512402e+02] [-1.92481631e-01 9.81282621e-01 -5.93623645e-03 -4.94455161e+01] [-3.01021618e-02 1.42092649e-04 9.99546817e-01 -8.82894635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:269.54, Y:-49.45, Z:-8.83 [[ 9.80885960e-01 1.92088017e-01 3.10632770e-02 2.69539045e+02] [-1.91986550e-01 9.81377689e-01 -6.24476065e-03 -4.94502209e+01] [-3.16843507e-02 1.61666668e-04 9.99497912e-01 -8.82862055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634012739 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:269.57, Y:-49.46, Z:-8.83 [[ 9.80786328e-01 1.92341339e-01 3.26034855e-02 2.69566965e+02] [-1.92229809e-01 9.81328072e-01 -6.55104663e-03 -4.94556530e+01] [-3.32547526e-02 1.57815179e-04 9.99446895e-01 -8.82864823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:269.59, Y:-49.46, Z:-8.83 [[ 9.80589712e-01 1.93243144e-01 3.31798750e-02 2.69594029e+02] [-1.93128230e-01 9.81150891e-01 -6.66451614e-03 -4.94607009e+01] [-3.38423359e-02 1.27185434e-04 9.99427176e-01 -8.82906801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694012739 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:269.62, Y:-49.46, Z:-8.83 [[ 9.80557612e-01 1.93606398e-01 3.19895624e-02 2.69620374e+02] [-1.93499850e-01 9.81079279e-01 -6.42317105e-03 -4.94639733e+01] [-3.26278638e-02 1.08313749e-04 9.99467564e-01 -8.83118915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:269.65, Y:-49.47, Z:-8.83 [[ 9.80634274e-01 1.93219229e-01 3.19804649e-02 2.69648253e+02] [-1.93112626e-01 9.81155602e-01 -6.41857439e-03 -4.94691392e+01] [-3.26180043e-02 1.18442476e-04 9.99467884e-01 -8.83281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:269.67, Y:-49.48, Z:-8.83 [[ 9.80801213e-01 1.92272295e-01 3.25629536e-02 2.69674657e+02] [-1.92161330e-01 9.81341603e-01 -6.53308406e-03 -4.94751549e+01] [-3.32115122e-02 1.50316287e-04 9.99448334e-01 -8.83309696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:269.70, Y:-49.48, Z:-8.83 [[ 9.81585667e-01 1.88119589e-01 3.31752582e-02 2.69702545e+02] [-1.88002135e-01 9.82146086e-01 -6.65305474e-03 -4.94820605e+01] [-3.38345199e-02 2.93523785e-04 9.99427406e-01 -8.83314529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814012739 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:269.73, Y:-49.49, Z:-8.83 [[ 9.82126995e-01 1.85406536e-01 3.24188521e-02 2.69730006e+02] [-1.85292951e-01 9.82661831e-01 -6.49984080e-03 -4.94873267e+01] [-3.30618815e-02 3.76684348e-04 9.99453236e-01 -8.83490947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:269.76, Y:-49.49, Z:-8.84 [[ 9.82930176e-01 1.81347158e-01 3.10077145e-02 2.69758355e+02] [-1.81241285e-01 9.83419020e-01 -6.21509637e-03 -4.94945961e+01] [-3.16206663e-02 4.89127749e-04 9.99499822e-01 -8.83621846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:269.79, Y:-49.50, Z:-8.84 [[ 9.83180570e-01 1.79956196e-01 3.11726424e-02 2.69785708e+02] [-1.79848540e-01 9.83674479e-01 -6.24672712e-03 -4.95015579e+01] [-3.17878700e-02 5.35306494e-04 9.99494495e-01 -8.83694213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:269.81, Y:-49.51, Z:-8.84 [[ 9.83427064e-01 1.78325835e-01 3.27277779e-02 2.69813853e+02] [-1.78206330e-01 9.83971299e-01 -6.55636743e-03 -4.95082752e+01] [-3.33723639e-02 6.15411981e-04 9.99442798e-01 -8.83659430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934012739 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:269.84, Y:-49.51, Z:-8.84 [[ 9.83426709e-01 1.78243816e-01 3.31820770e-02 2.69841144e+02] [-1.78120978e-01 9.83986154e-01 -6.64573963e-03 -4.95141275e+01] [-3.38352663e-02 6.25173834e-04 9.99427228e-01 -8.83822576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:269.87, Y:-49.52, Z:-8.84 [[ 9.83411534e-01 1.78418304e-01 3.26904216e-02 2.69868883e+02] [-1.78299243e-01 9.83954541e-01 -6.54530684e-03 -4.95232902e+01] [-3.33336914e-02 6.08052814e-04 9.99444093e-01 -8.84076936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994012739 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:269.90, Y:-49.53, Z:-8.84 [[ 9.83614150e-01 1.77635307e-01 3.08042525e-02 2.69896153e+02] [-1.77529251e-01 9.84096206e-01 -6.16630530e-03 -4.95321589e+01] [-3.14097015e-02 5.96609294e-04 9.99506416e-01 -8.84259721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:269.92, Y:-49.54, Z:-8.84 [[ 9.83788896e-01 1.76747145e-01 3.03290971e-02 2.69922856e+02] [-1.76643960e-01 9.84256100e-01 -6.06972834e-03 -4.95393131e+01] [-3.09244060e-02 6.13879522e-04 9.99521538e-01 -8.84347259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05401273900003 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:269.95, Y:-49.55, Z:-8.84 [[ 9.83888470e-01 1.76151596e-01 3.05629359e-02 2.69950598e+02] [-1.76046587e-01 9.84362845e-01 -6.11455749e-03 -4.95474137e+01] [-3.11621076e-02 6.35542050e-04 9.99514142e-01 -8.84408477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:269.98, Y:-49.56, Z:-8.84 [[ 9.83940913e-01 1.75839245e-01 3.06731232e-02 2.69977496e+02] [-1.75733375e-01 9.84418682e-01 -6.13502195e-03 -4.95576858e+01] [-3.12739732e-02 6.46207618e-04 9.99510641e-01 -8.84426710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11401273900003 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:270.01, Y:-49.56, Z:-8.85 [[ 9.83890569e-01 1.76210546e-01 3.01528102e-02 2.70005198e+02] [-1.76108447e-01 9.84352303e-01 -6.02984567e-03 -4.95647249e+01] [-3.07435105e-02 6.22543714e-04 9.99527113e-01 -8.84599042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:270.03, Y:-49.57, Z:-8.85 [[ 9.83807629e-01 1.77041221e-01 2.79097533e-02 2.70032056e+02] [-1.76954111e-01 9.84203283e-01 -5.58037672e-03 -4.95748958e+01] [-2.84568275e-02 5.51271616e-04 9.99594870e-01 -8.84879117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17401273900003 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:270.06, Y:-49.58, Z:-8.85 [[ 9.83655564e-01 1.77819901e-01 2.83163088e-02 2.70059589e+02] [-1.77730585e-01 9.84062902e-01 -5.66068074e-03 -4.95841272e+01] [-2.88716107e-02 5.35485981e-04 9.99582985e-01 -8.84957331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:270.09, Y:-49.59, Z:-8.85 [[ 9.83200818e-01 1.79871868e-01 3.10203522e-02 2.70086545e+02] [-1.79765749e-01 9.83689911e-01 -6.19949766e-03 -4.95945082e+01] [-3.16295228e-02 5.18954328e-04 9.99499527e-01 -8.84837041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234012739 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:270.11, Y:-49.60, Z:-8.85 [[ 9.82860132e-01 1.81575171e-01 3.18813195e-02 2.70114600e+02] [-1.81464012e-01 9.83376953e-01 -6.37034207e-03 -4.96006079e+01] [-3.25080508e-02 4.75843087e-04 9.99471360e-01 -8.84868691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:270.14, Y:-49.61, Z:-8.85 [[ 9.82451724e-01 1.83853102e-01 3.14109440e-02 2.70143218e+02] [-1.83746401e-01 9.82953652e-01 -6.27521622e-03 -4.96072077e+01] [-3.20292201e-02 3.93449089e-04 9.99486855e-01 -8.84921082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294012739 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:270.17, Y:-49.62, Z:-8.85 [[ 9.81342001e-01 1.89944937e-01 2.98127188e-02 2.70171097e+02] [-1.89851646e-01 9.81794728e-01 -5.95528766e-03 -4.96151458e+01] [-3.04011469e-02 1.84180167e-04 9.99537761e-01 -8.85102040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:270.20, Y:-49.62, Z:-8.85 [[ 9.80750870e-01 1.93036868e-01 2.94023509e-02 2.70198534e+02] [-1.92947545e-01 9.81191500e-01 -5.87234678e-03 -4.96209577e+01] [-2.99829162e-02 8.61977879e-05 9.99550408e-01 -8.85172482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354012739 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:270.23, Y:-49.62, Z:-8.85 [[ 9.80036054e-01 1.96501074e-01 3.02763984e-02 2.70227181e+02] [-1.96408074e-01 9.80503609e-01 -6.04494170e-03 -4.96242606e+01] [-3.08739554e-02 -2.22682772e-05 9.99523286e-01 -8.85203920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:270.26, Y:-49.63, Z:-8.85 [[ 9.79808528e-01 1.97522824e-01 3.09835780e-02 2.70255727e+02] [-1.97425988e-01 9.80298287e-01 -6.18455454e-03 -4.96289256e+01] [-3.15947391e-02 -5.72841999e-05 9.99500760e-01 -8.85289740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414012739 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:270.28, Y:-49.63, Z:-8.85 [[ 9.79560717e-01 1.98470431e-01 3.27152706e-02 2.70283160e+02] [-1.98363050e-01 9.80106871e-01 -6.52847891e-03 -4.96344396e+01] [-3.33601715e-02 -9.44593792e-05 9.99443390e-01 -8.85316712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:270.31, Y:-49.64, Z:-8.85 [[ 9.79589976e-01 1.98206488e-01 3.34315364e-02 2.70311027e+02] [-1.98094272e-01 9.80160283e-01 -6.66926840e-03 -4.96397346e+01] [-3.40901565e-02 -8.94474026e-05 9.99418758e-01 -8.85371611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474012739 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:270.34, Y:-49.64, Z:-8.86 [[ 9.80099842e-01 1.95580781e-01 3.39478743e-02 2.70338056e+02] [-1.95463555e-01 9.80687595e-01 -6.77056286e-03 -4.96444552e+01] [-3.46164512e-02 2.55387714e-07 9.99400671e-01 -8.85594543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:270.37, Y:-49.65, Z:-8.86 [[ 9.80458387e-01 1.93882562e-01 3.33302166e-02 2.70367004e+02] [-1.93768651e-01 9.81024744e-01 -6.64536025e-03 -4.96516430e+01] [-3.39861867e-02 5.71480657e-05 9.99422301e-01 -8.85739098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534012739 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:270.39, Y:-49.66, Z:-8.86 [[ 9.81002803e-01 1.91686570e-01 2.98288304e-02 2.70394422e+02] [-1.91594344e-01 9.81456186e-01 -5.94664234e-03 -4.96586344e+01] [-3.04155816e-02 1.18637601e-04 9.99537332e-01 -8.85964107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:270.42, Y:-49.66, Z:-8.86 [[ 9.81226162e-01 1.90836608e-01 2.78676881e-02 2.70422585e+02] [-1.90755795e-01 9.81621807e-01 -5.55477665e-03 -4.96631943e+01] [-2.84155851e-02 1.34569158e-04 9.99596187e-01 -8.86082727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594012739 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:270.45, Y:-49.67, Z:-8.86 [[ 9.81458872e-01 1.89783869e-01 2.68433644e-02 2.70449812e+02] [-1.89708528e-01 9.81825880e-01 -5.34941754e-03 -4.96681788e+01] [-2.73707430e-02 1.57818168e-04 9.99625339e-01 -8.86232486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:270.48, Y:-49.68, Z:-8.86 [[ 9.82136115e-01 1.86107148e-01 2.77989272e-02 2.70477190e+02] [-1.86024924e-01 9.82529418e-01 -5.53803805e-03 -4.96756426e+01] [-2.83439322e-02 2.67813859e-04 9.99598194e-01 -8.86276607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654012739 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:270.50, Y:-49.68, Z:-8.86 [[ 9.82708951e-01 1.82864894e-01 2.90438905e-02 2.70504818e+02] [-1.82773778e-01 9.83137981e-01 -5.78419407e-03 -4.96841936e+01] [-2.96118779e-02 3.75717699e-04 9.99561402e-01 -8.86263662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:270.53, Y:-49.69, Z:-8.86 [[ 9.82989100e-01 1.81349013e-01 2.90682682e-02 2.70532914e+02] [-1.81257125e-01 9.83418710e-01 -5.78756397e-03 -4.96907732e+01] [-2.96358479e-02 4.20281568e-04 9.99560673e-01 -8.86354060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:270.56, Y:-49.70, Z:-8.86 [[ 9.83194100e-01 1.80220546e-01 2.91533392e-02 2.70561240e+02] [-1.80127655e-01 9.83626122e-01 -5.80343328e-03 -4.96975959e+01] [-2.97218839e-02 4.54578736e-04 9.99558104e-01 -8.86435593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:270.59, Y:-49.71, Z:-8.87 [[ 9.83477553e-01 1.78536256e-01 2.99450731e-02 2.70588419e+02] [-1.78437502e-01 9.83933197e-01 -5.95993061e-03 -4.97067724e+01] [-3.05280152e-02 5.18133919e-04 9.99533777e-01 -8.86507665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:270.62, Y:-49.71, Z:-8.87 [[ 9.83479526e-01 1.78525354e-01 2.99452941e-02 2.70617995e+02] [-1.78426630e-01 9.83935176e-01 -5.95881993e-03 -4.97126180e+01] [-3.05280287e-02 5.17339501e-04 9.99533777e-01 -8.86611212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:270.65, Y:-49.72, Z:-8.87 [[ 9.83497054e-01 1.78407888e-01 3.00694292e-02 2.70647749e+02] [-1.78308301e-01 9.83956479e-01 -5.98313318e-03 -4.97203243e+01] [-3.06544478e-02 5.22765034e-04 9.99529905e-01 -8.86672206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834012739 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:270.68, Y:-49.73, Z:-8.87 [[ 9.83138110e-01 1.80628998e-01 2.85065222e-02 2.70675947e+02] [-1.80540430e-01 9.83551209e-01 -5.67208814e-03 -4.97270576e+01] [-2.90621680e-02 4.29866228e-04 9.99577514e-01 -8.86828829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:270.70, Y:-49.73, Z:-8.87 [[ 9.82850168e-01 1.82304930e-01 2.77571612e-02 2.70704596e+02] [-1.82221612e-01 9.83241972e-01 -5.52352415e-03 -4.97324703e+01] [-2.82989716e-02 3.70841984e-04 9.99599435e-01 -8.86944937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:270.73, Y:-49.74, Z:-8.87 [[ 9.82617029e-01 1.83069139e-01 3.08133694e-02 2.70732320e+02] [-1.82966859e-01 9.83099965e-01 -6.13087580e-03 -4.97394217e+01] [-3.14149965e-02 3.86477556e-04 9.99506352e-01 -8.86910714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:270.76, Y:-49.75, Z:-8.87 [[ 9.82728026e-01 1.81990271e-01 3.35435154e-02 2.70762513e+02] [-1.81868475e-01 9.83300225e-01 -6.67273428e-03 -4.97465603e+01] [-3.41977190e-02 4.56974976e-04 9.99414982e-01 -8.86917730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954012739 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:270.79, Y:-49.75, Z:-8.87 [[ 9.82904194e-01 1.80751777e-01 3.50448291e-02 2.70793068e+02] [-1.80618042e-01 9.83528608e-01 -6.97142062e-03 -4.97541985e+01] [-3.57276886e-02 5.22510153e-04 9.99361426e-01 -8.86954969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:270.82, Y:-49.76, Z:-8.87 [[ 9.83443007e-01 1.78197102e-01 3.29491305e-02 2.70823579e+02] [-1.78077434e-01 9.83994643e-01 -6.55516488e-03 -4.97647790e+01] [-3.35898793e-02 5.79134463e-04 9.99435533e-01 -8.87229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:270.85, Y:-49.78, Z:-8.87 [[ 9.83749093e-01 1.76826737e-01 3.11452531e-02 2.70853646e+02] [-1.76718961e-01 9.84241814e-01 -6.20162245e-03 -4.97766049e+01] [-3.17510731e-02 5.96883705e-04 9.99495629e-01 -8.87392344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:270.88, Y:-49.79, Z:-8.87 [[ 9.83823928e-01 1.76373112e-01 3.13529038e-02 2.70883273e+02] [-1.76263490e-01 9.84323189e-01 -6.24840931e-03 -4.97860065e+01] [-3.19634416e-02 6.20962357e-04 9.99488846e-01 -8.87471114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:270.91, Y:-49.80, Z:-8.88 [[ 9.83933454e-01 1.75693706e-01 3.17282300e-02 2.70914712e+02] [-1.75580927e-01 9.84444662e-01 -6.32821429e-03 -4.97962715e+01] [-3.23465141e-02 6.55669708e-04 9.99476500e-01 -8.87568096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:270.94, Y:-49.81, Z:-8.88 [[ 9.84289472e-01 1.73935765e-01 3.03411518e-02 2.70944774e+02] [-1.73831617e-01 9.84756760e-01 -6.05744350e-03 -4.98112024e+01] [-3.09322604e-02 6.88026372e-04 9.99521246e-01 -8.87755268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:270.98, Y:-49.82, Z:-8.88 [[ 9.84413230e-01 1.73401344e-01 2.93694761e-02 2.70975957e+02] [-1.73303364e-01 9.84851005e-01 -5.86878253e-03 -4.98214681e+01] [-2.99422128e-02 6.87478163e-04 9.99551395e-01 -8.87844051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:271.01, Y:-49.83, Z:-8.88 [[ 9.84388778e-01 1.73414176e-01 3.01041121e-02 2.71007193e+02] [-1.73311055e-01 9.84848729e-01 -6.02155088e-03 -4.98345943e+01] [-3.06922189e-02 7.10171692e-04 9.99528631e-01 -8.87839286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:271.04, Y:-49.84, Z:-8.88 [[ 9.84161923e-01 1.74481487e-01 3.13292063e-02 2.71038749e+02] [-1.74370139e-01 9.84660198e-01 -6.27286755e-03 -4.98444631e+01] [-3.19431218e-02 7.10639331e-04 9.99489436e-01 -8.87934449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:271.07, Y:-49.86, Z:-8.88 [[ 9.83578234e-01 1.77748489e-01 3.12942938e-02 2.71068777e+02] [-1.77638845e-01 9.84075761e-01 -6.27200383e-03 -4.98574883e+01] [-3.19107952e-02 6.09924222e-04 9.99490535e-01 -8.88050199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254012739 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:271.10, Y:-49.87, Z:-8.88 [[ 9.83393594e-01 1.78913019e-01 3.04494959e-02 2.71100766e+02] [-1.78809608e-01 9.83864735e-01 -6.10805710e-03 -4.98655514e+01] [-3.10509961e-02 5.61961809e-04 9.99517644e-01 -8.88211169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:271.13, Y:-49.87, Z:-8.88 [[ 9.83158935e-01 1.80390642e-01 2.92869549e-02 2.71133220e+02] [-1.80295471e-01 9.83594919e-01 -5.88028727e-03 -4.98730870e+01] [-2.98672488e-02 5.00951650e-04 9.99553749e-01 -8.88458413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314012739 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:271.17, Y:-49.88, Z:-8.89 [[ 9.83014878e-01 1.81207065e-01 2.90817619e-02 2.71165419e+02] [-1.81113413e-01 9.83444849e-01 -5.84473014e-03 -4.98815448e+01] [-2.96594154e-02 4.78359527e-04 9.99559948e-01 -8.88526632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:271.20, Y:-49.89, Z:-8.89 [[ 9.83008615e-01 1.81314905e-01 2.86176158e-02 2.71195983e+02] [-1.81224101e-01 9.83424975e-01 -5.75705136e-03 -4.98902946e+01] [-2.91871173e-02 4.73029390e-04 9.99573853e-01 -8.88650054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:271.23, Y:-49.90, Z:-8.89 [[ 9.83060899e-01 1.81244312e-01 2.72354218e-02 2.71227950e+02] [-1.81161912e-01 9.83437995e-01 -5.48369524e-03 -4.99003291e+01] [-2.77782372e-02 4.56785296e-04 9.99614006e-01 -8.88762966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:271.26, Y:-49.91, Z:-8.89 [[ 9.82845827e-01 1.82291792e-01 2.79961323e-02 2.71260426e+02] [-1.82204996e-01 9.83244377e-01 -5.64216923e-03 -4.99086084e+01] [-2.85555608e-02 4.44347295e-04 9.99592108e-01 -8.88863555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:271.29, Y:-49.92, Z:-8.89 [[ 9.82517697e-01 1.83776493e-01 2.97518907e-02 2.71291609e+02] [-1.83678950e-01 9.82967962e-01 -6.00247260e-03 -4.99162937e+01] [-3.03482687e-02 4.32739509e-04 9.99539292e-01 -8.88850308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:271.32, Y:-49.92, Z:-8.89 [[ 9.81768060e-01 1.87382137e-01 3.19282313e-02 2.71323748e+02] [-1.87271571e-01 9.82287032e-01 -6.44558361e-03 -4.99234750e+01] [-3.25704748e-02 3.48818073e-04 9.99469380e-01 -8.88866352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494012739 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:271.36, Y:-49.93, Z:-8.89 [[ 9.81422212e-01 1.89121270e-01 3.23045959e-02 2.71355471e+02] [-1.89008811e-01 9.81953693e-01 -6.52797630e-03 -4.99293669e+01] [-3.29561964e-02 3.00847683e-04 9.99456752e-01 -8.88985023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:271.39, Y:-49.94, Z:-8.89 [[ 9.80856775e-01 1.92108336e-01 3.18492300e-02 2.71387520e+02] [-1.92000415e-01 9.81373703e-01 -6.44164734e-03 -4.99373190e+01] [-3.24934910e-02 2.03268056e-04 9.99471926e-01 -8.89212628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55401273900003 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:271.42, Y:-49.95, Z:-8.89 [[ 9.80708316e-01 1.93034200e-01 3.08057830e-02 2.71420051e+02] [-1.92933510e-01 9.81192014e-01 -6.23640717e-03 -4.99453428e+01] [-3.14302281e-02 1.72628527e-04 9.99505933e-01 -8.89294140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:271.45, Y:-49.95, Z:-8.89 [[ 9.80592557e-01 1.93730801e-01 3.01100351e-02 2.71452523e+02] [-1.93634761e-01 9.81054715e-01 -6.10130548e-03 -4.99534902e+01] [-3.07216027e-02 1.52545296e-04 9.99527969e-01 -8.89390774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61401273900003 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:271.48, Y:-49.96, Z:-8.90 [[ 9.80700761e-01 1.93169080e-01 3.01947491e-02 2.71484913e+02] [-1.93072039e-01 9.81165468e-01 -6.12474931e-03 -4.99602165e+01] [-3.08091573e-02 1.76784547e-04 9.99525270e-01 -8.89533484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:271.52, Y:-49.97, Z:-8.90 [[ 9.80733827e-01 1.92976218e-01 3.03535796e-02 2.71516597e+02] [-1.92877987e-01 9.81203416e-01 -6.15934815e-03 -4.99671674e+01] [-3.09716437e-02 1.86143751e-04 9.99520246e-01 -8.89649362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67401273900003 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:271.55, Y:-49.97, Z:-8.90 [[ 9.80474883e-01 1.94285862e-01 3.03645844e-02 2.71548833e+02] [-1.94188010e-01 9.80944943e-01 -6.16732249e-03 -4.99739493e+01] [-3.09842091e-02 1.50466595e-04 9.99519863e-01 -8.89814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:271.58, Y:-49.98, Z:-8.90 [[ 9.80245544e-01 1.95385356e-01 3.07121401e-02 2.71579892e+02] [-1.95285586e-01 9.80726541e-01 -6.24439853e-03 -4.99802481e+01] [-3.13402749e-02 1.23405562e-04 9.99508765e-01 -8.89853962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734012739 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:271.61, Y:-49.99, Z:-8.90 [[ 9.79550499e-01 1.98580755e-01 3.23496957e-02 2.71610968e+02] [-1.98471659e-01 9.80084529e-01 -6.58160402e-03 -4.99857755e+01] [-3.30124162e-02 2.65157248e-05 9.99454941e-01 -8.89856965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:271.64, Y:-49.99, Z:-8.90 [[ 9.79018776e-01 2.01226172e-01 3.20977373e-02 2.71643253e+02] [-2.01120067e-01 9.79544805e-01 -6.53410837e-03 -4.99912671e+01] [-3.27560054e-02 -5.84842926e-05 9.99463376e-01 -8.89927538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794012739 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:271.68, Y:-49.99, Z:-8.90 [[ 9.77898825e-01 2.06751876e-01 3.11054531e-02 2.71675530e+02] [-2.06654833e-01 9.78393382e-01 -6.33807254e-03 -4.99944707e+01] [-3.17437778e-02 -2.30098497e-04 9.99496013e-01 -8.90224396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:271.71, Y:-50.00, Z:-8.90 [[ 9.77365117e-01 2.09314457e-01 3.07389882e-02 2.71706701e+02] [-2.09220764e-01 9.77848335e-01 -6.26945183e-03 -4.99994155e+01] [-3.13703554e-02 -3.03691071e-04 9.99507783e-01 -8.90375692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:271.74, Y:-50.00, Z:-8.90 [[ 9.76946355e-01 2.11348988e-01 3.01234729e-02 2.71737521e+02] [-2.11259955e-01 9.77410597e-01 -6.14462606e-03 -5.00038508e+01] [-3.07416621e-02 -3.60913493e-04 9.99527298e-01 -8.90454436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:271.77, Y:-50.01, Z:-8.91 [[ 9.76511509e-01 2.13532762e-01 2.87929269e-02 2.71767730e+02] [-2.13452348e-01 9.76935818e-01 -5.87395629e-03 -5.00050540e+01] [-2.93831237e-02 -4.09931945e-04 9.99568139e-01 -8.90559741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:271.80, Y:-50.01, Z:-8.91 [[ 9.76750889e-01 2.12270856e-01 2.99797384e-02 2.71799368e+02] [-2.12183071e-01 9.77210793e-01 -6.11641281e-03 -5.00071863e+01] [-3.05948601e-02 -3.86981323e-04 9.99531793e-01 -8.90618500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:271.83, Y:-50.01, Z:-8.91 [[ 9.77059916e-01 2.10690871e-01 3.10367150e-02 2.71830597e+02] [-2.10595963e-01 9.77552676e-01 -6.33286981e-03 -5.00121309e+01] [-3.16743017e-02 -3.48613637e-04 9.99498183e-01 -8.90732541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974012739 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:271.86, Y:-50.02, Z:-8.91 [[ 9.77465656e-01 2.08653900e-01 3.20069053e-02 2.71860240e+02] [-2.08551843e-01 9.77989502e-01 -6.53168407e-03 -5.00174834e+01] [-3.26652787e-02 -2.90602252e-04 9.99466305e-01 -8.90796263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:271.89, Y:-50.02, Z:-8.91 [[ 9.78292506e-01 2.04767686e-01 3.18428615e-02 2.71891501e+02] [-2.04664610e-01 9.78810589e-01 -6.49831496e-03 -5.00240364e+01] [-3.24987749e-02 -1.59854017e-04 9.99471763e-01 -8.90991489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034012739 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:271.92, Y:-50.03, Z:-8.91 [[ 9.78915431e-01 2.01968538e-01 3.05497793e-02 2.71922817e+02] [-2.01872143e-01 9.79392009e-01 -6.23950853e-03 -5.00288839e+01] [-3.11803941e-02 -5.91982414e-05 9.99513772e-01 -8.91174149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:271.95, Y:-50.03, Z:-8.91 [[ 9.79122107e-01 2.00991236e-01 3.03714112e-02 2.71953268e+02] [-2.00895317e-01 9.79593039e-01 -6.20880668e-03 -5.00342001e+01] [-3.09995387e-02 -2.22944012e-05 9.99519399e-01 -8.91217632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094012739 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:271.98, Y:-50.04, Z:-8.91 [[ 9.79130404e-01 2.00939212e-01 3.04480575e-02 2.71982907e+02] [-2.00842758e-01 9.79603712e-01 -6.22527016e-03 -5.00396134e+01] [-3.10779310e-02 -1.99205567e-05 9.99516964e-01 -8.91228422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:272.01, Y:-50.04, Z:-8.91 [[ 9.78827043e-01 2.02405095e-01 3.04925935e-02 2.72014172e+02] [-2.02309059e-01 9.79301880e-01 -6.23471266e-03 -5.00435071e+01] [-3.11233918e-02 -6.62225349e-05 9.99515548e-01 -8.91145096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154012739 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:272.04, Y:-50.05, Z:-8.91 [[ 9.78513869e-01 2.03943167e-01 3.02950891e-02 2.72044650e+02] [-2.03849082e-01 9.78982723e-01 -6.19514487e-03 -5.00482029e+01] [-3.09218263e-02 -1.13590940e-04 9.99521800e-01 -8.91296262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:272.07, Y:-50.05, Z:-8.92 [[ 9.77935288e-01 2.06691984e-01 3.03479353e-02 2.72073071e+02] [-2.06598889e-01 9.78406042e-01 -6.20607127e-03 -5.00508159e+01] [-3.09753485e-02 -2.00713634e-04 9.99520129e-01 -8.91537896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214012739 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:272.10, Y:-50.05, Z:-8.92 [[ 9.77669140e-01 2.07680796e-01 3.21207074e-02 2.72102921e+02] [-2.07577079e-01 9.78196619e-01 -6.56733692e-03 -5.00544033e+01] [-3.27842772e-02 -2.46839992e-04 9.99462421e-01 -8.91564214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:272.13, Y:-50.06, Z:-8.92 [[ 9.77546908e-01 2.08148347e-01 3.28071451e-02 2.72130797e+02] [-2.08040440e-01 9.78097231e-01 -6.70686719e-03 -5.00587760e+01] [-3.34846011e-02 -2.68935601e-04 9.99439197e-01 -8.91621453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274012739 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:272.16, Y:-50.06, Z:-8.92 [[ 9.77357374e-01 2.08995770e-01 3.30655586e-02 2.72160063e+02] [-2.08886673e-01 9.77916498e-01 -6.75873646e-03 -5.00630198e+01] [-3.37479026e-02 -3.01253597e-04 9.99430332e-01 -8.91661874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:272.19, Y:-50.06, Z:-8.92 [[ 9.76967163e-01 2.10926165e-01 3.23313492e-02 2.72188786e+02] [-2.10822941e-01 9.77501930e-01 -6.60791259e-03 -5.00646964e+01] [-3.29977379e-02 -3.60476508e-04 9.99455361e-01 -8.91770462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334012739 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:272.22, Y:-50.07, Z:-8.92 [[ 9.76857345e-01 2.11479613e-01 3.20328115e-02 2.72217046e+02] [-2.11378621e-01 9.77382336e-01 -6.54576833e-03 -5.00682685e+01] [-3.26926007e-02 -3.76769668e-04 9.99465383e-01 -8.91875172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:272.25, Y:-50.07, Z:-8.92 [[ 9.76764579e-01 2.11829058e-01 3.25485413e-02 2.72245880e+02] [-2.11725034e-01 9.77306652e-01 -6.64957618e-03 -5.00718106e+01] [-3.32184794e-02 -3.96270547e-04 9.99448035e-01 -8.91981314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394012739 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:272.27, Y:-50.08, Z:-8.92 [[ 9.76886777e-01 2.11147987e-01 3.32979244e-02 2.72274076e+02] [-2.11038776e-01 9.77454030e-01 -6.80104800e-03 -5.00767744e+01] [-3.39832180e-02 -3.83299337e-04 9.99422330e-01 -8.92085310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:272.30, Y:-50.08, Z:-8.92 [[ 9.77275222e-01 2.09174581e-01 3.43385222e-02 2.72302552e+02] [-2.09057278e-01 9.77878258e-01 -7.01188510e-03 -5.00803305e+01] [-3.50456025e-02 -3.26176402e-04 9.99385661e-01 -8.92183101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:272.33, Y:-50.09, Z:-8.92 [[ 9.77523242e-01 2.08041911e-01 3.41595583e-02 2.72330467e+02] [-2.07925179e-01 9.78119871e-01 -6.97410804e-03 -5.00857612e+01] [-3.48630495e-02 -2.85279560e-04 9.99392058e-01 -8.92280606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:272.36, Y:-50.09, Z:-8.92 [[ 9.77990478e-01 2.05998169e-01 3.31568925e-02 2.72359446e+02] [-2.05887067e-01 9.78552355e-01 -6.76788459e-03 -5.00907273e+01] [-3.38399270e-02 -2.07648658e-04 9.99427244e-01 -8.92313562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:272.39, Y:-50.09, Z:-8.92 [[ 9.78235116e-01 2.04990925e-01 3.21679830e-02 2.72388115e+02] [-2.04885832e-01 9.78763859e-01 -6.56532854e-03 -5.00945312e+01] [-3.28306919e-02 -1.68329022e-04 9.99460913e-01 -8.92384905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:272.42, Y:-50.10, Z:-8.93 [[ 9.78500567e-01 2.04069399e-01 2.98717268e-02 2.72416634e+02] [-2.03978388e-01 9.78956416e-01 -6.09537056e-03 -5.00968683e+01] [-3.04869972e-02 -1.28863105e-04 9.99535155e-01 -8.92615506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574012739 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:272.44, Y:-50.10, Z:-8.93 [[ 9.78529414e-01 2.04077990e-01 2.88506563e-02 2.72443948e+02] [-2.03993136e-01 9.78954625e-01 -5.88576383e-03 -5.01020185e+01] [-2.94446383e-02 -1.25942831e-04 9.99566405e-01 -8.92750788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:272.47, Y:-50.11, Z:-8.93 [[ 9.78471640e-01 2.04376999e-01 2.86930653e-02 2.72472109e+02] [-2.04293249e-01 9.78892243e-01 -5.85188111e-03 -5.01070324e+01] [-2.92834090e-02 -1.35899832e-04 9.99571140e-01 -8.92714509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634012739 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:272.50, Y:-50.11, Z:-8.93 [[ 9.78170152e-01 2.05422019e-01 3.13838921e-02 2.72500503e+02] [-2.05322412e-01 9.78673470e-01 -6.39899228e-03 -5.01088212e+01] [-3.20290765e-02 -1.84513164e-04 9.99486920e-01 -8.92632725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:272.53, Y:-50.11, Z:-8.93 [[ 9.78177127e-01 2.05388737e-01 3.13843134e-02 2.72529242e+02] [-2.05289179e-01 9.78680455e-01 -6.39692529e-03 -5.01145929e+01] [-3.20290705e-02 -1.85533922e-04 9.99486920e-01 -8.92733404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694012739 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:272.56, Y:-50.12, Z:-8.93 [[ 9.78083521e-01 2.05673392e-01 3.24203771e-02 2.72557576e+02] [-2.05567346e-01 9.78620669e-01 -6.60693394e-03 -5.01182065e+01] [-3.30861217e-02 -2.02437665e-04 9.99452484e-01 -8.92857163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:272.58, Y:-50.12, Z:-8.93 [[ 9.78159669e-01 2.05273915e-01 3.26539828e-02 2.72584831e+02] [-2.05166167e-01 9.78704543e-01 -6.65287887e-03 -5.01217292e+01] [-3.33242638e-02 -1.91914694e-04 9.99444574e-01 -8.92967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754012739 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:272.61, Y:-50.13, Z:-8.93 [[ 9.78306125e-01 2.04622632e-01 3.23528169e-02 2.72613626e+02] [-2.04516575e-01 9.78840921e-01 -6.58947345e-03 -5.01261389e+01] [-3.30166165e-02 -1.70165077e-04 9.99454788e-01 -8.93095072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:272.64, Y:-50.13, Z:-8.93 [[ 9.78652609e-01 2.02932144e-01 3.25210115e-02 2.72641158e+02] [-2.02824100e-01 9.79192796e-01 -6.62213175e-03 -5.01298961e+01] [-3.31881836e-02 -1.15278388e-04 9.99449114e-01 -8.93205928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814012739 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:272.67, Y:-50.14, Z:-8.93 [[ 9.78896137e-01 2.01628064e-01 3.32937986e-02 2.72669659e+02] [-2.01514140e-01 9.79462158e-01 -6.77739304e-03 -5.01364079e+01] [-3.39765285e-02 -7.48073477e-05 9.99422628e-01 -8.93264046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:272.70, Y:-50.14, Z:-8.93 [[ 9.79350236e-01 1.99442225e-01 3.31045956e-02 2.72698272e+02] [-1.99328393e-01 9.79909587e-01 -6.73740965e-03 -5.01431575e+01] [-3.37832346e-02 -4.02115052e-07 9.99429184e-01 -8.93352147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874012739 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:272.73, Y:-50.15, Z:-8.94 [[ 9.79457318e-01 1.99036321e-01 3.23713679e-02 2.72727807e+02] [-1.98927282e-01 9.79992114e-01 -6.58739896e-03 -5.01486810e+01] [-3.30348169e-02 1.25278971e-05 9.99454201e-01 -8.93520787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:272.76, Y:-50.16, Z:-8.94 [[ 9.79510314e-01 1.98846873e-01 3.19290764e-02 2.72756552e+02] [-1.98740719e-01 9.80030571e-01 -6.49659941e-03 -5.01552778e+01] [-3.25832995e-02 1.78785317e-05 9.99469023e-01 -8.93740293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:272.78, Y:-50.16, Z:-8.94 [[ 9.79442475e-01 1.99109398e-01 3.23710612e-02 2.72784647e+02] [-1.99000455e-01 9.79977269e-01 -6.58568819e-03 -5.01625780e+01] [-3.30341766e-02 8.44682373e-06 9.99454223e-01 -8.93745003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:272.81, Y:-50.17, Z:-8.94 [[ 9.79245629e-01 1.99683153e-01 3.47078709e-02 2.72813557e+02] [-1.99558303e-01 9.79860520e-01 -7.06014685e-03 -5.01702268e+01] [-3.54186648e-02 -1.26258605e-05 9.99372562e-01 -8.93734295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994012739 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:272.84, Y:-50.18, Z:-8.94 [[ 9.79248608e-01 1.99569341e-01 3.52738132e-02 2.72842715e+02] [-1.99440342e-01 9.79883706e-01 -7.17438333e-03 -5.01760167e+01] [-3.59960218e-02 -9.51650672e-06 9.99351933e-01 -8.93799550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:272.87, Y:-50.18, Z:-8.94 [[ 9.79244030e-01 1.99590826e-01 3.52793521e-02 2.72872198e+02] [-1.99461818e-01 9.79879330e-01 -7.17504808e-03 -5.01815985e+01] [-3.60015816e-02 -1.07606985e-05 9.99351733e-01 -8.93910259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05401273900003 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:272.90, Y:-50.19, Z:-8.94 [[ 9.78851169e-01 2.01739404e-01 3.39352456e-02 2.72901004e+02] [-2.01621360e-01 9.79439230e-01 -6.90087394e-03 -5.01879903e+01] [-3.46296890e-02 -8.71418375e-05 9.99400209e-01 -8.94058851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:272.93, Y:-50.19, Z:-8.94 [[ 9.78536810e-01 2.03477223e-01 3.25995607e-02 2.72930016e+02] [-2.03369280e-01 9.79079670e-01 -6.62848192e-03 -5.01916747e+01] [-3.32663122e-02 -1.43535623e-04 9.99446513e-01 -8.94146391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11401273900003 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:272.96, Y:-50.20, Z:-8.94 [[ 9.78484411e-01 2.03789783e-01 3.22177331e-02 2.72957961e+02] [-2.03684549e-01 9.79014658e-01 -6.55005661e-03 -5.01960708e+01] [-3.28764676e-02 -1.53126171e-04 9.99459411e-01 -8.94276338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:272.99, Y:-50.20, Z:-8.94 [[ 9.78390469e-01 2.04226072e-01 3.23079162e-02 2.72985947e+02] [-2.04120526e-01 9.78923737e-01 -6.56718247e-03 -5.02011595e+01] [-3.29681759e-02 -1.69440111e-04 9.99456388e-01 -8.94391954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17401273900003 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:273.01, Y:-50.21, Z:-8.94 [[ 9.78090078e-01 2.05541487e-01 3.30529297e-02 2.73012980e+02] [-2.05431823e-01 9.78648378e-01 -6.71695445e-03 -5.02066653e+01] [-3.37278089e-02 -2.20337100e-04 9.99431031e-01 -8.94423754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:273.04, Y:-50.21, Z:-8.95 [[ 9.77804425e-01 2.07003339e-01 3.23747458e-02 2.73040989e+02] [-2.06898996e-01 9.78340200e-01 -6.57716313e-03 -5.02120809e+01] [-3.30350100e-02 -2.67123184e-04 9.99454159e-01 -8.94518800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234012739 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:273.07, Y:-50.22, Z:-8.95 [[ 9.77158600e-01 2.10458857e-01 2.94642254e-02 2.73068960e+02] [-2.10374040e-01 9.77602653e-01 -5.98467814e-03 -5.02160743e+01] [-3.00638334e-02 -3.50528435e-04 9.99547919e-01 -8.94742391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:273.10, Y:-50.22, Z:-8.95 [[ 9.76849074e-01 2.12007088e-01 2.86160982e-02 2.73096552e+02] [-2.11927794e-01 9.77268051e-01 -5.81086553e-03 -5.02202635e+01] [-2.91975432e-02 -3.88207939e-04 9.99573585e-01 -8.94866618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294012739 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:273.12, Y:-50.22, Z:-8.95 [[ 9.76300144e-01 2.14325686e-01 3.00421261e-02 2.73124196e+02] [-2.14239458e-01 9.76762134e-01 -6.09814946e-03 -5.02238997e+01] [-3.06510013e-02 -4.82584628e-04 9.99530031e-01 -8.94935229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:273.15, Y:-50.23, Z:-8.95 [[ 9.76110060e-01 2.15047508e-01 3.10438377e-02 2.73151950e+02] [-2.14955873e-01 9.76603448e-01 -6.29910342e-03 -5.02290424e+01] [-3.16721254e-02 -5.24437008e-04 9.99498175e-01 -8.94927464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354012739 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:273.18, Y:-50.23, Z:-8.95 [[ 9.75952553e-01 2.15655374e-01 3.17706351e-02 2.73178961e+02] [-2.15559796e-01 9.76469378e-01 -6.44415713e-03 -5.02336309e+01] [-3.24127694e-02 -5.59280027e-04 9.99474412e-01 -8.95033360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:273.21, Y:-50.24, Z:-8.95 [[ 9.75612893e-01 2.17155648e-01 3.19829300e-02 2.73207084e+02] [-2.17059658e-01 9.76136797e-01 -6.48526967e-03 -5.02361789e+01] [-3.26280278e-02 -6.15091146e-04 9.99467375e-01 -8.95101750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414012739 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:273.23, Y:-50.24, Z:-8.95 [[ 9.75570764e-01 2.17329641e-01 3.20860028e-02 2.73233592e+02] [-2.17233202e-01 9.76098067e-01 -6.50384021e-03 -5.02399359e+01] [-3.27325626e-02 -6.25188770e-04 9.99463951e-01 -8.95238061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:273.26, Y:-50.24, Z:-8.95 [[ 9.75610199e-01 2.17127988e-01 3.22517746e-02 2.73260969e+02] [-2.17030552e-01 9.76142944e-01 -6.53401419e-03 -5.02427021e+01] [-3.29010596e-02 -6.24969546e-04 9.99458418e-01 -8.95271632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474012739 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:273.29, Y:-50.25, Z:-8.95 [[ 9.75636718e-01 2.17001571e-01 3.23003553e-02 2.73288838e+02] [-2.16903883e-01 9.76171054e-01 -6.54047633e-03 -5.02463489e+01] [-3.29499656e-02 -6.24943651e-04 9.99456807e-01 -8.95384174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:273.32, Y:-50.25, Z:-8.96 [[ 9.75786043e-01 2.16252384e-01 3.28101357e-02 2.73316895e+02] [-2.16151246e-01 9.76337305e-01 -6.64125099e-03 -5.02476485e+01] [-3.34699458e-02 -6.11511686e-04 9.99439537e-01 -8.95538938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534012739 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:273.34, Y:-50.25, Z:-8.96 [[ 9.75894900e-01 2.15704600e-01 3.31763317e-02 2.73344964e+02] [-2.15600944e-01 9.76458481e-01 -6.71334072e-03 -5.02515636e+01] [-3.38434089e-02 -6.01333441e-04 9.99426967e-01 -8.95640187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:273.37, Y:-50.26, Z:-8.96 [[ 9.75958947e-01 2.15362913e-01 3.35104329e-02 2.73372592e+02] [-2.15257042e-01 9.76533900e-01 -6.77846688e-03 -5.02556912e+01] [-3.41839041e-02 -5.97851244e-04 9.99415381e-01 -8.95680979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594012739 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:273.40, Y:-50.26, Z:-8.96 [[ 9.75886162e-01 2.15421275e-01 3.52118230e-02 2.73400675e+02] [-2.15304497e-01 9.76521005e-01 -7.12035819e-03 -5.02578296e+01] [-3.59189614e-02 -6.32604819e-04 9.99354506e-01 -8.95695294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:273.43, Y:-50.26, Z:-8.96 [[ 9.76103555e-01 2.14363981e-01 3.56361206e-02 2.73428038e+02] [-2.14243767e-01 9.76753664e-01 -7.20339922e-03 -5.02606495e+01] [-3.63518607e-02 -6.03553104e-04 9.99338870e-01 -8.95900769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654012739 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:273.45, Y:-50.27, Z:-8.96 [[ 9.76295099e-01 2.13689417e-01 3.44196575e-02 2.73454511e+02] [-2.13576978e-01 9.76901488e-01 -6.95395812e-03 -5.02657172e+01] [-3.51106019e-02 -5.62131198e-04 9.99383275e-01 -8.96035696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:273.48, Y:-50.27, Z:-8.96 [[ 9.76597676e-01 2.12554275e-01 3.28277143e-02 2.73482356e+02] [-2.12451447e-01 9.77149134e-01 -6.62963655e-03 -5.02714429e+01] [-3.34867301e-02 -4.99807751e-04 9.99439037e-01 -8.96200004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714012739 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:273.51, Y:-50.28, Z:-8.96 [[ 9.77203409e-01 2.09848630e-01 3.22032688e-02 2.73509142e+02] [-2.09748286e-01 9.77733804e-01 -6.50118692e-03 -5.02774214e+01] [-3.28504897e-02 -4.01598409e-04 9.99460196e-01 -8.96190097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:273.54, Y:-50.28, Z:-8.96 [[ 9.77518633e-01 2.08288631e-01 3.27592546e-02 2.73535400e+02] [-2.08183982e-01 9.78067339e-01 -6.61141195e-03 -5.02823899e+01] [-3.34178389e-02 -3.57173722e-04 9.99441404e-01 -8.96136573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:273.56, Y:-50.29, Z:-8.96 [[ 9.77965496e-01 2.05930241e-01 3.42961297e-02 2.73563284e+02] [-2.05814192e-01 9.78566631e-01 -6.91866727e-03 -5.02881797e+01] [-3.49858109e-02 -2.92412356e-04 9.99387766e-01 -8.96188083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:273.59, Y:-50.29, Z:-8.96 [[ 9.78103834e-01 2.05282408e-01 3.42348164e-02 2.73591328e+02] [-2.05166463e-01 9.78702743e-01 -6.90382544e-03 -5.02943404e+01] [-3.49229426e-02 -2.71178080e-04 9.99389971e-01 -8.96360406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834012739 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:273.62, Y:-50.30, Z:-8.97 [[ 9.78383362e-01 2.04109663e-01 3.32451828e-02 2.73619055e+02] [-2.03999704e-01 9.78948004e-01 -6.70264433e-03 -5.03006777e+01] [-3.39133798e-02 -2.24251758e-04 9.99424751e-01 -8.96502885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:273.65, Y:-50.31, Z:-8.97 [[ 9.78676118e-01 2.02710276e-01 3.31903621e-02 2.73646683e+02] [-2.02599931e-01 9.79238741e-01 -6.68995574e-03 -5.03063904e+01] [-3.38574112e-02 -1.77065138e-04 9.99426658e-01 -8.96651456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894012739 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:273.67, Y:-50.31, Z:-8.97 [[ 9.79603162e-01 1.98238343e-01 3.28512546e-02 2.73674629e+02] [-1.98127792e-01 9.80153845e-01 -6.61959867e-03 -5.03131269e+01] [-3.35115418e-02 -2.41667558e-05 9.99438330e-01 -8.96738496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:273.70, Y:-50.32, Z:-8.97 [[ 9.80010803e-01 1.96262705e-01 3.25542084e-02 2.73702683e+02] [-1.96153109e-01 9.80551349e-01 -6.55811628e-03 -5.03192967e+01] [-3.32081866e-02 4.14156212e-05 9.99448455e-01 -8.96809326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:273.73, Y:-50.33, Z:-8.97 [[ 9.80361476e-01 1.94696036e-01 3.13819995e-02 2.73729185e+02] [-1.94593438e-01 9.80863622e-01 -6.32047164e-03 -5.03264416e+01] [-3.20120325e-02 8.96157203e-05 9.99487480e-01 -8.96966614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:273.76, Y:-50.33, Z:-8.97 [[ 9.80283443e-01 1.95053867e-01 3.15968571e-02 2.73757052e+02] [-1.94950110e-01 9.80792528e-01 -6.36171636e-03 -5.03331268e+01] [-3.22308388e-02 7.64744361e-05 9.99480449e-01 -8.97106764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014012739 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:273.78, Y:-50.34, Z:-8.97 [[ 9.79809272e-01 1.97173407e-01 3.31125138e-02 2.73784860e+02] [-1.97060722e-01 9.80368628e-01 -6.66513591e-03 -5.03422841e+01] [-3.37766573e-02 5.38608132e-06 9.99429406e-01 -8.97167621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:273.81, Y:-50.35, Z:-8.97 [[ 9.79579624e-01 1.98240613e-01 3.35323808e-02 2.73812974e+02] [-1.98125736e-01 9.80153385e-01 -6.74791728e-03 -5.03492565e+01] [-3.42045878e-02 -3.35053588e-05 9.99414851e-01 -8.97231584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074012739 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:273.84, Y:-50.36, Z:-8.97 [[ 9.78931002e-01 2.01378058e-01 3.37782554e-02 2.73840300e+02] [-2.01263416e-01 9.79513582e-01 -6.79566243e-03 -5.03565893e+01] [-3.44547573e-02 -1.45842430e-04 9.99406248e-01 -8.97305480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:273.87, Y:-50.36, Z:-8.98 [[ 9.78545853e-01 2.03337330e-01 3.31955334e-02 2.73867906e+02] [-2.03227807e-01 9.79108720e-01 -6.67636691e-03 -5.03629124e+01] [-3.38595908e-02 -2.13124293e-04 9.99426577e-01 -8.97516459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:273.90, Y:-50.37, Z:-8.98 [[ 9.77501150e-01 2.08557204e-01 3.15498658e-02 2.73895494e+02] [-2.08461056e-01 9.78010098e-01 -6.34328031e-03 -5.03714253e+01] [-3.21790242e-02 -3.76354552e-04 9.99482050e-01 -8.97610073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:273.92, Y:-50.38, Z:-8.98 [[ 9.76828098e-01 2.11691539e-01 3.15207716e-02 2.73922271e+02] [-2.11597232e-01 9.77336412e-01 -6.33639223e-03 -5.03772714e+01] [-3.21477584e-02 -4.80142035e-04 9.99483012e-01 -8.97649757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194012739 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:273.95, Y:-50.38, Z:-8.98 [[ 9.76160838e-01 2.14638624e-01 3.22533722e-02 2.73950333e+02] [-2.14541580e-01 9.76693355e-01 -6.48084825e-03 -5.03817969e+01] [-3.28926946e-02 -5.93339187e-04 9.99458713e-01 -8.97762248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:273.98, Y:-50.38, Z:-8.98 [[ 9.75363530e-01 2.18010774e-01 3.37236811e-02 2.73977909e+02] [-2.17906779e-01 9.75946081e-01 -6.77374696e-03 -5.03848022e+01] [-3.43892442e-02 -7.41752975e-04 9.99408240e-01 -8.97925205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254012739 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:274.00, Y:-50.39, Z:-8.98 [[ 9.75481138e-01 2.17525797e-01 3.34526102e-02 2.74004766e+02] [-2.17423263e-01 9.76054306e-01 -6.71691844e-03 -5.03925433e+01] [-3.41126672e-02 -7.21148412e-04 9.99417733e-01 -8.98092215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:274.03, Y:-50.40, Z:-8.98 [[ 9.75760453e-01 2.16370465e-01 3.27926985e-02 2.74032658e+02] [-2.16271348e-01 9.76311105e-01 -6.58252544e-03 -5.03979752e+01] [-3.34401398e-02 -6.69153113e-04 9.99440498e-01 -8.98179233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314012739 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:274.06, Y:-50.40, Z:-8.98 [[ 9.75943684e-01 2.15662349e-01 3.19949395e-02 2.74061056e+02] [-2.15567689e-01 9.76467794e-01 -6.42019054e-03 -5.03978572e+01] [-3.26266214e-02 -6.31330774e-04 9.99467411e-01 -8.98301641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:274.09, Y:-50.40, Z:-8.98 [[ 9.75943354e-01 2.15697335e-01 3.17683714e-02 2.74089234e+02] [-2.15604104e-01 9.76460067e-01 -6.37241893e-03 -5.04010983e+01] [-3.23950598e-02 -6.30271348e-04 9.99474944e-01 -8.98446966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:274.12, Y:-50.41, Z:-8.99 [[ 9.75882317e-01 2.16012665e-01 3.14997166e-02 2.74116090e+02] [-2.15921242e-01 9.76390353e-01 -6.31625747e-03 -5.04058575e+01] [-3.21204110e-02 -6.37533940e-04 9.99483803e-01 -8.98562666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:274.14, Y:-50.41, Z:-8.99 [[ 9.75847953e-01 2.16260655e-01 3.08561407e-02 2.74144017e+02] [-2.16173137e-01 9.76335458e-01 -6.18458679e-03 -5.04099943e+01] [-3.14634270e-02 -6.35052361e-04 9.99504702e-01 -8.98588481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434012739 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:274.17, Y:-50.41, Z:-8.99 [[ 9.76002033e-01 2.15530677e-01 3.10895196e-02 2.74171383e+02] [-2.15441531e-01 9.76496874e-01 -6.22912760e-03 -5.04127650e+01] [-3.17013868e-02 -6.18332488e-04 9.99497193e-01 -8.98665015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:274.20, Y:-50.41, Z:-8.99 [[ 9.76192871e-01 2.14514102e-01 3.21119723e-02 2.74199475e+02] [-2.14418536e-01 9.76720703e-01 -6.43118206e-03 -5.04143236e+01] [-3.27440074e-02 -6.07328003e-04 9.99463587e-01 -8.98767351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:274.23, Y:-50.42, Z:-8.99 [[ 9.76277553e-01 2.14042596e-01 3.26788272e-02 2.74227386e+02] [-2.13943441e-01 9.76824141e-01 -6.54233584e-03 -5.04195301e+01] [-3.33218058e-02 -6.04285114e-04 9.99444492e-01 -8.98884287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:274.25, Y:-50.42, Z:-8.99 [[ 9.76277964e-01 2.13953540e-01 3.32448321e-02 2.74254131e+02] [-2.13850950e-01 9.76843644e-01 -6.65324575e-03 -5.04210947e+01] [-3.38984884e-02 -6.14021703e-04 9.99425092e-01 -8.98948359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55401273900003 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:274.28, Y:-50.42, Z:-8.99 [[ 9.76059086e-01 2.14884960e-01 3.36617569e-02 2.74282188e+02] [-2.14780430e-01 9.76639146e-01 -6.73386354e-03 -5.04227913e+01] [-3.43223955e-02 -6.57237934e-04 9.99410597e-01 -8.99009747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:274.31, Y:-50.43, Z:-8.99 [[ 9.76071461e-01 2.14828673e-01 3.36622224e-02 2.74310137e+02] [-2.14724190e-01 9.76651529e-01 -6.73153574e-03 -5.04282488e+01] [-3.43223878e-02 -6.57633506e-04 9.99410597e-01 -8.99107561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61401273900003 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:274.34, Y:-50.43, Z:-8.99 [[ 9.75235789e-01 2.18539435e-01 3.39951715e-02 2.74338018e+02] [-2.18435197e-01 9.75827791e-01 -6.79605164e-03 -5.04279177e+01] [-3.46586384e-02 -7.97989198e-04 9.99398890e-01 -8.99201614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:274.37, Y:-50.43, Z:-8.99 [[ 9.74833111e-01 2.20371331e-01 3.37176957e-02 2.74365596e+02] [-2.20269978e-01 9.75415675e-01 -6.73778979e-03 -5.04309797e+01] [-3.43735847e-02 -8.58775520e-04 9.99408685e-01 -8.99290981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67401273900003 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:274.39, Y:-50.43, Z:-8.99 [[ 9.74322410e-01 2.22683964e-01 3.32820395e-02 2.74393332e+02] [-2.22586639e-01 9.74890243e-01 -6.64843459e-03 -5.04282182e+01] [-3.39268354e-02 -9.30418503e-04 9.99423886e-01 -8.99372891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:274.42, Y:-50.43, Z:-8.99 [[ 9.74225082e-01 2.23106946e-01 3.32983529e-02 2.74422087e+02] [-2.23009865e-01 9.74793512e-01 -6.64897243e-03 -5.04290001e+01] [-3.39424504e-02 -9.48265475e-04 9.99423339e-01 -8.99475363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:274.45, Y:-50.43, Z:-9.00 [[ 9.74247755e-01 2.22929662e-01 3.38183090e-02 2.74450108e+02] [-2.22829502e-01 9.74834061e-01 -6.75037658e-03 -5.04304586e+01] [-3.44720987e-02 -9.59177711e-04 9.99405200e-01 -8.99613854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:274.48, Y:-50.43, Z:-9.00 [[ 9.74731515e-01 2.20714965e-01 3.44002607e-02 2.74477429e+02] [-2.20610043e-01 9.75337940e-01 -6.86384283e-03 -5.04296789e+01] [-3.50668322e-02 -8.98639060e-04 9.99384565e-01 -8.99694195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:274.50, Y:-50.43, Z:-9.00 [[ 9.75275151e-01 2.18452356e-01 3.34207764e-02 2.74504844e+02] [-2.18352148e-01 9.75847289e-01 -6.66398367e-03 -5.04279941e+01] [-3.40693370e-02 -7.98280630e-04 9.99419153e-01 -8.99774292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:274.53, Y:-50.43, Z:-9.00 [[ 9.75575499e-01 2.17224305e-01 3.26503610e-02 2.74531526e+02] [-2.17128068e-01 9.76121433e-01 -6.50764901e-03 -5.04297104e+01] [-3.32843367e-02 -7.40606862e-04 9.99445649e-01 -8.99891535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854012739 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:274.56, Y:-50.43, Z:-9.00 [[ 9.75787011e-01 2.16380750e-01 3.19230481e-02 2.74559194e+02] [-2.16288383e-01 9.76308805e-01 -6.36018855e-03 -5.04322134e+01] [-3.25429753e-02 -6.98395076e-04 9.99470093e-01 -9.00028365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:274.59, Y:-50.43, Z:-9.00 [[ 9.76063659e-01 2.15327336e-01 3.05593023e-02 2.74587747e+02] [-2.15242243e-01 9.76541721e-01 -6.08639772e-03 -5.04329846e+01] [-3.11530015e-02 -6.36941161e-04 9.99514425e-01 -9.00132371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914012739 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:274.62, Y:-50.44, Z:-9.00 [[ 9.76259196e-01 2.14475006e-01 3.03060137e-02 2.74616187e+02] [-2.14390976e-01 9.76729289e-01 -6.03374482e-03 -5.04358107e+01] [-3.08948586e-02 -6.06836980e-04 9.99522456e-01 -9.00179195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:274.64, Y:-50.44, Z:-9.00 [[ 9.76759790e-01 2.12096150e-01 3.09117449e-02 2.74643465e+02] [-2.12007604e-01 9.77248652e-01 -6.15216526e-03 -5.04356893e+01] [-3.15133116e-02 -5.44337312e-04 9.99503184e-01 -9.00232893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974012739 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:274.67, Y:-50.44, Z:-9.00 [[ 9.76965787e-01 2.11019413e-01 3.17593966e-02 2.74670865e+02] [-2.10925521e-01 9.77481728e-01 -6.31633007e-03 -5.04396190e+01] [-3.23770981e-02 -5.28028897e-04 9.99475585e-01 -9.00331372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:274.70, Y:-50.44, Z:-9.00 [[ 9.77401302e-01 2.08769803e-01 3.31943277e-02 2.74697444e+02] [-2.08666022e-01 9.77964694e-01 -6.59916953e-03 -5.04445481e+01] [-3.38405879e-02 -4.76491425e-04 9.99427130e-01 -9.00333009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:274.73, Y:-50.45, Z:-9.00 [[ 9.77598491e-01 2.07755892e-01 3.37443404e-02 2.74725294e+02] [-2.07648139e-01 9.78180600e-01 -6.70559120e-03 -5.04492978e+01] [-3.44011852e-02 -4.51573641e-04 9.99408002e-01 -9.00434408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:274.75, Y:-50.45, Z:-9.00 [[ 9.77791148e-01 2.06835800e-01 3.38145310e-02 2.74752396e+02] [-2.06727135e-01 9.78375579e-01 -6.71701307e-03 -5.04522021e+01] [-3.44726301e-02 -4.22545176e-04 9.99405553e-01 -9.00396352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094012739 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:274.78, Y:-50.46, Z:-9.00 [[ 9.77779422e-01 2.06890347e-01 3.38199183e-02 2.74779489e+02] [-2.06781836e-01 9.78364043e-01 -6.71356217e-03 -5.04567740e+01] [-3.44771632e-02 -4.28961871e-04 9.99405394e-01 -9.00493052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:274.81, Y:-50.46, Z:-9.01 [[ 9.77688352e-01 2.07289354e-01 3.40089603e-02 2.74807119e+02] [-2.07179967e-01 9.78279573e-01 -6.74822449e-03 -5.04619691e+01] [-3.46691062e-02 -4.48314805e-04 9.99398745e-01 -9.00648505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154012739 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:274.83, Y:-50.47, Z:-9.01 [[ 9.77675735e-01 2.07410592e-01 3.36303883e-02 2.74834616e+02] [-2.07303780e-01 9.78253875e-01 -6.67073447e-03 -5.04654060e+01] [-3.42826387e-02 -4.49891399e-04 9.99412076e-01 -9.00781253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:274.86, Y:-50.47, Z:-9.01 [[ 9.77906382e-01 2.06259819e-01 3.39999326e-02 2.74862144e+02] [-2.06150041e-01 9.78497171e-01 -6.74146767e-03 -5.04695620e+01] [-3.46593318e-02 -4.16563231e-04 9.99399098e-01 -9.00988588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214012739 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:274.89, Y:-50.48, Z:-9.01 [[ 9.78130865e-01 2.05241930e-01 3.37010702e-02 2.74888569e+02] [-2.05133556e-01 9.78711197e-01 -6.67968162e-03 -5.04754645e+01] [-3.43545655e-02 -3.79617601e-04 9.99409636e-01 -9.01029447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:274.92, Y:-50.48, Z:-9.01 [[ 9.78379259e-01 2.04117267e-01 3.33191593e-02 2.74915688e+02] [-2.04010782e-01 9.78946386e-01 -6.60108784e-03 -5.04817069e+01] [-3.39650666e-02 -3.39100317e-04 9.99422963e-01 -9.01151069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:274.94, Y:-50.49, Z:-9.01 [[ 9.78824873e-01 2.02151007e-01 3.21999731e-02 2.74941985e+02] [-2.02050565e-01 9.79354329e-01 -6.37719051e-03 -5.04868829e+01] [-3.28243385e-02 -2.63870053e-04 9.99461101e-01 -9.01330078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:274.97, Y:-50.49, Z:-9.01 [[ 9.79005686e-01 2.01180581e-01 3.27756035e-02 2.74969427e+02] [-2.01076118e-01 9.79554142e-01 -6.48678226e-03 -5.04932831e+01] [-3.34104928e-02 -2.39794397e-04 9.99441685e-01 -9.01484101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334012739 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:275.00, Y:-50.50, Z:-9.02 [[ 9.79108849e-01 2.00568049e-01 3.34412902e-02 2.74995301e+02] [-2.00459028e-01 9.79679747e-01 -6.61600048e-03 -5.04993114e+01] [-3.40887130e-02 -2.25823896e-04 9.99418785e-01 -9.01571532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:275.02, Y:-50.51, Z:-9.02 [[ 9.79574701e-01 1.97996188e-01 3.50843889e-02 2.75021569e+02] [-1.97874651e-01 9.80202779e-01 -6.93790936e-03 -5.05054476e+01] [-3.57634951e-02 -1.46110719e-04 9.99360271e-01 -9.01594055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394012739 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:275.05, Y:-50.51, Z:-9.02 [[ 9.79912256e-01 1.96314309e-01 3.51092971e-02 2.75049066e+02] [-1.96191626e-01 9.80541016e-01 -6.93985802e-03 -5.05120069e+01] [-3.57884992e-02 -8.76981419e-05 9.99359383e-01 -9.01692966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:275.07, Y:-50.52, Z:-9.02 [[ 9.80578263e-01 1.93258769e-01 3.34263217e-02 2.75074391e+02] [-1.93145870e-01 9.81147822e-01 -6.60493083e-03 -5.05227682e+01] [-3.40726235e-02 2.04956175e-05 9.99419359e-01 -9.01863489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454012739 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:275.10, Y:-50.53, Z:-9.02 [[ 9.80848118e-01 1.92038897e-01 3.25274059e-02 2.75101117e+02] [-1.91931407e-01 9.81387313e-01 -6.42468484e-03 -5.05311140e+01] [-3.31557729e-02 5.86092601e-05 9.99450195e-01 -9.01951953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:275.13, Y:-50.54, Z:-9.02 [[ 9.80971988e-01 1.91529585e-01 3.17864181e-02 2.75128327e+02] [-1.91426743e-01 9.81486838e-01 -6.27607883e-03 -5.05388993e+01] [-3.24000058e-02 7.18870583e-05 9.99474979e-01 -9.02042340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514012739 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:275.15, Y:-50.55, Z:-9.02 [[ 9.80744468e-01 1.92741616e-01 3.14794863e-02 2.75153740e+02] [-1.92641446e-01 9.81249544e-01 -6.21325543e-03 -5.05484014e+01] [-3.20867845e-02 2.93621160e-05 9.99485086e-01 -9.02097389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:275.18, Y:-50.56, Z:-9.02 [[ 9.79991407e-01 1.96355298e-01 3.25797242e-02 2.75180236e+02] [-1.96250091e-01 9.80532808e-01 -6.42757533e-03 -5.05594985e+01] [-3.32075769e-02 -9.48052398e-05 9.99448472e-01 -9.02143173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574012739 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:275.21, Y:-50.57, Z:-9.02 [[ 9.79633622e-01 1.98097270e-01 3.27938750e-02 2.75207460e+02] [-1.97991731e-01 9.80182354e-01 -6.46743229e-03 -5.05666051e+01] [-3.34251582e-02 -1.57201935e-04 9.99441211e-01 -9.02213642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:275.23, Y:-50.57, Z:-9.02 [[ 9.78745351e-01 2.02357305e-01 3.33025293e-02 2.75234282e+02] [-2.02251012e-01 9.79311710e-01 -6.56530412e-03 -5.05730091e+01] [-3.39420942e-02 -3.09709362e-04 9.99423753e-01 -9.02315457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:275.26, Y:-50.58, Z:-9.02 [[ 9.78232417e-01 2.04713782e-01 3.39647638e-02 2.75260704e+02] [-2.04604727e-01 9.78821795e-01 -6.69324785e-03 -5.05788369e+01] [-3.46156512e-02 -4.01799219e-04 9.99400618e-01 -9.02445492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:275.29, Y:-50.58, Z:-9.03 [[ 9.77344425e-01 2.08895815e-01 3.40648399e-02 2.75287219e+02] [-2.08788757e-01 9.77937744e-01 -6.70997516e-03 -5.05848452e+01] [-3.47149784e-02 -5.54398753e-04 9.99397100e-01 -9.02536347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694012739 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:275.31, Y:-50.59, Z:-9.03 [[ 9.77033504e-01 2.10563896e-01 3.26860357e-02 2.75313644e+02] [-2.10466350e-01 9.77579918e-01 -6.43581593e-03 -5.05888375e+01] [-3.33083626e-02 -5.91302838e-04 9.99444948e-01 -9.02637260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:275.34, Y:-50.59, Z:-9.03 [[ 9.76763133e-01 2.12040203e-01 3.11886915e-02 2.75341376e+02] [-2.11952265e-01 9.77260750e-01 -6.13714021e-03 -5.05926823e+01] [-3.17808045e-02 -6.15981506e-04 9.99494673e-01 -9.02770427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:275.37, Y:-50.60, Z:-9.03 [[ 9.76860921e-01 2.11802884e-01 2.97032012e-02 2.75368741e+02] [-2.11723075e-01 9.77312233e-01 -5.84284521e-03 -5.05960935e+01] [-3.02668334e-02 -5.81205947e-04 9.99541685e-01 -9.02972923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:275.40, Y:-50.60, Z:-9.03 [[ 9.77258007e-01 2.09988175e-01 2.95254884e-02 2.75395112e+02] [-2.09908555e-01 9.77703785e-01 -5.80573008e-03 -5.06010449e+01] [-3.00863165e-02 -5.23956414e-04 9.99547167e-01 -9.03132462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814012739 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:275.42, Y:-50.61, Z:-9.03 [[ 9.78187746e-01 2.05454936e-01 3.06105132e-02 2.75422351e+02] [-2.05367223e-01 9.78666495e-01 -6.01625603e-03 -5.06055331e+01] [-3.11935532e-02 -4.01368186e-04 9.99513282e-01 -9.03099831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:275.45, Y:-50.61, Z:-9.03 [[ 9.78700766e-01 2.02801113e-01 3.18828954e-02 2.75450115e+02] [-2.02704628e-01 9.79219893e-01 -6.26384459e-03 -5.06108843e+01] [-3.24906800e-02 -3.32380943e-04 9.99471983e-01 -9.03111709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:275.48, Y:-50.62, Z:-9.03 [[ 9.79956802e-01 1.96174061e-01 3.46468481e-02 2.75476453e+02] [-1.96056071e-01 9.80569081e-01 -6.80404315e-03 -5.06190610e+01] [-3.53084047e-02 -1.25056540e-04 9.99376456e-01 -9.03219033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:275.50, Y:-50.63, Z:-9.03 [[ 9.80695398e-01 1.92499054e-01 3.43605932e-02 2.75502312e+02] [-1.92380853e-01 9.81297159e-01 -6.74487854e-03 -5.06254325e+01] [-3.50163352e-02 4.35111594e-06 9.99386740e-01 -9.03372732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934012739 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:275.53, Y:-50.63, Z:-9.04 [[ 9.81298696e-01 1.89623315e-01 3.31038982e-02 2.75529991e+02] [-1.89512057e-01 9.81856908e-01 -6.49550995e-03 -5.06317200e+01] [-3.37349912e-02 1.00447594e-04 9.99430808e-01 -9.03529353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:275.56, Y:-50.64, Z:-9.04 [[ 9.81618871e-01 1.88183485e-01 3.18020269e-02 2.75557098e+02] [-1.88080124e-01 9.82133879e-01 -6.23789862e-03 -5.06386414e+01] [-3.24077175e-02 1.41909850e-04 9.99474722e-01 -9.03562459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994012739 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:275.58, Y:-50.65, Z:-9.04 [[ 9.81024360e-01 1.90728528e-01 3.48401251e-02 2.75583171e+02] [-1.90606170e-01 9.81642819e-01 -6.83103853e-03 -5.06465329e+01] [-3.55034326e-02 6.06724009e-05 9.99369553e-01 -9.03546117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:275.61, Y:-50.65, Z:-9.04 [[ 9.80718520e-01 1.92014111e-01 3.63560969e-02 2.75610252e+02] [-1.91881869e-01 9.81392165e-01 -7.12511614e-03 -5.06530692e+01] [-3.70477115e-02 1.16575101e-05 9.99313498e-01 -9.03605617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05401273900003 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:275.64, Y:-50.66, Z:-9.04 [[ 9.80434764e-01 1.93377373e-01 3.67813098e-02 2.75636913e+02] [-1.93243079e-01 9.81124452e-01 -7.20573904e-03 -5.06589068e+01] [-3.74804693e-02 -4.29764852e-05 9.99297359e-01 -9.03704702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:275.66, Y:-50.66, Z:-9.04 [[ 9.80026601e-01 1.95830078e-01 3.46185112e-02 2.75664661e+02] [-1.95712742e-01 9.80637835e-01 -6.77931584e-03 -5.06649420e+01] [-3.52758159e-02 -1.31373904e-04 9.99377606e-01 -9.03888586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11401273900003 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:275.69, Y:-50.67, Z:-9.04 [[ 9.80003023e-01 1.96141484e-01 3.35051137e-02 2.75691162e+02] [-1.96031825e-01 9.80575596e-01 -6.55933096e-03 -5.06717744e+01] [-3.41408537e-02 -1.39904418e-04 9.99417021e-01 -9.04030152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:275.72, Y:-50.68, Z:-9.04 [[ 9.80223269e-01 1.94976775e-01 3.38585410e-02 2.75717749e+02] [-1.94864195e-01 9.80807854e-01 -6.62563633e-03 -5.06810949e+01] [-3.45005681e-02 -1.03214421e-04 9.99404673e-01 -9.04111466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17401273900003 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:275.75, Y:-50.69, Z:-9.04 [[ 9.80340408e-01 1.94231998e-01 3.47363747e-02 2.75745483e+02] [-1.94113129e-01 9.80955618e-01 -6.79477238e-03 -5.06877523e+01] [-3.53946041e-02 -8.15964681e-05 9.99373411e-01 -9.04130841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:275.77, Y:-50.69, Z:-9.04 [[ 9.80401342e-01 1.94026796e-01 3.41586289e-02 2.75773458e+02] [-1.93911783e-01 9.80996227e-01 -6.68008963e-03 -5.06937782e+01] [-3.48056025e-02 -7.45917932e-05 9.99394099e-01 -9.04169426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234012739 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:275.80, Y:-50.70, Z:-9.04 [[ 9.80486148e-01 1.93674049e-01 3.37235370e-02 2.75800764e+02] [-1.93561796e-01 9.81065930e-01 -6.59335789e-03 -5.07005285e+01] [-3.43619755e-02 -6.28923171e-05 9.99409451e-01 -9.04348480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:275.83, Y:-50.71, Z:-9.04 [[ 9.80635237e-01 1.92852211e-01 3.40962871e-02 2.75828374e+02] [-1.92737044e-01 9.81227814e-01 -6.66395778e-03 -5.07111140e+01] [-3.47413842e-02 -3.67057700e-05 9.99396335e-01 -9.04437326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294012739 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:275.86, Y:-50.72, Z:-9.04 [[ 9.80655706e-01 1.92566370e-01 3.51081049e-02 2.75855803e+02] [-1.92444144e-01 9.81283951e-01 -6.85994876e-03 -5.07187548e+01] [-3.57720153e-02 -2.91013186e-05 9.99359976e-01 -9.04484467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:275.88, Y:-50.73, Z:-9.05 [[ 9.80511423e-01 1.92926329e-01 3.71049897e-02 2.75883752e+02] [-1.92790128e-01 9.81213244e-01 -7.24822839e-03 -5.07269593e+01] [-3.78062814e-02 -4.65050007e-05 9.99285086e-01 -9.04507166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354012739 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:275.91, Y:-50.73, Z:-9.05 [[ 9.80366022e-01 1.93581945e-01 3.75299079e-02 2.75912060e+02] [-1.93443158e-01 9.81084107e-01 -7.32937499e-03 -5.07335451e+01] [-3.82388309e-02 -7.44336993e-05 9.99268626e-01 -9.04624832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:275.94, Y:-50.74, Z:-9.05 [[ 9.79785552e-01 1.96889011e-01 3.54258239e-02 2.75938897e+02] [-1.96767576e-01 9.80425765e-01 -6.91675550e-03 -5.07420929e+01] [-3.60942237e-02 -1.93716383e-04 9.99348372e-01 -9.04775903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414012739 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:275.97, Y:-50.75, Z:-9.05 [[ 9.79460103e-01 1.98692724e-01 3.43381415e-02 2.75966620e+02] [-1.98579799e-01 9.80061803e-01 -6.70270476e-03 -5.07485049e+01] [-3.49852796e-02 -2.53829361e-04 9.99387795e-01 -9.04951948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:275.99, Y:-50.76, Z:-9.05 [[ 9.78767341e-01 2.02233760e-01 3.34065642e-02 2.75994013e+02] [-2.02128996e-01 9.79337209e-01 -6.51925933e-03 -5.07552815e+01] [-3.40347056e-02 -3.71597153e-04 9.99420583e-01 -9.05113756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:276.02, Y:-50.76, Z:-9.05 [[ 9.78789604e-01 2.02125918e-01 3.34069471e-02 2.76021987e+02] [-2.02021158e-01 9.79359473e-01 -6.51729652e-03 -5.07605705e+01] [-3.40347246e-02 -3.69848054e-04 9.99420583e-01 -9.05211543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:276.05, Y:-50.77, Z:-9.05 [[ 9.78476208e-01 2.03662465e-01 3.32552438e-02 2.76049614e+02] [-2.03559670e-01 9.79041072e-01 -6.48389668e-03 -5.07674247e+01] [-3.38787759e-02 -4.25087828e-04 9.99425859e-01 -9.05382128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534012739 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:276.08, Y:-50.77, Z:-9.05 [[ 9.78127174e-01 2.05431068e-01 3.26390587e-02 2.76075511e+02] [-2.05333108e-01 9.78671470e-01 -6.36147448e-03 -5.07737025e+01] [-3.32497601e-02 -4.79548315e-04 9.99446959e-01 -9.05489387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:276.10, Y:-50.78, Z:-9.06 [[ 9.78008016e-01 2.06071744e-01 3.21676255e-02 2.76102252e+02] [-2.06005803e-01 9.78535943e-01 -5.38684751e-03 -5.07793498e+01] [-3.25872548e-02 -1.35833747e-03 9.99467971e-01 -9.05571438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594012739 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:276.13, Y:-50.78, Z:-9.06 [[ 9.78378190e-01 2.04508594e-01 3.08601996e-02 2.76131680e+02] [-2.04395833e-01 9.78864708e-01 -6.79904618e-03 -5.07845719e+01] [-3.15984236e-02 3.44342297e-04 9.99500586e-01 -9.05670891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:276.16, Y:-50.79, Z:-9.06 [[ 9.78671385e-01 2.03050768e-01 3.11882367e-02 2.76158604e+02] [-2.02960284e-01 9.79168135e-01 -6.07344037e-03 -5.07913006e+01] [-3.17717443e-02 -3.86071057e-04 9.99495076e-01 -9.05812747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:276.19, Y:-50.80, Z:-9.06 [[ 9.79370128e-01 1.99317263e-01 3.32683078e-02 2.76185786e+02] [-1.99212236e-01 9.79934971e-01 -6.47591069e-03 -5.07972474e+01] [-3.38915390e-02 -2.85140514e-04 9.99425476e-01 -9.05820026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:276.21, Y:-50.80, Z:-9.06 [[ 9.79660311e-01 1.97837579e-01 3.35554497e-02 2.76214238e+02] [-1.97729933e-01 9.80234786e-01 -6.52975605e-03 -5.08030055e+01] [-3.41840502e-02 -2.37973998e-04 9.99415526e-01 -9.05966402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714012739 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:276.24, Y:-50.81, Z:-9.06 [[ 9.79995265e-01 1.96245429e-01 3.31211718e-02 2.76242147e+02] [-1.96139696e-01 9.80554791e-01 -6.44365620e-03 -5.08119714e+01] [-3.37416618e-02 -1.81624028e-04 9.99430572e-01 -9.05968206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:276.27, Y:-50.82, Z:-9.06 [[ 9.80043157e-01 1.96109642e-01 3.25025968e-02 2.76269164e+02] [-1.96007801e-01 9.80581959e-01 -6.32174197e-03 -5.08187258e+01] [-3.31112146e-02 -1.75182548e-04 9.99451658e-01 -9.06048111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774012739 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:276.30, Y:-50.82, Z:-9.06 [[ 9.79868245e-01 1.96758703e-01 3.38265389e-02 2.76296924e+02] [-1.96648855e-01 9.80451921e-01 -6.57707140e-03 -5.08249840e+01] [-3.44593911e-02 -2.07286745e-04 9.99406077e-01 -9.06104706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:276.33, Y:-50.83, Z:-9.06 [[ 9.79737046e-01 1.97082656e-01 3.56896103e-02 2.76325321e+02] [-1.96960650e-01 9.80386848e-01 -6.93755893e-03 -5.08310064e+01] [-3.63568971e-02 -2.32465348e-04 9.99338842e-01 -9.06096297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834012739 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:276.35, Y:-50.84, Z:-9.06 [[ 9.79696970e-01 1.96949533e-01 3.74797001e-02 2.76352715e+02] [-1.96814951e-01 9.80413598e-01 -7.28365415e-03 -5.08369442e+01] [-3.81801199e-02 -2.40791454e-04 9.99270844e-01 -9.06172461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:276.38, Y:-50.84, Z:-9.06 [[ 9.79834149e-01 1.96421981e-01 3.66530482e-02 2.76380895e+02] [-1.96292980e-01 9.80519433e-01 -7.12094626e-03 -5.08428480e+01] [-3.73377364e-02 -2.17389756e-04 9.99302680e-01 -9.06301872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:276.41, Y:-50.85, Z:-9.06 [[ 9.79947294e-01 1.96186450e-01 3.48450653e-02 2.76407831e+02] [-1.96069774e-01 9.80566590e-01 -6.76807334e-03 -5.08479236e+01] [-3.54957111e-02 -1.99708916e-04 9.99369809e-01 -9.06446678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:276.44, Y:-50.85, Z:-9.07 [[ 9.80250630e-01 1.95141425e-01 3.20706336e-02 2.76435879e+02] [-1.95042093e-01 9.80775102e-01 -6.22739892e-03 -5.08523590e+01] [-3.26693024e-02 -1.50711792e-04 9.99466205e-01 -9.06603589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954012739 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:276.46, Y:-50.86, Z:-9.07 [[ 9.80464354e-01 1.93980789e-01 3.25746061e-02 2.76463458e+02] [-1.93877724e-01 9.81005321e-01 -6.32361172e-03 -5.08567292e+01] [-3.31825211e-02 -1.15414603e-04 9.99449302e-01 -9.06661338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:276.49, Y:-50.86, Z:-9.07 [[ 9.80720802e-01 1.92131277e-01 3.56690417e-02 2.76492450e+02] [-1.92006558e-01 9.81369232e-01 -6.92193335e-03 -5.08604973e+01] [-3.63344199e-02 -6.02058867e-05 9.99339685e-01 -9.06724441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014012739 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:276.52, Y:-50.87, Z:-9.07 [[ 9.80892612e-01 1.91145205e-01 3.62380166e-02 2.76520471e+02] [-1.91015866e-01 9.81561771e-01 -7.03056134e-03 -5.08652651e+01] [-3.69137099e-02 -2.58104592e-05 9.99318456e-01 -9.06858686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:276.55, Y:-50.87, Z:-9.07 [[ 9.81315294e-01 1.89290317e-01 3.44886779e-02 2.76548868e+02] [-1.89172079e-01 9.81921165e-01 -6.68957920e-03 -5.08699602e+01] [-3.51314354e-02 4.02914756e-05 9.99382700e-01 -9.07010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074012739 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:276.58, Y:-50.88, Z:-9.07 [[ 9.81558056e-01 1.88228108e-01 3.33760772e-02 2.76577116e+02] [-1.88116803e-01 9.82125335e-01 -6.47260610e-03 -5.08750073e+01] [-3.39978174e-02 7.46377231e-05 9.99421904e-01 -9.07104602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:276.60, Y:-50.88, Z:-9.07 [[ 9.81779276e-01 1.86932857e-01 3.41403124e-02 2.76604258e+02] [-1.86815671e-01 9.82372685e-01 -6.61911800e-03 -5.08801593e+01] [-3.47758410e-02 1.20567522e-04 9.99395130e-01 -9.07168563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134012739 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:276.63, Y:-50.88, Z:-9.07 [[ 9.81865857e-01 1.86279896e-01 3.52028254e-02 2.76631748e+02] [-1.86154959e-01 9.82496707e-01 -6.82292776e-03 -5.08849787e+01] [-3.58576343e-02 1.46019323e-04 9.99356898e-01 -9.07185282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:276.66, Y:-50.89, Z:-9.07 [[ 9.81903002e-01 1.85901704e-01 3.61531619e-02 2.76661129e+02] [-1.85769753e-01 9.82568334e-01 -7.00489550e-03 -5.08896992e+01] [-3.68251741e-02 1.61963949e-04 9.99321710e-01 -9.07265585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:276.69, Y:-50.89, Z:-9.07 [[ 9.81843793e-01 1.86312022e-01 3.56454290e-02 2.76690893e+02] [-1.86184053e-01 9.82490616e-01 -6.90567628e-03 -5.08943363e+01] [-3.63079100e-02 1.43684931e-04 9.99340640e-01 -9.07495236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:276.72, Y:-50.90, Z:-9.08 [[ 9.81870012e-01 1.86359355e-01 3.46622430e-02 2.76719632e+02] [-1.86238409e-01 9.82481640e-01 -6.71439150e-03 -5.09016547e+01] [-3.53063070e-02 1.37218685e-04 9.99376529e-01 -9.07669524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254012739 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:276.75, Y:-50.91, Z:-9.08 [[ 9.81929005e-01 1.85979690e-01 3.50283318e-02 2.76748799e+02] [-1.85855964e-01 9.82553577e-01 -6.78445547e-03 -5.09086081e+01] [-3.56789836e-02 1.51629234e-04 9.99363291e-01 -9.07746439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:276.78, Y:-50.92, Z:-9.08 [[ 9.82017059e-01 1.85395314e-01 3.56521067e-02 2.76776647e+02] [-1.85266788e-01 9.82664005e-01 -6.90437342e-03 -5.09163638e+01] [-3.63140805e-02 1.75061160e-04 9.99340411e-01 -9.07751993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314012739 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:276.80, Y:-50.92, Z:-9.08 [[ 9.82243307e-01 1.84268121e-01 3.52611134e-02 2.76804954e+02] [-1.84141717e-01 9.82875991e-01 -6.82741933e-03 -5.09234768e+01] [-3.59153775e-02 2.13144963e-04 9.99354812e-01 -9.07874752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:276.83, Y:-50.93, Z:-9.08 [[ 9.82448070e-01 1.83241819e-01 3.49030949e-02 2.76833772e+02] [-1.83117352e-01 9.83067838e-01 -6.75727159e-03 -5.09316462e+01] [-3.55503248e-02 2.47306108e-04 9.99367857e-01 -9.08030569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374012739 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:276.86, Y:-50.94, Z:-9.08 [[ 9.82672894e-01 1.81702431e-01 3.65815386e-02 2.76862664e+02] [-1.81564666e-01 9.83353510e-01 -7.08137252e-03 -5.09422883e+01] [-3.72592870e-02 3.16757985e-04 9.99305581e-01 -9.08119710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:276.89, Y:-50.95, Z:-9.08 [[ 9.82563006e-01 1.81945381e-01 3.82860106e-02 2.76893288e+02] [-1.81794653e-01 9.83308586e-01 -7.41143300e-03 -5.09507255e+01] [-3.89954389e-02 3.22007882e-04 9.99239337e-01 -9.08053080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:276.92, Y:-50.96, Z:-9.08 [[ 9.82353732e-01 1.83187214e-01 3.77304800e-02 2.76923949e+02] [-1.83041688e-01 9.83078009e-01 -7.30539894e-03 -5.09571283e+01] [-3.84302609e-02 2.70235173e-04 9.99261248e-01 -9.08177502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:276.95, Y:-50.96, Z:-9.08 [[ 9.82171289e-01 1.84449765e-01 3.63021168e-02 2.76954052e+02] [-1.84315709e-01 9.82841918e-01 -7.03439196e-03 -5.09635554e+01] [-3.69767340e-02 2.17927418e-04 9.99316103e-01 -9.08393294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494012739 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:276.98, Y:-50.97, Z:-9.09 [[ 9.81696192e-01 1.87500551e-01 3.34085279e-02 2.76982728e+02] [-1.87388785e-01 9.82264493e-01 -6.47369440e-03 -5.09722145e+01] [-3.40298320e-02 9.48176775e-05 9.99420813e-01 -9.08693102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:277.01, Y:-50.98, Z:-9.09 [[ 9.81474227e-01 1.88748480e-01 3.28991410e-02 2.77012671e+02] [-1.88640812e-01 9.82025462e-01 -6.37459146e-03 -5.09791007e+01] [-3.35109886e-02 5.03765418e-05 9.99438348e-01 -9.08853208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55401273900003 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:277.04, Y:-50.99, Z:-9.09 [[ 9.81286747e-01 1.89583586e-01 3.36806281e-02 2.77042530e+02] [-1.89471232e-01 9.81864585e-01 -6.52601367e-03 -5.09861074e+01] [-3.43070410e-02 2.23806128e-05 9.99411340e-01 -9.08906800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:277.07, Y:-50.99, Z:-9.09 [[ 9.81299609e-01 1.89467338e-01 3.39588824e-02 2.77071622e+02] [-1.89353049e-01 9.81887024e-01 -6.57994375e-03 -5.09934775e+01] [-3.45904704e-02 2.66783072e-05 9.99401570e-01 -9.08938050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61401273900003 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:277.10, Y:-51.00, Z:-9.09 [[ 9.81408941e-01 1.88771584e-01 3.46667038e-02 2.77101667e+02] [-1.88651971e-01 9.82021021e-01 -6.71918239e-03 -5.10028277e+01] [-3.53118226e-02 5.43236482e-05 9.99376342e-01 -9.09102104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:277.13, Y:-51.01, Z:-9.09 [[ 9.81347234e-01 1.88958554e-01 3.53874560e-02 2.77131909e+02] [-1.88833994e-01 9.81985062e-01 -6.86004072e-03 -5.10093449e+01] [-3.60462166e-02 4.97273178e-05 9.99350123e-01 -9.09262769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67401273900003 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:277.16, Y:-51.02, Z:-9.09 [[ 9.81299225e-01 1.89281543e-01 3.49904111e-02 2.77162715e+02] [-1.89159765e-01 9.81922856e-01 -6.78879133e-03 -5.10164866e+01] [-3.56428773e-02 4.30577168e-05 9.99364590e-01 -9.09398768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:277.19, Y:-51.03, Z:-9.10 [[ 9.81074768e-01 1.90815937e-01 3.28873495e-02 2.77192757e+02] [-1.90709050e-01 9.81625834e-01 -6.38592807e-03 -5.10259448e+01] [-3.35016087e-02 -6.84227942e-06 9.99438664e-01 -9.09544540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734012739 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:277.22, Y:-51.03, Z:-9.10 [[ 9.80930657e-01 1.91704492e-01 3.20067942e-02 2.77221684e+02] [-1.91603701e-01 9.81452692e-01 -6.21573781e-03 -5.10330004e+01] [-3.26047392e-02 -3.54124519e-05 9.99468324e-01 -9.09654421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:277.25, Y:-51.04, Z:-9.10 [[ 9.80752802e-01 1.92682347e-01 3.15825118e-02 2.77251220e+02] [-1.92584704e-01 9.81261183e-01 -6.13375293e-03 -5.10394539e+01] [-3.21725588e-02 -6.66133389e-05 9.99482327e-01 -9.09772555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794012739 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:277.28, Y:-51.05, Z:-9.10 [[ 9.80325846e-01 1.94793460e-01 3.18864217e-02 2.77280287e+02] [-1.94695044e-01 9.80844274e-01 -6.19279922e-03 -5.10454298e+01] [-3.24819310e-02 -1.37167145e-04 9.99472313e-01 -9.09889020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:277.31, Y:-51.05, Z:-9.10 [[ 9.80118571e-01 1.95689216e-01 3.27615325e-02 2.77310550e+02] [-1.95585837e-01 9.80665948e-01 -6.36232291e-03 -5.10513632e+01] [-3.33731573e-02 -1.71860916e-04 9.99442946e-01 -9.10006751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854012739 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:277.34, Y:-51.05, Z:-9.10 [[ 9.79999302e-01 1.95802356e-01 3.55359649e-02 2.77339494e+02] [-1.95680796e-01 9.80643361e-01 -6.90109759e-03 -5.10548126e+01] [-3.61993592e-02 -1.90635079e-04 9.99344570e-01 -9.10014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:277.37, Y:-51.06, Z:-9.10 [[ 9.80062647e-01 1.95350391e-01 3.62688908e-02 2.77369819e+02] [-1.95223469e-01 9.80733498e-01 -7.04300161e-03 -5.10594784e+01] [-3.69459692e-02 -1.77955885e-04 9.99317249e-01 -9.10182570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914012739 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:277.40, Y:-51.07, Z:-9.10 [[ 9.80460602e-01 1.93657715e-01 3.45499310e-02 2.77400381e+02] [-1.93541492e-01 9.81069150e-01 -6.70919939e-03 -5.10656165e+01] [-3.51951597e-02 -1.08739533e-04 9.99380453e-01 -9.09612014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:277.43, Y:-51.07, Z:-9.11 [[ 9.80836968e-01 1.91843758e-01 3.39825782e-02 2.77429820e+02] [-1.91730233e-01 9.81425479e-01 -6.59902937e-03 -5.10720795e+01] [-3.46173507e-02 -4.29156663e-05 9.99400639e-01 -9.10525161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974012739 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:277.46, Y:-51.08, Z:-9.11 [[ 9.81740174e-01 1.87421995e-01 3.25457751e-02 2.77460123e+02] [-1.87315426e-01 9.82279484e-01 -6.32038360e-03 -5.10791961e+01] [-3.31536261e-02 1.08648771e-04 9.99450262e-01 -9.10751503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:277.49, Y:-51.09, Z:-9.11 [[ 9.82267919e-01 1.84620664e-01 3.26335148e-02 2.77489694e+02] [-1.84511948e-01 9.82809833e-01 -6.33818888e-03 -5.10862442e+01] [-3.32426999e-02 2.04526212e-04 9.99447288e-01 -9.10842339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034012739 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:277.52, Y:-51.10, Z:-9.11 [[ 9.83114621e-01 1.79697128e-01 3.45627586e-02 2.77521053e+02] [-1.79572052e-01 9.83721905e-01 -6.71506648e-03 -5.10957012e+01] [-3.52068209e-02 3.95174562e-04 9.99379970e-01 -9.10834607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:277.55, Y:-51.10, Z:-9.11 [[ 9.83425917e-01 1.77777325e-01 3.56186434e-02 2.77553330e+02] [-1.77643000e-01 9.84070622e-01 -6.92649349e-03 -5.11035060e+01] [-3.62826340e-02 4.84290536e-04 9.99341451e-01 -9.10888380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094012739 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:277.59, Y:-51.11, Z:-9.11 [[ 9.83576979e-01 1.76852381e-01 3.60494481e-02 2.77585350e+02] [-1.76713901e-01 9.84237244e-01 -7.01743275e-03 -5.11115604e+01] [-3.67222591e-02 5.31746688e-04 9.99325369e-01 -9.11015001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:277.62, Y:-51.12, Z:-9.11 [[ 9.83650544e-01 1.76522993e-01 3.56544476e-02 2.77616099e+02] [-1.76387067e-01 9.84296366e-01 -6.94741759e-03 -5.11229758e+01] [-3.63209222e-02 5.44847664e-04 9.99340029e-01 -9.11203715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154012739 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:277.65, Y:-51.13, Z:-9.11 [[ 9.83552253e-01 1.77354628e-01 3.42096645e-02 2.77647955e+02] [-1.77229792e-01 9.84146883e-01 -6.67189807e-03 -5.11346591e+01] [-3.48506267e-02 4.99188662e-04 9.99392408e-01 -9.11273392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:277.68, Y:-51.14, Z:-9.11 [[ 9.83447233e-01 1.78070764e-01 3.35013917e-02 2.77680378e+02] [-1.77951240e-01 9.84017572e-01 -6.54021241e-03 -5.11430112e+01] [-3.41305787e-02 4.70339608e-04 9.99417271e-01 -9.11377795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214012739 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:277.71, Y:-51.15, Z:-9.12 [[ 9.83345120e-01 1.78731630e-01 3.29754407e-02 2.77712092e+02] [-1.78615982e-01 9.83897761e-01 -6.44405887e-03 -5.11508964e+01] [-3.35962194e-02 4.46793108e-04 9.99435388e-01 -9.11529279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:277.74, Y:-51.16, Z:-9.12 [[ 9.83266933e-01 1.79289849e-01 3.22690180e-02 2.77743039e+02] [-1.79179194e-01 9.83796203e-01 -6.31242619e-03 -5.11605968e+01] [-3.28778913e-02 4.24863293e-04 9.99459286e-01 -9.11729129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274012739 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:277.78, Y:-51.17, Z:-9.12 [[ 9.83324158e-01 1.78958326e-01 3.23653770e-02 2.77776454e+02] [-1.78870037e-01 9.83856621e-01 -5.62655131e-03 -5.11693799e+01] [-3.28498087e-02 -2.56472372e-04 9.99460266e-01 -9.11813404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:277.81, Y:-51.18, Z:-9.12 [[ 9.83065584e-01 1.80256068e-01 3.30122298e-02 2.77806872e+02] [-1.80114776e-01 9.83619033e-01 -7.22948090e-03 -5.11780687e+01] [-3.37746154e-02 1.16106347e-03 9.99428801e-01 -9.11884031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334012739 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:277.84, Y:-51.19, Z:-9.12 [[ 9.82821502e-01 1.81365098e-01 3.41847372e-02 2.77838795e+02] [-1.81241716e-01 9.83415756e-01 -6.70004940e-03 -5.11873286e+01] [-3.48329643e-02 3.89252178e-04 9.99393072e-01 -9.11950239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:277.87, Y:-51.20, Z:-9.12 [[ 9.82270895e-01 1.84009937e-01 3.58361733e-02 2.77869318e+02] [-1.83875839e-01 9.82924332e-01 -7.03088797e-03 -5.11981756e+01] [-3.65180000e-02 3.16830189e-04 9.99332945e-01 -9.12009212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394012739 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:277.90, Y:-51.20, Z:-9.12 [[ 9.82256130e-01 1.84088967e-01 3.58350006e-02 2.77902149e+02] [-1.83954703e-01 9.82909533e-01 -7.03686004e-03 -5.12047615e+01] [-3.65179720e-02 3.19982005e-04 9.99332945e-01 -9.12124333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:277.93, Y:-51.21, Z:-9.12 [[ 9.81918280e-01 1.85900294e-01 3.57431485e-02 2.77934227e+02] [-1.85767800e-01 9.82568581e-01 -7.02202039e-03 -5.12137466e+01] [-3.64254903e-02 2.55124101e-04 9.99336339e-01 -9.12241981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454012739 meters Centerline goodness : 0.990166 Centerline is valid? [True, True] Translation: X:277.97, Y:-51.22, Z:-9.12 [[ 9.81620438e-01 1.87664124e-01 3.46913726e-02 2.77965272e+02] [-1.87540189e-01 9.82233241e-01 -6.82183527e-03 -5.12220307e+01] [-3.53552331e-02 1.90426367e-04 9.99374790e-01 -9.12456327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:278.00, Y:-51.23, Z:-9.13 [[ 9.80885721e-01 1.91909182e-01 3.21569439e-02 2.77996774e+02] [-1.91804863e-01 9.81412688e-01 -6.32692265e-03 -5.12313124e+01] [-3.27734273e-02 3.81298510e-05 9.99462806e-01 -9.12577572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514012739 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:278.03, Y:-51.24, Z:-9.13 [[ 9.80114482e-01 1.95478759e-01 3.41124265e-02 2.78028860e+02] [-1.95363280e-01 9.80707932e-01 -6.71865278e-03 -5.12399437e+01] [-3.47676812e-02 -7.92666636e-05 9.99395418e-01 -9.12656323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters Centerline goodness : 0.989839 Centerline is valid? [True, True] Translation: X:278.06, Y:-51.25, Z:-9.13 [[ 9.79659305e-01 1.97623247e-01 3.48238127e-02 2.78061239e+02] [-1.97504000e-01 9.80278037e-01 -6.86591308e-03 -5.12478625e+01] [-3.54938828e-02 -1.51586659e-04 9.99369882e-01 -9.12719189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574012739 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:278.09, Y:-51.26, Z:-9.13 [[ 9.79208411e-01 1.99851854e-01 3.47868555e-02 2.78092607e+02] [-1.99734019e-01 9.79826100e-01 -6.86555355e-03 -5.12554658e+01] [-3.54571625e-02 -2.25310671e-04 9.99371172e-01 -9.12848400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:278.13, Y:-51.26, Z:-9.13 [[ 9.78158759e-01 2.05107751e-01 3.37083483e-02 2.78125070e+02] [-2.05000088e-01 9.78739317e-01 -6.65678552e-03 -5.12617069e+01] [-3.43570441e-02 -3.98821284e-04 9.99409543e-01 -9.12957114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634012739 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:278.16, Y:-51.27, Z:-9.13 [[ 9.77518866e-01 2.08194764e-01 3.33437703e-02 2.78156242e+02] [-2.08090985e-01 9.78087264e-01 -6.59141988e-03 -5.12671039e+01] [-3.39854162e-02 -4.95300729e-04 9.99422206e-01 -9.13094839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:278.19, Y:-51.27, Z:-9.13 [[ 9.76415195e-01 2.13307418e-01 3.33663498e-02 2.78186942e+02] [-2.13206266e-01 9.76984903e-01 -6.60213260e-03 -5.12706296e+01] [-3.40067038e-02 -6.67492261e-04 9.99421382e-01 -9.13239705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694012739 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:278.22, Y:-51.27, Z:-9.13 [[ 9.75968175e-01 2.15423574e-01 3.28451757e-02 2.78216512e+02] [-2.15326648e-01 9.76520433e-01 -6.50220379e-03 -5.12747361e+01] [-3.34747132e-02 -7.26497613e-04 9.99439301e-01 -9.13434355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:278.25, Y:-51.28, Z:-9.14 [[ 9.75329572e-01 2.18460666e-01 3.17358253e-02 2.78247742e+02] [-2.18371772e-01 9.75845425e-01 -6.28293285e-03 -5.12766578e+01] [-3.23418337e-02 -8.02278211e-04 9.99476544e-01 -9.13530386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754012739 meters Centerline goodness : 0.989562 Centerline is valid? [True, True] Translation: X:278.28, Y:-51.28, Z:-9.14 [[ 9.75217448e-01 2.18908062e-01 3.20965777e-02 2.78279235e+02] [-2.18817352e-01 9.75745140e-01 -6.35513809e-03 -5.12809130e+01] [-3.27092707e-02 -8.25646600e-04 9.99464568e-01 -9.13592365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:278.31, Y:-51.28, Z:-9.14 [[ 9.75131004e-01 2.19000430e-01 3.40343357e-02 2.78309064e+02] [-2.18898461e-01 9.75724367e-01 -6.73968622e-03 -5.12819175e+01] [-3.46841249e-02 -8.77986705e-04 9.99397939e-01 -9.13589735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814012739 meters Centerline goodness : 0.986206 Centerline is valid? [True, True] Translation: X:278.34, Y:-51.28, Z:-9.13 [[ 9.75371294e-01 2.18142616e-01 3.26287853e-02 2.78339646e+02] [-2.18048429e-01 9.75916563e-01 -6.46098201e-03 -5.12820543e+01] [-3.32523875e-02 -8.12798995e-04 9.99446656e-01 -9.12829718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:278.37, Y:-51.28, Z:-9.14 [[ 9.75635643e-01 2.17080075e-01 3.18014753e-02 2.78368942e+02] [-2.16990064e-01 9.76153506e-01 -6.29642778e-03 -5.12837810e+01] [-3.24099506e-02 -7.57584778e-04 9.99474372e-01 -9.13932641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874012739 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:278.40, Y:-51.29, Z:-9.14 [[ 9.75860694e-01 2.16148454e-01 3.12370113e-02 2.78397732e+02] [-2.16061156e-01 9.76360249e-01 -6.18396678e-03 -5.12857444e+01] [-3.18352310e-02 -7.14414655e-04 9.99492875e-01 -9.14073945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:278.43, Y:-51.29, Z:-9.14 [[ 9.76503498e-01 2.12953575e-01 3.30407743e-02 2.78426732e+02] [-2.12854114e-01 9.77062105e-01 -6.53981798e-03 -5.12853077e+01] [-3.36755661e-02 -6.46709614e-04 9.99432608e-01 -9.14090207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934012739 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:278.46, Y:-51.29, Z:-9.14 [[ 9.76953422e-01 2.10655050e-01 3.44450443e-02 2.78456535e+02] [-2.10545585e-01 9.77560278e-01 -6.81606483e-03 -5.12882080e+01] [-3.51079456e-02 -5.93274149e-04 9.99383350e-01 -9.14088974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:278.49, Y:-51.29, Z:-9.14 [[ 9.77808538e-01 2.06383282e-01 3.60056036e-02 2.78487095e+02] [-2.06260806e-01 9.78471118e-01 -7.12397555e-03 -5.12891366e+01] [-3.67007127e-02 -4.60660713e-04 9.99326196e-01 -9.14078163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994012739 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:278.52, Y:-51.29, Z:-9.14 [[ 9.78376814e-01 2.03832475e-01 3.50874980e-02 2.78515987e+02] [-2.03714556e-01 9.79005718e-01 -6.94151663e-03 -5.12934253e+01] [-3.57657677e-02 -3.56415146e-04 9.99360137e-01 -9.14239955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:278.55, Y:-51.30, Z:-9.14 [[ 9.79786976e-01 1.97412543e-01 3.23383596e-02 2.78545332e+02] [-1.97308894e-01 9.80320496e-01 -6.39728345e-03 -5.12978420e+01] [-3.29648608e-02 -1.12670959e-04 9.99456505e-01 -9.14477286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05401273900003 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:278.57, Y:-51.30, Z:-9.15 [[ 9.80533218e-01 1.93668902e-01 3.23568382e-02 2.78573900e+02] [-1.93563107e-01 9.81066948e-01 -6.40057882e-03 -5.13027937e+01] [-3.29838176e-02 1.28900139e-05 9.99455886e-01 -9.14597690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:278.60, Y:-51.31, Z:-9.15 [[ 9.81703922e-01 1.87372856e-01 3.38942688e-02 2.78604803e+02] [-1.87253052e-01 9.82288836e-01 -6.70345731e-03 -5.13101127e+01] [-3.45500078e-02 2.34005045e-04 9.99402943e-01 -9.14652638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11401273900003 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:278.64, Y:-51.32, Z:-9.15 [[ 9.82181835e-01 1.84870740e-01 3.37883601e-02 2.78635922e+02] [-1.84750174e-01 9.82762792e-01 -6.68334732e-03 -5.13179823e+01] [-3.44414984e-02 3.21856930e-04 9.99406664e-01 -9.14770360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:278.67, Y:-51.33, Z:-9.15 [[ 9.82512583e-01 1.83160412e-01 3.34856399e-02 2.78668281e+02] [-1.83040809e-01 9.83082965e-01 -6.62918824e-03 -5.13266928e+01] [-3.41333670e-02 3.84022236e-04 9.99417213e-01 -9.14879441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17401273900003 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:278.70, Y:-51.34, Z:-9.15 [[ 9.82781096e-01 1.81843766e-01 3.27744175e-02 2.78699123e+02] [-1.81728244e-01 9.83327343e-01 -6.49481039e-03 -5.13368890e+01] [-3.34090216e-02 4.26939524e-04 9.99441672e-01 -9.15055338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:278.73, Y:-51.35, Z:-9.15 [[ 9.82423255e-01 1.83753244e-01 3.28526053e-02 2.78728840e+02] [-1.83638031e-01 9.82972334e-01 -6.51647079e-03 -5.13471725e+01] [-3.34906247e-02 3.68944704e-04 9.99438964e-01 -9.15154205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234012739 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:278.76, Y:-51.35, Z:-9.15 [[ 9.82026051e-01 1.85896866e-01 3.26678860e-02 2.78760005e+02] [-1.85783963e-01 9.82569217e-01 -6.48486927e-03 -5.13544778e+01] [-3.33039760e-02 2.99141249e-04 9.99445224e-01 -9.15218125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:278.79, Y:-51.36, Z:-9.15 [[ 9.81109592e-01 1.90987438e-01 3.07858289e-02 2.78791040e+02] [-1.90889509e-01 9.81592473e-01 -6.11655098e-03 -5.13607140e+01] [-3.13873223e-02 1.24315063e-04 9.99507289e-01 -9.15404975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294012739 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:278.82, Y:-51.37, Z:-9.16 [[ 9.80709380e-01 1.93185120e-01 2.98097529e-02 2.78820247e+02] [-1.93094293e-01 9.81162324e-01 -5.92345370e-03 -5.13669124e+01] [-3.03925295e-02 5.30934431e-05 9.99538039e-01 -9.15577489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:278.85, Y:-51.37, Z:-9.16 [[ 9.80215255e-01 1.95743351e-01 2.93699722e-02 2.78849927e+02] [-1.95656345e-01 9.80655158e-01 -5.83566851e-03 -5.13735483e+01] [-2.99441081e-02 -2.62101045e-05 9.99551574e-01 -9.15675717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354012739 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:278.88, Y:-51.38, Z:-9.16 [[ 9.80080933e-01 1.96432006e-01 2.92545992e-02 2.78879710e+02] [-1.96345989e-01 9.80517447e-01 -5.81274446e-03 -5.13798748e+01] [-2.98264540e-02 -4.70631924e-05 9.99555091e-01 -9.15847161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:278.91, Y:-51.39, Z:-9.16 [[ 9.80173436e-01 1.96124650e-01 2.81985275e-02 2.78909647e+02] [-1.96044605e-01 9.80578972e-01 -5.60290823e-03 -5.13863731e+01] [-2.87497515e-02 -3.63473724e-05 9.99586640e-01 -9.15974738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414012739 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:278.94, Y:-51.39, Z:-9.16 [[ 9.80259670e-01 1.95718190e-01 2.80244301e-02 2.78938853e+02] [-1.95638962e-01 9.80660180e-01 -5.56838604e-03 -5.13917040e+01] [-2.85722771e-02 -2.42061574e-05 9.99591729e-01 -9.16102685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:278.97, Y:-51.40, Z:-9.16 [[ 9.80397805e-01 1.94961607e-01 2.84625224e-02 2.78968323e+02] [-1.94879574e-01 9.80810875e-01 -5.65507509e-03 -5.13958341e+01] [-2.90188741e-02 -2.54102779e-06 9.99578864e-01 -9.16125516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474012739 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:279.00, Y:-51.40, Z:-9.16 [[ 9.80396496e-01 1.94827037e-01 2.94131911e-02 2.78998432e+02] [-1.94739383e-01 9.80837614e-01 -5.84353072e-03 -5.14012694e+01] [-2.99880420e-02 1.07034479e-06 9.99550258e-01 -9.16179483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:279.03, Y:-51.41, Z:-9.16 [[ 9.80310761e-01 1.95079612e-01 3.05737963e-02 2.79027626e+02] [-1.94985027e-01 9.80787411e-01 -6.07406856e-03 -5.14065861e+01] [-3.11713214e-02 -6.95770854e-06 9.99514056e-01 -9.16158660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534012739 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:279.06, Y:-51.41, Z:-9.16 [[ 9.79981017e-01 1.96321969e-01 3.30891362e-02 2.79057694e+02] [-1.96211868e-01 9.80539485e-01 -6.57425697e-03 -5.14104476e+01] [-3.37358757e-02 -4.98342014e-05 9.99430782e-01 -9.16177720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:279.09, Y:-51.42, Z:-9.16 [[ 9.79984245e-01 1.95925183e-01 3.52732499e-02 2.79087409e+02] [-1.95799805e-01 9.80618846e-01 -7.00822320e-03 -5.14159031e+01] [-3.59627010e-02 -3.85471239e-05 9.99353132e-01 -9.16295413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594012739 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:279.12, Y:-51.42, Z:-9.16 [[ 9.80244152e-01 1.94576349e-01 3.55168515e-02 2.79117638e+02] [-1.94448322e-01 9.80887376e-01 -7.05732958e-03 -5.14229936e+01] [-3.62112207e-02 1.17138769e-05 9.99344159e-01 -9.16384101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:279.15, Y:-51.43, Z:-9.17 [[ 9.80731035e-01 1.92203465e-01 3.49923505e-02 2.79149852e+02] [-1.92077484e-01 9.81355092e-01 -6.95862668e-03 -5.14299603e+01] [-3.56773935e-02 1.03298495e-04 9.99363354e-01 -9.16512473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654012739 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:279.18, Y:-51.44, Z:-9.17 [[ 9.82002704e-01 1.86172662e-01 3.17872349e-02 2.79182412e+02] [-1.86065363e-01 9.82516998e-01 -6.32691349e-03 -5.14374046e+01] [-3.24093970e-02 2.98542743e-04 9.99474633e-01 -9.16625438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:279.21, Y:-51.45, Z:-9.17 [[ 9.82388453e-01 1.84313103e-01 3.06856119e-02 2.79213943e+02] [-1.84212024e-01 9.82867517e-01 -6.11350812e-03 -5.14452639e+01] [-3.12866908e-02 3.53181102e-04 9.99510389e-01 -9.16737068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714012739 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:279.24, Y:-51.46, Z:-9.17 [[ 9.82891714e-01 1.81609825e-01 3.06879505e-02 2.79244916e+02] [-1.81507248e-01 9.83370568e-01 -6.11921730e-03 -5.14553657e+01] [-3.12889373e-02 4.44442534e-04 9.99510283e-01 -9.16861162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:279.28, Y:-51.46, Z:-9.17 [[ 9.82956930e-01 1.81180768e-01 3.11320153e-02 2.79276172e+02] [-1.81074796e-01 9.83449698e-01 -6.21372647e-03 -5.14631888e+01] [-3.17425788e-02 4.70602155e-04 9.99495967e-01 -9.16936253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774012739 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:279.31, Y:-51.47, Z:-9.17 [[ 9.82612175e-01 1.82900424e-01 3.19491654e-02 2.79308344e+02] [-1.82789598e-01 9.83131349e-01 -6.38064197e-03 -5.14730083e+01] [-3.25772482e-02 4.29721368e-04 9.99469128e-01 -9.16932860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:279.34, Y:-51.48, Z:-9.17 [[ 9.82194691e-01 1.85233011e-01 3.13419883e-02 2.79339145e+02] [-1.85127343e-01 9.82694565e-01 -6.26571647e-03 -5.14811671e+01] [-3.19602191e-02 3.51894437e-04 9.99489080e-01 -9.16997516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834012739 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:279.37, Y:-51.49, Z:-9.17 [[ 9.81018459e-01 1.91551533e-01 3.01793518e-02 2.79370666e+02] [-1.91456372e-01 9.81482546e-01 -6.03892413e-03 -5.14891770e+01] [-3.07772722e-02 1.46266833e-04 9.99526257e-01 -9.17077706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:279.40, Y:-51.49, Z:-9.17 [[ 9.80427018e-01 1.94509940e-01 3.04753249e-02 2.79400478e+02] [-1.94414152e-01 9.80900545e-01 -6.10392262e-03 -5.14945761e+01] [-3.10805364e-02 5.96162298e-05 9.99516882e-01 -9.17165990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894012739 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:279.43, Y:-51.50, Z:-9.17 [[ 9.79690821e-01 1.98046195e-01 3.13624063e-02 2.79429567e+02] [-1.97946546e-01 9.80192686e-01 -6.28198915e-03 -5.14999651e+01] [-3.19853253e-02 -5.36728937e-05 9.99488337e-01 -9.17256840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:279.46, Y:-51.51, Z:-9.17 [[ 9.79598907e-01 1.98515069e-01 3.12689730e-02 2.79459549e+02] [-1.98416242e-01 9.80097833e-01 -6.26356631e-03 -5.15068023e+01] [-3.18900650e-02 -6.84894023e-05 9.99491380e-01 -9.17360697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954012739 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:279.49, Y:-51.51, Z:-9.18 [[ 9.79931751e-01 1.97169473e-01 2.92910004e-02 2.79490430e+02] [-1.97082105e-01 9.80369419e-01 -5.86901242e-03 -5.15122037e+01] [-2.98731911e-02 -2.15003996e-05 9.99553696e-01 -9.17506374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:279.52, Y:-51.52, Z:-9.18 [[ 9.80152081e-01 1.96242210e-01 2.81228330e-02 2.79520527e+02] [-1.96161270e-01 9.80555452e-01 -5.63571969e-03 -5.15173161e+01] [-2.86819633e-02 7.25173719e-06 9.99588588e-01 -9.17678203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014012739 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:279.55, Y:-51.52, Z:-9.18 [[ 9.80326410e-01 1.95483398e-01 2.73197951e-02 2.79549611e+02] [-1.95406716e-01 9.80707010e-01 -5.47494459e-03 -5.15221819e+01] [-2.78629753e-02 2.87613253e-05 9.99611752e-01 -9.17809059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:279.58, Y:-51.52, Z:-9.18 [[ 9.80566686e-01 1.94283975e-01 2.72527333e-02 2.79578292e+02] [-1.94207222e-01 9.80945326e-01 -5.46093627e-03 -5.15248124e+01] [-2.77944137e-02 6.21345530e-05 9.99613659e-01 -9.17842337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074012739 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:279.61, Y:-51.53, Z:-9.18 [[ 9.81063970e-01 1.91498952e-01 2.90110123e-02 2.79608490e+02] [-1.91410789e-01 9.81492807e-01 -5.81210339e-03 -5.15268139e+01] [-2.95871116e-02 1.49024462e-04 9.99562194e-01 -9.17896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:279.64, Y:-51.53, Z:-9.18 [[ 9.81470833e-01 1.89211157e-01 3.02347633e-02 2.79638018e+02] [-1.89114340e-01 9.81936396e-01 -6.05638102e-03 -5.15332032e+01] [-3.08345494e-02 2.26334014e-04 9.99524477e-01 -9.17979432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134012739 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:279.67, Y:-51.54, Z:-9.18 [[ 9.82420970e-01 1.84170110e-01 3.05026089e-02 2.79668145e+02] [-1.84069127e-01 9.82894308e-01 -6.11036773e-03 -5.15436556e+01] [-3.11061878e-02 3.88364790e-04 9.99516010e-01 -9.18063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:279.70, Y:-51.55, Z:-9.18 [[ 9.82813842e-01 1.82002979e-01 3.08523479e-02 2.79700581e+02] [-1.81898591e-01 9.83297870e-01 -6.18067415e-03 -5.15517463e+01] [-3.14619491e-02 4.62453483e-04 9.99504843e-01 -9.18194478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194012739 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:279.73, Y:-51.56, Z:-9.18 [[ 9.83742644e-01 1.76573621e-01 3.27439464e-02 2.79732540e+02] [-1.76452804e-01 9.84287200e-01 -6.56631808e-03 -5.15624526e+01] [-3.33888859e-02 6.81805958e-04 9.99442203e-01 -9.18249938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:279.76, Y:-51.57, Z:-9.18 [[ 9.84284473e-01 1.73291133e-01 3.39743889e-02 2.79763525e+02] [-1.73158869e-01 9.84870293e-01 -6.81994310e-03 -5.15730884e+01] [-3.46422020e-02 8.29797349e-04 9.99399434e-01 -9.18349508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:279.79, Y:-51.58, Z:-9.18 [[ 9.84775080e-01 1.70330803e-01 3.47197290e-02 2.79794832e+02] [-1.70190602e-01 9.85386470e-01 -6.97599661e-03 -5.15847575e+01] [-3.54005783e-02 9.60816046e-04 9.99372741e-01 -9.18415309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:279.83, Y:-51.59, Z:-9.19 [[ 9.84761499e-01 1.70409559e-01 3.47184820e-02 2.79827632e+02] [-1.70269189e-01 9.85372849e-01 -6.98219712e-03 -5.15914919e+01] [-3.54004827e-02 9.64311123e-04 9.99372741e-01 -9.18530431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314012739 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:279.86, Y:-51.61, Z:-9.19 [[ 9.85228638e-01 1.67964156e-01 3.33552602e-02 2.79858293e+02] [-1.67833107e-01 9.85792582e-01 -6.71066670e-03 -5.16052883e+01] [-3.40085196e-02 1.01342406e-03 9.99421029e-01 -9.18562843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:279.89, Y:-51.62, Z:-9.19 [[ 9.84458837e-01 1.72844282e-01 3.10749580e-02 2.79888802e+02] [-1.72732798e-01 9.84948844e-01 -6.25736412e-03 -5.16180759e+01] [-3.16887936e-02 7.92452971e-04 9.99497470e-01 -9.18815518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:279.92, Y:-51.63, Z:-9.19 [[ 9.83652807e-01 1.77400817e-01 3.09209410e-02 2.79920771e+02] [-1.77292507e-01 9.84138471e-01 -6.23189184e-03 -5.16286461e+01] [-3.15360303e-02 6.47966749e-04 9.99502406e-01 -9.18902293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:279.95, Y:-51.64, Z:-9.19 [[ 9.82685119e-01 1.82716984e-01 3.07320672e-02 2.79951747e+02] [-1.82612460e-01 9.83165436e-01 -6.19794968e-03 -5.16379361e+01] [-3.13471769e-02 4.78574516e-04 9.99508442e-01 -9.18934758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434012739 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:279.98, Y:-51.65, Z:-9.19 [[ 9.80584128e-01 1.93802165e-01 2.99247111e-02 2.79983875e+02] [-1.93708106e-01 9.81040624e-01 -6.03857382e-03 -5.16461633e+01] [-3.05276459e-02 1.24670525e-04 9.99533915e-01 -9.19111456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:280.01, Y:-51.65, Z:-9.19 [[ 9.78798691e-01 2.02711879e-01 2.93430764e-02 2.80014815e+02] [-2.02625320e-01 9.79238415e-01 -5.92511389e-03 -5.16541849e+01] [-2.99349586e-02 -1.46156544e-04 9.99551838e-01 -9.19315046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:280.05, Y:-51.66, Z:-9.19 [[ 9.78103446e-01 2.05974719e-01 2.98004144e-02 2.80046879e+02] [-2.05886850e-01 9.78557282e-01 -6.02084824e-03 -5.16628002e+01] [-3.04015550e-02 -2.46501032e-04 9.99537736e-01 -9.19390918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:280.08, Y:-51.67, Z:-9.19 [[ 9.77192272e-01 2.10104742e-01 3.08425256e-02 2.80079034e+02] [-2.10012478e-01 9.77678808e-01 -6.23760792e-03 -5.16721136e+01] [-3.14646347e-02 -3.81972974e-04 9.99504793e-01 -9.18621698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55401273900003 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:280.11, Y:-51.68, Z:-9.19 [[ 9.76913113e-01 2.11371036e-01 3.10331407e-02 2.80110655e+02] [-2.11278075e-01 9.77405806e-01 -6.28218734e-03 -5.16792151e+01] [-3.16598444e-02 -4.19471040e-04 9.99498613e-01 -9.19495720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:280.14, Y:-51.69, Z:-9.20 [[ 9.76748718e-01 2.12218466e-01 3.04181600e-02 2.80141213e+02] [-2.12129374e-01 9.77222153e-01 -6.16383774e-03 -5.16882912e+01] [-3.10333800e-02 -4.32064621e-04 9.99518255e-01 -9.19726090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61401273900003 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:280.17, Y:-51.70, Z:-9.20 [[ 9.76825725e-01 2.11918993e-01 3.00306948e-02 2.80173003e+02] [-2.11831841e-01 9.77287149e-01 -6.09099194e-03 -5.16959871e+01] [-3.06394090e-02 -4.11619755e-04 9.99530418e-01 -9.19871374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:280.20, Y:-51.70, Z:-9.20 [[ 9.76909277e-01 2.11572519e-01 2.97545557e-02 2.80204861e+02] [-2.11486628e-01 9.77362224e-01 -6.04070285e-03 -5.17026009e+01] [-3.03590255e-02 -3.91472014e-04 9.99538982e-01 -9.19950072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67401273900003 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:280.24, Y:-51.71, Z:-9.20 [[ 9.76765327e-01 2.12126254e-01 3.05278249e-02 2.80235841e+02] [-2.12035914e-01 9.77242182e-01 -6.20401657e-03 -5.17093188e+01] [-3.11491130e-02 -4.13126970e-04 9.99514663e-01 -9.19928917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:280.27, Y:-51.72, Z:-9.20 [[ 9.76503609e-01 2.13088092e-01 3.21584457e-02 2.80266889e+02] [-2.12988155e-01 9.77032882e-01 -6.54171390e-03 -5.17169700e+01] [-3.28138202e-02 -4.61360756e-04 9.99461375e-01 -9.19936108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:280.30, Y:-51.72, Z:-9.20 [[ 9.76508178e-01 2.12995850e-01 3.26273879e-02 2.80298623e+02] [-2.12892723e-01 9.77052996e-01 -6.64314535e-03 -5.17243175e+01] [-3.32936495e-02 -4.59047687e-04 9.99445507e-01 -9.20087942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:280.33, Y:-51.73, Z:-9.20 [[ 9.76633470e-01 2.12474672e-01 3.22734913e-02 2.80330672e+02] [-2.12373283e-01 9.77166479e-01 -6.57727172e-03 -5.17313696e+01] [-3.29340775e-02 -4.30443589e-04 9.99457433e-01 -9.20283692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:280.36, Y:-51.74, Z:-9.20 [[ 9.76999673e-01 2.10922582e-01 3.13576731e-02 2.80361728e+02] [-2.10825877e-01 9.77502703e-01 -6.39653480e-03 -5.17393170e+01] [-3.20013838e-02 -3.61596526e-04 9.99487759e-01 -9.20383832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:280.39, Y:-51.74, Z:-9.20 [[ 9.77292883e-01 2.09394836e-01 3.24410887e-02 2.80394034e+02] [-2.09290290e-01 9.77831122e-01 -6.62357888e-03 -5.17447092e+01] [-3.31088494e-02 -3.16428382e-04 9.99451702e-01 -9.20305794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854012739 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:280.43, Y:-51.75, Z:-9.20 [[ 9.77257050e-01 2.09437994e-01 3.32322876e-02 2.80425787e+02] [-2.09328082e-01 9.77821878e-01 -6.79183574e-03 -5.17496723e+01] [-3.39177263e-02 -3.19081666e-04 9.99424577e-01 -9.20370534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:280.46, Y:-51.75, Z:-9.20 [[ 9.77065785e-01 2.10308861e-01 3.33561723e-02 2.80457049e+02] [-2.10198425e-01 9.77634934e-01 -6.82332608e-03 -5.17544962e+01] [-3.40451653e-02 -3.44576435e-04 9.99420236e-01 -9.20486276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914012739 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:280.49, Y:-51.76, Z:-9.21 [[ 9.76541055e-01 2.12895409e-01 3.22972657e-02 2.80489873e+02] [-2.12793101e-01 9.77074906e-01 -6.61239548e-03 -5.17585234e+01] [-3.29645964e-02 -4.15359662e-04 9.99456434e-01 -9.20690363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:280.52, Y:-51.76, Z:-9.21 [[ 9.76182913e-01 2.14644856e-01 3.15357859e-02 2.80521225e+02] [-2.14548035e-01 9.76692058e-01 -6.46249980e-03 -5.17636197e+01] [-3.21878940e-02 -4.57359028e-04 9.99481731e-01 -9.20835190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974012739 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:280.55, Y:-51.77, Z:-9.21 [[ 9.75681605e-01 2.16898920e-01 3.16269541e-02 2.80554865e+02] [-2.16802537e-01 9.76193925e-01 -6.48692561e-03 -5.17662234e+01] [-3.22810477e-02 -5.27629889e-04 9.99478692e-01 -9.20916813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:280.59, Y:-51.77, Z:-9.21 [[ 9.75407241e-01 2.18130202e-01 3.16216694e-02 2.80586448e+02] [-2.18034289e-01 9.75919515e-01 -6.49226077e-03 -5.17708361e+01] [-3.22763624e-02 -5.62010047e-04 9.99478824e-01 -9.21032488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034012739 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:280.62, Y:-51.77, Z:-9.21 [[ 9.75186134e-01 2.19178954e-01 3.11863721e-02 2.80617928e+02] [-2.19086014e-01 9.75684502e-01 -6.40875201e-03 -5.17739424e+01] [-3.18327235e-02 -5.82771847e-04 9.99493041e-01 -9.21066574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:280.65, Y:-51.78, Z:-9.21 [[ 9.75067296e-01 2.19725182e-01 3.10582307e-02 2.80647617e+02] [-2.19633110e-01 9.75561630e-01 -6.38780474e-03 -5.17777554e+01] [-3.17027797e-02 -5.92876297e-04 9.99497165e-01 -9.21169680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094012739 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:280.68, Y:-51.78, Z:-9.21 [[ 9.74939549e-01 2.20317631e-01 3.08709928e-02 2.80678918e+02] [-2.20226978e-01 9.75427994e-01 -6.34882996e-03 -5.17786827e+01] [-3.15111898e-02 -6.08900037e-04 9.99503214e-01 -9.21308971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:280.71, Y:-51.78, Z:-9.21 [[ 9.74945501e-01 2.20293467e-01 3.08554457e-02 2.80709116e+02] [-2.20202868e-01 9.75433452e-01 -6.34642575e-03 -5.17839832e+01] [-3.14955101e-02 -6.07038408e-04 9.99503709e-01 -9.21498480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154012739 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:280.74, Y:-51.79, Z:-9.22 [[ 9.75172260e-01 2.19286109e-01 3.08652847e-02 2.80736665e+02] [-2.19194931e-01 9.75660429e-01 -6.34896010e-03 -5.17911314e+01] [-3.15062757e-02 -5.74184182e-04 9.99503389e-01 -9.21558898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:280.77, Y:-51.80, Z:-9.22 [[ 9.75276383e-01 2.18842630e-01 3.07226202e-02 2.80767719e+02] [-2.18752112e-01 9.75760007e-01 -6.31837259e-03 -5.17969280e+01] [-3.13606334e-02 -5.58478497e-04 9.99507978e-01 -9.21659941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214012739 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:280.80, Y:-51.80, Z:-9.22 [[ 9.75338106e-01 2.18712825e-01 2.96695001e-02 2.80798126e+02] [-2.18628326e-01 9.75789124e-01 -6.10253162e-03 -5.17996736e+01] [-3.02858774e-02 -5.34561499e-04 9.99541135e-01 -9.21821678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:280.83, Y:-51.81, Z:-9.22 [[ 9.75356372e-01 2.18634715e-01 2.96447092e-02 2.80827698e+02] [-2.18550308e-01 9.75806630e-01 -6.09784512e-03 -5.18055464e+01] [-3.02607044e-02 -5.31288253e-04 9.99541899e-01 -9.21966807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:280.86, Y:-51.81, Z:-9.22 [[ 9.75426393e-01 2.18295930e-01 2.98368886e-02 2.80857896e+02] [-2.18210269e-01 9.75882479e-01 -6.13727846e-03 -5.18127245e+01] [-3.04570397e-02 -5.24252089e-04 9.99535939e-01 -9.22066705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:280.89, Y:-51.82, Z:-9.22 [[ 9.75289565e-01 2.18970604e-01 2.93622151e-02 2.80887627e+02] [-2.18887929e-01 9.75731309e-01 -6.04043283e-03 -5.18176756e+01] [-2.99723098e-02 -5.35863360e-04 9.99550586e-01 -9.22107969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334012739 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:280.92, Y:-51.82, Z:-9.22 [[ 9.74574114e-01 2.22042704e-01 3.00388702e-02 2.80916828e+02] [-2.21957614e-01 9.75036729e-01 -6.18020948e-03 -5.18197918e+01] [-3.06612721e-02 -6.44283774e-04 9.99529625e-01 -9.22067277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:280.95, Y:-51.83, Z:-9.22 [[ 9.74159296e-01 2.23732095e-01 3.09453595e-02 2.80946383e+02] [-2.23642681e-01 9.74650415e-01 -6.36548860e-03 -5.18251277e+01] [-3.15850716e-02 -7.19703267e-04 9.99500808e-01 -9.22200207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394012739 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:280.98, Y:-51.83, Z:-9.22 [[ 9.73757701e-01 2.25377507e-01 3.16372972e-02 2.80975848e+02] [-2.25284942e-01 9.74271191e-01 -6.50700409e-03 -5.18310728e+01] [-3.22898396e-02 -7.91161347e-04 9.99478234e-01 -9.22301175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:281.00, Y:-51.83, Z:-9.22 [[ 9.72954145e-01 2.28885301e-01 3.11729045e-02 2.81004883e+02] [-2.28797256e-01 9.73452987e-01 -6.41073336e-03 -5.18335298e+01] [-3.18126797e-02 -8.94925439e-04 9.99493448e-01 -9.22476190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454012739 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:281.03, Y:-51.84, Z:-9.23 [[ 9.72613793e-01 2.30475087e-01 3.00606632e-02 2.81033539e+02] [-2.30393997e-01 9.73077797e-01 -6.18116952e-03 -5.18368416e+01] [-3.06759695e-02 -9.13905619e-04 9.99528964e-01 -9.22602583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:281.06, Y:-51.84, Z:-9.23 [[ 9.71942468e-01 2.33487877e-01 2.84824477e-02 2.81062127e+02] [-2.33416397e-01 9.72359242e-01 -5.85573485e-03 -5.18395757e+01] [-2.90624144e-02 -9.56832944e-04 9.99577141e-01 -9.22699706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:281.09, Y:-51.84, Z:-9.23 [[ 9.71814818e-01 2.34065598e-01 2.80936903e-02 2.81089619e+02] [-2.33996334e-01 9.72220330e-01 -5.77452231e-03 -5.18434421e+01] [-2.86648739e-02 -9.62054199e-04 9.99588615e-01 -9.22807236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:281.12, Y:-51.84, Z:-9.23 [[ 9.71821184e-01 2.33988289e-01 2.85143193e-02 2.81118028e+02] [-2.33916952e-01 9.72238926e-01 -5.85927652e-03 -5.18420944e+01] [-2.90937332e-02 -9.75813611e-04 9.99576211e-01 -9.22879618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574012739 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:281.15, Y:-51.84, Z:-9.23 [[ 9.71947006e-01 2.33221107e-01 3.04455550e-02 2.81147129e+02] [-2.33139478e-01 9.72423198e-01 -6.25369281e-03 -5.18417320e+01] [-3.10644571e-02 -1.01980279e-03 9.99516863e-01 -9.22914879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:281.17, Y:-51.85, Z:-9.23 [[ 9.72040898e-01 2.32777664e-01 3.08391363e-02 2.81174954e+02] [-2.32693735e-01 9.72529444e-01 -6.33303543e-03 -5.18457725e+01] [-3.14661572e-02 -1.02010434e-03 9.99504297e-01 -9.22930619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:281.20, Y:-51.84, Z:-9.23 [[ 9.72110942e-01 2.32375737e-01 3.16517430e-02 2.81203091e+02] [-2.32287174e-01 9.72625542e-01 -6.49801209e-03 -5.18446281e+01] [-3.22952740e-02 -1.03550528e-03 9.99477835e-01 -9.22991219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:281.23, Y:-51.84, Z:-9.23 [[ 9.72235607e-01 2.31868093e-01 3.15453876e-02 2.81231735e+02] [-2.31779966e-01 9.72746704e-01 -6.47280523e-03 -5.18445350e+01] [-3.21865088e-02 -1.01849714e-03 9.99481361e-01 -9.23038695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694012739 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:281.26, Y:-51.85, Z:-9.23 [[ 9.72428072e-01 2.31032168e-01 3.17455689e-02 2.81260669e+02] [-2.30942549e-01 9.72945599e-01 -6.51156436e-03 -5.18450552e+01] [-3.23910924e-02 -9.99374624e-04 9.99474771e-01 -9.23199089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:281.29, Y:-51.84, Z:-9.23 [[ 9.73155510e-01 2.28035607e-01 3.11145439e-02 2.81289390e+02] [-2.27948055e-01 9.73652392e-01 -6.37992909e-03 -5.18438920e+01] [-3.17496011e-02 -8.83836597e-04 9.99495464e-01 -9.23257804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754012739 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:281.32, Y:-51.84, Z:-9.23 [[ 9.74150921e-01 2.23917597e-01 2.98478217e-02 2.81317329e+02] [-2.23835158e-01 9.74607813e-01 -6.11818732e-03 -5.18420762e+01] [-3.04598901e-02 -7.20954077e-04 9.99535730e-01 -9.23323616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:281.35, Y:-51.84, Z:-9.23 [[ 9.74774348e-01 2.21184991e-01 2.98692114e-02 2.81345634e+02] [-2.21101228e-01 9.75231661e-01 -6.12002885e-03 -5.18446223e+01] [-3.04830592e-02 -6.38472200e-04 9.99535080e-01 -9.23430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814012739 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:281.37, Y:-51.85, Z:-9.24 [[ 9.75627901e-01 2.17283132e-01 3.06306996e-02 2.81373705e+02] [-2.17193190e-01 9.76108476e-01 -6.27380573e-03 -5.18482886e+01] [-3.12620776e-02 -5.31879439e-04 9.99511080e-01 -9.23585816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:281.40, Y:-51.85, Z:-9.24 [[ 9.77507329e-01 2.08470363e-01 3.19300821e-02 2.81401277e+02] [-2.08367996e-01 9.78028649e-01 -6.53755080e-03 -5.18525155e+01] [-3.25914206e-02 -2.62703395e-04 9.99468724e-01 -9.23640557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:281.43, Y:-51.86, Z:-9.24 [[ 9.78449478e-01 2.03986721e-01 3.20318147e-02 2.81428917e+02] [-2.03881358e-01 9.78973648e-01 -6.55649882e-03 -5.18573572e+01] [-3.26957412e-02 -1.15487027e-04 9.99465345e-01 -9.23752292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:281.46, Y:-51.86, Z:-9.24 [[ 9.79860272e-01 1.97347786e-01 3.04581514e-02 2.81457383e+02] [-1.97249378e-01 9.80333536e-01 -6.23229003e-03 -5.18632896e+01] [-3.10890759e-02 9.89219860e-05 9.99516613e-01 -9.23898086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:281.49, Y:-51.87, Z:-9.24 [[ 9.80310079e-01 1.95228628e-01 2.96299162e-02 2.81485714e+02] [-1.95134572e-01 9.80757746e-01 -6.06147274e-03 -5.18703454e+01] [-3.02431429e-02 1.60301793e-04 9.99542559e-01 -9.24086399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:281.51, Y:-51.88, Z:-9.24 [[ 9.80812065e-01 1.92560675e-01 3.04643875e-02 2.81511845e+02] [-1.92460004e-01 9.81285038e-01 -6.23074194e-03 -5.18794917e+01] [-3.10940435e-02 2.48010751e-04 9.99516433e-01 -9.24187911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994012739 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:281.54, Y:-51.89, Z:-9.24 [[ 9.80865609e-01 1.92101851e-01 3.16154200e-02 2.81539605e+02] [-1.91993251e-01 9.81374957e-01 -6.46421391e-03 -5.18871179e+01] [-3.22683689e-02 2.70577834e-04 9.99479204e-01 -9.24272974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:281.57, Y:-51.89, Z:-9.24 [[ 9.80889469e-01 1.91926460e-01 3.19387421e-02 2.81567589e+02] [-1.91815586e-01 9.81409271e-01 -6.52871636e-03 -5.18949208e+01] [-3.25980110e-02 2.77600593e-04 9.99468505e-01 -9.24313369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05401273900003 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:281.60, Y:-51.91, Z:-9.25 [[ 9.80749806e-01 1.92862699e-01 3.05581022e-02 2.81595069e+02] [-1.92761694e-01 9.81225725e-01 -6.24538960e-03 -5.19062826e+01] [-3.11888987e-02 2.34733084e-04 9.99513480e-01 -9.24587891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:281.62, Y:-51.91, Z:-9.25 [[ 9.80633410e-01 1.93611962e-01 2.95384950e-02 2.81623908e+02] [-1.93517947e-01 9.81078166e-01 -6.03632243e-03 -5.19148526e+01] [-3.01482767e-02 2.03190533e-04 9.99545417e-01 -9.24693278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11401273900003 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:281.65, Y:-51.93, Z:-9.25 [[ 9.80253187e-01 1.95478559e-01 2.98633881e-02 2.81651047e+02] [-1.95383352e-01 9.80707964e-01 -6.10200257e-03 -5.19250227e+01] [-3.04800732e-02 1.46698612e-04 9.99535364e-01 -9.24723817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:281.68, Y:-51.93, Z:-9.25 [[ 9.80093778e-01 1.96192766e-01 3.04069990e-02 2.81678906e+02] [-1.96094439e-01 9.80565338e-01 -6.21194277e-03 -5.19336029e+01] [-3.10347875e-02 1.25643039e-04 9.99518297e-01 -9.24828095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17401273900003 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:281.71, Y:-51.95, Z:-9.25 [[ 9.79649383e-01 1.98265683e-01 3.12698789e-02 2.81706580e+02] [-1.98162801e-01 9.80148313e-01 -6.38662734e-03 -5.19466199e+01] [-3.19153681e-02 6.01287298e-05 9.99490573e-01 -9.24966543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:281.74, Y:-51.95, Z:-9.25 [[ 9.79651758e-01 1.98253922e-01 3.12700372e-02 2.81736126e+02] [-1.98151058e-01 9.80150692e-01 -6.38585235e-03 -5.19526148e+01] [-3.19153689e-02 5.97205263e-05 9.99490573e-01 -9.25070173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:281.77, Y:-51.96, Z:-9.25 [[ 9.79611689e-01 1.98504292e-01 3.09351737e-02 2.81765137e+02] [-1.98403758e-01 9.80100017e-01 -6.31705200e-03 -5.19613164e+01] [-3.15735262e-02 5.06032467e-05 9.99501431e-01 -9.25149189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:281.79, Y:-51.97, Z:-9.25 [[ 9.79870116e-01 1.97434193e-01 2.95684946e-02 2.81793023e+02] [-1.97341859e-01 9.80316139e-01 -6.03802411e-03 -5.19705615e+01] [-3.01785848e-02 8.13777030e-05 9.99544519e-01 -9.25216588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294012739 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:281.82, Y:-51.98, Z:-9.25 [[ 9.79915282e-01 1.97292777e-01 2.90103381e-02 2.81821598e+02] [-1.97203845e-01 9.80344609e-01 -5.92373998e-03 -5.19786161e+01] [-2.96088397e-02 8.38131323e-05 9.99561559e-01 -9.25286491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:281.85, Y:-51.99, Z:-9.25 [[ 9.79852518e-01 1.97607889e-01 2.89855988e-02 2.81850339e+02] [-1.97519267e-01 9.80281142e-01 -5.91798252e-03 -5.19864365e+01] [-2.95834760e-02 7.35358506e-05 9.99562310e-01 -9.25421391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354012739 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:281.88, Y:-51.99, Z:-9.26 [[ 9.79299955e-01 2.00264148e-01 2.94256493e-02 2.81878288e+02] [-2.00174033e-01 9.79741941e-01 -6.00714156e-03 -5.19940937e+01] [-3.00325579e-02 -7.45742592e-06 9.99548921e-01 -9.25512226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:281.91, Y:-52.00, Z:-9.26 [[ 9.78771389e-01 2.02810778e-01 2.95695227e-02 2.81907718e+02] [-2.02720979e-01 9.79217943e-01 -6.03521952e-03 -5.20005080e+01] [-3.01790148e-02 -8.72624209e-05 9.99544506e-01 -9.25608464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414012739 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:281.94, Y:-52.01, Z:-9.26 [[ 9.77512117e-01 2.08917626e-01 2.86964442e-02 2.81935704e+02] [-2.08835663e-01 9.77933205e-01 -5.85762001e-03 -5.20076687e+01] [-2.92869657e-02 -2.66946393e-04 9.99571009e-01 -9.25656685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:281.96, Y:-52.01, Z:-9.26 [[ 9.76263339e-01 2.14772073e-01 2.79794431e-02 2.81962905e+02] [-2.14696581e-01 9.76664103e-01 -5.71039185e-03 -5.20117200e+01] [-2.85529504e-02 -4.32244543e-04 9.99592188e-01 -9.25706393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474012739 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:281.99, Y:-52.02, Z:-9.26 [[ 9.75644846e-01 2.17485698e-01 2.85850742e-02 2.81991071e+02] [-2.17408122e-01 9.76063367e-01 -5.83201344e-03 -5.20157184e+01] [-2.91692233e-02 -5.24653468e-04 9.99574350e-01 -9.25872254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:282.02, Y:-52.02, Z:-9.26 [[ 9.75208995e-01 2.19359418e-01 2.91352306e-02 2.82019408e+02] [-2.19279705e-01 9.75643938e-01 -5.94283771e-03 -5.20200997e+01] [-2.97292285e-02 -5.93255976e-04 9.99557813e-01 -9.25979311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:282.05, Y:-52.03, Z:-9.26 [[ 9.74660799e-01 2.21621895e-01 3.03325390e-02 2.82046970e+02] [-2.21536636e-01 9.75132431e-01 -6.18554006e-03 -5.20256905e+01] [-3.09490936e-02 -6.90965237e-04 9.99520723e-01 -9.26079439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:282.08, Y:-52.03, Z:-9.26 [[ 9.74460718e-01 2.22530780e-01 3.01058248e-02 2.82075910e+02] [-2.22447281e-01 9.74925402e-01 -6.13744108e-03 -5.20291731e+01] [-3.07167029e-02 -7.16263626e-04 9.99527874e-01 -9.26126611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:282.10, Y:-52.03, Z:-9.26 [[ 9.74412699e-01 2.22712913e-01 3.03125508e-02 2.82103079e+02] [-2.22628397e-01 9.74883802e-01 -6.17812813e-03 -5.20328362e+01] [-3.09271637e-02 -7.28388072e-04 9.99521375e-01 -9.26246375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:282.13, Y:-52.04, Z:-9.26 [[ 9.74503100e-01 2.22196130e-01 3.11863415e-02 2.82131237e+02] [-2.22106468e-01 9.75001713e-01 -6.35423707e-03 -5.20370254e+01] [-3.18186232e-02 -7.34464445e-04 9.99493390e-01 -9.26341591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654012739 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:282.16, Y:-52.04, Z:-9.26 [[ 9.74707552e-01 2.21088299e-01 3.26366797e-02 2.82159764e+02] [-2.20989537e-01 9.75253520e-01 -6.64807000e-03 -5.20400958e+01] [-3.32988472e-02 -7.32440701e-04 9.99445171e-01 -9.26400277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:282.19, Y:-52.04, Z:-9.27 [[ 9.74942063e-01 2.20023286e-01 3.28287525e-02 2.82187800e+02] [-2.19922809e-01 9.75494368e-01 -6.68555176e-03 -5.20437618e+01] [-3.34952402e-02 -7.01765850e-04 9.99438631e-01 -9.26501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714012739 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:282.22, Y:-52.05, Z:-9.27 [[ 9.75331944e-01 2.18359879e-01 3.23506226e-02 2.82215519e+02] [-2.18261460e-01 9.75868104e-01 -6.58619433e-03 -5.20477856e+01] [-3.30081014e-02 -6.37168408e-04 9.99454881e-01 -9.26648015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:282.24, Y:-52.05, Z:-9.27 [[ 9.75517093e-01 2.17581363e-01 3.20117560e-02 2.82243237e+02] [-2.17484640e-01 9.76041998e-01 -6.51526910e-03 -5.20542264e+01] [-3.26624194e-02 -6.06308854e-04 9.99466257e-01 -9.26736469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774012739 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:282.27, Y:-52.06, Z:-9.27 [[ 9.76066536e-01 2.15323328e-01 3.04955930e-02 2.82271177e+02] [-2.15234493e-01 9.76542681e-01 -6.20529757e-03 -5.20597626e+01] [-3.11163935e-02 -5.06920199e-04 9.99515639e-01 -9.26867114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:282.30, Y:-52.06, Z:-9.27 [[ 9.76220838e-01 2.14679258e-01 3.00947058e-02 2.82298247e+02] [-2.14592480e-01 9.76684486e-01 -6.12232098e-03 -5.20638038e+01] [-3.07073675e-02 -4.81360229e-04 9.99528302e-01 -9.26968887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834012739 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:282.33, Y:-52.07, Z:-9.27 [[ 9.75879546e-01 2.16356539e-01 2.91369079e-02 2.82327162e+02] [-2.16275998e-01 9.76314283e-01 -5.92571056e-03 -5.20674606e+01] [-2.97288456e-02 -5.18834105e-04 9.99557866e-01 -9.27031475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:282.36, Y:-52.07, Z:-9.27 [[ 9.75510428e-01 2.18122895e-01 2.83162132e-02 2.82355379e+02] [-2.18047609e-01 9.75921150e-01 -5.75745650e-03 -5.20730372e+01] [-2.88902245e-02 -5.57823746e-04 9.99582435e-01 -9.27141439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894012739 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:282.38, Y:-52.08, Z:-9.27 [[ 9.74748905e-01 2.21527973e-01 2.81056767e-02 2.82382806e+02] [-2.21455251e-01 9.75153797e-01 -5.71346545e-03 -5.20754565e+01] [-2.86730498e-02 -6.54955499e-04 9.99588629e-01 -9.27235915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:282.41, Y:-52.08, Z:-9.27 [[ 9.74603796e-01 2.22079665e-01 2.87760828e-02 2.82410993e+02] [-2.22003749e-01 9.75028280e-01 -5.84711662e-03 -5.20782362e+01] [-2.93560202e-02 -6.89776195e-04 9.99568781e-01 -9.27375745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:282.44, Y:-52.08, Z:-9.27 [[ 9.74624812e-01 2.21643302e-01 3.13164828e-02 2.82438527e+02] [-2.21553244e-01 9.75127531e-01 -6.36074519e-03 -5.20829477e+01] [-3.19473811e-02 -7.38928277e-04 9.99489279e-01 -9.27429707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:282.47, Y:-52.09, Z:-9.27 [[ 9.74846251e-01 2.20588945e-01 3.18638461e-02 2.82467106e+02] [-2.20495214e-01 9.75366598e-01 -6.46990669e-03 -5.20895008e+01] [-3.25061210e-02 -7.18661297e-04 9.99471278e-01 -9.26756378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014012739 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:282.49, Y:-52.10, Z:-9.27 [[ 9.75167478e-01 2.18981601e-01 3.30975462e-02 2.82493988e+02] [-2.18879601e-01 9.75728743e-01 -6.71873777e-03 -5.20950261e+01] [-3.37655070e-02 -6.92483110e-04 9.99429543e-01 -9.27487265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:282.52, Y:-52.10, Z:-9.28 [[ 9.75844225e-01 2.16227006e-01 3.12078580e-02 2.82522535e+02] [-2.16134972e-01 9.76342954e-01 -6.33332725e-03 -5.20966898e+01] [-3.18390086e-02 -5.64768677e-04 9.99492851e-01 -9.27645305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074012739 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:282.55, Y:-52.10, Z:-9.28 [[ 9.76331385e-01 2.14292354e-01 2.92542863e-02 2.82550367e+02] [-2.14210655e-01 9.76769453e-01 -5.93555225e-03 -5.21012047e+01] [-2.98466367e-02 -4.71513880e-04 9.99554379e-01 -9.27977012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:282.58, Y:-52.11, Z:-9.28 [[ 9.76462037e-01 2.13622843e-01 2.97854117e-02 2.82577397e+02] [-2.13537880e-01 9.76916101e-01 -6.04194399e-03 -5.21074253e+01] [-3.03885455e-02 -4.60584723e-04 9.99538055e-01 -9.27977605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134012739 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:282.60, Y:-52.11, Z:-9.28 [[ 9.76570026e-01 2.12992988e-01 3.07403691e-02 2.82604752e+02] [-2.12902250e-01 9.77053621e-01 -6.23331194e-03 -5.21136421e+01] [-3.13626406e-02 -4.57428142e-04 9.99507967e-01 -9.27955396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:282.63, Y:-52.12, Z:-9.28 [[ 9.76539607e-01 2.12858711e-01 3.25816602e-02 2.82632780e+02] [-2.12756770e-01 9.77082871e-01 -6.60458975e-03 -5.21191161e+01] [-3.32408266e-02 -4.82325297e-04 9.99447255e-01 -9.27934628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:282.66, Y:-52.12, Z:-9.28 [[ 9.76342820e-01 2.13652378e-01 3.32769992e-02 2.82660095e+02] [-2.13546556e-01 9.76909611e-01 -6.74383132e-03 -5.21235645e+01] [-3.39494560e-02 -5.21897298e-04 9.99423415e-01 -9.28021426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:282.69, Y:-52.13, Z:-9.28 [[ 9.75781771e-01 2.16222384e-01 3.31333138e-02 2.82687652e+02] [-2.16119024e-01 9.76343949e-01 -6.71264352e-03 -5.21279156e+01] [-3.38009342e-02 -6.10664260e-04 9.99428399e-01 -9.28132342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:282.72, Y:-52.13, Z:-9.28 [[ 9.75667875e-01 2.16812313e-01 3.26284943e-02 2.82715152e+02] [-2.16712471e-01 9.76213108e-01 -6.60849286e-03 -5.21315984e+01] [-3.32851665e-02 -6.23307446e-04 9.99445701e-01 -9.28274025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:282.74, Y:-52.13, Z:-9.28 [[ 9.75636923e-01 2.17105237e-01 3.15897149e-02 2.82743861e+02] [-2.17011877e-01 9.76148010e-01 -6.39590657e-03 -5.21340029e+01] [-3.22248221e-02 -6.15260715e-04 9.99480456e-01 -9.28399382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314012739 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:282.77, Y:-52.14, Z:-9.29 [[ 9.75718483e-01 2.16739595e-01 3.15814757e-02 2.82772553e+02] [-2.16646141e-01 9.76229267e-01 -6.39270880e-03 -5.21395700e+01] [-3.22163140e-02 -6.04520708e-04 9.99480737e-01 -9.28506867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:282.80, Y:-52.14, Z:-9.28 [[ 9.75977625e-01 2.15557450e-01 3.16648251e-02 2.82800910e+02] [-2.15462931e-01 9.76490995e-01 -6.40802248e-03 -5.21442639e+01] [-3.23017136e-02 -5.68509468e-04 9.99478002e-01 -9.28498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374012739 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:282.83, Y:-52.15, Z:-9.29 [[ 9.75925563e-01 2.15680571e-01 3.24220185e-02 2.82829135e+02] [-2.15581598e-01 9.76463796e-01 -6.55965450e-03 -5.21480198e+01] [-3.30737173e-02 -5.87856040e-04 9.99452742e-01 -9.28561632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:282.86, Y:-52.15, Z:-9.29 [[ 9.75845489e-01 2.15985269e-01 3.28016150e-02 2.82856926e+02] [-2.15884218e-01 9.76396433e-01 -6.63400724e-03 -5.21498801e+01] [-3.34602278e-02 -6.07584984e-04 9.99439865e-01 -9.28661301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434012739 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:282.88, Y:-52.15, Z:-9.29 [[ 9.75872321e-01 2.15945703e-01 3.22593725e-02 2.82884559e+02] [-2.15848007e-01 9.76405190e-01 -6.52242834e-03 -5.21538321e+01] [-3.29067091e-02 -5.98063996e-04 9.99458249e-01 -9.28827272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:282.91, Y:-52.16, Z:-9.29 [[ 9.76249625e-01 2.14361245e-01 3.13994715e-02 2.82912660e+02] [-2.14267940e-01 9.76754306e-01 -6.34636991e-03 -5.21555618e+01] [-3.20299847e-02 -5.32258818e-04 9.99486767e-01 -9.29021013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494012739 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:282.94, Y:-52.16, Z:-9.29 [[ 9.76449604e-01 2.13573901e-01 3.05345483e-02 2.82940176e+02] [-2.13485350e-01 9.76926785e-01 -6.16938729e-03 -5.21597903e+01] [-3.11476382e-02 -4.94582942e-04 9.99514672e-01 -9.29104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:282.97, Y:-52.17, Z:-9.29 [[ 9.76692540e-01 2.12552977e-01 2.98816619e-02 2.82966945e+02] [-2.12467745e-01 9.77149439e-01 -6.03581736e-03 -5.21652380e+01] [-3.04817802e-02 -4.53751550e-04 9.99535220e-01 -9.29262926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55401273900003 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:282.99, Y:-52.17, Z:-9.29 [[ 9.77402207e-01 2.09395599e-01 2.89553048e-02 2.82993533e+02] [-2.09314254e-01 9.77830948e-01 -5.84637327e-03 -5.21720672e+01] [-2.95375979e-02 -3.46499881e-04 9.99563610e-01 -9.29317626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:283.02, Y:-52.18, Z:-9.29 [[ 9.77809956e-01 2.07470877e-01 2.90435033e-02 2.83020628e+02] [-2.07388257e-01 9.78241151e-01 -5.86177929e-03 -5.21773624e+01] [-2.96276986e-02 -2.91575373e-04 9.99560961e-01 -9.29414205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61401273900003 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:283.05, Y:-52.18, Z:-9.30 [[ 9.78557931e-01 2.03704094e-01 3.04798004e-02 2.83047748e+02] [-2.03611343e-01 9.79032485e-01 -6.14932468e-03 -5.21819115e+01] [-3.10933574e-02 -1.88562669e-04 9.99516467e-01 -9.29506889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:283.07, Y:-52.19, Z:-9.30 [[ 9.78743832e-01 2.02691794e-01 3.12497707e-02 2.83074949e+02] [-2.02593841e-01 9.79242570e-01 -6.30278528e-03 -5.21883616e+01] [-3.18786286e-02 -1.62198866e-04 9.99491734e-01 -9.29578371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67401273900003 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:283.10, Y:-52.20, Z:-9.30 [[ 9.78603711e-01 2.03404467e-01 3.10064523e-02 2.83102917e+02] [-2.03308461e-01 9.79094780e-01 -6.25152095e-03 -5.21967877e+01] [-3.16298429e-02 -1.86112498e-04 9.99499634e-01 -9.29663996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:283.13, Y:-52.20, Z:-9.30 [[ 9.78239670e-01 2.05396611e-01 2.93151996e-02 2.83130452e+02] [-2.05311716e-01 9.78678791e-01 -5.90962521e-03 -5.22025855e+01] [-2.99039810e-02 -2.37724102e-04 9.99552748e-01 -9.29718134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734012739 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:283.16, Y:-52.21, Z:-9.30 [[ 9.77750401e-01 2.07861998e-01 2.82407916e-02 2.83157398e+02] [-2.07784285e-01 9.78158115e-01 -5.69148201e-03 -5.22071359e+01] [-2.88070023e-02 -3.03143889e-04 9.99584946e-01 -9.29870551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:283.19, Y:-52.21, Z:-9.30 [[ 9.76767465e-01 2.12332541e-01 2.89864016e-02 2.83185087e+02] [-2.12252708e-01 9.77197365e-01 -5.83928026e-03 -5.22119493e+01] [-2.95653045e-02 -4.48823250e-04 9.99562750e-01 -9.29981023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794012739 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:283.21, Y:-52.22, Z:-9.30 [[ 9.76428603e-01 2.13595885e-01 3.10480455e-02 2.83210675e+02] [-2.13505000e-01 9.76921964e-01 -6.25231222e-03 -5.22191117e+01] [-3.16669857e-02 -5.23976470e-04 9.99498338e-01 -9.30022010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:283.24, Y:-52.23, Z:-9.30 [[ 9.76578048e-01 2.12857201e-01 3.14185846e-02 2.83238217e+02] [-2.12763834e-01 9.77083187e-01 -6.32434928e-03 -5.22254707e+01] [-3.20447540e-02 -5.08517846e-04 9.99486306e-01 -9.30197214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:283.26, Y:-52.23, Z:-9.30 [[ 9.77385048e-01 2.09213300e-01 3.07938857e-02 2.83264476e+02] [-2.09121864e-01 9.77869955e-01 -6.19660843e-03 -5.22332606e+01] [-3.14088285e-02 -3.83202344e-04 9.99506548e-01 -9.30436535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:283.29, Y:-52.24, Z:-9.30 [[ 9.77750831e-01 2.07488550e-01 3.08514874e-02 2.83291480e+02] [-2.07396012e-01 9.78237390e-01 -6.20505101e-03 -5.22400452e+01] [-3.14675556e-02 -3.31481677e-04 9.99504719e-01 -9.30497802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914012739 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:283.32, Y:-52.25, Z:-9.30 [[ 9.77799202e-01 2.07143634e-01 3.16264895e-02 2.83317923e+02] [-2.07046278e-01 9.78310485e-01 -6.35868830e-03 -5.22479712e+01] [-3.22576881e-02 -3.30626597e-04 9.99479531e-01 -9.30404008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:283.34, Y:-52.25, Z:-9.30 [[ 9.77484866e-01 2.08517802e-01 3.23057836e-02 2.83344510e+02] [-2.08417028e-01 9.78018495e-01 -6.49345708e-03 -5.22535467e+01] [-3.29496553e-02 -3.85819404e-04 9.99456938e-01 -9.30430387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974012739 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:283.37, Y:-52.26, Z:-9.30 [[ 9.76338869e-01 2.13748338e-01 3.27728797e-02 2.83372602e+02] [-2.13647681e-01 9.76888591e-01 -6.58404244e-03 -5.22584592e+01] [-3.34227804e-02 -5.73593195e-04 9.99441138e-01 -9.30427252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:283.40, Y:-52.26, Z:-9.31 [[ 9.75635918e-01 2.16990050e-01 3.24017644e-02 2.83400646e+02] [-2.16893515e-01 9.76173579e-01 -6.50737279e-03 -5.22631282e+01] [-3.30417815e-02 -6.78905966e-04 9.99453741e-01 -9.30593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034012739 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:283.43, Y:-52.27, Z:-9.31 [[ 9.74917506e-01 2.20162330e-01 3.26252111e-02 2.83427531e+02] [-2.20066310e-01 9.75462925e-01 -6.54990556e-03 -5.22676346e+01] [-3.32667263e-02 -7.94092219e-04 9.99446194e-01 -9.30761151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:283.45, Y:-52.27, Z:-9.31 [[ 9.73698604e-01 2.25350661e-01 3.35873193e-02 2.83454960e+02] [-2.25252096e-01 9.74277205e-01 -6.73946751e-03 -5.22728477e+01] [-3.42421030e-02 -1.00340395e-03 9.99413064e-01 -9.30792610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:283.48, Y:-52.28, Z:-9.31 [[ 9.73711465e-01 2.25295014e-01 3.35877817e-02 2.83482907e+02] [-2.25196496e-01 9.74290074e-01 -6.73716213e-03 -5.22783229e+01] [-3.42420914e-02 -1.00379872e-03 9.99413064e-01 -9.30890502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:283.51, Y:-52.28, Z:-9.31 [[ 9.73411184e-01 2.26578646e-01 3.36568470e-02 2.83510671e+02] [-2.26480557e-01 9.73992304e-01 -6.74901260e-03 -5.22828173e+01] [-3.43106921e-02 -1.05305711e-03 9.99410660e-01 -9.30968715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154012739 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:283.54, Y:-52.29, Z:-9.31 [[ 9.73308420e-01 2.27184448e-01 3.25260766e-02 2.83538804e+02] [-2.27093254e-01 9.73851192e-01 -6.51995728e-03 -5.22855962e+01] [-3.31567913e-02 -1.04052326e-03 9.99449621e-01 -9.31096778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:283.57, Y:-52.29, Z:-9.31 [[ 9.73331511e-01 2.27092261e-01 3.24788436e-02 2.83566674e+02] [-2.27001346e-01 9.73872696e-01 -6.50854292e-03 -5.22909799e+01] [-3.31082987e-02 -1.03777129e-03 9.99451231e-01 -9.31258157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:283.59, Y:-52.30, Z:-9.31 [[ 9.73376742e-01 2.26838768e-01 3.28921255e-02 2.83594363e+02] [-2.26745458e-01 9.73931765e-01 -6.58902178e-03 -5.22974425e+01] [-3.35293314e-02 -1.04453949e-03 9.99437188e-01 -9.31391094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:283.62, Y:-52.30, Z:-9.31 [[ 9.73382953e-01 2.26803536e-01 3.29512197e-02 2.83620943e+02] [-2.26709948e-01 9.73939967e-01 -6.59852373e-03 -5.23016274e+01] [-3.35890783e-02 -1.04747878e-03 9.99435179e-01 -9.31462843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274012739 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:283.65, Y:-52.30, Z:-9.32 [[ 9.73417539e-01 2.26826680e-01 3.17482650e-02 2.83648582e+02] [-2.26739921e-01 9.73934613e-01 -6.35433086e-03 -5.23033735e+01] [-3.23620659e-02 -1.01318198e-03 9.99475698e-01 -9.31728864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:283.67, Y:-52.31, Z:-9.32 [[ 9.73438172e-01 2.26782835e-01 3.14272233e-02 2.83674853e+02] [-2.26697869e-01 9.73944833e-01 -6.28790531e-03 -5.23081537e+01] [-3.20343707e-02 -1.00359749e-03 9.99486264e-01 -9.31892885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:283.70, Y:-52.31, Z:-9.32 [[ 9.73598519e-01 2.25783161e-01 3.35840542e-02 2.83701558e+02] [-2.25685636e-01 9.74177028e-01 -6.71650350e-03 -5.23139161e+01] [-3.42332875e-02 -1.04026077e-03 9.99413328e-01 -9.31888248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:283.73, Y:-52.32, Z:-9.32 [[ 9.73723485e-01 2.25008899e-01 3.51222209e-02 2.83729524e+02] [-2.24901839e-01 9.74356129e-01 -7.02114412e-03 -5.23180544e+01] [-3.58013711e-02 -1.06239914e-03 9.99358361e-01 -9.31901039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394012739 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:283.76, Y:-52.32, Z:-9.32 [[ 9.74299594e-01 2.22723144e-01 3.36853565e-02 2.83757136e+02] [-2.22623380e-01 9.74881283e-01 -6.73158716e-03 -5.23185713e+01] [-3.43385039e-02 -9.40565289e-04 9.99409817e-01 -9.32127663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:283.79, Y:-52.32, Z:-9.32 [[ 9.74675757e-01 2.21251250e-01 3.24815985e-02 2.83785065e+02] [-2.21157760e-01 9.75216461e-01 -6.48840527e-03 -5.23229294e+01] [-3.31121573e-02 -8.59466257e-04 9.99451273e-01 -9.32333764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454012739 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:283.81, Y:-52.33, Z:-9.32 [[ 9.75748174e-01 2.16595426e-01 3.16531738e-02 2.83812341e+02] [-2.16504267e-01 9.76261211e-01 -6.32068644e-03 -5.23265766e+01] [-3.22707975e-02 -6.85648925e-04 9.99478927e-01 -9.32387814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:283.84, Y:-52.33, Z:-9.32 [[ 9.76338055e-01 2.13893625e-01 3.18358206e-02 2.83838699e+02] [-2.13800088e-01 9.76856772e-01 -6.35368011e-03 -5.23311937e+01] [-3.24580486e-02 -6.03161540e-04 9.99472917e-01 -9.32415650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514012739 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:283.87, Y:-52.34, Z:-9.31 [[ 9.77400286e-01 2.08809457e-01 3.29741138e-02 2.83865912e+02] [-2.08706313e-01 9.77956239e-01 -6.57791018e-03 -5.23368142e+01] [-3.36207702e-02 -4.52654428e-04 9.99434560e-01 -9.31390714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:283.89, Y:-52.34, Z:-9.33 [[ 9.77808807e-01 2.06648536e-01 3.44429928e-02 2.83892744e+02] [-2.06534788e-01 9.78415159e-01 -6.86716323e-03 -5.23418993e+01] [-3.51186355e-02 -3.98903532e-04 9.99383071e-01 -9.32516859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574012739 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:283.92, Y:-52.35, Z:-9.33 [[ 9.78062794e-01 2.05428573e-01 3.45292896e-02 2.83919665e+02] [-2.05313574e-01 9.78672046e-01 -6.88210744e-03 -5.23470080e+01] [-3.52066320e-02 -3.58198623e-04 9.99379990e-01 -9.32610696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:283.95, Y:-52.35, Z:-9.33 [[ 9.78341749e-01 2.04272139e-01 3.34711109e-02 2.83947547e+02] [-2.04163471e-01 9.78914091e-01 -6.66924890e-03 -5.23523925e+01] [-3.41276839e-02 -3.08773555e-04 9.99417433e-01 -9.32812469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:283.98, Y:-52.36, Z:-9.33 [[ 9.78379521e-01 2.04285425e-01 3.22642008e-02 2.83975076e+02] [-2.04184511e-01 9.78911322e-01 -6.42727874e-03 -5.23580636e+01] [-3.28967908e-02 -2.99532168e-04 9.99458709e-01 -9.32930134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:284.00, Y:-52.36, Z:-9.33 [[ 9.78082718e-01 2.05911934e-01 3.08945193e-02 2.84002456e+02] [-2.05820274e-01 9.78570467e-01 -6.15268647e-03 -5.23635280e+01] [-3.14993758e-02 -3.40882125e-04 9.99503713e-01 -9.33146048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:284.03, Y:-52.37, Z:-9.33 [[ 9.77848374e-01 2.07015214e-01 3.09395857e-02 2.84030159e+02] [-2.06923908e-01 9.78337650e-01 -6.15945047e-03 -5.23684772e+01] [-3.15444615e-02 -3.79131347e-04 9.99502278e-01 -9.33206646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:284.06, Y:-52.37, Z:-9.33 [[ 9.77599967e-01 2.08092332e-01 3.15576532e-02 2.84057830e+02] [-2.07997978e-01 9.78109095e-01 -6.28010807e-03 -5.23736593e+01] [-3.21736699e-02 -4.24494625e-04 9.99482203e-01 -9.33264696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754012739 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:284.08, Y:-52.38, Z:-9.33 [[ 9.77305892e-01 2.09343088e-01 3.23830802e-02 2.84084069e+02] [-2.09244502e-01 9.77842135e-01 -6.44187931e-03 -5.23785440e+01] [-3.30141032e-02 -4.80294873e-04 9.99454771e-01 -9.33318483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:284.11, Y:-52.38, Z:-9.33 [[ 9.77523427e-01 2.08410521e-01 3.18277359e-02 2.84111610e+02] [-2.08314884e-01 9.78041337e-01 -6.32863916e-03 -5.23838528e+01] [-3.24477964e-02 -4.43798061e-04 9.99473333e-01 -9.33449379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814012739 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:284.14, Y:-52.39, Z:-9.34 [[ 9.77689693e-01 2.07593642e-01 3.20584332e-02 2.84138277e+02] [-2.07496249e-01 9.78215059e-01 -6.37220441e-03 -5.23889467e+01] [-3.26828713e-02 -4.21966059e-04 9.99465683e-01 -9.33587298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:284.17, Y:-52.39, Z:-9.34 [[ 9.77869837e-01 2.06622571e-01 3.28282566e-02 2.84165336e+02] [-2.06520015e-01 9.78420641e-01 -6.52165289e-03 -5.23945031e+01] [-3.34673646e-02 -4.02364409e-04 9.99439730e-01 -9.33652282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:284.19, Y:-52.40, Z:-9.34 [[ 9.78207004e-01 2.04804708e-01 3.41480425e-02 2.84192172e+02] [-2.04692723e-01 9.78802791e-01 -6.78120128e-03 -5.24000147e+01] [-3.48130213e-02 -3.56437239e-04 9.99393779e-01 -9.33641341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:284.22, Y:-52.41, Z:-9.34 [[ 9.78446059e-01 2.03721853e-01 3.37745024e-02 2.84220011e+02] [-2.03611731e-01 9.79028757e-01 -6.70496547e-03 -5.24054945e+01] [-3.44321571e-02 -3.16437862e-04 9.99406987e-01 -9.33774645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:284.25, Y:-52.41, Z:-9.34 [[ 9.78976192e-01 2.01309831e-01 3.28628509e-02 2.84248037e+02] [-2.01204269e-01 9.79527590e-01 -6.52241526e-03 -5.24114878e+01] [-3.35030954e-02 -2.26856624e-04 9.99438588e-01 -9.33867194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:284.28, Y:-52.42, Z:-9.34 [[ 9.79234670e-01 2.00087531e-01 3.26257784e-02 2.84275183e+02] [-1.99982862e-01 9.79778008e-01 -6.47375046e-03 -5.24168733e+01] [-3.32613369e-02 -1.85275643e-04 9.99446671e-01 -9.33990434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994012739 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:284.30, Y:-52.42, Z:-9.34 [[ 9.79492738e-01 1.98552817e-01 3.42162994e-02 2.84303180e+02] [-1.98553362e-01 9.80084125e-01 -3.41613258e-03 -5.24249704e+01] [-3.42131346e-02 -3.44768424e-03 9.99408613e-01 -9.34183305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:284.33, Y:-52.43, Z:-9.34 [[ 9.79734006e-01 1.97603067e-01 3.27766158e-02 2.84332066e+02] [-1.97383423e-01 9.80276991e-01 -9.83895824e-03 -5.24262407e+01] [-3.40743706e-02 3.17000134e-03 9.99414273e-01 -9.34209729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05401273900003 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:284.36, Y:-52.43, Z:-9.34 [[ 9.79944969e-01 1.96336473e-01 3.40565310e-02 2.84359782e+02] [-1.96220331e-01 9.80536580e-01 -6.75253476e-03 -5.24337870e+01] [-3.47194433e-02 -6.54713068e-05 9.99397096e-01 -9.34278158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:284.39, Y:-52.44, Z:-9.34 [[ 9.80412480e-01 1.93992860e-01 3.40314590e-02 2.84386576e+02] [-1.93875535e-01 9.81002941e-01 -6.74589251e-03 -5.24400471e+01] [-3.46936163e-02 1.58898888e-05 9.99397995e-01 -9.34399448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11401273900003 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:284.41, Y:-52.45, Z:-9.35 [[ 9.80679149e-01 1.92612495e-01 3.41882008e-02 2.84414239e+02] [-1.92493326e-01 9.81274897e-01 -6.77471851e-03 -5.24461849e+01] [-3.48529187e-02 6.28247026e-05 9.99392450e-01 -9.34538883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:284.44, Y:-52.45, Z:-9.35 [[ 9.81186108e-01 1.89930709e-01 3.46431493e-02 2.84441666e+02] [-1.89806733e-01 9.81797485e-01 -6.86317565e-03 -5.24531480e+01] [-3.53160846e-02 1.58549609e-04 9.99376180e-01 -9.34633028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17401273900003 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:284.47, Y:-52.46, Z:-9.35 [[ 9.81530660e-01 1.88216343e-01 3.42370033e-02 2.84470557e+02] [-1.88094258e-01 9.82127569e-01 -6.78149085e-03 -5.24597931e+01] [-3.49014923e-02 2.16457430e-04 9.99390734e-01 -9.34758882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:284.50, Y:-52.47, Z:-9.34 [[ 9.82268857e-01 1.84821119e-01 3.14491121e-02 2.84499161e+02] [-1.84716395e-01 9.82772130e-01 -6.22853649e-03 -5.24684386e+01] [-3.20584759e-02 3.08930802e-04 9.99485947e-01 -9.33760760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:284.53, Y:-52.47, Z:-9.35 [[ 9.82617408e-01 1.83048690e-01 3.09225997e-02 2.84526667e+02] [-1.82946577e-01 9.83103783e-01 -6.12394841e-03 -5.24748601e+01] [-3.15211055e-02 3.60314546e-04 9.99503022e-01 -9.35140358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:284.56, Y:-52.48, Z:-9.35 [[ 9.82868410e-01 1.81623845e-01 3.13443323e-02 2.84555798e+02] [-1.81518241e-01 9.83367994e-01 -6.20624199e-03 -5.24839051e+01] [-3.19502147e-02 4.10351130e-04 9.99489377e-01 -9.35270905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294012739 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:284.58, Y:-52.49, Z:-9.35 [[ 9.82934897e-01 1.81059798e-01 3.25013566e-02 2.84584321e+02] [-1.80945943e-01 9.83471988e-01 -6.43535010e-03 -5.24918301e+01] [-3.31293570e-02 4.44541558e-04 9.99450973e-01 -9.35319402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:284.61, Y:-52.50, Z:-9.35 [[ 9.83263741e-01 1.79151507e-01 3.31233062e-02 2.84612730e+02] [-1.79032184e-01 9.83821360e-01 -6.55806803e-03 -5.25028794e+01] [-3.37623039e-02 5.18172671e-04 9.99429757e-01 -9.35402433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354012739 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:284.64, Y:-52.51, Z:-9.35 [[ 9.83450054e-01 1.78208136e-01 3.26779938e-02 2.84642401e+02] [-1.78091466e-01 9.83992665e-01 -6.47029359e-03 -5.25104709e+01] [-3.33079652e-02 5.43538741e-04 9.99444988e-01 -9.35499613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:284.67, Y:-52.52, Z:-9.36 [[ 9.83512940e-01 1.77841294e-01 3.27836888e-02 2.84670966e+02] [-1.77723650e-01 9.84059024e-01 -6.49164486e-03 -5.25171319e+01] [-3.34155673e-02 5.58179888e-04 9.99441388e-01 -9.35590212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414012739 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:284.70, Y:-52.52, Z:-9.36 [[ 9.83419458e-01 1.78230479e-01 3.34673919e-02 2.84701870e+02] [-1.78108115e-01 9.83988611e-01 -6.62661389e-03 -5.25247638e+01] [-3.41125970e-02 5.55926946e-04 9.99417841e-01 -9.35683660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:284.73, Y:-52.53, Z:-9.36 [[ 9.83364758e-01 1.78554995e-01 3.33446617e-02 2.84732653e+02] [-1.78433688e-01 9.83929783e-01 -6.60306855e-03 -5.25321914e+01] [-3.39878166e-02 5.43413968e-04 9.99422100e-01 -9.35800827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474012739 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:284.76, Y:-52.54, Z:-9.36 [[ 9.83475461e-01 1.78036733e-01 3.28472242e-02 2.84763547e+02] [-1.77918562e-01 9.84023684e-01 -6.50962462e-03 -5.25410628e+01] [-3.34813989e-02 5.57925190e-04 9.99439185e-01 -9.35920305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:284.80, Y:-52.55, Z:-9.36 [[ 9.83627970e-01 1.77252182e-01 3.25219986e-02 2.84795679e+02] [-1.77135725e-01 9.84165292e-01 -6.45076478e-03 -5.25488118e+01] [-3.31504344e-02 5.84344863e-04 9.99450202e-01 -9.36060255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534012739 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:284.83, Y:-52.56, Z:-9.36 [[ 9.83948435e-01 1.75689669e-01 3.12828650e-02 2.84827312e+02] [-1.75580937e-01 9.84445406e-01 -6.21103860e-03 -5.25593286e+01] [-3.18874881e-02 6.18666957e-04 9.99491273e-01 -9.36230784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:284.86, Y:-52.57, Z:-9.36 [[ 9.84050974e-01 1.75120902e-01 3.12465903e-02 2.84857805e+02] [-1.75011929e-01 9.84546726e-01 -6.21032051e-03 -5.25676068e+01] [-3.18512851e-02 6.42745906e-04 9.99492412e-01 -9.36311261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594012739 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:284.89, Y:-52.58, Z:-9.36 [[ 9.84147213e-01 1.74382648e-01 3.23257565e-02 2.84888363e+02] [-1.74265481e-01 9.84677719e-01 -6.42895651e-03 -5.25764513e+01] [-3.29515507e-02 6.93776141e-04 9.99456709e-01 -9.36343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:284.92, Y:-52.58, Z:-9.36 [[ 9.84161804e-01 1.74090670e-01 3.34362299e-02 2.84919219e+02] [-1.73964946e-01 9.84729354e-01 -6.65559638e-03 -5.25836388e+01] [-3.40843143e-02 7.33451813e-04 9.99418692e-01 -9.36421524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654012739 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:284.95, Y:-52.59, Z:-9.36 [[ 9.84465028e-01 1.72487827e-01 3.28109535e-02 2.84950526e+02] [-1.72365681e-01 9.85011341e-01 -6.53686374e-03 -5.25938678e+01] [-3.34466907e-02 7.79831377e-04 9.99440199e-01 -9.36493170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:284.98, Y:-52.60, Z:-9.36 [[ 9.84557035e-01 1.72165121e-01 3.17272139e-02 2.84982891e+02] [-1.72050559e-01 9.85067804e-01 -6.32672376e-03 -5.26029277e+01] [-3.23426981e-02 7.70335516e-04 9.99476541e-01 -9.35585236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714012739 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:285.01, Y:-52.61, Z:-9.37 [[ 9.84620059e-01 1.71775043e-01 3.18853158e-02 2.85013753e+02] [-1.71658916e-01 9.85135881e-01 -6.36489128e-03 -5.26110580e+01] [-3.25046982e-02 7.93600891e-04 9.99471268e-01 -9.36813632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:285.04, Y:-52.62, Z:-9.37 [[ 9.84496205e-01 1.72580154e-01 3.13578102e-02 2.85044856e+02] [-1.72468126e-01 9.84995186e-01 -6.26334636e-03 -5.26200824e+01] [-3.19682214e-02 7.58017959e-04 9.99488598e-01 -9.36827489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774012739 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:285.08, Y:-52.63, Z:-9.37 [[ 9.84353742e-01 1.73428104e-01 3.11512876e-02 2.85076777e+02] [-1.73317798e-01 9.84846261e-01 -6.22756789e-03 -5.26276820e+01] [-3.17592644e-02 7.31057194e-04 9.99495280e-01 -9.36936502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:285.11, Y:-52.64, Z:-9.37 [[ 9.84041732e-01 1.74832664e-01 3.30969581e-02 2.85108735e+02] [-1.74708704e-01 9.84597887e-01 -6.62343646e-03 -5.26367253e+01] [-3.37451881e-02 7.35411219e-04 9.99430198e-01 -9.36978005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834012739 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:285.14, Y:-52.64, Z:-9.37 [[ 9.83911538e-01 1.75167623e-01 3.51338787e-02 2.85140055e+02] [-1.75027879e-01 9.84538319e-01 -7.03843025e-03 -5.26446736e+01] [-3.58235550e-02 7.75784448e-04 9.99357829e-01 -9.37118038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:285.17, Y:-52.65, Z:-9.37 [[ 9.83876479e-01 1.75220331e-01 3.58456508e-02 2.85171515e+02] [-1.75074651e-01 9.84528924e-01 -7.18781909e-03 -5.26532811e+01] [-3.65505321e-02 7.96261314e-04 9.99331489e-01 -9.37248688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894012739 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:285.20, Y:-52.67, Z:-9.37 [[ 9.84062531e-01 1.74562952e-01 3.38926447e-02 2.85201768e+02] [-1.74432112e-01 9.84645705e-01 -6.80252317e-03 -5.26651525e+01] [-3.45597155e-02 7.82142565e-04 9.99402329e-01 -9.37437105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:285.23, Y:-52.68, Z:-9.38 [[ 9.84072911e-01 1.74947282e-01 3.15270536e-02 2.85232833e+02] [-1.74834100e-01 9.84577539e-01 -6.33306735e-03 -5.26761664e+01] [-3.21487818e-02 7.20195974e-04 9.99482835e-01 -9.37602375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954012739 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:285.26, Y:-52.68, Z:-9.38 [[ 9.83852192e-01 1.76352090e-01 3.05745833e-02 2.85263501e+02] [-1.76246135e-01 9.84326930e-01 -6.14774384e-03 -5.26846163e+01] [-3.11795531e-02 6.59819120e-04 9.99513582e-01 -9.37796815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:285.29, Y:-52.69, Z:-9.38 [[ 9.83539823e-01 1.78166852e-01 3.00996656e-02 2.85294975e+02] [-1.78064843e-01 9.84000109e-01 -6.05780488e-03 -5.26940737e+01] [-3.06973742e-02 5.98400104e-04 9.99528545e-01 -9.37941286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014012739 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:285.33, Y:-52.70, Z:-9.38 [[ 9.83525326e-01 1.78247062e-01 3.00984651e-02 2.85327773e+02] [-1.78144908e-01 9.83985580e-01 -6.06376348e-03 -5.27008191e+01] [-3.06973037e-02 6.01976650e-04 9.99528545e-01 -9.38056467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:285.36, Y:-52.71, Z:-9.38 [[ 9.82843003e-01 1.82023734e-01 2.97824201e-02 2.85358259e+02] [-1.81925382e-01 9.83294020e-01 -6.00221073e-03 -5.27125177e+01] [-3.03774204e-02 4.81052672e-04 9.99538384e-01 -9.38110189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074012739 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:285.39, Y:-52.72, Z:-9.38 [[ 9.82464639e-01 1.84078919e-01 2.96341908e-02 2.85390679e+02] [-1.83982319e-01 9.82911377e-01 -5.97758623e-03 -5.27211240e+01] [-3.02281309e-02 4.20599948e-04 9.99542937e-01 -9.38181331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:285.42, Y:-52.73, Z:-9.38 [[ 9.81766181e-01 1.87830238e-01 2.92398168e-02 2.85421631e+02] [-1.87737685e-01 9.82201460e-01 -5.90372189e-03 -5.27317245e+01] [-2.98282883e-02 3.06658965e-04 9.99554991e-01 -9.38355681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134012739 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:285.45, Y:-52.74, Z:-9.38 [[ 9.81428467e-01 1.89541500e-01 2.95327773e-02 2.85453318e+02] [-1.89447695e-01 9.81872676e-01 -5.96823888e-03 -5.27402102e+01] [-3.01286560e-02 2.62482941e-04 9.99545995e-01 -9.38475054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:285.48, Y:-52.75, Z:-9.39 [[ 9.80637530e-01 1.93404593e-01 3.07359556e-02 2.85484271e+02] [-1.93304674e-01 9.81119075e-01 -6.21803593e-03 -5.27490417e+01] [-3.13582291e-02 1.56235499e-04 9.99508198e-01 -9.38582483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194012739 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:285.52, Y:-52.76, Z:-9.39 [[ 9.80143742e-01 1.95801731e-01 3.13037757e-02 2.85516852e+02] [-1.95699111e-01 9.80643500e-01 -6.33902680e-03 -5.27563715e+01] [-3.19390366e-02 8.70363821e-05 9.99489815e-01 -9.38638383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:285.55, Y:-52.76, Z:-9.39 [[ 9.78973711e-01 2.01567388e-01 3.13219008e-02 2.85548788e+02] [-2.01467401e-01 9.79474644e-01 -6.34880313e-03 -5.27638917e+01] [-3.19587193e-02 -9.50305958e-05 9.99489185e-01 -9.38621308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254012739 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:285.58, Y:-52.77, Z:-9.39 [[ 9.78318735e-01 2.04731385e-01 3.12652066e-02 2.85580879e+02] [-2.04633180e-01 9.78818177e-01 -6.34337515e-03 -5.27706349e+01] [-3.19016405e-02 -1.92055914e-04 9.99490995e-01 -9.38724034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:285.61, Y:-52.77, Z:-9.39 [[ 9.77073143e-01 2.10389430e-01 3.26245428e-02 2.85613494e+02] [-2.10285426e-01 9.77617583e-01 -6.62581271e-03 -5.27734830e+01] [-3.32883276e-02 -3.86562233e-04 9.99445715e-01 -9.38843701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:285.65, Y:-52.78, Z:-9.39 [[ 9.76498316e-01 2.12924135e-01 3.33819187e-02 2.85645504e+02] [-2.12816523e-01 9.77068618e-01 -6.78552827e-03 -5.27778995e+01] [-3.40612279e-02 -4.78166942e-04 9.99419634e-01 -9.38986928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:285.68, Y:-52.78, Z:-9.39 [[ 9.76191286e-01 2.14235502e-01 3.39664975e-02 2.85676476e+02] [-2.14124733e-01 9.76781895e-01 -6.90859986e-03 -5.27828443e+01] [-3.46579271e-02 -5.28952235e-04 9.99399094e-01 -9.39148293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374012739 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:285.71, Y:-52.79, Z:-9.39 [[ 9.76479900e-01 2.13106643e-01 3.27500078e-02 2.85707671e+02] [-2.13002868e-01 9.77028833e-01 -6.66612810e-03 -5.27871156e+01] [-3.34182981e-02 -4.66505495e-04 9.99441344e-01 -9.39301314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:285.74, Y:-52.79, Z:-9.39 [[ 9.76986886e-01 2.10945623e-01 3.16001239e-02 2.85737471e+02] [-2.10847842e-01 9.77497724e-01 -6.43320215e-03 -5.27927032e+01] [-3.22461051e-02 -3.77663809e-04 9.99479888e-01 -9.39459693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434012739 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:285.77, Y:-52.80, Z:-9.40 [[ 9.78401874e-01 2.04234800e-01 3.19048457e-02 2.85769983e+02] [-2.04131550e-01 9.78921918e-01 -6.49529490e-03 -5.28007549e+01] [-3.25589180e-02 -1.57776883e-04 9.99469805e-01 -9.39582990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:285.80, Y:-52.81, Z:-9.40 [[ 9.79100966e-01 2.00715083e-01 3.27834295e-02 2.85802237e+02] [-2.00603873e-01 9.79649659e-01 -6.68071308e-03 -5.28085225e+01] [-3.34571954e-02 -3.53902844e-05 9.99440151e-01 -9.39682395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:285.83, Y:-52.81, Z:-9.40 [[ 9.80102220e-01 1.95697803e-01 3.31965022e-02 2.85834556e+02] [-1.95580663e-01 9.80664239e-01 -6.77163049e-03 -5.28145887e+01] [-3.38798158e-02 1.44296156e-04 9.99425904e-01 -9.39718819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:285.86, Y:-52.82, Z:-9.40 [[ 9.80270593e-01 1.95048312e-01 3.20268765e-02 2.85864994e+02] [-1.94900855e-01 9.80792775e-01 -7.69349015e-03 -5.28204577e+01] [-3.29123313e-02 1.29963655e-03 9.99457397e-01 -9.39859756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55401273900003 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:285.90, Y:-52.83, Z:-9.40 [[ 9.80546306e-01 1.93527462e-01 3.28034011e-02 2.85895113e+02] [-1.93424889e-01 9.81094845e-01 -6.30222425e-03 -5.28326414e+01] [-3.34029012e-02 -1.65371524e-04 9.99441954e-01 -9.40037466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:285.93, Y:-52.84, Z:-9.40 [[ 9.80616291e-01 1.93056655e-01 3.34786245e-02 2.85926797e+02] [-1.92965778e-01 9.81187415e-01 -5.95527841e-03 -5.28415201e+01] [-3.39985112e-02 -6.20385811e-04 9.99421691e-01 -9.40105380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61401273900003 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:285.96, Y:-52.85, Z:-9.40 [[ 9.80406280e-01 1.94345924e-01 3.21432335e-02 2.85958563e+02] [-1.94234735e-01 9.80933035e-01 -6.57630062e-03 -5.28482967e+01] [-3.28084369e-02 2.04113984e-04 9.99461637e-01 -9.40195958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:285.99, Y:-52.86, Z:-9.40 [[ 9.80159015e-01 1.95775128e-01 3.09903908e-02 2.85990942e+02] [-1.95672316e-01 9.80648803e-01 -6.34584761e-03 -5.28554536e+01] [-3.16330487e-02 1.55978204e-04 9.99499538e-01 -9.40394620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67401273900003 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:286.02, Y:-52.86, Z:-9.41 [[ 9.79894123e-01 1.97184653e-01 3.04256492e-02 2.86022681e+02] [-1.97086055e-01 9.80366360e-01 -6.23597696e-03 -5.28633971e+01] [-3.10579219e-02 1.14126009e-04 9.99517580e-01 -9.40521935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:286.05, Y:-52.87, Z:-9.41 [[ 9.79378591e-01 1.99489468e-01 3.19613590e-02 2.86053353e+02] [-1.99381669e-01 9.79899969e-01 -6.55744934e-03 -5.28720879e+01] [-3.26270768e-02 4.97163830e-05 9.99467594e-01 -9.40587985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734012739 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:286.09, Y:-52.88, Z:-9.41 [[ 9.79086439e-01 2.00797271e-01 3.27139216e-02 2.86086016e+02] [-2.00684856e-01 9.79632817e-01 -6.71809081e-03 -5.28788941e+01] [-3.33966055e-02 1.24029497e-05 9.99442178e-01 -9.40588218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:286.12, Y:-52.89, Z:-9.41 [[ 9.78694961e-01 2.02778743e-01 3.22017728e-02 2.86118694e+02] [-2.02670691e-01 9.79224581e-01 -6.61905674e-03 -5.28854939e+01] [-3.28749714e-02 -4.83180452e-05 9.99459471e-01 -9.40729765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794012739 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:286.15, Y:-52.89, Z:-9.41 [[ 9.78734663e-01 2.02751700e-01 3.11481542e-02 2.86150738e+02] [-2.02650405e-01 9.79230181e-01 -6.40835206e-03 -5.28930479e+01] [-3.18005169e-02 -4.01097556e-05 9.99494235e-01 -9.40877172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:286.18, Y:-52.90, Z:-9.41 [[ 9.78774076e-01 2.02666712e-01 3.04550870e-02 2.86181563e+02] [-2.02569652e-01 9.79247774e-01 -6.27161020e-03 -5.29022466e+01] [-3.10941228e-02 -3.07869145e-05 9.99516460e-01 -9.41023180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854012739 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:286.21, Y:-52.91, Z:-9.41 [[ 9.78670380e-01 2.03069205e-01 3.10996011e-02 2.86213593e+02] [-2.02968012e-01 9.79164387e-01 -6.41012012e-03 -5.29097257e+01] [-3.17533198e-02 -3.88295105e-05 9.99495735e-01 -9.41124101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:286.25, Y:-52.92, Z:-9.41 [[ 9.78204257e-01 2.04997523e-01 3.30521957e-02 2.86246117e+02] [-2.04884092e-01 9.78762487e-01 -6.81936924e-03 -5.29173500e+01] [-3.37482030e-02 -1.01133059e-04 9.99430362e-01 -9.41138068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:286.28, Y:-52.92, Z:-9.41 [[ 9.77877325e-01 2.06503895e-01 3.33478317e-02 2.86276840e+02] [-2.06389078e-01 9.78445767e-01 -6.88687707e-03 -5.29243404e+01] [-3.40512117e-02 -1.48107295e-04 9.99420078e-01 -9.41216267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:286.31, Y:-52.93, Z:-9.41 [[ 9.77131445e-01 2.10156221e-01 3.23805670e-02 2.86308222e+02] [-2.10049851e-01 9.77667783e-01 -6.69080058e-03 -5.29323875e+01] [-3.30635505e-02 -2.63741645e-04 9.99453217e-01 -9.41281965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974012739 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:286.34, Y:-52.94, Z:-9.41 [[ 9.76738793e-01 2.12033480e-01 3.19864584e-02 2.86340802e+02] [-2.11930508e-01 9.77262351e-01 -6.61496372e-03 -5.29395595e+01] [-3.26617553e-02 -3.17814692e-04 9.99466412e-01 -9.41479701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:286.37, Y:-52.95, Z:-9.41 [[ 9.76104478e-01 2.14813265e-01 3.27919203e-02 2.86371993e+02] [-2.14706394e-01 9.76655051e-01 -6.78788317e-03 -5.29468750e+01] [-3.34845219e-02 -4.14951780e-04 9.99439150e-01 -9.41475033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034012739 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:286.40, Y:-52.95, Z:-9.41 [[ 9.75794885e-01 2.16161540e-01 3.31440863e-02 2.86403503e+02] [-2.16052952e-01 9.76357504e-01 -6.86627123e-03 -5.29544353e+01] [-3.38447012e-02 -4.60805339e-04 9.99426998e-01 -9.41487588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:286.43, Y:-52.96, Z:-9.42 [[ 9.75520334e-01 2.17323428e-01 3.36244738e-02 2.86434193e+02] [-2.17212167e-01 9.76099521e-01 -6.97136079e-03 -5.29609660e+01] [-3.43358728e-02 -5.02940601e-04 9.99410224e-01 -9.41536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094012739 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:286.47, Y:-52.97, Z:-9.42 [[ 9.75512356e-01 2.17280180e-01 3.41315979e-02 2.86465642e+02] [-2.17165396e-01 9.76109147e-01 -7.07975746e-03 -5.29670524e+01] [-3.48544559e-02 -5.05811110e-04 9.99392271e-01 -9.41731338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:286.50, Y:-52.97, Z:-9.42 [[ 9.75845991e-01 2.15916095e-01 3.32391521e-02 2.86498149e+02] [-2.15806256e-01 9.76411822e-01 -6.90022644e-03 -5.29733915e+01] [-3.39449711e-02 -4.39658679e-04 9.99423607e-01 -9.42021055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154012739 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:286.53, Y:-52.98, Z:-9.42 [[ 9.76144132e-01 2.14772569e-01 3.18649864e-02 2.86529854e+02] [-2.14670834e-01 9.76664016e-01 -6.62057070e-03 -5.29804535e+01] [-3.25433026e-02 -3.77851983e-04 9.99470255e-01 -9.42123601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:286.56, Y:-52.99, Z:-9.42 [[ 9.76514611e-01 2.13231527e-01 3.08468779e-02 2.86560094e+02] [-2.13135271e-01 9.77001647e-01 -6.41382217e-03 -5.29873581e+01] [-3.15050797e-02 -3.11366631e-04 9.99503543e-01 -9.42270096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:286.59, Y:-53.00, Z:-9.42 [[ 9.77029500e-01 2.10938826e-01 3.03012960e-02 2.86591609e+02] [-2.10844709e-01 9.77499237e-01 -6.30472530e-03 -5.29955016e+01] [-3.09494051e-02 -2.28965334e-04 9.99520926e-01 -9.42350126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:286.62, Y:-53.00, Z:-9.43 [[ 9.77213897e-01 2.10083638e-01 3.02962762e-02 2.86623385e+02] [-2.09988997e-01 9.77683398e-01 -6.30833438e-03 -5.30038419e+01] [-3.09454441e-02 -1.97292626e-04 9.99521056e-01 -9.42529817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274012739 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:286.65, Y:-53.01, Z:-9.43 [[ 9.77641090e-01 2.08211166e-01 2.94280314e-02 2.86654658e+02] [-2.08120851e-01 9.78083889e-01 -6.13330757e-03 -5.30139346e+01] [-3.00601065e-02 -1.28413434e-04 9.99548085e-01 -9.42744462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:286.69, Y:-53.02, Z:-9.43 [[ 9.77801553e-01 2.07476601e-01 2.92845031e-02 2.86685840e+02] [-2.07386647e-01 9.78239976e-01 -6.10971150e-03 -5.30218426e+01] [-2.99148938e-02 -9.91294898e-05 9.99552445e-01 -9.42783783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334012739 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:286.72, Y:-53.03, Z:-9.43 [[ 9.78035576e-01 2.06039656e-01 3.15288970e-02 2.86717582e+02] [-2.05934500e-01 9.78543641e-01 -6.58216549e-03 -5.30308302e+01] [-3.22085888e-02 -5.52956035e-05 9.99481167e-01 -9.42815406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:286.75, Y:-53.04, Z:-9.43 [[ 9.78018572e-01 2.06039631e-01 3.20521962e-02 2.86748286e+02] [-2.05930744e-01 9.78543646e-01 -6.69780990e-03 -5.30385741e+01] [-3.27444872e-02 -4.99501285e-05 9.99463754e-01 -9.42923656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:286.78, Y:-53.05, Z:-9.43 [[ 9.77888337e-01 2.06738110e-01 3.15238670e-02 2.86779986e+02] [-2.06632966e-01 9.78396315e-01 -6.59302615e-03 -5.30465085e+01] [-3.22058651e-02 -6.66267441e-05 9.99481254e-01 -9.43054560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:286.81, Y:-53.05, Z:-9.43 [[ 9.77431360e-01 2.09150043e-01 2.97354144e-02 2.86810629e+02] [-2.09057436e-01 9.77883552e-01 -6.22467524e-03 -5.30547712e+01] [-3.03796637e-02 -1.32216702e-04 9.99538423e-01 -9.43273857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454012739 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:286.84, Y:-53.06, Z:-9.43 [[ 9.77215795e-01 2.10097553e-01 3.01381686e-02 2.86842747e+02] [-2.10002765e-01 9.77680414e-01 -6.31238403e-03 -5.30612996e+01] [-3.07917136e-02 -1.60537353e-04 9.99525810e-01 -9.43337062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:286.87, Y:-53.07, Z:-9.43 [[ 9.77190848e-01 2.09996526e-01 3.16149518e-02 2.86874175e+02] [-2.09891947e-01 9.77702119e-01 -6.62847324e-03 -5.30672192e+01] [-3.23019618e-02 -1.58440410e-04 9.99478143e-01 -9.43407507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:286.91, Y:-53.07, Z:-9.43 [[ 9.77203136e-01 2.09689416e-01 3.32322019e-02 2.86905478e+02] [-2.09573458e-01 9.77768033e-01 -6.97418185e-03 -5.30735872e+01] [-3.39557968e-02 -1.49395082e-04 9.99423324e-01 -9.43409904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:286.94, Y:-53.08, Z:-9.44 [[ 9.77499931e-01 2.08081850e-01 3.45807380e-02 2.86938069e+02] [-2.07955132e-01 9.78111412e-01 -7.26143602e-03 -5.30807054e+01] [-3.53347876e-02 -9.31887137e-05 9.99375527e-01 -9.43522206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574012739 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:286.97, Y:-53.09, Z:-9.44 [[ 9.78158440e-01 2.05266914e-01 3.27347103e-02 2.86970642e+02] [-2.05151590e-01 9.78706030e-01 -6.87977973e-03 -5.30880480e+01] [-3.34498495e-02 1.39367610e-05 9.99440397e-01 -9.43700230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:287.00, Y:-53.10, Z:-9.44 [[ 9.78597312e-01 2.03256391e-01 3.21580520e-02 2.87002617e+02] [-2.03143805e-01 9.79125545e-01 -6.76479190e-03 -5.30951436e+01] [-3.28617574e-02 8.72981076e-05 9.99459903e-01 -9.43869113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634012739 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:287.03, Y:-53.10, Z:-9.44 [[ 9.78993193e-01 2.01332994e-01 3.22079849e-02 2.87033644e+02] [-2.01218799e-01 9.79522843e-01 -6.78192717e-03 -5.31021100e+01] [-3.29138827e-02 1.58608474e-04 9.99458179e-01 -9.43919191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:287.07, Y:-53.11, Z:-9.44 [[ 9.79161107e-01 2.00211841e-01 3.40403445e-02 2.87065593e+02] [-2.00083362e-01 9.79752608e-01 -7.17464723e-03 -5.31093622e+01] [-3.47875656e-02 2.14228959e-04 9.99394707e-01 -9.43939138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694012739 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:287.10, Y:-53.12, Z:-9.44 [[ 9.79010121e-01 2.00946896e-01 3.40518345e-02 2.87096830e+02] [-2.00818531e-01 9.79602117e-01 -7.18404977e-03 -5.31163853e+01] [-3.48008617e-02 1.95018040e-04 9.99394248e-01 -9.43989235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:287.13, Y:-53.12, Z:-9.44 [[ 9.78592034e-01 2.03264926e-01 3.22645530e-02 2.87129293e+02] [-2.03150820e-01 9.79123770e-01 -6.81077463e-03 -5.31242472e+01] [-3.29753823e-02 1.10399404e-04 9.99456158e-01 -9.44125854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:287.16, Y:-53.13, Z:-9.44 [[ 9.78410194e-01 2.04272104e-01 3.14070101e-02 2.87161541e+02] [-2.04164304e-01 9.78914144e-01 -6.63595893e-03 -5.31309027e+01] [-3.21003077e-02 8.04994960e-05 9.99484649e-01 -9.44257799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:287.19, Y:-53.14, Z:-9.44 [[ 9.78105451e-01 2.05577582e-01 3.23664010e-02 2.87193260e+02] [-2.05463583e-01 9.78640821e-01 -6.84545243e-03 -5.31362219e+01] [-3.30823528e-02 4.54576116e-05 9.99452628e-01 -9.44363288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814012739 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:287.23, Y:-53.14, Z:-9.44 [[ 9.78013405e-01 2.05969953e-01 3.26520781e-02 2.87225283e+02] [-2.05853944e-01 9.78558316e-01 -6.91207685e-03 -5.31431516e+01] [-3.33756427e-02 3.85447604e-05 9.99442877e-01 -9.44482112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:287.26, Y:-53.15, Z:-9.45 [[ 9.77979388e-01 2.06153546e-01 3.25120326e-02 2.87256460e+02] [-2.06038416e-01 9.78519654e-01 -6.88890647e-03 -5.31507963e+01] [-3.32338354e-02 3.84808388e-05 9.99447603e-01 -9.44638227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:287.29, Y:-53.16, Z:-9.45 [[ 9.78351619e-01 2.04644167e-01 3.08038129e-02 2.87288214e+02] [-2.04539903e-01 9.78836430e-01 -6.53233369e-03 -5.31596086e+01] [-3.14886983e-02 9.03103521e-05 9.99504104e-01 -9.44764753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:287.32, Y:-53.17, Z:-9.45 [[ 9.78324630e-01 2.04773345e-01 3.08025395e-02 2.87320932e+02] [-2.04668956e-01 9.78809414e-01 -6.53833254e-03 -5.31667187e+01] [-3.14886919e-02 9.22881518e-05 9.99504104e-01 -9.44880076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934012739 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:287.35, Y:-53.17, Z:-9.45 [[ 9.78513965e-01 2.03927624e-01 3.03964483e-02 2.87352243e+02] [-2.03825432e-01 9.78985960e-01 -6.45630892e-03 -5.31745379e+01] [-3.10743158e-02 1.22019240e-04 9.99517069e-01 -9.44946315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:287.38, Y:-53.18, Z:-9.45 [[ 9.78676715e-01 2.02909845e-01 3.19293424e-02 2.87382634e+02] [-2.02796406e-01 9.79197410e-01 -6.78605778e-03 -5.31842760e+01] [-3.26420873e-02 1.66200852e-04 9.99467091e-01 -9.45035163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994012739 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:287.41, Y:-53.19, Z:-9.45 [[ 9.78593667e-01 2.03141330e-01 3.29853877e-02 2.87413926e+02] [-2.03020253e-01 9.79149412e-01 -7.01464626e-03 -5.31925492e+01] [-3.37225876e-02 1.67786655e-04 9.99431218e-01 -9.45153747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:287.45, Y:-53.20, Z:-9.45 [[ 9.78302881e-01 2.04675745e-01 3.21140490e-02 2.87445924e+02] [-2.04561621e-01 9.78829825e-01 -6.83504395e-03 -5.32024675e+01] [-3.28331566e-02 1.17441279e-04 9.99460840e-01 -9.45361184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05401273900003 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:287.48, Y:-53.21, Z:-9.46 [[ 9.77977096e-01 2.06450335e-01 3.06440648e-02 2.87478033e+02] [-2.06347116e-01 9.78457079e-01 -6.52780540e-03 -5.32110622e+01] [-3.13315698e-02 6.07297628e-05 9.99509044e-01 -9.45518507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:287.51, Y:-53.22, Z:-9.46 [[ 9.76787051e-01 2.12165623e-01 2.95432854e-02 2.87508397e+02] [-2.12072129e-01 9.77233716e-01 -6.29893449e-03 -5.32204215e+01] [-3.02071119e-02 -1.12589768e-04 9.99543655e-01 -9.45551904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11401273900003 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:287.54, Y:-53.23, Z:-9.46 [[ 9.75320550e-01 2.18724286e-01 3.01580950e-02 2.87539124e+02] [-2.18629814e-01 9.75786650e-01 -6.43565616e-03 -5.32284846e+01] [-3.08355007e-02 -3.16630995e-04 9.99524423e-01 -9.45625360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:287.57, Y:-53.24, Z:-9.46 [[ 9.74635265e-01 2.21700144e-01 3.05801523e-02 2.87571734e+02] [-2.21604298e-01 9.75114802e-01 -6.53131192e-03 -5.32352053e+01] [-3.12671519e-02 -4.11046246e-04 9.99510979e-01 -9.45752751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17401273900003 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:287.60, Y:-53.24, Z:-9.46 [[ 9.74056828e-01 2.24214706e-01 3.06767173e-02 2.87604076e+02] [-2.24119317e-01 9.74539649e-01 -6.55776183e-03 -5.32412576e+01] [-3.13660240e-02 -4.87612241e-04 9.99507846e-01 -9.45860135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:287.64, Y:-53.25, Z:-9.46 [[ 9.72986248e-01 2.28642594e-01 3.19425256e-02 2.87635607e+02] [-2.28541329e-01 9.73510217e-01 -6.83513877e-03 -5.32452038e+01] [-3.26591789e-02 -6.49691215e-04 9.99466336e-01 -9.45742747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234012739 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:287.67, Y:-53.25, Z:-9.46 [[ 9.72445281e-01 2.30790426e-01 3.29538200e-02 2.87668827e+02] [-2.30683661e-01 9.73003203e-01 -7.05793917e-03 -5.32494168e+01] [-3.36930772e-02 -7.38448202e-04 9.99431954e-01 -9.45813789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:287.70, Y:-53.25, Z:-9.46 [[ 9.71525781e-01 2.34531522e-01 3.36544413e-02 2.87700942e+02] [-2.34422176e-01 9.72108117e-01 -7.21474811e-03 -5.32500241e+01] [-3.44078415e-02 -8.80033580e-04 9.99407487e-01 -9.45984550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294012739 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:287.73, Y:-53.25, Z:-9.46 [[ 9.71220397e-01 2.35793011e-01 3.36540643e-02 2.87733298e+02] [-2.35684212e-01 9.71802867e-01 -7.22082484e-03 -5.32544077e+01] [-3.44077362e-02 -9.18719242e-04 9.99407456e-01 -9.46072630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:287.77, Y:-53.26, Z:-9.46 [[ 9.70918431e-01 2.37209145e-01 3.23916851e-02 2.87765375e+02] [-2.37108940e-01 9.71458163e-01 -6.95610567e-03 -5.32555099e+01] [-3.31172188e-02 -9.26546928e-04 9.99451045e-01 -9.46189018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354012739 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:287.80, Y:-53.26, Z:-9.46 [[ 9.70862256e-01 2.37605904e-01 3.11434579e-02 2.87797065e+02] [-2.37513292e-01 9.71361224e-01 -6.69390813e-03 -5.32577773e+01] [-3.18420595e-02 -8.98122474e-04 9.99492510e-01 -9.46333540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:287.83, Y:-53.26, Z:-9.46 [[ 9.70932063e-01 2.37438604e-01 3.02297577e-02 2.87828355e+02] [-2.37351245e-01 9.71402162e-01 -6.49822881e-03 -5.32604366e+01] [-3.09081824e-02 -8.65731922e-04 9.99521853e-01 -9.46453267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414012739 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:287.86, Y:-53.26, Z:-9.47 [[ 9.71400726e-01 2.35538798e-01 3.00350667e-02 2.87859598e+02] [-2.35451627e-01 9.71864618e-01 -6.45719239e-03 -5.32610056e+01] [-3.07109380e-02 -7.99283953e-04 9.99527988e-01 -9.46502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:287.89, Y:-53.26, Z:-9.47 [[ 9.71981567e-01 2.32851731e-01 3.21232846e-02 2.87890735e+02] [-2.32750548e-01 9.72511947e-01 -6.90613511e-03 -5.32610006e+01] [-3.28483836e-02 -7.64076080e-04 9.99460054e-01 -9.46604587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:287.92, Y:-53.26, Z:-9.47 [[ 9.72229464e-01 2.31664746e-01 3.31860589e-02 2.87920473e+02] [-2.31556064e-01 9.72795398e-01 -7.13462487e-03 -5.32641344e+01] [-3.39360864e-02 -7.47940667e-04 9.99423725e-01 -9.46659309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:287.95, Y:-53.27, Z:-9.47 [[ 9.72477862e-01 2.30579055e-01 3.34680034e-02 2.87949968e+02] [-2.30467890e-01 9.73053332e-01 -7.19482580e-03 -5.32675794e+01] [-3.42251284e-02 -7.16491329e-04 9.99413892e-01 -9.46814999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534012739 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:287.98, Y:-53.27, Z:-9.47 [[ 9.72810358e-01 2.29309889e-01 3.25112799e-02 2.87980877e+02] [-2.29204295e-01 9.73353250e-01 -6.98875780e-03 -5.32694169e+01] [-3.32475512e-02 -6.52988988e-04 9.99446934e-01 -9.47001218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:288.01, Y:-53.27, Z:-9.47 [[ 9.72864281e-01 2.29209382e-01 3.15934975e-02 2.88009328e+02] [-2.29109611e-01 9.73376937e-01 -6.79154277e-03 -5.32723043e+01] [-3.23090672e-02 -6.31124555e-04 9.99477727e-01 -9.47132328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:288.04, Y:-53.27, Z:-9.47 [[ 9.72906328e-01 2.29281959e-01 2.97163444e-02 2.88038122e+02] [-2.29193756e-01 9.73359865e-01 -6.38708664e-03 -5.32722739e+01] [-3.03891408e-02 -5.96763589e-04 9.99537965e-01 -9.47300141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:288.07, Y:-53.28, Z:-9.47 [[ 9.72937983e-01 2.29181493e-01 2.94537645e-02 2.88065368e+02] [-2.29094849e-01 9.73383529e-01 -6.32891831e-03 -5.32759690e+01] [-3.01202801e-02 -5.90060699e-04 9.99546107e-01 -9.47465755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654012739 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:288.09, Y:-53.28, Z:-9.48 [[ 9.73014005e-01 2.28826974e-01 2.96978646e-02 2.88094268e+02] [-2.28738776e-01 9.73466935e-01 -6.37959888e-03 -5.32804822e+01] [-3.03697135e-02 -5.85614126e-04 9.99538562e-01 -9.47522626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:288.12, Y:-53.28, Z:-9.48 [[ 9.73195606e-01 2.27957779e-01 3.04230720e-02 2.88121919e+02] [-2.27864842e-01 9.73670849e-01 -6.53389148e-03 -5.32818932e+01] [-3.11115098e-02 -5.73594013e-04 9.99515755e-01 -9.47576764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714012739 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:288.15, Y:-53.29, Z:-9.48 [[ 9.73377751e-01 2.27173995e-01 3.04586675e-02 2.88150271e+02] [-2.27080516e-01 9.73854030e-01 -6.53963186e-03 -5.32855138e+01] [-3.11479304e-02 -5.51037792e-04 9.99514634e-01 -9.47729313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:288.18, Y:-53.29, Z:-9.48 [[ 9.73729947e-01 2.25766599e-01 2.96552382e-02 2.88178433e+02] [-2.25677376e-01 9.74181297e-01 -6.36578938e-03 -5.32888470e+01] [-3.03267610e-02 -4.93956574e-04 9.99539916e-01 -9.47919986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:288.21, Y:-53.29, Z:-9.48 [[ 9.73837947e-01 2.25233303e-01 3.01597676e-02 2.88207181e+02] [-2.25140819e-01 9.74304738e-01 -6.47220802e-03 -5.32940213e+01] [-3.08425613e-02 -4.87313023e-04 9.99524136e-01 -9.47983156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:288.24, Y:-53.30, Z:-9.48 [[ 9.74067569e-01 2.24111615e-01 3.10862617e-02 2.88235785e+02] [-2.24012840e-01 9.74563372e-01 -6.66946349e-03 -5.32990206e+01] [-3.17902363e-02 -4.67213706e-04 9.99494454e-01 -9.48015785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834012739 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:288.26, Y:-53.30, Z:-9.48 [[ 9.74397256e-01 2.22491389e-01 3.23661756e-02 2.88263413e+02] [-2.22383473e-01 9.74934559e-01 -6.94239281e-03 -5.33017945e+01] [-3.30995257e-02 -4.33054032e-04 9.99451967e-01 -9.48036543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:288.29, Y:-53.31, Z:-9.48 [[ 9.74465574e-01 2.22216628e-01 3.21965034e-02 2.88291984e+02] [-2.22109762e-01 9.74997226e-01 -6.90383146e-03 -5.33061980e+01] [-3.29256477e-02 -4.23611612e-04 9.99457714e-01 -9.48144745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894012739 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:288.32, Y:-53.31, Z:-9.48 [[ 9.74558151e-01 2.22001796e-01 3.08482303e-02 2.88320853e+02] [-2.21903632e-01 9.75046174e-01 -6.61332129e-03 -5.33098438e+01] [-3.15466181e-02 -4.00268165e-04 9.99502201e-01 -9.47899769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:288.35, Y:-53.31, Z:-9.48 [[ 9.74635031e-01 2.21616804e-01 3.11857209e-02 2.88347850e+02] [-2.21516331e-01 9.75133753e-01 -6.68414969e-03 -5.33142359e+01] [-3.18915690e-02 -3.93540045e-04 9.99491257e-01 -9.48329221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:288.38, Y:-53.32, Z:-9.48 [[ 9.74833308e-01 2.20688143e-01 3.15715807e-02 2.88376711e+02] [-2.20584745e-01 9.75344353e-01 -6.76487224e-03 -5.33185637e+01] [-3.22860900e-02 -3.69586282e-04 9.99478600e-01 -9.48315893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:288.40, Y:-53.32, Z:-9.48 [[ 9.74919267e-01 2.20331896e-01 3.14050856e-02 2.88403833e+02] [-2.20229451e-01 9.75424896e-01 -6.72764389e-03 -5.33242257e+01] [-3.21156169e-02 -3.57415092e-04 9.99484097e-01 -9.48443940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014012739 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:288.43, Y:-53.33, Z:-9.48 [[ 9.75143797e-01 2.19441494e-01 3.06595070e-02 2.88432312e+02] [-2.19343483e-01 9.75625608e-01 -6.56581929e-03 -5.33307336e+01] [-3.13530133e-02 -3.22345077e-04 9.99508321e-01 -9.47683572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:288.46, Y:-53.33, Z:-9.49 [[ 9.75532870e-01 2.17652507e-01 3.10323188e-02 2.88459659e+02] [-2.17551240e-01 9.76026287e-01 -6.64415745e-03 -5.33343857e+01] [-3.17344765e-02 -2.69525439e-04 9.99496298e-01 -9.48692752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:288.49, Y:-53.34, Z:-9.49 [[ 9.75588154e-01 2.17345538e-01 3.14431448e-02 2.88488149e+02] [-2.17241475e-01 9.76094691e-01 -6.73015256e-03 -5.33389346e+01] [-3.21542553e-02 -2.64898026e-04 9.99482883e-01 -9.48817125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:288.52, Y:-53.34, Z:-9.49 [[ 9.75448881e-01 2.18119455e-01 3.03872222e-02 2.88515630e+02] [-2.18022684e-01 9.75922038e-01 -6.50274319e-03 -5.33426139e+01] [-3.10739346e-02 -2.82010170e-04 9.99517049e-01 -9.48968889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134012739 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:288.54, Y:-53.35, Z:-9.49 [[ 9.75229813e-01 2.19291194e-01 2.89514133e-02 2.88543597e+02] [-2.19203921e-01 9.75659407e-01 -6.19375936e-03 -5.33472833e+01] [-2.96049556e-02 -3.05924530e-04 9.99561630e-01 -9.49035364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:288.57, Y:-53.35, Z:-9.49 [[ 9.74367785e-01 2.23144458e-01 2.85301636e-02 2.88571733e+02] [-2.23061388e-01 9.74785298e-01 -6.10252367e-03 -5.33467459e+01] [-2.91725283e-02 -4.17875418e-04 9.99574304e-01 -9.49068747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194012739 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:288.60, Y:-53.35, Z:-9.49 [[ 9.73763559e-01 2.25653324e-01 2.94127395e-02 2.88600337e+02] [-2.25566281e-01 9.74207532e-01 -6.28786388e-03 -5.33492630e+01] [-3.00729898e-02 -5.11629559e-04 9.99547574e-01 -9.49080652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:288.63, Y:-53.35, Z:-9.49 [[ 9.72971466e-01 2.28920813e-01 3.03609547e-02 2.88628605e+02] [-2.28829728e-01 9.73444841e-01 -6.48821237e-03 -5.33502696e+01] [-3.10400016e-02 -6.34643502e-04 9.99517942e-01 -9.49256779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254012739 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:288.66, Y:-53.35, Z:-9.49 [[ 9.73017030e-01 2.28845222e-01 2.94571349e-02 2.88656023e+02] [-2.28759513e-01 9.73462627e-01 -6.29285311e-03 -5.33536502e+01] [-3.01155092e-02 -6.15546570e-04 9.99546236e-01 -9.49370074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:288.68, Y:-53.35, Z:-9.49 [[ 9.73550664e-01 2.26776593e-01 2.77755493e-02 2.88683278e+02] [-2.26699592e-01 9.73946664e-01 -5.93213515e-03 -5.33531759e+01] [-2.83971730e-02 -5.21471571e-04 9.99596583e-01 -9.49480603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314012739 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:288.71, Y:-53.36, Z:-9.49 [[ 9.73961923e-01 2.24848377e-01 2.90065510e-02 2.88710320e+02] [-2.24763619e-01 9.74393642e-01 -6.19247138e-03 -5.33556810e+01] [-2.96561660e-02 -4.88386034e-04 9.99560040e-01 -9.49498386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:288.74, Y:-53.36, Z:-9.49 [[ 9.74428124e-01 2.22566139e-01 3.08892314e-02 2.88738530e+02] [-2.22468961e-01 9.74917490e-01 -6.59159892e-03 -5.33586951e+01] [-3.15815187e-02 -4.48855830e-04 9.99501079e-01 -9.49498058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374012739 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:288.77, Y:-53.36, Z:-9.50 [[ 9.75472672e-01 2.17491486e-01 3.39193224e-02 2.88766679e+02] [-2.17371327e-01 9.76062167e-01 -7.23546941e-03 -5.33598432e+01] [-3.46810203e-02 -3.15085442e-04 9.99398383e-01 -9.49553504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:288.79, Y:-53.36, Z:-9.50 [[ 9.76052436e-01 2.14959299e-01 3.33787629e-02 2.88793403e+02] [-2.14841542e-01 9.76622982e-01 -7.11775010e-03 -5.33635313e+01] [-3.41284936e-02 -2.23847564e-04 9.99417428e-01 -9.49656739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434012739 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:288.82, Y:-53.37, Z:-9.50 [[ 9.76980219e-01 2.11067509e-01 3.09864212e-02 2.88820952e+02] [-2.10964171e-01 9.77471483e-01 -6.60445976e-03 -5.33665159e+01] [-3.16823300e-02 -8.45981352e-05 9.99497985e-01 -9.49870539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:288.85, Y:-53.37, Z:-9.50 [[ 9.77367012e-01 2.09246624e-01 3.11379755e-02 2.88848060e+02] [-2.09141409e-01 9.77862899e-01 -6.63488659e-03 -5.33702859e+01] [-3.18369986e-02 -2.75207875e-05 9.99493074e-01 -9.49912693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494012739 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:288.88, Y:-53.37, Z:-9.50 [[ 9.77805467e-01 2.07020073e-01 3.22359777e-02 2.88875350e+02] [-2.06906190e-01 9.78336694e-01 -6.86594871e-03 -5.33724077e+01] [-3.29590291e-02 4.37388605e-05 9.99456703e-01 -9.49850429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:288.90, Y:-53.38, Z:-9.50 [[ 9.78010041e-01 2.06011522e-01 3.24901981e-02 2.88902756e+02] [-2.05895371e-01 9.78549563e-01 -6.91730441e-03 -5.33769357e+01] [-3.32183136e-02 7.56117862e-05 9.99448117e-01 -9.49949222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55401273900003 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:288.93, Y:-53.38, Z:-9.50 [[ 9.78510552e-01 2.03609914e-01 3.25592095e-02 2.88929555e+02] [-2.03492020e-01 9.79052082e-01 -6.92955716e-03 -5.33822207e+01] [-3.32880884e-02 1.55105490e-04 9.99445786e-01 -9.50016469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:288.96, Y:-53.39, Z:-9.50 [[ 9.78895427e-01 2.01765534e-01 3.24717115e-02 2.88957261e+02] [-2.01647353e-01 9.79433828e-01 -6.90808152e-03 -5.33873791e+01] [-3.31977055e-02 2.14454729e-04 9.99448781e-01 -9.50138652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61401273900003 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:288.98, Y:-53.39, Z:-9.50 [[ 9.79278056e-01 1.99900534e-01 3.24694673e-02 2.88984532e+02] [-1.99781421e-01 9.79816157e-01 -6.90528763e-03 -5.33925184e+01] [-3.31944793e-02 2.75400331e-04 9.99448873e-01 -9.50266221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:289.01, Y:-53.40, Z:-9.50 [[ 9.79662179e-01 1.98084515e-01 3.20084290e-02 2.89012527e+02] [-1.97967854e-01 9.80184889e-01 -6.80537064e-03 -5.33981782e+01] [-3.27222170e-02 3.30324226e-04 9.99464430e-01 -9.50363611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67401273900003 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:289.04, Y:-53.40, Z:-9.51 [[ 9.79687467e-01 1.98038645e-01 3.15144850e-02 2.89039527e+02] [-1.97925582e-01 9.80194159e-01 -6.69886116e-03 -5.34041164e+01] [-3.22169476e-02 3.25267522e-04 9.99480846e-01 -9.50519648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:289.07, Y:-53.41, Z:-9.51 [[ 9.79638673e-01 1.98444371e-01 3.04614917e-02 2.89066815e+02] [-1.98338995e-01 9.80112107e-01 -6.47311136e-03 -5.34092315e+01] [-3.11402293e-02 2.99608580e-04 9.99514981e-01 -9.50580302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734012739 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:289.09, Y:-53.41, Z:-9.51 [[ 9.79685624e-01 1.98247700e-01 3.02312516e-02 2.89094582e+02] [-1.98143885e-01 9.80151906e-01 -6.42200319e-03 -5.34139428e+01] [-3.09043662e-02 3.01406555e-04 9.99522301e-01 -9.50660132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:289.12, Y:-53.42, Z:-9.51 [[ 9.79818323e-01 1.97624376e-01 3.00110028e-02 2.89121216e+02] [-1.97521840e-01 9.80277770e-01 -6.37315245e-03 -5.34202244e+01] [-3.06786092e-02 3.16703037e-04 9.99529251e-01 -9.50762352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794012739 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:289.15, Y:-53.43, Z:-9.51 [[ 9.79894569e-01 1.97224808e-01 3.01497710e-02 2.89148284e+02] [-1.97121234e-01 9.80358234e-01 -6.39933358e-03 -5.34273781e+01] [-3.08196836e-02 3.27512167e-04 9.99524907e-01 -9.50896249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:289.17, Y:-53.43, Z:-9.51 [[ 9.79990335e-01 1.96686573e-01 3.05505407e-02 2.89174381e+02] [-1.96580034e-01 9.80466354e-01 -6.48217774e-03 -5.34334422e+01] [-3.12287346e-02 3.46845214e-04 9.99512204e-01 -9.50970498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854012739 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:289.20, Y:-53.44, Z:-9.51 [[ 9.80001462e-01 1.96631042e-01 3.05510812e-02 2.89202263e+02] [-1.96524555e-01 9.80477493e-01 -6.47962931e-03 -5.34392261e+01] [-3.12287438e-02 3.46008557e-04 9.99512204e-01 -9.51068548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:289.23, Y:-53.44, Z:-9.51 [[ 9.80232264e-01 1.95152981e-01 3.25579769e-02 2.89230387e+02] [-1.95031293e-01 9.80772726e-01 -6.90323347e-03 -5.34438568e+01] [-3.32791624e-02 4.16947843e-04 9.99446008e-01 -9.51083349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914012739 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:289.26, Y:-53.45, Z:-9.51 [[ 9.80292949e-01 1.94880908e-01 3.23599397e-02 2.89257655e+02] [-1.94760626e-01 9.80826822e-01 -6.85888757e-03 -5.34498332e+01] [-3.30761631e-02 4.21277009e-04 9.99452745e-01 -9.51211645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:289.29, Y:-53.46, Z:-9.51 [[ 9.80368551e-01 1.94861988e-01 3.01049900e-02 2.89285297e+02] [-1.94757934e-01 9.80830593e-01 -6.37922003e-03 -5.34577226e+01] [-3.07709627e-02 3.90801040e-04 9.99526385e-01 -9.51372585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974012739 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:289.31, Y:-53.46, Z:-9.52 [[ 9.80410502e-01 1.94802711e-01 2.91058797e-02 2.89312677e+02] [-1.94705460e-01 9.80842373e-01 -6.16628427e-03 -5.34632124e+01] [-2.97494890e-02 3.78416145e-04 9.99557314e-01 -9.51501438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:289.34, Y:-53.47, Z:-9.52 [[ 9.80488401e-01 1.94479256e-01 2.86411193e-02 2.89340098e+02] [-1.94385009e-01 9.80906557e-01 -6.06580314e-03 -5.34683975e+01] [-2.92739346e-02 3.80045391e-04 9.99571354e-01 -9.51626202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034012739 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:289.37, Y:-53.48, Z:-9.52 [[ 9.81022487e-01 1.91692253e-01 2.91369315e-02 2.89365753e+02] [-1.91593545e-01 9.81454971e-01 -6.16873802e-03 -5.34761319e+01] [-2.97790855e-02 4.69222719e-04 9.99556395e-01 -9.51747595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:289.39, Y:-53.48, Z:-9.52 [[ 9.81397567e-01 1.89678995e-01 2.96764841e-02 2.89393443e+02] [-1.89575758e-01 9.81846011e-01 -6.28031252e-03 -5.34849805e+01] [-3.03289809e-02 5.37541459e-04 9.99539826e-01 -9.51792408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:289.42, Y:-53.49, Z:-9.52 [[ 9.81755241e-01 1.87454951e-01 3.18949492e-02 2.89419963e+02] [-1.87334575e-01 9.82272986e-01 -6.74819679e-03 -5.34947106e+01] [-3.25945299e-02 6.50050804e-04 9.99468446e-01 -9.51744849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:289.45, Y:-53.50, Z:-9.52 [[ 9.81699322e-01 1.87523644e-01 3.31862098e-02 2.89446863e+02] [-1.87393429e-01 9.82259859e-01 -7.01937059e-03 -5.35014013e+01] [-3.39137797e-02 6.72033712e-04 9.99424536e-01 -9.51771931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154012739 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:289.48, Y:-53.51, Z:-9.52 [[ 9.81447838e-01 1.88596600e-01 3.45175922e-02 2.89475315e+02] [-1.88456459e-01 9.82054423e-01 -7.29892831e-03 -5.35100671e+01] [-3.52747071e-02 6.58454216e-04 9.99377437e-01 -9.51819276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:289.50, Y:-53.52, Z:-9.52 [[ 9.81198481e-01 1.89897564e-01 3.44740022e-02 2.89502677e+02] [-1.89758609e-01 9.81803719e-01 -7.28885167e-03 -5.35179738e+01] [-3.52308387e-02 6.10071475e-04 9.99379015e-01 -9.51935124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214012739 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:289.53, Y:-53.53, Z:-9.52 [[ 9.80661279e-01 1.92941072e-01 3.28207056e-02 2.89530405e+02] [-1.92816871e-01 9.81210230e-01 -6.93813613e-03 -5.35288866e+01] [-3.35426635e-02 4.75575686e-04 9.99437173e-01 -9.52057470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:289.56, Y:-53.54, Z:-9.52 [[ 9.80355656e-01 1.94611890e-01 3.20780229e-02 2.89557461e+02] [-1.94494166e-01 9.80880240e-01 -6.78038812e-03 -5.35370730e+01] [-3.27842429e-02 4.08203543e-04 9.99462369e-01 -9.52196409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274012739 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:289.58, Y:-53.54, Z:-9.52 [[ 9.80016691e-01 1.96405349e-01 3.14995790e-02 2.89584812e+02] [-1.96292794e-01 9.80522729e-01 -6.65704091e-03 -5.35443033e+01] [-3.21935317e-02 3.40870812e-04 9.99481596e-01 -9.52283073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:289.61, Y:-53.55, Z:-9.52 [[ 9.79345019e-01 1.99701691e-01 3.16633727e-02 2.89612692e+02] [-1.99589747e-01 9.79856715e-01 -6.68969642e-03 -5.35529944e+01] [-3.23615120e-02 2.31836324e-04 9.99476202e-01 -9.52445914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334012739 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:289.64, Y:-53.56, Z:-9.53 [[ 9.79215253e-01 2.00264894e-01 3.21163445e-02 2.89640369e+02] [-2.00150078e-01 9.79741765e-01 -6.78382325e-03 -5.35603679e+01] [-3.28242857e-02 2.14734341e-04 9.99461115e-01 -9.52568679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:289.67, Y:-53.57, Z:-9.53 [[ 9.79266367e-01 2.00031464e-01 3.20124371e-02 2.89667554e+02] [-1.99917315e-01 9.79789449e-01 -6.76033926e-03 -5.35683313e+01] [-3.27177287e-02 2.20332388e-04 9.99464608e-01 -9.52688895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394012739 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:289.70, Y:-53.57, Z:-9.53 [[ 9.79359993e-01 1.99545450e-01 3.21810003e-02 2.89695688e+02] [-1.99429899e-01 9.79888543e-01 -6.79395065e-03 -5.35741620e+01] [-3.28894955e-02 2.35869816e-04 9.99458966e-01 -9.52783176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:289.72, Y:-53.58, Z:-9.53 [[ 9.79413774e-01 1.99233952e-01 3.24729472e-02 2.89723430e+02] [-1.99116176e-01 9.79951923e-01 -6.85400694e-03 -5.35797588e+01] [-3.31874780e-02 2.47019741e-04 9.99449113e-01 -9.52948766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454012739 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:289.75, Y:-53.59, Z:-9.53 [[ 9.79317601e-01 1.99946597e-01 3.09579637e-02 2.89750091e+02] [-1.99839956e-01 9.79806774e-01 -6.53286353e-03 -5.35876220e+01] [-3.16390464e-02 2.11110150e-04 9.99499338e-01 -9.53168249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:289.78, Y:-53.60, Z:-9.53 [[ 9.79244825e-01 2.00767687e-01 2.77832468e-02 2.89778053e+02] [-2.00682175e-01 9.79638867e-01 -5.86139416e-03 -5.35961264e+01] [-2.83943269e-02 1.64137518e-04 9.99596786e-01 -9.53351524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514012739 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:289.81, Y:-53.60, Z:-9.53 [[ 9.79199267e-01 2.01043763e-01 2.73897882e-02 2.89806296e+02] [-2.00960799e-01 9.79582249e-01 -5.77711672e-03 -5.36023313e+01] [-2.79920036e-02 1.52674743e-04 9.99608135e-01 -9.53458128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:289.83, Y:-53.61, Z:-9.54 [[ 9.79114337e-01 2.01399164e-01 2.78117238e-02 2.89834612e+02] [-2.01313805e-01 9.79509243e-01 -5.86477118e-03 -5.36078685e+01] [-2.84230006e-02 1.43397590e-04 9.99595975e-01 -9.53501166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574012739 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:289.86, Y:-53.61, Z:-9.53 [[ 9.78473245e-01 2.04142337e-01 3.02657589e-02 2.89861947e+02] [-2.04042606e-01 9.78941215e-01 -6.38068423e-03 -5.36127987e+01] [-3.09309665e-02 6.78244844e-05 9.99521521e-01 -9.53488240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:289.89, Y:-53.62, Z:-9.54 [[ 9.78068462e-01 2.05964193e-01 3.09973495e-02 2.89890640e+02] [-2.05860558e-01 9.78559529e-01 -6.53297372e-03 -5.36182122e+01] [-3.16783104e-02 8.56389518e-06 9.99498116e-01 -9.53530830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634012739 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:289.92, Y:-53.62, Z:-9.54 [[ 9.77338640e-01 2.09496596e-01 3.03374281e-02 2.89919391e+02] [-2.09399073e-01 9.77809371e-01 -6.39241425e-03 -5.36231994e+01] [-3.10034105e-02 -1.05075880e-04 9.99519273e-01 -9.53590834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:289.95, Y:-53.63, Z:-9.54 [[ 9.77174659e-01 2.10249886e-01 3.04083989e-02 2.89946975e+02] [-2.10152317e-01 9.77647671e-01 -6.40587732e-03 -5.36293670e+01] [-3.10755354e-02 -1.30734511e-04 9.99517030e-01 -9.53701507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694012739 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:289.97, Y:-53.64, Z:-9.54 [[ 9.77128129e-01 2.10349816e-01 3.12021493e-02 2.89974280e+02] [-2.10247201e-01 9.77626174e-01 -6.57107844e-03 -5.36363162e+01] [-3.18862629e-02 -1.39378951e-04 9.99491494e-01 -9.53726561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:290.00, Y:-53.64, Z:-9.54 [[ 9.77557531e-01 2.07914449e-01 3.39537329e-02 2.90002327e+02] [-2.07791541e-01 9.78147012e-01 -7.14830082e-03 -5.36437294e+01] [-3.46979774e-02 -6.74231980e-05 9.99397842e-01 -9.53811988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:290.03, Y:-53.65, Z:-9.54 [[ 9.78192954e-01 2.04791211e-01 3.46280815e-02 2.90030569e+02] [-2.04661473e-01 9.78805680e-01 -7.28858151e-03 -5.36502402e+01] [-3.53868003e-02 4.26049177e-05 9.99373690e-01 -9.53886432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:290.06, Y:-53.66, Z:-9.54 [[ 9.78381170e-01 2.03910814e-01 3.45060202e-02 2.90059165e+02] [-2.03781487e-01 9.78989466e-01 -7.26161356e-03 -5.36565931e+01] [-3.52617518e-02 7.29378631e-05 9.99378108e-01 -9.54019942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814012739 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:290.09, Y:-53.66, Z:-9.54 [[ 9.78331285e-01 2.04248193e-01 3.39200822e-02 2.90086362e+02] [-2.04123482e-01 9.78919135e-01 -7.13666660e-03 -5.36620984e+01] [-3.46626688e-02 5.81389167e-05 9.99399067e-01 -9.54062399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:290.11, Y:-53.67, Z:-9.54 [[ 9.77689899e-01 2.07551007e-01 3.23270925e-02 2.90113929e+02] [-2.07439590e-01 9.78224195e-01 -6.80003208e-03 -5.36653015e+01] [-3.30344976e-02 -5.75961261e-05 9.99454210e-01 -9.54151293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874012739 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:290.14, Y:-53.67, Z:-9.54 [[ 9.77263004e-01 2.09715150e-01 3.12502363e-02 2.90142406e+02] [-2.09612198e-01 9.77762517e-01 -6.57166800e-03 -5.36707913e+01] [-3.19334881e-02 -1.28182718e-04 9.99489988e-01 -9.54331987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:290.17, Y:-53.68, Z:-9.55 [[ 9.76385057e-01 2.13924996e-01 3.01382891e-02 2.90170871e+02] [-2.13831289e-01 9.76850055e-01 -6.33641782e-03 -5.36769244e+01] [-3.07961075e-02 -2.57725531e-04 9.99525654e-01 -9.54590779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934012739 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:290.20, Y:-53.68, Z:-9.55 [[ 9.75879459e-01 2.16217815e-01 3.01519031e-02 2.90199397e+02] [-2.16125162e-01 9.76345096e-01 -6.33780145e-03 -5.36824438e+01] [-3.08090083e-02 -3.31654699e-04 9.99525235e-01 -9.54656993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:290.23, Y:-53.69, Z:-9.55 [[ 9.75386826e-01 2.18366826e-01 3.06017998e-02 2.90227350e+02] [-2.18272489e-01 9.75866673e-01 -6.43089698e-03 -5.36871300e+01] [-3.12675711e-02 -4.06918838e-04 9.99510967e-01 -9.54776355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994012739 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:290.25, Y:-53.69, Z:-9.55 [[ 9.74671665e-01 2.21516191e-01 3.07526067e-02 2.90254413e+02] [-2.21422559e-01 9.75156559e-01 -6.46032862e-03 -5.36911590e+01] [-3.14196735e-02 -5.12621621e-04 9.99506149e-01 -9.54826617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:290.28, Y:-53.70, Z:-9.55 [[ 9.74472737e-01 2.22334456e-01 3.11492396e-02 2.90281743e+02] [-2.22238899e-01 9.74970301e-01 -6.54089716e-03 -5.36953324e+01] [-3.18238504e-02 -5.48646755e-04 9.99493342e-01 -9.54867403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05401273900003 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:290.31, Y:-53.70, Z:-9.55 [[ 9.74011265e-01 2.24153786e-01 3.25136155e-02 2.90309874e+02] [-2.24050767e-01 9.74553577e-01 -6.82491072e-03 -5.36979599e+01] [-3.32160898e-02 -6.37160566e-04 9.99447990e-01 -9.54902528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:290.34, Y:-53.70, Z:-9.55 [[ 9.73843965e-01 2.24860252e-01 3.26465678e-02 2.90337303e+02] [-2.24756866e-01 9.74390796e-01 -6.85039619e-03 -5.37016330e+01] [-3.33508970e-02 -6.66323280e-04 9.99443482e-01 -9.54980422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11401273900003 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:290.36, Y:-53.70, Z:-9.55 [[ 9.73654773e-01 2.25682713e-01 3.26143414e-02 2.90364739e+02] [-2.25580071e-01 9.74200610e-01 -6.84127193e-03 -5.37044007e+01] [-3.33168680e-02 -6.96108385e-04 9.99444597e-01 -9.55050327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:290.39, Y:-53.70, Z:-9.55 [[ 9.73447932e-01 2.26614563e-01 3.23258888e-02 2.90393489e+02] [-2.26514359e-01 9.73984248e-01 -6.77723810e-03 -5.37044203e+01] [-3.30207273e-02 -7.24989548e-04 9.99454404e-01 -9.55247127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17401273900003 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:290.42, Y:-53.71, Z:-9.55 [[ 9.73599720e-01 2.25986437e-01 3.21514378e-02 2.90421032e+02] [-2.25887047e-01 9.74130195e-01 -6.73831925e-03 -5.37080590e+01] [-3.28424552e-02 -7.02167595e-04 9.99460294e-01 -9.55384236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:290.45, Y:-53.71, Z:-9.55 [[ 9.74131544e-01 2.23729200e-01 3.18273570e-02 2.90449535e+02] [-2.23630674e-01 9.74651147e-01 -6.66809717e-03 -5.37091036e+01] [-3.25124180e-02 -6.21969502e-04 9.99471138e-01 -9.55462650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234012739 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:290.48, Y:-53.71, Z:-9.55 [[ 9.74297218e-01 2.22979787e-01 3.20147828e-02 2.90476754e+02] [-2.22879769e-01 9.74822882e-01 -6.70501386e-03 -5.37115943e+01] [-3.27038254e-02 -6.02771039e-04 9.99464905e-01 -9.55477587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:290.50, Y:-53.71, Z:-9.56 [[ 9.74325116e-01 2.22777243e-01 3.25709640e-02 2.90504942e+02] [-2.22673701e-01 9.74869186e-01 -6.81865053e-03 -5.37142313e+01] [-3.32714693e-02 -6.09114618e-04 9.99446166e-01 -9.55565131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294012739 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:290.53, Y:-53.71, Z:-9.56 [[ 9.73964683e-01 2.24332925e-01 3.26731454e-02 2.90532873e+02] [-2.24229688e-01 9.74512337e-01 -6.83759381e-03 -5.37130454e+01] [-3.33742807e-02 -6.66714314e-04 9.99442701e-01 -9.55584634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:290.56, Y:-53.71, Z:-9.56 [[ 9.73682430e-01 2.25663939e-01 3.19110039e-02 2.90561128e+02] [-2.25566267e-01 9.74204957e-01 -6.67535469e-03 -5.37148534e+01] [-3.25942451e-02 -6.98370458e-04 9.99468422e-01 -9.55685877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354012739 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:290.59, Y:-53.71, Z:-9.56 [[ 9.73114917e-01 2.28437538e-01 2.93879017e-02 2.90589477e+02] [-2.28356022e-01 9.73558297e-01 -6.14567184e-03 -5.37114799e+01] [-3.00147377e-02 -7.30459386e-04 9.99549189e-01 -9.55875903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:290.62, Y:-53.71, Z:-9.56 [[ 9.72837375e-01 2.29599973e-01 2.95176854e-02 2.90617280e+02] [-2.29518348e-01 9.73284776e-01 -6.17026472e-03 -5.37127582e+01] [-3.01458064e-02 -7.72186240e-04 9.99545214e-01 -9.55965631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414012739 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:290.65, Y:-53.71, Z:-9.56 [[ 9.72728739e-01 2.29835704e-01 3.12145608e-02 2.90645804e+02] [-2.29744619e-01 9.73229092e-01 -6.52261231e-03 -5.37144999e+01] [-3.18780479e-02 -8.26644920e-04 9.99491424e-01 -9.56019226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:290.68, Y:-53.71, Z:-9.56 [[ 9.73088558e-01 2.27899388e-01 3.40665200e-02 2.90675160e+02] [-2.27789800e-01 9.73684328e-01 -7.11591685e-03 -5.37127882e+01] [-3.47917497e-02 -8.35588514e-04 9.99394234e-01 -9.56040734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474012739 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:290.70, Y:-53.71, Z:-9.56 [[ 9.73579077e-01 2.25875584e-01 3.35261325e-02 2.90702700e+02] [-2.25768329e-01 9.74155867e-01 -7.00064242e-03 -5.37144532e+01] [-3.42409529e-02 -7.53459911e-04 9.99413323e-01 -9.56148201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:290.73, Y:-53.71, Z:-9.56 [[ 9.74993987e-01 2.20173849e-01 3.01695471e-02 2.90731591e+02] [-2.20084338e-01 9.75460520e-01 -6.29744164e-03 -5.37141836e+01] [-3.08157341e-02 -4.99877080e-04 9.99524957e-01 -9.56473852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534012739 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:290.76, Y:-53.72, Z:-9.57 [[ 9.75894466e-01 2.16288255e-01 2.91441505e-02 2.90759498e+02] [-2.16203053e-01 9.76329482e-01 -6.08138472e-03 -5.37175102e+01] [-2.97696254e-02 -3.66264614e-04 9.99556719e-01 -9.56639678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:290.79, Y:-53.72, Z:-9.57 [[ 9.76805214e-01 2.12165277e-01 2.89390497e-02 2.90787409e+02] [-2.12079521e-01 9.77233768e-01 -6.03651349e-03 -5.37210436e+01] [-2.95609552e-02 -2.40881951e-04 9.99562950e-01 -9.56685175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594012739 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:290.81, Y:-53.72, Z:-9.57 [[ 9.78398314e-01 2.04423227e-01 3.07877258e-02 2.90814493e+02] [-2.04322397e-01 9.78882600e-01 -6.41982704e-03 -5.37213466e+01] [-3.14499309e-02 -9.47398166e-06 9.99505329e-01 -9.56643341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:290.84, Y:-53.73, Z:-9.57 [[ 9.79132780e-01 2.00732564e-01 3.17086305e-02 2.90842432e+02] [-2.00623820e-01 9.79646072e-01 -6.60732233e-03 -5.37255895e+01] [-3.23895400e-02 1.07939325e-04 9.99475315e-01 -9.56730615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654012739 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:290.87, Y:-53.73, Z:-9.57 [[ 9.80496400e-01 1.93956182e-01 3.17460024e-02 2.90868310e+02] [-1.93843702e-01 9.81010138e-01 -6.61277830e-03 -5.37317885e+01] [-3.24257395e-02 3.30042679e-04 9.99474093e-01 -9.56895828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:290.89, Y:-53.74, Z:-9.57 [[ 9.81161656e-01 1.90602869e-01 3.15015926e-02 2.90894641e+02] [-1.90490472e-01 9.81667132e-01 -6.55918594e-03 -5.37382975e+01] [-3.21742777e-02 4.34868506e-04 9.99482179e-01 -9.57056376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:290.92, Y:-53.74, Z:-9.57 [[ 9.81172526e-01 1.90546821e-01 3.15021295e-02 2.90922542e+02] [-1.90434477e-01 9.81678013e-01 -6.55660625e-03 -5.37439771e+01] [-3.21742883e-02 4.34070351e-04 9.99482179e-01 -9.57154430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:290.95, Y:-53.75, Z:-9.57 [[ 9.82352818e-01 1.84487108e-01 3.07806397e-02 2.90949231e+02] [-1.84376932e-01 9.82834740e-01 -6.40469745e-03 -5.37517754e+01] [-3.14338662e-02 6.16432681e-04 9.99505644e-01 -9.57317971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774012739 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:290.98, Y:-53.76, Z:-9.57 [[ 9.82743056e-01 1.82485383e-01 3.02517800e-02 2.90975554e+02] [-1.82378079e-01 9.83208340e-01 -6.29248824e-03 -5.37592727e+01] [-3.08920895e-02 6.66637592e-04 9.99522503e-01 -9.57388046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:291.00, Y:-53.77, Z:-9.57 [[ 9.82982291e-01 1.81218725e-01 3.00930190e-02 2.91001749e+02] [-1.81112032e-01 9.83442567e-01 -6.25688610e-03 -5.37671672e+01] [-3.07286208e-02 7.00200406e-04 9.99527519e-01 -9.57497332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834012739 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:291.03, Y:-53.78, Z:-9.57 [[ 9.83187309e-01 1.79988340e-01 3.07719511e-02 2.91027942e+02] [-1.79876259e-01 9.83668456e-01 -6.39532173e-03 -5.37773734e+01] [-3.14204809e-02 7.52655706e-04 9.99505971e-01 -9.57488854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:291.05, Y:-53.79, Z:-9.58 [[ 9.83265438e-01 1.79540370e-01 3.08922861e-02 2.91053452e+02] [-1.79427260e-01 9.83750307e-01 -6.41813219e-03 -5.37854725e+01] [-3.15426098e-02 7.67809299e-04 9.99502113e-01 -9.57566972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894012739 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:291.08, Y:-53.80, Z:-9.57 [[ 9.83567903e-01 1.78236690e-01 2.87378079e-02 2.91080754e+02] [-1.78138325e-01 9.83987357e-01 -5.96814958e-03 -5.37986300e+01] [-2.93413828e-02 7.50775426e-04 9.99569167e-01 -9.56967642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:291.11, Y:-53.81, Z:-9.57 [[ 9.83714279e-01 1.77557965e-01 2.79174825e-02 2.91108817e+02] [-1.77464900e-01 9.84110060e-01 -5.79650142e-03 -5.38074036e+01] [-2.85030904e-02 7.47727978e-04 9.99593425e-01 -9.56885590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954012739 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:291.14, Y:-53.82, Z:-9.58 [[ 9.83779349e-01 1.76995494e-01 2.91682696e-02 2.91135068e+02] [-1.76893698e-01 9.84211339e-01 -6.05470060e-03 -5.38172892e+01] [-2.97793965e-02 7.96806329e-04 9.99556178e-01 -9.57893554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:291.16, Y:-53.83, Z:-9.58 [[ 9.83684693e-01 1.77387246e-01 2.99698020e-02 2.91161504e+02] [-1.77280018e-01 9.84140802e-01 -6.21911553e-03 -5.38256888e+01] [-3.05976967e-02 8.04601708e-04 9.99531457e-01 -9.57912959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014012739 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:291.19, Y:-53.84, Z:-9.58 [[ 9.83489005e-01 1.78191756e-01 3.15765036e-02 2.91188782e+02] [-1.78073198e-01 9.83995440e-01 -6.55054550e-03 -5.38362087e+01] [-3.22383887e-02 8.19460505e-04 9.99479872e-01 -9.57968636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:291.22, Y:-53.84, Z:-9.58 [[ 9.83379678e-01 1.78797089e-01 3.15596300e-02 2.91215640e+02] [-1.78679018e-01 9.83885646e-01 -6.54550868e-03 -5.38435520e+01] [-3.22213849e-02 7.97676521e-04 9.99480438e-01 -9.58055886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:291.24, Y:-53.85, Z:-9.58 [[ 9.83214323e-01 1.79680366e-01 3.16947998e-02 2.91243677e+02] [-1.79561805e-01 9.83724745e-01 -6.57155038e-03 -5.38505531e+01] [-3.23597375e-02 7.70067007e-04 9.99475990e-01 -9.58123871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:291.27, Y:-53.86, Z:-9.58 [[ 9.82598775e-01 1.82993906e-01 3.18257501e-02 2.91271591e+02] [-1.82876149e-01 9.83113824e-01 -6.59715404e-03 -5.38588112e+01] [-3.24955739e-02 6.62184860e-04 9.99471660e-01 -9.58161320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134012739 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:291.30, Y:-53.86, Z:-9.58 [[ 9.82118311e-01 1.85442632e-01 3.24754235e-02 2.91298414e+02] [-1.85321407e-01 9.82654914e-01 -6.73020194e-03 -5.38648917e+01] [-3.31602008e-02 5.91463400e-04 9.99449874e-01 -9.58351194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:291.33, Y:-53.87, Z:-9.59 [[ 9.82133360e-01 1.85280018e-01 3.29450714e-02 2.91326835e+02] [-1.85155238e-01 9.82685581e-01 -6.82546303e-03 -5.38708488e+01] [-3.36392685e-02 6.03562405e-04 9.99433857e-01 -9.58540239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:291.35, Y:-53.88, Z:-9.59 [[ 9.82374993e-01 1.83939924e-01 3.32487180e-02 2.91353598e+02] [-1.83812122e-01 9.82937270e-01 -6.88672549e-03 -5.38770520e+01] [-3.39481479e-02 6.53829497e-04 9.99423382e-01 -9.58616613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:291.38, Y:-53.88, Z:-9.59 [[ 9.82762213e-01 1.81890435e-01 3.30802488e-02 2.91380892e+02] [-1.81762833e-01 9.83318541e-01 -6.84980753e-03 -5.38836479e+01] [-3.37743365e-02 7.18972264e-04 9.99429226e-01 -9.58723598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254012739 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:291.41, Y:-53.89, Z:-9.59 [[ 9.83465170e-01 1.78223224e-01 3.21363055e-02 2.91408005e+02] [-1.78100909e-01 9.83989742e-01 -6.65239761e-03 -5.38920618e+01] [-3.28074067e-02 8.18896144e-04 9.99461357e-01 -9.58778186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:291.44, Y:-53.90, Z:-9.59 [[ 9.83867676e-01 1.75923567e-01 3.24853070e-02 2.91436679e+02] [-1.75797353e-01 9.84403414e-01 -6.72384719e-03 -5.39019425e+01] [-3.31615303e-02 9.04544916e-04 9.99449596e-01 -9.58975184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:291.46, Y:-53.91, Z:-9.59 [[ 9.83924946e-01 1.75536041e-01 3.28450871e-02 2.91464925e+02] [-1.75406827e-01 9.84472569e-01 -6.79752370e-03 -5.39108118e+01] [-3.35282977e-02 9.27000625e-04 9.99437339e-01 -9.59098096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:291.49, Y:-53.92, Z:-9.59 [[ 9.83963079e-01 1.75390269e-01 3.24794201e-02 2.91493597e+02] [-1.75263864e-01 9.84498556e-01 -6.72102631e-03 -5.39190341e+01] [-3.31547448e-02 9.20773069e-04 9.99449806e-01 -9.59183424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374012739 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:291.52, Y:-53.93, Z:-9.59 [[ 9.84006639e-01 1.75206293e-01 3.21510283e-02 2.91522857e+02] [-1.75082321e-01 9.84531316e-01 -6.65347408e-03 -5.39284390e+01] [-3.28194247e-02 9.17986033e-04 9.99460876e-01 -9.59210345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:291.55, Y:-53.94, Z:-9.59 [[ 9.83987109e-01 1.75396149e-01 3.17105649e-02 2.91552062e+02] [-1.75275650e-01 9.84497528e-01 -6.56232267e-03 -5.39366946e+01] [-3.23699789e-02 8.99151048e-04 9.99475550e-01 -9.59282673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434012739 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:291.58, Y:-53.95, Z:-9.59 [[ 9.83830216e-01 1.76345835e-01 3.13089955e-02 2.91579995e+02] [-1.76228849e-01 9.84327899e-01 -6.47924971e-03 -5.39455802e+01] [-3.19609065e-02 8.56933409e-04 9.99488752e-01 -9.59378604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:291.61, Y:-53.96, Z:-9.60 [[ 9.83451584e-01 1.78680113e-01 2.99399124e-02 2.91607894e+02] [-1.78574229e-01 9.83906937e-01 -6.19552506e-03 -5.39585826e+01] [-3.05651046e-02 7.46502156e-04 9.99532499e-01 -9.59565084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:291.64, Y:-53.97, Z:-9.60 [[ 9.83275869e-01 1.79691114e-01 2.96592144e-02 2.91636495e+02] [-1.79587666e-01 9.83722828e-01 -6.13748874e-03 -5.39682125e+01] [-3.02792985e-02 7.08415495e-04 9.99541226e-01 -9.59710962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:291.66, Y:-53.98, Z:-9.60 [[ 9.83174265e-01 1.80109981e-01 3.04755468e-02 2.91664767e+02] [-1.80000972e-01 9.83646219e-01 -6.30599432e-03 -5.39809671e+01] [-3.11129289e-02 7.14263277e-04 9.99515620e-01 -9.59738360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55401273900003 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:291.69, Y:-53.99, Z:-9.60 [[ 9.83113306e-01 1.80303908e-01 3.12846320e-02 2.91693285e+02] [-1.80189129e-01 9.83610681e-01 -6.47343904e-03 -5.39898176e+01] [-3.19390846e-02 7.26973451e-04 9.99489553e-01 -9.59791936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:291.72, Y:-54.00, Z:-9.60 [[ 9.82587220e-01 1.82785827e-01 3.33421098e-02 2.91722034e+02] [-1.82656891e-01 9.83152515e-01 -6.89874216e-03 -5.40018711e+01] [-3.40413714e-02 6.88449760e-04 9.99420187e-01 -9.59775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61401273900003 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:291.75, Y:-54.01, Z:-9.60 [[ 9.82120475e-01 1.85174211e-01 3.39099484e-02 2.91751478e+02] [-1.85042266e-01 9.82705517e-01 -7.01624440e-03 -5.40108527e+01] [-3.46227209e-02 6.16023591e-04 9.99400264e-01 -9.59855843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:291.78, Y:-54.02, Z:-9.60 [[ 9.81722433e-01 1.87240565e-01 3.40886507e-02 2.91780997e+02] [-1.87108404e-01 9.82313937e-01 -7.05510442e-03 -5.40197098e+01] [-3.48067584e-02 5.47881238e-04 9.99393911e-01 -9.60025982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67401273900003 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:291.81, Y:-54.03, Z:-9.60 [[ 9.81275250e-01 1.89548483e-01 3.42090062e-02 2.91811140e+02] [-1.89416786e-01 9.81871251e-01 -7.08004559e-03 -5.40326521e+01] [-3.49308516e-02 4.67713487e-04 9.99389622e-01 -9.60221366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:291.84, Y:-54.04, Z:-9.60 [[ 9.81252041e-01 1.89619435e-01 3.44804668e-02 2.91841180e+02] [-1.89485604e-01 9.81857550e-01 -7.13848345e-03 -5.40432146e+01] [-3.52085019e-02 4.71099361e-04 9.99379877e-01 -9.60329874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:291.87, Y:-54.06, Z:-9.60 [[ 9.81314057e-01 1.89367114e-01 3.41001178e-02 2.91872146e+02] [-1.89235848e-01 9.81906240e-01 -7.06603052e-03 -5.40583623e+01] [-3.48211922e-02 4.81030357e-04 9.99393443e-01 -9.60410643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:291.90, Y:-54.07, Z:-9.61 [[ 9.81204348e-01 1.89989789e-01 3.37921343e-02 2.91903495e+02] [-1.89861023e-01 9.81785958e-01 -7.00890460e-03 -5.40691270e+01] [-3.45082633e-02 4.61358497e-04 9.99404306e-01 -9.60516890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794012739 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:291.93, Y:-54.08, Z:-9.61 [[ 9.81044706e-01 1.90874792e-01 3.34379681e-02 2.91933865e+02] [-1.90748999e-01 9.81614296e-01 -6.94208253e-03 -5.40793928e+01] [-3.41482560e-02 4.32234380e-04 9.99416685e-01 -9.60633393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:291.96, Y:-54.09, Z:-9.61 [[ 9.80416939e-01 1.94095380e-01 3.33107869e-02 2.91964444e+02] [-1.93972188e-01 9.80982608e-01 -6.92188329e-03 -5.40927412e+01] [-3.40208082e-02 3.24965410e-04 9.99421072e-01 -9.60720503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:292.00, Y:-54.10, Z:-9.61 [[ 9.79997782e-01 1.96255889e-01 3.29844350e-02 2.91995862e+02] [-1.96136106e-01 9.80552682e-01 -6.86047987e-03 -5.41017650e+01] [-3.36893858e-02 2.53816395e-04 9.99432319e-01 -9.60816984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:292.03, Y:-54.11, Z:-9.61 [[ 9.78934333e-01 2.01841741e-01 3.07812054e-02 2.92026538e+02] [-2.01740008e-01 9.79418148e-01 -6.40793163e-03 -5.41128604e+01] [-3.14410593e-02 6.31436522e-05 9.99505606e-01 -9.61119477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914012739 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:292.06, Y:-54.12, Z:-9.61 [[ 9.78244872e-01 2.05283233e-01 2.99293155e-02 2.92058643e+02] [-2.05188487e-01 9.78702607e-01 -6.23636772e-03 -5.41223007e+01] [-3.05721208e-02 -4.04562260e-05 9.99532563e-01 -9.61294217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:292.09, Y:-54.13, Z:-9.61 [[ 9.77535100e-01 2.08698381e-01 2.94977016e-02 2.92088747e+02] [-2.08607723e-01 9.77980044e-01 -6.15236128e-03 -5.41310998e+01] [-3.01321513e-02 -1.39299260e-04 9.99545914e-01 -9.61385418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974012739 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:292.12, Y:-54.14, Z:-9.61 [[ 9.76212635e-01 2.14711811e-01 3.01285493e-02 2.92119485e+02] [-2.14619941e-01 9.76677394e-01 -6.28883267e-03 -5.41397823e+01] [-3.07761597e-02 -3.26949573e-04 9.99526248e-01 -9.61335565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:292.15, Y:-54.14, Z:-9.61 [[ 9.75038330e-01 2.19893769e-01 3.07731347e-02 2.92150600e+02] [-2.19800312e-01 9.75523698e-01 -6.42943555e-03 -5.41439010e+01] [-3.14337150e-02 -4.94998502e-04 9.99505716e-01 -9.61460217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034012739 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:292.18, Y:-54.15, Z:-9.62 [[ 9.74314086e-01 2.23059635e-01 3.09267233e-02 2.92180232e+02] [-2.22966809e-01 9.74804616e-01 -6.46235452e-03 -5.41480546e+01] [-3.15890031e-02 -5.99269763e-04 9.99500763e-01 -9.61598573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:292.21, Y:-54.15, Z:-9.62 [[ 9.73537010e-01 2.26474975e-01 3.05741180e-02 2.92209682e+02] [-2.26385920e-01 9.74016732e-01 -6.38916955e-03 -5.41514856e+01] [-3.12266895e-02 -7.01456805e-04 9.99512082e-01 -9.61663339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094012739 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:292.24, Y:-54.15, Z:-9.62 [[ 9.71791839e-01 2.33802996e-01 3.09318748e-02 2.92240060e+02] [-2.33715568e-01 9.72283528e-01 -6.46325302e-03 -5.41489139e+01] [-3.15856803e-02 -9.48324153e-04 9.99500598e-01 -9.61716449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:292.27, Y:-54.15, Z:-9.62 [[ 9.71018592e-01 2.36908147e-01 3.15820347e-02 2.92269446e+02] [-2.36818693e-01 9.71531461e-01 -6.59754006e-03 -5.41491293e+01] [-3.22459513e-02 -1.07288213e-03 9.99479388e-01 -9.61818415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154012739 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:292.30, Y:-54.14, Z:-9.62 [[ 9.69795917e-01 2.41776882e-01 3.22462230e-02 2.92298402e+02] [-2.41686362e-01 9.70331050e-01 -6.73470640e-03 -5.41446575e+01] [-3.29178077e-02 -1.26218156e-03 9.99457265e-01 -9.61992800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:292.33, Y:-54.15, Z:-9.62 [[ 9.69666972e-01 2.42301122e-01 3.21889805e-02 2.92326888e+02] [-2.42211274e-01 9.70200252e-01 -6.72083415e-03 -5.41461832e+01] [-3.28582226e-02 -1.27956309e-03 9.99459204e-01 -9.62110314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:292.36, Y:-54.14, Z:-9.62 [[ 9.70317502e-01 2.39836834e-01 3.10199586e-02 2.92355941e+02] [-2.39752205e-01 9.70812525e-01 -6.47459478e-03 -5.41437782e+01] [-3.16674106e-02 -1.15469085e-03 9.99497795e-01 -9.62207455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:292.38, Y:-54.15, Z:-9.62 [[ 9.71097731e-01 2.36669497e-01 3.09313238e-02 2.92383792e+02] [-2.36583816e-01 9.71589649e-01 -6.45388523e-03 -5.41453564e+01] [-3.15799918e-02 -1.05049729e-03 9.99500676e-01 -9.62339148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274012739 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:292.41, Y:-54.15, Z:-9.62 [[ 9.72048003e-01 2.32782769e-01 3.05755285e-02 2.92411303e+02] [-2.32697196e-01 9.72528326e-01 -6.37737529e-03 -5.41472193e+01] [-3.12201106e-02 -9.15724833e-04 9.99512114e-01 -9.62438181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:292.44, Y:-54.15, Z:-9.63 [[ 9.73803590e-01 2.25415164e-01 2.99094014e-02 2.92439825e+02] [-2.25329856e-01 9.74262572e-01 -6.23668422e-03 -5.41465784e+01] [-3.05454535e-02 -6.66175623e-04 9.99533157e-01 -9.62621304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334012739 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:292.47, Y:-54.15, Z:-9.63 [[ 9.74689728e-01 2.21438535e-01 3.07393736e-02 2.92468464e+02] [-2.21346519e-01 9.75174171e-01 -6.40746899e-03 -5.41484258e+01] [-3.13951037e-02 -5.58759142e-04 9.99506896e-01 -9.62633400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:292.50, Y:-54.15, Z:-9.63 [[ 9.74764550e-01 2.21021303e-01 3.13632870e-02 2.92496710e+02] [-2.20925371e-01 9.75268820e-01 -6.53521965e-03 -5.41523654e+01] [-3.20320586e-02 -5.58645357e-04 9.99486686e-01 -9.62615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:292.52, Y:-54.16, Z:-9.63 [[ 9.74718309e-01 2.21193692e-01 3.15843005e-02 2.92524782e+02] [-2.21096569e-01 9.75229729e-01 -6.57891551e-03 -5.41554943e+01] [-3.22571634e-02 -5.70591073e-04 9.99479439e-01 -9.62663396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:292.55, Y:-54.16, Z:-9.63 [[ 9.74680891e-01 2.21252584e-01 3.23180333e-02 2.92553729e+02] [-2.21150993e-01 9.75216360e-01 -6.72975191e-03 -5.41560004e+01] [-3.30060498e-02 -5.87804586e-04 9.99454979e-01 -9.62703897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454012739 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:292.58, Y:-54.16, Z:-9.63 [[ 9.74817310e-01 2.20617965e-01 3.25411309e-02 2.92581660e+02] [-2.20514691e-01 9.75360131e-01 -6.77388279e-03 -5.41595461e+01] [-3.32337619e-02 -5.72499220e-04 9.99447442e-01 -9.62848227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:292.61, Y:-54.16, Z:-9.63 [[ 9.75717407e-01 2.16665109e-01 3.21212124e-02 2.92609566e+02] [-2.16562418e-01 9.76245892e-01 -6.68411678e-03 -5.41617591e+01] [-3.28064165e-02 -4.34438311e-04 9.99461630e-01 -9.63014819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:292.64, Y:-54.17, Z:-9.63 [[ 9.76296749e-01 2.14024464e-01 3.22209061e-02 2.92637432e+02] [-2.13919776e-01 9.76828238e-01 -6.70244085e-03 -5.41657207e+01] [-3.29087772e-02 -3.49117781e-04 9.99458299e-01 -9.63135107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:292.66, Y:-54.17, Z:-9.63 [[ 9.76858558e-01 2.11497184e-01 3.18794383e-02 2.92664856e+02] [-2.11393435e-01 9.77378571e-01 -6.62901712e-03 -5.41695979e+01] [-3.25602983e-02 -2.63491843e-04 9.99469738e-01 -9.63196361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:292.69, Y:-54.17, Z:-9.63 [[ 9.77913929e-01 2.06843593e-01 3.00012504e-02 2.92692479e+02] [-2.06749573e-01 9.78374017e-01 -6.23671599e-03 -5.41729478e+01] [-3.06424686e-02 -1.03774295e-04 9.99530404e-01 -9.63325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:292.72, Y:-54.18, Z:-9.63 [[ 9.78344955e-01 2.04890973e-01 2.93400543e-02 2.92720300e+02] [-2.04800227e-01 9.78784801e-01 -6.09751591e-03 -5.41779630e+01] [-2.99669252e-02 -4.33758319e-05 9.99550890e-01 -9.63435478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634012739 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:292.75, Y:-54.18, Z:-9.63 [[ 9.78872123e-01 2.02237107e-01 3.01582465e-02 2.92748009e+02] [-2.02140023e-01 9.79336587e-01 -6.26577145e-03 -5.41818667e+01] [-3.08022457e-02 3.72003508e-05 9.99525498e-01 -9.63421749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:292.78, Y:-54.19, Z:-9.64 [[ 9.78883977e-01 2.02179653e-01 3.01586969e-02 2.92775916e+02] [-2.02082609e-01 9.79348450e-01 -6.26360282e-03 -5.41875341e+01] [-3.08022461e-02 3.67923012e-05 9.99525498e-01 -9.63519797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694012739 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:292.80, Y:-54.19, Z:-9.64 [[ 9.79061853e-01 2.01179787e-01 3.10576949e-02 2.92802008e+02] [-2.01076427e-01 9.79554332e-01 -6.44841575e-03 -5.41923381e+01] [-3.17199905e-02 6.84275552e-05 9.99496792e-01 -9.63565389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:292.83, Y:-54.20, Z:-9.64 [[ 9.79260942e-01 2.00052646e-01 3.20460161e-02 2.92830761e+02] [-1.99942092e-01 9.79785144e-01 -6.65073344e-03 -5.41978523e+01] [-3.27287074e-02 1.05455983e-04 9.99464267e-01 -9.63661174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754012739 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:292.86, Y:-54.21, Z:-9.64 [[ 9.79773224e-01 1.97262599e-01 3.36436595e-02 2.92857403e+02] [-1.97139156e-01 9.80350664e-01 -6.98062574e-03 -5.42052126e+01] [-3.43596003e-02 2.06947560e-04 9.99409513e-01 -9.63714903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:292.89, Y:-54.21, Z:-9.64 [[ 9.80081216e-01 1.95580521e-01 3.44828835e-02 2.92885417e+02] [-1.95449873e-01 9.80687609e-01 -7.15267351e-03 -5.42121398e+01] [-3.52158602e-02 2.70525753e-04 9.99379693e-01 -9.63780566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814012739 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:292.91, Y:-54.22, Z:-9.64 [[ 9.80753205e-01 1.92114521e-01 3.48591704e-02 2.92912938e+02] [-1.91978875e-01 9.81372433e-01 -7.22901829e-03 -5.42191110e+01] [-3.55986282e-02 3.97658535e-04 9.99366089e-01 -9.63842052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:292.94, Y:-54.23, Z:-9.64 [[ 9.81065587e-01 1.90549710e-01 3.46572239e-02 2.92940855e+02] [-1.90414714e-01 9.81677445e-01 -7.18547354e-03 -5.42260031e+01] [-3.53914049e-02 4.50175432e-04 9.99373427e-01 -9.63977528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874012739 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:292.97, Y:-54.23, Z:-9.64 [[ 9.81367829e-01 1.89061817e-01 3.42463692e-02 2.92969554e+02] [-1.88929156e-01 9.81965062e-01 -7.09867839e-03 -5.42327247e+01] [-3.49708271e-02 4.96276976e-04 9.99388210e-01 -9.64093623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:293.00, Y:-54.24, Z:-9.64 [[ 9.81545165e-01 1.88557106e-01 3.18638785e-02 2.92997708e+02] [-1.88442023e-01 9.82062111e-01 -6.60413171e-03 -5.42395470e+01] [-3.25375638e-02 4.77759811e-04 9.99470399e-01 -9.64179987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934012739 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:293.02, Y:-54.25, Z:-9.64 [[ 9.81150771e-01 1.90786952e-01 3.07165103e-02 2.93024286e+02] [-1.90681133e-01 9.81631391e-01 -6.36531952e-03 -5.42459317e+01] [-3.13667107e-02 3.88279150e-04 9.99507868e-01 -9.64254598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:293.05, Y:-54.25, Z:-9.64 [[ 9.80959628e-01 1.91780565e-01 3.06336841e-02 2.93052837e+02] [-1.91675860e-01 9.81437767e-01 -6.34627115e-03 -5.42520998e+01] [-3.12821460e-02 3.53698061e-04 9.99510531e-01 -9.64354522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994012739 meters Centerline goodness : 0.990106 Centerline is valid? [True, True] Translation: X:293.08, Y:-54.26, Z:-9.64 [[ 9.80927440e-01 1.91979699e-01 3.04163212e-02 2.93081470e+02] [-1.91876615e-01 9.81398837e-01 -6.29980780e-03 -5.42586372e+01] [-3.10599775e-02 3.43473599e-04 9.99517463e-01 -9.64049249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:293.11, Y:-54.27, Z:-9.64 [[ 9.81190192e-01 1.90545356e-01 3.09560188e-02 2.93107940e+02] [-1.90437913e-01 9.81678314e-01 -6.41008179e-03 -5.42660182e+01] [-3.16102636e-02 3.94309755e-04 9.99500193e-01 -9.64488014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05401273900003 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:293.14, Y:-54.27, Z:-9.65 [[ 9.81390115e-01 1.89483983e-01 3.11329893e-02 2.93136011e+02] [-1.89374836e-01 9.81883718e-01 -6.44479413e-03 -5.42737370e+01] [-3.17901605e-02 4.29052512e-04 9.99494473e-01 -9.64650782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:293.16, Y:-54.28, Z:-9.65 [[ 9.81769901e-01 1.87383786e-01 3.18618699e-02 2.93162455e+02] [-1.87268411e-01 9.82286648e-01 -6.59416776e-03 -5.42838393e+01] [-3.25331295e-02 5.07233682e-04 9.99470529e-01 -9.64793628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11401273900003 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:293.19, Y:-54.29, Z:-9.65 [[ 9.81852056e-01 1.86980731e-01 3.16977388e-02 2.93189988e+02] [-1.86866391e-01 9.82363446e-01 -6.55833351e-03 -5.42920199e+01] [-3.23649819e-02 5.16071183e-04 9.99475984e-01 -9.64861164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:293.22, Y:-54.30, Z:-9.65 [[ 9.81865388e-01 1.86992740e-01 3.12101838e-02 2.93218783e+02] [-1.86881945e-01 9.82361165e-01 -6.45597869e-03 -5.42994994e+01] [-3.18668936e-02 5.06282171e-04 9.99491993e-01 -9.64939372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17401273900003 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:293.25, Y:-54.31, Z:-9.64 [[ 9.81532897e-01 1.89150043e-01 2.85557815e-02 2.93247526e+02] [-1.89058229e-01 9.81948116e-01 -5.90623910e-03 -5.43086345e+01] [-2.91574613e-02 3.98462492e-04 9.99574751e-01 -9.64314563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:293.28, Y:-54.31, Z:-9.65 [[ 9.81287959e-01 1.90462277e-01 2.82499964e-02 2.93275515e+02] [-1.90372969e-01 9.81694451e-01 -5.84278486e-03 -5.43147246e+01] [-2.88456948e-02 3.55418757e-04 9.99583813e-01 -9.65190732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234012739 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:293.30, Y:-54.32, Z:-9.65 [[ 9.80440659e-01 1.94605395e-01 2.94084128e-02 2.93303422e+02] [-1.94510504e-01 9.80881584e-01 -6.08129319e-03 -5.43230188e+01] [-3.00296230e-02 2.42101915e-04 9.99548980e-01 -9.65298064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:293.33, Y:-54.33, Z:-9.65 [[ 9.80144010e-01 1.96043179e-01 2.97454628e-02 2.93332788e+02] [-1.95946809e-01 9.80595244e-01 -6.14942290e-03 -5.43298558e+01] [-3.03738117e-02 1.98791500e-04 9.99538590e-01 -9.65402645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294012739 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:293.36, Y:-54.34, Z:-9.65 [[ 9.80032544e-01 1.96539428e-01 3.01407822e-02 2.93360379e+02] [-1.96440738e-01 9.80495905e-01 -6.23038636e-03 -5.43363617e+01] [-3.07774301e-02 1.85103903e-04 9.99526246e-01 -9.65438898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:293.39, Y:-54.34, Z:-9.66 [[ 9.80244611e-01 1.95412928e-01 3.05661471e-02 2.93388851e+02] [-1.95310908e-01 9.80721030e-01 -6.31753018e-03 -5.43435069e+01] [-3.12113903e-02 2.22822964e-04 9.99512781e-01 -9.65573768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354012739 meters Centerline goodness : 0.990374 Centerline is valid? [True, True] Translation: X:293.42, Y:-54.35, Z:-9.66 [[ 9.80509200e-01 1.93992021e-01 3.11256367e-02 2.93417266e+02] [-1.93885541e-01 9.81003069e-01 -6.43238132e-03 -5.43513960e+01] [-3.17821758e-02 2.72198161e-04 9.99494782e-01 -9.65673188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:293.45, Y:-54.36, Z:-9.66 [[ 9.81268326e-01 1.89907977e-01 3.23640756e-02 2.93445446e+02] [-1.89790658e-01 9.81801805e-01 -6.68746665e-03 -5.43603405e+01] [-3.30451111e-02 4.19800022e-04 9.99453773e-01 -9.65728817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414012739 meters Centerline goodness : 0.990950 Centerline is valid? [True, True] Translation: X:293.47, Y:-54.37, Z:-9.66 [[ 9.81844734e-01 1.86597236e-01 3.40938437e-02 2.93473661e+02] [-1.86465055e-01 9.82436338e-01 -7.04446210e-03 -5.43727866e+01] [-3.48095081e-02 5.59257589e-04 9.99393809e-01 -9.65787769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:293.50, Y:-54.38, Z:-9.66 [[ 9.81985563e-01 1.85640324e-01 3.52423527e-02 2.93504558e+02] [-1.85498444e-01 9.82617572e-01 -7.28245234e-03 -5.43838989e+01] [-3.59816719e-02 6.13861485e-04 9.99352261e-01 -9.65881442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474012739 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:293.54, Y:-54.39, Z:-9.66 [[ 9.82161450e-01 1.84626212e-01 3.56657764e-02 2.93535194e+02] [-1.84480008e-01 9.82808588e-01 -7.37609258e-03 -5.43938879e+01] [-3.64144514e-02 6.64891046e-04 9.99336553e-01 -9.65996306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:293.57, Y:-54.40, Z:-9.66 [[ 9.82452847e-01 1.83465933e-01 3.35656935e-02 2.93566720e+02] [-1.83335573e-01 9.83025839e-01 -6.94748015e-03 -5.44047872e+01] [-3.42705699e-02 6.71786017e-04 9.99412366e-01 -9.66196649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534012739 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:293.60, Y:-54.41, Z:-9.66 [[ 9.82436272e-01 1.83810436e-01 3.21355708e-02 2.93597133e+02] [-1.83690938e-01 9.82961503e-01 -6.65748086e-03 -5.44142879e+01] [-3.28117434e-02 6.37537522e-04 9.99461346e-01 -9.66338183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:293.63, Y:-54.43, Z:-9.66 [[ 9.82344710e-01 1.84564447e-01 3.05750864e-02 2.93627544e+02] [-1.84456477e-01 9.82820238e-01 -6.33944850e-03 -5.44275597e+01] [-3.12198505e-02 5.87750988e-04 9.99512369e-01 -9.66323725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594012739 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:293.66, Y:-54.44, Z:-9.66 [[ 9.82200814e-01 1.85318968e-01 3.06339960e-02 2.93659020e+02] [-1.85210779e-01 9.82678256e-01 -6.35707688e-03 -5.44366739e+01] [-3.12814487e-02 5.70179819e-04 9.99510453e-01 -9.66358747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:293.69, Y:-54.45, Z:-9.66 [[ 9.81606752e-01 1.88299322e-01 3.14888674e-02 2.93689651e+02] [-1.88186336e-01 9.82111562e-01 -6.54081579e-03 -5.44476848e+01] [-3.21572119e-02 4.94734350e-04 9.99482701e-01 -9.65792661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654012739 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:293.72, Y:-54.46, Z:-9.67 [[ 9.81311994e-01 1.89772379e-01 3.18310325e-02 2.93720670e+02] [-1.89657508e-01 9.81828007e-01 -6.61774294e-03 -5.44558377e+01] [-3.25084640e-02 4.57076239e-04 9.99471356e-01 -9.66650115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:293.75, Y:-54.46, Z:-9.67 [[ 9.80953413e-01 1.91661633e-01 3.15629388e-02 2.93751036e+02] [-1.91549484e-01 9.81460983e-01 -6.56765314e-03 -5.44647137e+01] [-3.22365600e-02 3.96697124e-04 9.99480188e-01 -9.66791310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714012739 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:293.78, Y:-54.47, Z:-9.67 [[ 9.80341690e-01 1.94897397e-01 3.07437173e-02 2.93781498e+02] [-1.94792480e-01 9.80823594e-01 -6.40053807e-03 -5.44746273e+01] [-3.14016115e-02 2.86069375e-04 9.99506807e-01 -9.66836391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:293.81, Y:-54.48, Z:-9.67 [[ 9.80058962e-01 1.96364723e-01 3.04191663e-02 2.93812102e+02] [-1.96262564e-01 9.80530896e-01 -6.33788387e-03 -5.44821222e+01] [-3.10714692e-02 2.41356318e-04 9.99517136e-01 -9.66942979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774012739 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:293.84, Y:-54.49, Z:-9.67 [[ 9.79769381e-01 1.97852811e-01 3.01035935e-02 2.93843120e+02] [-1.97753326e-01 9.80231721e-01 -6.27656415e-03 -5.44926184e+01] [-3.07503331e-02 1.96499632e-04 9.99527077e-01 -9.67072986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:293.87, Y:-54.50, Z:-9.67 [[ 9.79708128e-01 1.98132127e-01 3.02596054e-02 2.93874850e+02] [-1.98031593e-01 9.80175302e-01 -6.31387979e-03 -5.45008196e+01] [-3.09107003e-02 1.93401476e-04 9.99522131e-01 -9.67269057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834012739 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:293.91, Y:-54.51, Z:-9.67 [[ 9.79604186e-01 1.98419062e-01 3.17098531e-02 2.93906996e+02] [-1.98308594e-01 9.80117256e-01 -6.62311636e-03 -5.45085691e+01] [-3.23935268e-02 1.99696113e-04 9.99475172e-01 -9.67339079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:293.94, Y:-54.52, Z:-9.67 [[ 9.79349791e-01 1.99589794e-01 3.22164682e-02 2.93938819e+02] [-1.99476184e-01 9.79879526e-01 -6.73547263e-03 -5.45155946e+01] [-3.29125892e-02 1.69965572e-04 9.99458220e-01 -9.67400598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894012739 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:293.97, Y:-54.52, Z:-9.67 [[ 9.78735981e-01 2.02584726e-01 3.21761987e-02 2.93970086e+02] [-2.02472806e-01 9.79264736e-01 -6.73347101e-03 -5.45235024e+01] [-3.28731151e-02 7.54851134e-05 9.99459530e-01 -9.67489847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:294.00, Y:-54.53, Z:-9.68 [[ 9.78435713e-01 2.04130326e-01 3.15335566e-02 2.94000823e+02] [-2.04023451e-01 9.78943721e-01 -6.60472679e-03 -5.45306510e+01] [-3.22178022e-02 2.87155505e-05 9.99480871e-01 -9.67670186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954012739 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:294.03, Y:-54.54, Z:-9.68 [[ 9.78204445e-01 2.05404511e-01 3.04146431e-02 2.94032355e+02] [-2.05305535e-01 9.78677162e-01 -6.37578501e-03 -5.45375715e+01] [-3.10757315e-02 -7.47331309e-06 9.99517033e-01 -9.67842189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:294.07, Y:-54.54, Z:-9.68 [[ 9.77764562e-01 2.07476777e-01 3.04934106e-02 2.94065267e+02] [-2.07378141e-01 9.78239941e-01 -6.39721620e-03 -5.45433595e+01] [-3.11571460e-02 -6.86954952e-05 9.99514496e-01 -9.68071946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014012739 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:294.10, Y:-54.55, Z:-9.68 [[ 9.77467970e-01 2.08728900e-01 3.14422377e-02 2.94096857e+02] [-2.08624466e-01 9.77973535e-01 -6.60281096e-03 -5.45492553e+01] [-3.21278739e-02 -1.05583821e-04 9.99483761e-01 -9.68112447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:294.13, Y:-54.55, Z:-9.68 [[ 9.76549472e-01 2.12448877e-01 3.48798512e-02 2.94127548e+02] [-2.12322466e-01 9.77172152e-01 -7.33186954e-03 -5.45532343e+01] [-3.56412667e-02 -2.45842702e-04 9.99364618e-01 -9.68088939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074012739 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:294.16, Y:-54.56, Z:-9.68 [[ 9.76049551e-01 2.14501334e-01 3.62829349e-02 2.94159708e+02] [-2.14365737e-01 9.76723641e-01 -7.63287426e-03 -5.45585048e+01] [-3.70756619e-02 -3.27754559e-04 9.99312408e-01 -9.68119497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:294.19, Y:-54.56, Z:-9.68 [[ 9.75485396e-01 2.17294735e-01 3.48028747e-02 2.94191047e+02] [-2.17171555e-01 9.76105952e-01 -7.32708188e-03 -5.45624786e+01] [-3.55634294e-02 -4.10733039e-04 9.99367337e-01 -9.68372209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134012739 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:294.22, Y:-54.57, Z:-9.69 [[ 9.75488118e-01 2.17571555e-01 3.29476815e-02 2.94221199e+02] [-2.17461295e-01 9.76044292e-01 -6.93721224e-03 -5.45679362e+01] [-3.36677365e-02 -3.97677372e-04 9.99433002e-01 -9.68589359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:294.25, Y:-54.57, Z:-9.69 [[ 9.75785752e-01 2.16410456e-01 3.17597328e-02 2.94251801e+02] [-2.16307290e-01 9.76302411e-01 -6.69018736e-03 -5.45729726e+01] [-3.24549302e-02 -3.41672225e-04 9.99473142e-01 -9.68765273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194012739 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:294.28, Y:-54.58, Z:-9.69 [[ 9.76827724e-01 2.11722906e-01 3.13210427e-02 2.94283466e+02] [-2.11620136e-01 9.77329718e-01 -6.59853213e-03 -5.45767095e+01] [-3.20080462e-02 -1.82534167e-04 9.99487595e-01 -9.68836275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:294.31, Y:-54.58, Z:-9.69 [[ 9.77277065e-01 2.09639665e-01 3.13169090e-02 2.94313634e+02] [-2.09535827e-01 9.77778706e-01 -6.59842926e-03 -5.45836869e+01] [-3.20042992e-02 -1.13520852e-04 9.99487725e-01 -9.68942196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254012739 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:294.34, Y:-54.59, Z:-9.69 [[ 9.77838534e-01 2.07011173e-01 3.12757861e-02 2.94343874e+02] [-2.06906244e-01 9.78338578e-01 -6.59035588e-03 -5.45922452e+01] [-3.19625855e-02 -2.68515102e-05 9.99489066e-01 -9.69015711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:294.38, Y:-54.60, Z:-9.68 [[ 9.78051121e-01 2.06133182e-01 3.04157342e-02 2.94375221e+02] [-2.06033424e-01 9.78523945e-01 -6.41223774e-03 -5.45988616e+01] [-3.10842992e-02 4.83843943e-06 9.99516766e-01 -9.68205183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314012739 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:294.41, Y:-54.60, Z:-9.69 [[ 9.78463072e-01 2.04288522e-01 2.96009606e-02 2.94407065e+02] [-2.04193191e-01 9.78910719e-01 -6.24055841e-03 -5.46023166e+01] [-3.02515721e-02 6.18413308e-05 9.99542315e-01 -9.69301831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters Centerline goodness : 0.990257 Centerline is valid? [True, True] Translation: X:294.44, Y:-54.61, Z:-9.69 [[ 9.78572562e-01 2.03718235e-01 2.99102269e-02 2.94436921e+02] [-2.03620455e-01 9.79029557e-01 -6.31165597e-03 -5.46098764e+01] [-3.05687956e-02 8.60793304e-05 9.99532661e-01 -9.69480619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374012739 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:294.47, Y:-54.62, Z:-9.70 [[ 9.78925791e-01 2.01736195e-01 3.17301571e-02 2.94467047e+02] [-2.01625105e-01 9.79439882e-01 -6.69583099e-03 -5.46193974e+01] [-3.24285728e-02 1.57125396e-04 9.99474043e-01 -9.69511157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:294.50, Y:-54.63, Z:-9.70 [[ 9.79207556e-01 2.00265395e-01 3.23470733e-02 2.94498237e+02] [-2.00148965e-01 9.79741663e-01 -6.83128545e-03 -5.46267263e+01] [-3.30598454e-02 2.15013082e-04 9.99453351e-01 -9.69586420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434012739 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:294.53, Y:-54.64, Z:-9.70 [[ 9.80066623e-01 1.96131760e-01 3.16503899e-02 2.94530424e+02] [-1.96017955e-01 9.80577487e-01 -6.68976771e-03 -5.46356351e+01] [-3.23477358e-02 3.52373351e-04 9.99476613e-01 -9.69803736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:294.56, Y:-54.65, Z:-9.70 [[ 9.80406016e-01 1.94538595e-01 3.09641591e-02 2.94561598e+02] [-1.94428694e-01 9.80894782e-01 -6.55054624e-03 -5.46454642e+01] [-3.16469162e-02 4.01873928e-04 9.99499030e-01 -9.69925017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494012739 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:294.59, Y:-54.66, Z:-9.70 [[ 9.80638030e-01 1.93420586e-01 3.06191423e-02 2.94593346e+02] [-1.93312391e-01 9.81115836e-01 -6.48343634e-03 -5.46550772e+01] [-3.12949555e-02 4.38844617e-04 9.99510097e-01 -9.70037923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:294.63, Y:-54.66, Z:-9.70 [[ 9.80622301e-01 1.93500512e-01 3.06178694e-02 2.94626073e+02] [-1.93392169e-01 9.81100074e-01 -6.48944192e-03 -5.46621544e+01] [-3.12949043e-02 4.42435293e-04 9.99510097e-01 -9.70153233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55401273900003 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:294.66, Y:-54.67, Z:-9.70 [[ 9.80684986e-01 1.92884012e-01 3.24455892e-02 2.94657049e+02] [-1.92761914e-01 9.81221441e-01 -6.87962292e-03 -5.46730713e+01] [-3.31632771e-02 4.92469035e-04 9.99449826e-01 -9.70140769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:294.69, Y:-54.68, Z:-9.70 [[ 9.80629990e-01 1.92945927e-01 3.37148544e-02 2.94688133e+02] [-1.92813888e-01 9.81209255e-01 -7.15553680e-03 -5.46825536e+01] [-3.44619589e-02 5.16241816e-04 9.99405877e-01 -9.70215102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61401273900003 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:294.72, Y:-54.70, Z:-9.70 [[ 9.80702059e-01 1.92814487e-01 3.23426289e-02 2.94718663e+02] [-1.92692726e-01 9.81235098e-01 -6.86986366e-03 -5.46966667e+01] [-3.30603319e-02 5.05100123e-04 9.99453230e-01 -9.70379284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:294.75, Y:-54.71, Z:-9.71 [[ 9.80669672e-01 1.93381081e-01 2.98454841e-02 2.94749066e+02] [-1.93277502e-01 9.81123617e-01 -6.34470530e-03 -5.47067426e+01] [-3.05090552e-02 4.53599447e-04 9.99534388e-01 -9.70611889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67401273900003 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:294.78, Y:-54.72, Z:-9.71 [[ 9.80181220e-01 1.95977862e-01 2.89388091e-02 2.94780493e+02] [-1.95881467e-01 9.80608252e-01 -6.15689237e-03 -5.47185675e+01] [-2.95842496e-02 3.66293899e-04 9.99562223e-01 -9.70717373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:294.81, Y:-54.73, Z:-9.71 [[ 9.79627424e-01 1.98570465e-01 2.99980098e-02 2.94812402e+02] [-1.98467915e-01 9.80086566e-01 -6.38819672e-03 -5.47274903e+01] [-3.06691536e-02 3.04410246e-04 9.99529545e-01 -9.70626194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734012739 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:294.84, Y:-54.74, Z:-9.71 [[ 9.78061231e-01 2.05915175e-01 3.15462944e-02 2.94843972e+02] [-2.05805371e-01 9.78569841e-01 -6.72427457e-03 -5.47375475e+01] [-3.22548825e-02 8.43554478e-05 9.99479672e-01 -9.70616302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:294.87, Y:-54.74, Z:-9.71 [[ 9.77281020e-01 2.09573787e-01 3.16328303e-02 2.94874837e+02] [-2.09465090e-01 9.77792834e-01 -6.74902611e-03 -5.47447095e+01] [-3.23447737e-02 -3.02785207e-05 9.99476770e-01 -9.70776872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794012739 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:294.91, Y:-54.75, Z:-9.70 [[ 9.76566821e-01 2.12803862e-01 3.21210309e-02 2.94906773e+02] [-2.12693332e-01 9.77094928e-01 -6.85917599e-03 -5.47520883e+01] [-3.28449555e-02 -1.33485399e-04 9.99460450e-01 -9.70451511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:294.94, Y:-54.76, Z:-9.71 [[ 9.75641812e-01 2.16931958e-01 3.26125691e-02 2.94938522e+02] [-2.16820094e-01 9.76186690e-01 -6.97094752e-03 -5.47576495e+01] [-3.33481771e-02 -2.69912411e-04 9.99443758e-01 -9.71103775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854012739 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:294.97, Y:-54.77, Z:-9.71 [[ 9.75665524e-01 2.16938885e-01 3.18481659e-02 2.94969315e+02] [-2.16832014e-01 9.76185153e-01 -6.81352959e-03 -5.47651471e+01] [-3.25678262e-02 -2.57976022e-04 9.99469494e-01 -9.71271151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:295.00, Y:-54.77, Z:-9.71 [[ 9.75823572e-01 2.16238689e-01 3.17676982e-02 2.95001471e+02] [-2.16131798e-01 9.76340503e-01 -6.80211681e-03 -5.47722906e+01] [-3.24869713e-02 -2.28343795e-04 9.99472133e-01 -9.71372725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914012739 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:295.03, Y:-54.78, Z:-9.71 [[ 9.76054444e-01 2.15129167e-01 3.22050210e-02 2.95033546e+02] [-2.15018508e-01 9.76585586e-01 -6.90181436e-03 -5.47790712e+01] [-3.29357408e-02 -1.88128975e-04 9.99457454e-01 -9.71461606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:295.07, Y:-54.78, Z:-9.72 [[ 9.76528798e-01 2.12759269e-01 3.35410231e-02 2.95065480e+02] [-2.12637605e-01 9.77104642e-01 -7.19491363e-03 -5.47849196e+01] [-3.43038739e-02 -1.06042434e-04 9.99411443e-01 -9.71546902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974012739 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:295.10, Y:-54.79, Z:-9.72 [[ 9.76537723e-01 2.12648498e-01 3.39807518e-02 2.95098118e+02] [-2.12523337e-01 9.77128757e-01 -7.29550020e-03 -5.47914998e+01] [-3.47549469e-02 -9.73715952e-05 9.99395860e-01 -9.71573823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:295.13, Y:-54.80, Z:-9.72 [[ 9.76056186e-01 2.14826218e-01 3.41176906e-02 2.95130891e+02] [-2.14701156e-01 9.76652276e-01 -7.33120632e-03 -5.47950861e+01] [-3.48960555e-02 -1.69438313e-04 9.99390933e-01 -9.71624698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034012739 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:295.16, Y:-54.80, Z:-9.72 [[ 9.75628629e-01 2.16858606e-01 3.34831643e-02 2.95162097e+02] [-2.16739130e-01 9.76202997e-01 -7.20127932e-03 -5.47999297e+01] [-3.42480247e-02 -2.31337610e-04 9.99413338e-01 -9.71703635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:295.19, Y:-54.81, Z:-9.72 [[ 9.75236196e-01 2.18727780e-01 3.27493562e-02 2.95194891e+02] [-2.18614342e-01 9.75785877e-01 -7.04926788e-03 -5.48051176e+01] [-3.34982300e-02 -2.84777761e-04 9.99438736e-01 -9.71851837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094012739 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:295.23, Y:-54.81, Z:-9.72 [[ 9.74780023e-01 2.20900378e-01 3.17321566e-02 2.95226103e+02] [-2.20794827e-01 9.75296317e-01 -6.83654191e-03 -5.48101189e+01] [-3.24584501e-02 -3.42171552e-04 9.99473027e-01 -9.71997841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters Centerline goodness : 0.991641 Centerline is valid? [True, True] Translation: X:295.26, Y:-54.82, Z:-9.72 [[ 9.74573088e-01 2.21829010e-01 3.16099100e-02 2.95258311e+02] [-2.21724568e-01 9.75085512e-01 -6.81611538e-03 -5.48163576e+01] [-3.23343774e-02 -3.65891036e-04 9.99477040e-01 -9.72087789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154012739 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:295.29, Y:-54.82, Z:-9.72 [[ 9.74359821e-01 2.22794857e-01 3.13909443e-02 2.95289567e+02] [-2.22692158e-01 9.74865273e-01 -6.77512613e-03 -5.48220938e+01] [-3.21114048e-02 -3.89106458e-04 9.99484220e-01 -9.72225752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:295.32, Y:-54.83, Z:-9.72 [[ 9.74280912e-01 2.23088881e-01 3.17498835e-02 2.95320510e+02] [-2.22983795e-01 9.74798027e-01 -6.85816008e-03 -5.48268507e+01] [-3.24797031e-02 -3.97935061e-04 9.99472316e-01 -9.72385061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214012739 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:295.35, Y:-54.84, Z:-9.72 [[ 9.74644630e-01 2.21347509e-01 3.27585829e-02 2.95352226e+02] [-2.21234475e-01 9.75194935e-01 -7.08138687e-03 -5.48357418e+01] [-3.35134514e-02 -3.45492194e-04 9.99438207e-01 -9.72465231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:295.38, Y:-54.84, Z:-9.72 [[ 9.75020967e-01 2.19725933e-01 3.24750544e-02 2.95384096e+02] [-2.19613736e-01 9.75561600e-01 -7.02649227e-03 -5.48446935e+01] [-3.32253186e-02 -2.80990743e-04 9.99447847e-01 -9.71771956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274012739 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:295.42, Y:-54.85, Z:-9.73 [[ 9.75379434e-01 2.18136329e-01 3.24268752e-02 2.95415331e+02] [-2.18023370e-01 9.75918282e-01 -7.02259283e-03 -5.48518159e+01] [-3.31778630e-02 -2.20123989e-04 9.99449439e-01 -9.72743714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:295.45, Y:-54.86, Z:-9.73 [[ 9.76093980e-01 2.15086853e-01 3.12759770e-02 2.95447565e+02] [-2.14980026e-01 9.76594918e-01 -6.77897510e-03 -5.48597197e+01] [-3.20020286e-02 -1.06793549e-04 9.99487798e-01 -9.72950815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334012739 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:295.48, Y:-54.87, Z:-9.73 [[ 9.76283949e-01 2.14187526e-01 3.15175380e-02 2.95479524e+02] [-2.14078374e-01 9.76792557e-01 -6.83748547e-03 -5.48684461e+01] [-3.22506007e-02 -7.18959912e-05 9.99479811e-01 -9.73054797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:295.51, Y:-54.88, Z:-9.73 [[ 9.76432472e-01 2.13133194e-01 3.39686530e-02 2.95509643e+02] [-2.13005509e-01 9.77023152e-01 -7.37651057e-03 -5.48789052e+01] [-3.47603397e-02 -3.28457619e-05 9.99395676e-01 -9.73068508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394012739 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:295.54, Y:-54.89, Z:-9.73 [[ 9.76420155e-01 2.13206169e-01 3.38645756e-02 2.95540729e+02] [-2.13079091e-01 9.77007231e-01 -7.36019392e-03 -5.48865005e+01] [-3.46551740e-02 -2.91912944e-05 9.99399329e-01 -9.73114433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:295.57, Y:-54.89, Z:-9.73 [[ 9.76273695e-01 2.13904154e-01 3.36850988e-02 2.95572535e+02] [-2.13778623e-01 9.76854652e-01 -7.32735145e-03 -5.48941496e+01] [-3.44727964e-02 -4.76535594e-05 9.99405635e-01 -9.73252737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454012739 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:295.60, Y:-54.90, Z:-9.73 [[ 9.75887464e-01 2.15872985e-01 3.22879672e-02 2.95603012e+02] [-2.15758528e-01 9.76421447e-01 -7.02954556e-03 -5.49029103e+01] [-3.30441526e-02 -1.06358884e-04 9.99453887e-01 -9.73435552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:295.64, Y:-54.91, Z:-9.74 [[ 9.75489155e-01 2.17768015e-01 3.15911393e-02 2.95635345e+02] [-2.17659256e-01 9.76000546e-01 -6.88350925e-03 -5.49114655e+01] [-3.23319773e-02 -1.61315259e-04 9.99477172e-01 -9.73637420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514012739 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:295.67, Y:-54.92, Z:-9.74 [[ 9.75171917e-01 2.19232257e-01 3.12562087e-02 2.95666715e+02] [-2.19126346e-01 9.75672679e-01 -6.81670724e-03 -5.49178799e+01] [-3.19902710e-02 -2.01597351e-04 9.99488160e-01 -9.73733617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:295.70, Y:-54.93, Z:-9.74 [[ 9.74790439e-01 2.20897907e-01 3.14279397e-02 2.95699094e+02] [-2.20791506e-01 9.75296904e-01 -6.86000079e-03 -5.49251717e+01] [-3.21669321e-02 -2.51958977e-04 9.99482479e-01 -9.73827586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574012739 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:295.73, Y:-54.93, Z:-9.74 [[ 9.73812957e-01 2.25011834e-01 3.25268989e-02 2.95729794e+02] [-2.24899925e-01 9.74355951e-01 -7.10669506e-03 -5.49331088e+01] [-3.32918680e-02 -3.94705382e-04 9.99445594e-01 -9.73779334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:295.76, Y:-54.94, Z:-9.74 [[ 9.73386180e-01 2.26755635e-01 3.31847192e-02 2.95760780e+02] [-2.26640023e-01 9.73951575e-01 -7.25459704e-03 -5.49396419e+01] [-3.39653302e-02 -4.59461013e-04 9.99422906e-01 -9.73912208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634012739 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:295.79, Y:-54.94, Z:-9.74 [[ 9.72484950e-01 2.30596062e-01 3.31432825e-02 2.95793045e+02] [-2.30482779e-01 9.73049388e-01 -7.25103429e-03 -5.49447582e+01] [-3.39221107e-02 -5.87434140e-04 9.99424307e-01 -9.74096973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:295.82, Y:-54.95, Z:-9.74 [[ 9.72042214e-01 2.32509358e-01 3.27617657e-02 2.95824679e+02] [-2.32399535e-01 9.72593948e-01 -7.17409709e-03 -5.49513104e+01] [-3.35319398e-02 -6.40293897e-04 9.99437441e-01 -9.74184426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694012739 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:295.85, Y:-54.96, Z:-9.74 [[ 9.71760888e-01 2.33698373e-01 3.26472997e-02 2.95854213e+02] [-2.33589777e-01 9.72308911e-01 -7.15529967e-03 -5.49577222e+01] [-3.34154423e-02 -6.72835082e-04 9.99441322e-01 -9.74300954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:295.88, Y:-54.96, Z:-9.74 [[ 9.71351159e-01 2.35484313e-01 3.20010117e-02 2.95883512e+02] [-2.35380931e-01 9.71877884e-01 -7.01402237e-03 -5.49637454e+01] [-3.27527678e-02 -7.19349165e-04 9.99463225e-01 -9.74374665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754012739 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:295.91, Y:-54.97, Z:-9.74 [[ 9.70634241e-01 2.38408108e-01 3.21051992e-02 2.95912289e+02] [-2.38305634e-01 9.71164714e-01 -7.03728419e-03 -5.49688542e+01] [-3.28571822e-02 -8.20220838e-04 9.99459720e-01 -9.74497567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:295.94, Y:-54.98, Z:-9.75 [[ 9.70337772e-01 2.39543204e-01 3.26138209e-02 2.95942706e+02] [-2.39438124e-01 9.70885313e-01 -7.14795246e-03 -5.49750642e+01] [-3.33765232e-02 -8.73063846e-04 9.99442467e-01 -9.74632808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814012739 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:295.97, Y:-54.98, Z:-9.75 [[ 9.70045549e-01 2.40572068e-01 3.37151618e-02 2.95972977e+02] [-2.40460362e-01 9.70630826e-01 -7.39017688e-03 -5.49810435e+01] [-3.45028455e-02 -9.38351821e-04 9.99404159e-01 -9.74765944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:296.00, Y:-54.98, Z:-9.75 [[ 9.69847249e-01 2.41097218e-01 3.56152434e-02 2.96002730e+02] [-2.40972884e-01 9.70500444e-01 -7.80755724e-03 -5.49844882e+01] [-3.64469898e-02 -1.01017001e-03 9.99335077e-01 -9.74921097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874012739 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:296.03, Y:-54.99, Z:-9.75 [[ 9.70017761e-01 2.40545867e-01 3.46876040e-02 2.96032926e+02] [-2.40427560e-01 9.70637295e-01 -7.60461097e-03 -5.49892509e+01] [-3.54983398e-02 -9.63248286e-04 9.99369271e-01 -9.75008226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:296.06, Y:-54.99, Z:-9.75 [[ 9.70466339e-01 2.38986246e-01 3.28733711e-02 2.96063660e+02] [-2.38879087e-01 9.71022573e-01 -7.20723976e-03 -5.49937433e+01] [-3.36432165e-02 -8.58377273e-04 9.99433538e-01 -9.75182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934012739 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:296.09, Y:-55.00, Z:-9.75 [[ 9.70760588e-01 2.37728093e-01 3.33051593e-02 2.96092824e+02] [-2.37617333e-01 9.71331392e-01 -7.30272112e-03 -5.49988985e+01] [-3.40864087e-02 -8.24689259e-04 9.99418549e-01 -9.75242054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:296.13, Y:-55.00, Z:-9.75 [[ 9.71278633e-01 2.35430762e-01 3.44989010e-02 2.96125654e+02] [-2.35310477e-01 9.71890818e-01 -7.56421308e-03 -5.50017450e+01] [-3.53100135e-02 -7.70994324e-04 9.99376110e-01 -9.75274568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994012739 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:296.16, Y:-55.01, Z:-9.75 [[ 9.71427581e-01 2.34821370e-01 3.44583620e-02 2.96156409e+02] [-2.34700771e-01 9.72038257e-01 -7.56138254e-03 -5.50063463e+01] [-3.52704204e-02 -7.42068577e-04 9.99377530e-01 -9.75368403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:296.18, Y:-55.01, Z:-9.75 [[ 9.71566856e-01 2.34297848e-01 3.40934252e-02 2.96184751e+02] [-2.34179281e-01 9.72164602e-01 -7.48668734e-03 -5.50103699e+01] [-3.48985359e-02 -7.10156525e-04 9.99390608e-01 -9.75412761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05401273900003 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:296.21, Y:-55.01, Z:-9.76 [[ 9.72055911e-01 2.32400771e-01 3.31238174e-02 2.96214619e+02] [-2.32287791e-01 9.72619911e-01 -7.27262999e-03 -5.50133594e+01] [-3.39070491e-02 -6.24855395e-04 9.99424795e-01 -9.75566968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:296.24, Y:-55.02, Z:-9.76 [[ 9.72501912e-01 2.30519549e-01 3.31778282e-02 2.96244396e+02] [-2.30405131e-01 9.73067533e-01 -7.28371345e-03 -5.50181888e+01] [-3.39633058e-02 -5.60916605e-04 9.99422923e-01 -9.75743655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11401273900003 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:296.27, Y:-55.02, Z:-9.76 [[ 9.73590103e-01 2.25974382e-01 3.25252063e-02 2.96272338e+02] [-2.25861909e-01 9.74133165e-01 -7.13970732e-03 -5.50222005e+01] [-3.32972731e-02 -3.95056822e-04 9.99445414e-01 -9.75906553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:296.30, Y:-55.03, Z:-9.76 [[ 9.74063693e-01 2.24046051e-01 3.16747516e-02 2.96300596e+02] [-2.23938399e-01 9.74578506e-01 -6.95194618e-03 -5.50281007e+01] [-3.24270882e-02 -3.21554807e-04 9.99474052e-01 -9.75934619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17401273900003 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:296.33, Y:-55.03, Z:-9.76 [[ 9.74705160e-01 2.21383069e-01 3.06494294e-02 2.96330135e+02] [-2.21280995e-01 9.75186898e-01 -6.72578310e-03 -5.50339641e+01] [-3.13778965e-02 -2.26480740e-04 9.99507567e-01 -9.75987016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:296.36, Y:-55.04, Z:-9.76 [[ 9.74977655e-01 2.20196327e-01 3.05311218e-02 2.96359281e+02] [-2.20094456e-01 9.75455556e-01 -6.69985886e-03 -5.50393038e+01] [-3.12570367e-02 -1.87517956e-04 9.99511362e-01 -9.76102687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:296.39, Y:-55.04, Z:-9.76 [[ 9.75499975e-01 2.17669269e-01 3.19356771e-02 2.96388150e+02] [-2.17556465e-01 9.76022580e-01 -7.00769002e-03 -5.50446471e+01] [-3.26953008e-02 -1.11811591e-04 9.99465359e-01 -9.76286378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:296.42, Y:-55.05, Z:-9.76 [[ 9.75723179e-01 2.16481607e-01 3.31661254e-02 2.96419274e+02] [-2.16359285e-01 9.76286694e-01 -7.27680271e-03 -5.50528783e+01] [-3.39549408e-02 -7.56540976e-05 9.99423362e-01 -9.76400244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294012739 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:296.45, Y:-55.06, Z:-9.77 [[ 9.75970139e-01 2.15310183e-01 3.35233187e-02 2.96450255e+02] [-2.15184312e-01 9.76545710e-01 -7.36122730e-03 -5.50624293e+01] [-3.43220003e-02 -2.93542366e-05 9.99410826e-01 -9.76522574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:296.48, Y:-55.07, Z:-9.77 [[ 9.76698712e-01 2.12250159e-01 3.17725660e-02 2.96480679e+02] [-2.12135289e-01 9.77215362e-01 -6.98253014e-03 -5.50744217e+01] [-3.25306828e-02 7.97457227e-05 9.99470734e-01 -9.76683917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354012739 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:296.51, Y:-55.08, Z:-9.77 [[ 9.76970346e-01 2.11108634e-01 3.10175327e-02 2.96512014e+02] [-2.10998404e-01 9.77462598e-01 -6.82227264e-03 -5.50840342e+01] [-3.17587188e-02 1.20508178e-04 9.99495557e-01 -9.76825007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:296.54, Y:-55.09, Z:-9.77 [[ 9.76935602e-01 2.11243550e-01 3.11928212e-02 2.96542013e+02] [-2.11131935e-01 9.77433449e-01 -6.86720245e-03 -5.50944136e+01] [-3.19395590e-02 1.23013852e-04 9.99489795e-01 -9.76821448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414012739 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:296.57, Y:-55.10, Z:-9.77 [[ 9.76613152e-01 2.12661440e-01 3.16522133e-02 2.96573635e+02] [-2.12547062e-01 9.77125941e-01 -6.97436761e-03 -5.51025553e+01] [-3.24113778e-02 8.36741977e-05 9.99474610e-01 -9.76832074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:296.61, Y:-55.11, Z:-9.77 [[ 9.75577930e-01 2.17316930e-01 3.19539381e-02 2.96605416e+02] [-2.17202643e-01 9.76101095e-01 -7.04726238e-03 -5.51090471e+01] [-3.27217634e-02 -6.53261721e-05 9.99464498e-01 -9.76920489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474012739 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:296.64, Y:-55.12, Z:-9.77 [[ 9.75558584e-01 2.17403935e-01 3.19527444e-02 2.96637276e+02] [-2.17289518e-01 9.76081721e-01 -7.05267032e-03 -5.51161887e+01] [-3.27217680e-02 -6.27033704e-05 9.99464498e-01 -9.77032931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:296.67, Y:-55.12, Z:-9.77 [[ 9.74888885e-01 2.20459974e-01 3.14493490e-02 2.96668373e+02] [-2.20350636e-01 9.75396009e-01 -6.94427556e-03 -5.51230231e+01] [-3.22065043e-02 -1.59986991e-04 9.99481223e-01 -9.77138787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534012739 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:296.70, Y:-55.13, Z:-9.77 [[ 9.74289138e-01 2.23079486e-01 3.15629190e-02 2.96698709e+02] [-2.22970543e-01 9.74800228e-01 -6.97514867e-03 -5.51304583e+01] [-3.23235532e-02 -2.41789592e-04 9.99477428e-01 -9.77236985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:296.73, Y:-55.14, Z:-9.77 [[ 9.73613027e-01 2.25691773e-01 3.37771611e-02 2.96730766e+02] [-2.25568542e-01 9.74198697e-01 -7.46540947e-03 -5.51402334e+01] [-3.45905478e-02 -3.50645059e-04 9.99401506e-01 -9.77297370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594012739 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:296.76, Y:-55.15, Z:-9.77 [[ 9.73608976e-01 2.25652941e-01 3.41513120e-02 2.96762188e+02] [-2.25526692e-01 9.74207694e-01 -7.55517202e-03 -5.51482229e+01] [-3.49753177e-02 -3.46249146e-04 9.99388116e-01 -9.77354484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:296.79, Y:-55.16, Z:-9.78 [[ 9.73978064e-01 2.24125666e-01 3.36810899e-02 2.96793511e+02] [-2.24001739e-01 9.74560212e-01 -7.45748338e-03 -5.51558683e+01] [-3.44956635e-02 -2.81197477e-04 9.99404808e-01 -9.77630466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654012739 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:296.83, Y:-55.16, Z:-9.77 [[ 9.74050313e-01 2.24023980e-01 3.22373261e-02 2.96825665e+02] [-2.23910226e-01 9.74583598e-01 -7.14297878e-03 -5.51636765e+01] [-3.30181677e-02 -2.60646255e-04 9.99454718e-01 -9.76847522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:296.86, Y:-55.17, Z:-9.78 [[ 9.73541736e-01 2.26345898e-01 3.13691286e-02 2.96858046e+02] [-2.26239197e-01 9.74046934e-01 -6.95675417e-03 -5.51667522e+01] [-3.21296363e-02 -3.24235918e-04 9.99483657e-01 -9.77868357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714012739 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:296.89, Y:-55.17, Z:-9.78 [[ 9.73024664e-01 2.28603478e-01 3.10395491e-02 2.96888070e+02] [-2.28499971e-01 9.73519542e-01 -6.88945277e-03 -5.51711432e+01] [-3.17925605e-02 -3.88928611e-04 9.99494413e-01 -9.77940199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:296.92, Y:-55.18, Z:-9.78 [[ 9.72524057e-01 2.30648991e-01 3.15911639e-02 2.96919157e+02] [-2.30542838e-01 9.73036910e-01 -7.01226282e-03 -5.51761480e+01] [-3.23567399e-02 -4.63522293e-04 9.99476276e-01 -9.78034597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:296.95, Y:-55.18, Z:-9.78 [[ 9.72119196e-01 2.31971506e-01 3.42562441e-02 2.96949075e+02] [-2.31847470e-01 9.72722426e-01 -7.60475133e-03 -5.51815298e+01] [-3.50859025e-02 -5.49498772e-04 9.99384149e-01 -9.78099716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:296.98, Y:-55.19, Z:-9.77 [[ 9.72284892e-01 2.31192465e-01 3.48157154e-02 2.96980109e+02] [-2.31063827e-01 9.72907891e-01 -7.72940715e-03 -5.51878901e+01] [-3.56594649e-02 -5.29466663e-04 9.99363859e-01 -9.77194557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:297.01, Y:-55.19, Z:-9.78 [[ 9.73274628e-01 2.26797706e-01 3.60457771e-02 2.97010477e+02] [-2.26656759e-01 9.73941813e-01 -8.00360244e-03 -5.51926643e+01] [-3.69216882e-02 -3.80315834e-04 9.99318090e-01 -9.78339137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:297.04, Y:-55.20, Z:-9.79 [[ 9.73892324e-01 2.24298500e-01 3.49846207e-02 2.97040520e+02] [-2.24163998e-01 9.74520450e-01 -7.77136983e-03 -5.52003425e+01] [-3.58363349e-02 -2.73815002e-04 9.99357635e-01 -9.78569265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894012739 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:297.07, Y:-55.21, Z:-9.79 [[ 9.74619476e-01 2.21345653e-01 3.35108900e-02 2.97071376e+02] [-2.21220393e-01 9.75195405e-01 -7.44713295e-03 -5.52086391e+01] [-3.43280564e-02 -1.55171432e-04 9.99410607e-01 -9.78714502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:297.10, Y:-55.22, Z:-9.79 [[ 9.75828958e-01 2.16280657e-01 3.13132972e-02 2.97103065e+02] [-2.16168524e-01 9.76331233e-01 -6.96365811e-03 -5.52177619e+01] [-3.20782546e-02 2.63900021e-05 9.99485360e-01 -9.78886226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954012739 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:297.13, Y:-55.23, Z:-9.79 [[ 9.76210631e-01 2.14602159e-01 3.09631520e-02 2.97134653e+02] [-2.14491485e-01 9.76701544e-01 -6.89181874e-03 -5.52255797e+01] [-3.17207576e-02 8.65342738e-05 9.99496766e-01 -9.78976625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:297.17, Y:-55.24, Z:-9.79 [[ 9.76332001e-01 2.14157667e-01 3.02045894e-02 2.97165551e+02] [-2.14051980e-01 9.76799101e-01 -6.72805722e-03 -5.52352676e+01] [-3.09446808e-02 1.03465385e-04 9.99521093e-01 -9.79015522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014012739 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:297.20, Y:-55.24, Z:-9.79 [[ 9.75989997e-01 2.15708010e-01 3.02254939e-02 2.97196813e+02] [-2.15602745e-01 9.76457910e-01 -6.73837444e-03 -5.52429295e+01] [-3.09674440e-02 5.98865924e-05 9.99520392e-01 -9.79151816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:297.23, Y:-55.25, Z:-9.79 [[ 9.74889356e-01 2.20414886e-01 3.17493542e-02 2.97227364e+02] [-2.20301033e-01 9.75406208e-01 -7.08409684e-03 -5.52475428e+01] [-3.25299576e-02 -8.82049403e-05 9.99470757e-01 -9.79127368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074012739 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:297.26, Y:-55.25, Z:-9.79 [[ 9.74181772e-01 2.23221190e-01 3.37960768e-02 2.97257971e+02] [-2.23093797e-01 9.74767800e-01 -7.54282206e-03 -5.52528194e+01] [-3.46270451e-02 -1.91615324e-04 9.99400286e-01 -9.79166959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:297.29, Y:-55.26, Z:-9.79 [[ 9.73489086e-01 2.26011046e-01 3.51853174e-02 2.97287643e+02] [-2.25874749e-01 9.74124692e-01 -7.85376761e-03 -5.52585697e+01] [-3.60499247e-02 -3.01917688e-04 9.99349945e-01 -9.79136092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134012739 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:297.32, Y:-55.26, Z:-9.79 [[ 9.72448351e-01 2.30519103e-01 3.47152367e-02 2.97318853e+02] [-2.30389278e-01 9.73067690e-01 -7.74927475e-03 -5.52632087e+01] [-3.55666310e-02 -4.62248855e-04 9.99367200e-01 -9.79256232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:297.35, Y:-55.27, Z:-9.79 [[ 9.72109900e-01 2.32148405e-01 3.33085768e-02 2.97348632e+02] [-2.32029818e-01 9.72680250e-01 -7.43606367e-03 -5.52668965e+01] [-3.41248651e-02 -4.99911916e-04 9.99417452e-01 -9.79402540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194012739 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:297.38, Y:-55.27, Z:-9.80 [[ 9.71611708e-01 2.34446658e-01 3.17088962e-02 2.97379826e+02] [-2.34340426e-01 9.72128828e-01 -7.07855093e-03 -5.52674391e+01] [-3.24846747e-02 -5.53073288e-04 9.99472081e-01 -9.79723134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:297.41, Y:-55.27, Z:-9.80 [[ 9.71575306e-01 2.34583305e-01 3.18134801e-02 2.97409424e+02] [-2.34476443e-01 9.72095859e-01 -7.10194254e-03 -5.52714313e+01] [-3.25917494e-02 -5.59439667e-04 9.99468591e-01 -9.79833214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254012739 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:297.44, Y:-55.28, Z:-9.80 [[ 9.71778713e-01 2.33697090e-01 3.21216975e-02 2.97437438e+02] [-2.33587690e-01 9.72309304e-01 -7.16994450e-03 -5.52757782e+01] [-3.29078205e-02 -5.35633689e-04 9.99458247e-01 -9.79929866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:297.47, Y:-55.28, Z:-9.80 [[ 9.72605717e-01 2.30359963e-01 3.11834220e-02 2.97466637e+02] [-2.30255183e-01 9.73105399e-01 -6.95936777e-03 -5.52784509e+01] [-3.19479160e-02 -4.11423640e-04 9.99489450e-01 -9.79991137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314012739 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:297.50, Y:-55.28, Z:-9.80 [[ 9.73062523e-01 2.28471309e-01 3.08251142e-02 2.97495677e+02] [-2.28368012e-01 9.73550585e-01 -6.87825894e-03 -5.52813146e+01] [-3.15812927e-02 -3.46494041e-04 9.99501127e-01 -9.80067740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:297.52, Y:-55.29, Z:-9.80 [[ 9.73151865e-01 2.27939151e-01 3.19247757e-02 2.97523800e+02] [-2.27828104e-01 9.73675319e-01 -7.12242076e-03 -5.52854889e+01] [-3.27078447e-02 -3.42164072e-04 9.99464897e-01 -9.80153332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:297.55, Y:-55.29, Z:-9.80 [[ 9.73089539e-01 2.28066127e-01 3.29027427e-02 2.97551880e+02] [-2.27948300e-01 9.73645579e-01 -7.33891827e-03 -5.52897778e+01] [-3.37093686e-02 -3.58699669e-04 9.99431613e-01 -9.80202312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:297.58, Y:-55.29, Z:-9.80 [[ 9.73017156e-01 2.28379507e-01 3.28696651e-02 2.97579744e+02] [-2.28262150e-01 9.73572115e-01 -7.32991974e-03 -5.52906354e+01] [-3.36749928e-02 -3.70762750e-04 9.99432768e-01 -9.80368169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:297.61, Y:-55.29, Z:-9.80 [[ 9.72934654e-01 2.28711509e-01 3.30030925e-02 2.97608260e+02] [-2.28593457e-01 9.73494169e-01 -7.35762401e-03 -5.52942902e+01] [-3.38110914e-02 -3.85803625e-04 9.99428167e-01 -9.80487630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:297.64, Y:-55.30, Z:-9.80 [[ 9.72325096e-01 2.31169814e-01 3.38293500e-02 2.97636247e+02] [-2.31047321e-01 9.72913296e-01 -7.54011247e-03 -5.52957480e+01] [-3.46560708e-02 -4.84740111e-04 9.99399180e-01 -9.80405535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494012739 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:297.66, Y:-55.30, Z:-9.80 [[ 9.72121549e-01 2.31978291e-01 3.41433210e-02 2.97664526e+02] [-2.31854086e-01 9.72720824e-01 -7.60798110e-03 -5.52993793e+01] [-3.49768058e-02 -5.20386108e-04 9.99387989e-01 -9.80443471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:297.69, Y:-55.30, Z:-9.81 [[ 9.72089540e-01 2.32073090e-01 3.44093947e-02 2.97693936e+02] [-2.31947060e-01 9.72698206e-01 -7.66556996e-03 -5.53008992e+01] [-3.52489290e-02 -5.29537560e-04 9.99378423e-01 -9.80505912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55401273900003 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:297.72, Y:-55.30, Z:-9.81 [[ 9.72158902e-01 2.31762539e-01 3.45426373e-02 2.97721296e+02] [-2.31635396e-01 9.72772251e-01 -7.69354287e-03 -5.53040448e+01] [-3.53851941e-02 -5.21951264e-04 9.99373612e-01 -9.80617787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:297.75, Y:-55.31, Z:-9.81 [[ 9.72162911e-01 2.31742196e-01 3.45663054e-02 2.97749412e+02] [-2.31614940e-01 9.72777097e-01 -7.69670079e-03 -5.53068520e+01] [-3.54089606e-02 -5.23625716e-04 9.99372769e-01 -9.80706773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61401273900003 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:297.78, Y:-55.30, Z:-9.81 [[ 9.71742023e-01 2.33570996e-01 3.40885718e-02 2.97777831e+02] [-2.33448443e-01 9.72339575e-01 -7.58787996e-03 -5.53038919e+01] [-3.49179761e-02 -5.84462196e-04 9.99390011e-01 -9.80841014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:297.81, Y:-55.30, Z:-9.81 [[ 9.71213525e-01 2.35853734e-01 3.34261264e-02 2.97805441e+02] [-2.35737344e-01 9.71788344e-01 -7.43765962e-03 -5.53043167e+01] [-3.42373199e-02 -6.56230666e-04 9.99413516e-01 -9.80888065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67401273900003 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:297.83, Y:-55.30, Z:-9.81 [[ 9.69953419e-01 2.41118808e-01 3.24358751e-02 2.97834779e+02] [-2.41012239e-01 9.70495260e-01 -7.21467580e-03 -5.52989123e+01] [-3.32184570e-02 -8.19543426e-04 9.99447779e-01 -9.81030419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:297.86, Y:-55.30, Z:-9.81 [[ 9.69540402e-01 2.42816177e-01 3.21202901e-02 2.97863867e+02] [-2.42712680e-01 9.70071928e-01 -7.14216231e-03 -5.52989762e+01] [-3.28932243e-02 -8.71386761e-04 9.99458492e-01 -9.81189190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734012739 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:297.89, Y:-55.30, Z:-9.81 [[ 9.69348486e-01 2.43626988e-01 3.17711167e-02 2.97892462e+02] [-2.43526240e-01 9.69868597e-01 -7.06217403e-03 -5.52988896e+01] [-3.25343445e-02 -8.91392886e-04 9.99470221e-01 -9.81329500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:297.92, Y:-55.29, Z:-9.81 [[ 9.69737025e-01 2.42018200e-01 3.22070416e-02 2.97922429e+02] [-2.41913861e-01 9.70271336e-01 -7.15662972e-03 -5.52931172e+01] [-3.29816039e-02 -8.51280985e-04 9.99455596e-01 -9.81432448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794012739 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:297.95, Y:-55.29, Z:-9.81 [[ 9.71524517e-01 2.34521036e-01 3.37638250e-02 2.97950745e+02] [-2.34401925e-01 9.72110842e-01 -7.49991104e-03 -5.52895379e+01] [-3.45810672e-02 -6.27958100e-04 9.99401699e-01 -9.81434217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:297.98, Y:-55.29, Z:-9.82 [[ 9.72654137e-01 2.29786889e-01 3.37922475e-02 2.97977792e+02] [-2.29664820e-01 9.73240860e-01 -7.50327412e-03 -5.52917346e+01] [-3.46121500e-02 -4.62799802e-04 9.99400713e-01 -9.81535481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:298.01, Y:-55.30, Z:-9.82 [[ 9.73729801e-01 2.25259790e-01 3.32911738e-02 2.98005379e+02] [-2.25138819e-01 9.74298689e-01 -7.38757867e-03 -5.52950955e+01] [-3.40996714e-02 -3.01630037e-04 9.99418392e-01 -9.81652131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:298.03, Y:-55.30, Z:-9.82 [[ 9.75554109e-01 2.17413114e-01 3.20268392e-02 2.98033445e+02] [-2.17296998e-01 9.76079678e-01 -7.10474735e-03 -5.52967982e+01] [-3.28054121e-02 -2.82705407e-05 9.99461757e-01 -9.81849022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914012739 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:298.06, Y:-55.30, Z:-9.82 [[ 9.76192644e-01 2.14581126e-01 3.16680026e-02 2.98061139e+02] [-2.14466182e-01 9.76706167e-01 -7.02284673e-03 -5.53002209e+01] [-3.24373038e-02 6.39357073e-05 9.99473770e-01 -9.81914315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:298.09, Y:-55.30, Z:-9.82 [[ 9.77000193e-01 2.10994811e-01 3.08514719e-02 2.98088204e+02] [-2.10883999e-01 9.77487165e-01 -6.83961425e-03 -5.53028423e+01] [-3.16000410e-02 1.76222663e-04 9.99500578e-01 -9.81905079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974012739 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:298.12, Y:-55.31, Z:-9.82 [[ 9.77455247e-01 2.08840493e-01 3.10948268e-02 2.98115143e+02] [-2.08726921e-01 9.77949686e-01 -6.89087028e-03 -5.53091766e+01] [-3.18482688e-02 2.45189855e-04 9.99492685e-01 -9.82066279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:298.14, Y:-55.32, Z:-9.82 [[ 9.78706859e-01 2.02647511e-01 3.26629891e-02 2.98141842e+02] [-2.02518822e-01 9.79251637e-01 -7.23591621e-03 -5.53180933e+01] [-3.34516259e-02 4.66970741e-04 9.99440229e-01 -9.82085162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034012739 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:298.17, Y:-55.33, Z:-9.82 [[ 9.79326674e-01 1.99392498e-01 3.40866120e-02 2.98167667e+02] [-1.99250461e-01 9.79919523e-01 -7.54872032e-03 -5.53259858e+01] [-3.49072947e-02 6.00890033e-04 9.99390374e-01 -9.82164168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:298.19, Y:-55.34, Z:-9.81 [[ 9.80729178e-01 1.92221525e-01 3.49451759e-02 2.98193767e+02] [-1.92067791e-01 9.81351170e-01 -7.73587448e-03 -5.53379970e+01] [-3.57804909e-02 8.74955059e-04 9.99359290e-01 -9.81301922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094012739 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:298.22, Y:-55.35, Z:-9.82 [[ 9.81309389e-01 1.89184726e-01 3.52281558e-02 2.98220759e+02] [-1.89026627e-01 9.81941015e-01 -7.79597844e-03 -5.53466535e+01] [-3.60668511e-02 9.91207369e-04 9.99348888e-01 -9.82416339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:298.25, Y:-55.36, Z:-9.83 [[ 9.81750009e-01 1.87017989e-01 3.45136558e-02 2.98247098e+02] [-1.86864961e-01 9.82355931e-01 -7.63621022e-03 -5.53554821e+01] [-3.53328032e-02 1.04745651e-03 9.99375053e-01 -9.82504805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:298.27, Y:-55.37, Z:-9.83 [[ 9.82162628e-01 1.85390654e-01 3.14146153e-02 2.98274040e+02] [-1.85263110e-01 9.82664386e-01 -6.94866595e-03 -5.53688872e+01] [-3.21582414e-02 1.00475066e-03 9.99482285e-01 -9.82660861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:298.30, Y:-55.38, Z:-9.83 [[ 9.82215850e-01 1.85344110e-01 2.99930928e-02 2.98300769e+02] [-1.85227871e-01 9.82673211e-01 -6.63290120e-03 -5.53787659e+01] [-3.07027780e-02 9.59383964e-04 9.99528098e-01 -9.82834604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214012739 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:298.33, Y:-55.39, Z:-9.83 [[ 9.82109785e-01 1.85968681e-01 2.95976469e-02 2.98327123e+02] [-1.85855824e-01 9.82555237e-01 -6.54368469e-03 -5.53881493e+01] [-3.02982433e-02 9.25721710e-04 9.99540474e-01 -9.82967841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:298.35, Y:-55.40, Z:-9.83 [[ 9.81615874e-01 1.88161333e-01 3.20248114e-02 2.98353285e+02] [-1.88030433e-01 9.82137696e-01 -7.07826850e-03 -5.54012408e+01] [-3.27846309e-02 9.26501565e-04 9.99462010e-01 -9.82945841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274012739 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:298.38, Y:-55.41, Z:-9.83 [[ 9.81218039e-01 1.90130404e-01 3.25820299e-02 2.98379241e+02] [-1.89996081e-01 9.81758457e-01 -7.19875360e-03 -5.54111730e+01] [-3.33563853e-02 8.73088913e-04 9.99443140e-01 -9.83058555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:298.40, Y:-55.42, Z:-9.83 [[ 9.80388433e-01 1.94618044e-01 3.10215686e-02 2.98404374e+02] [-1.94498586e-01 9.80878866e-01 -6.85206723e-03 -5.54242342e+01] [-3.17619369e-02 6.84036230e-04 9.99495228e-01 -9.83137058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334012739 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:298.43, Y:-55.43, Z:-9.83 [[ 9.80394956e-01 1.94585133e-01 3.10218799e-02 2.98433014e+02] [-1.94465703e-01 9.80885395e-01 -6.85065711e-03 -5.54304743e+01] [-3.17619450e-02 6.83657972e-04 9.99495228e-01 -9.83237978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:298.46, Y:-55.44, Z:-9.83 [[ 9.80056372e-01 1.96465018e-01 2.98496934e-02 2.98460387e+02] [-1.96355346e-01 9.80510652e-01 -6.59083791e-03 -5.54393530e+01] [-3.05628115e-02 5.98245813e-04 9.99532669e-01 -9.83406703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394012739 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:298.49, Y:-55.45, Z:-9.84 [[ 9.79269954e-01 2.00462072e-01 2.90742928e-02 2.98486449e+02] [-2.00359823e-01 9.79701356e-01 -6.41836077e-03 -5.54514254e+01] [-2.97707620e-02 4.59987706e-04 9.99556647e-01 -9.83637530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:298.51, Y:-55.46, Z:-9.84 [[ 9.78828640e-01 2.02547409e-01 2.94795079e-02 2.98513120e+02] [-2.02443286e-01 9.79272376e-01 -6.50606422e-03 -5.54612235e+01] [-3.01862542e-02 4.00393531e-04 9.99544211e-01 -9.83659991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454012739 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:298.54, Y:-55.47, Z:-9.84 [[ 9.77662820e-01 2.07931488e-01 3.06578873e-02 2.98540247e+02] [-2.07821575e-01 9.78143363e-01 -6.76424169e-03 -5.54714776e+01] [-3.13943079e-02 2.41777174e-04 9.99507048e-01 -9.83584109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:298.57, Y:-55.48, Z:-9.84 [[ 9.76964750e-01 2.11082843e-01 3.13673596e-02 2.98567717e+02] [-2.10969452e-01 9.77468165e-01 -6.91934302e-03 -5.54777792e+01] [-3.21211500e-02 1.42399554e-04 9.99483973e-01 -9.83562569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514012739 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:298.59, Y:-55.48, Z:-9.84 [[ 9.76301242e-01 2.14056880e-01 3.18674784e-02 2.98594953e+02] [-2.13941500e-01 9.76821197e-01 -7.02741846e-03 -5.54835458e+01] [-3.26330957e-02 4.31012471e-05 9.99467398e-01 -9.83666270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:298.62, Y:-55.49, Z:-9.84 [[ 9.75320872e-01 2.18377803e-01 3.25627503e-02 2.98622082e+02] [-2.18259813e-01 9.75864296e-01 -7.17842890e-03 -5.54912218e+01] [-3.33444349e-02 -1.05868256e-04 9.99443914e-01 -9.83832323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574012739 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:298.65, Y:-55.50, Z:-9.84 [[ 9.74841328e-01 2.20285186e-01 3.40414710e-02 2.98649039e+02] [-2.20157467e-01 9.75435495e-01 -7.50236248e-03 -5.54971197e+01] [-3.48579184e-02 -1.80871019e-04 9.99392262e-01 -9.83925309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:298.68, Y:-55.50, Z:-9.84 [[ 9.74839531e-01 2.20294250e-01 3.40342781e-02 2.98676928e+02] [-2.20166672e-01 9.75433447e-01 -7.49844685e-03 -5.55018311e+01] [-3.48500379e-02 -1.83431321e-04 9.99392536e-01 -9.83964097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634012739 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:298.71, Y:-55.51, Z:-9.84 [[ 9.74855935e-01 2.20361644e-01 3.31157304e-02 2.98705066e+02] [-2.20240975e-01 9.75418224e-01 -7.29386541e-03 -5.55063785e+01] [-3.39089751e-02 -1.82972761e-04 9.99424909e-01 -9.84063136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:298.73, Y:-55.51, Z:-9.84 [[ 9.75015805e-01 2.19949267e-01 3.10885898e-02 2.98732813e+02] [-2.19842776e-01 9.75511299e-01 -6.84540185e-03 -5.55101389e+01] [-3.18329117e-02 -1.60226877e-04 9.99493192e-01 -9.84265648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694012739 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:298.76, Y:-55.52, Z:-9.84 [[ 9.75355442e-01 2.18448104e-01 3.10191612e-02 2.98759348e+02] [-2.18341396e-01 9.75848561e-01 -6.82799518e-03 -5.55152358e+01] [-3.17615664e-02 -1.13044715e-04 9.99495468e-01 -9.84385947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:298.79, Y:-55.52, Z:-9.84 [[ 9.76216666e-01 2.14381675e-01 3.22725595e-02 2.98786746e+02] [-2.14264034e-01 9.76749967e-01 -7.10115813e-03 -5.55215150e+01] [-3.30445796e-02 1.74201320e-05 9.99453879e-01 -9.84424226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754012739 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:298.81, Y:-55.53, Z:-9.84 [[ 9.76689356e-01 2.12227325e-01 3.22097065e-02 2.98813156e+02] [-2.12109044e-01 9.77220321e-01 -7.08510584e-03 -5.55276748e+01] [-3.29796328e-02 8.79774078e-05 9.99456020e-01 -9.84478050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:298.84, Y:-55.53, Z:-9.85 [[ 9.77070765e-01 2.10511430e-01 3.19007460e-02 2.98841004e+02] [-2.10394565e-01 9.77591386e-01 -7.01495205e-03 -5.55347992e+01] [-3.26626221e-02 1.42360997e-04 9.99466424e-01 -9.84513333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814012739 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:298.87, Y:-55.54, Z:-9.85 [[ 9.76921908e-01 2.11248091e-01 3.15884362e-02 2.98868157e+02] [-2.11133938e-01 9.77432469e-01 -6.94472126e-03 -5.55404984e+01] [-3.23426223e-02 1.15059412e-04 9.99476834e-01 -9.84559992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:298.90, Y:-55.55, Z:-9.85 [[ 9.76578369e-01 2.12864431e-01 3.13595730e-02 2.98895862e+02] [-2.12752823e-01 9.77081742e-01 -6.89245906e-03 -5.55455711e+01] [-3.21080256e-02 5.91887618e-05 9.99484403e-01 -9.84667570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874012739 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:298.92, Y:-55.55, Z:-9.85 [[ 9.75793824e-01 2.16636788e-01 2.99151371e-02 2.98923360e+02] [-2.16537046e-01 9.76252272e-01 -6.57340820e-03 -5.55481306e+01] [-3.06287626e-02 -6.34442857e-05 9.99530827e-01 -9.84723927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:298.95, Y:-55.55, Z:-9.85 [[ 9.75022849e-01 2.20148784e-01 2.94101437e-02 2.98951332e+02] [-2.20054074e-01 9.75466290e-01 -6.45925195e-03 -5.55510246e+01] [-3.01106002e-02 -1.73903696e-04 9.99546558e-01 -9.84815631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934012739 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:298.98, Y:-55.56, Z:-9.85 [[ 9.74835541e-01 2.20950444e-01 2.96069089e-02 2.98978562e+02] [-2.20854890e-01 9.75285015e-01 -6.50053880e-03 -5.55563864e+01] [-3.03114715e-02 -2.01874354e-04 9.99540481e-01 -9.84838823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:299.01, Y:-55.56, Z:-9.85 [[ 9.74892293e-01 2.20674971e-01 2.97921935e-02 2.99005498e+02] [-2.20578152e-01 9.75347384e-01 -6.53913727e-03 -5.55621905e+01] [-3.05007619e-02 -1.96552446e-04 9.99534724e-01 -9.84933031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994012739 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:299.03, Y:-55.57, Z:-9.85 [[ 9.75489769e-01 2.18031545e-01 2.96977292e-02 2.99032683e+02] [-2.17934181e-01 9.75941716e-01 -6.51618052e-03 -5.55692515e+01] [-3.04039857e-02 -1.15682872e-04 9.99537685e-01 -9.85078302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:299.06, Y:-55.58, Z:-9.85 [[ 9.75877398e-01 2.16250837e-01 2.99813096e-02 2.99060322e+02] [-2.16150820e-01 9.76337837e-01 -6.57657783e-03 -5.55751664e+01] [-3.06940774e-02 -6.25509872e-05 9.99528824e-01 -9.85137572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05401273900003 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:299.09, Y:-55.58, Z:-9.85 [[ 9.75948879e-01 2.15513755e-01 3.28269233e-02 2.99088868e+02] [-2.15393509e-01 9.76500804e-01 -7.19838963e-03 -5.55797536e+01] [-3.36068689e-02 -4.54458987e-05 9.99435129e-01 -9.85038013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:299.12, Y:-55.59, Z:-9.85 [[ 9.75837876e-01 2.15886364e-01 3.36677372e-02 2.99116262e+02] [-2.15760160e-01 9.76418493e-01 -7.38102824e-03 -5.55850531e+01] [-3.44672646e-02 -6.14694356e-05 9.99405825e-01 -9.85062586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11401273900003 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:299.14, Y:-55.59, Z:-9.85 [[ 9.75408312e-01 2.17669984e-01 3.46179722e-02 2.99143045e+02] [-2.17537753e-01 9.76022418e-01 -7.58712561e-03 -5.55907159e+01] [-3.54394064e-02 -1.30170518e-04 9.99371818e-01 -9.85111857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:299.17, Y:-55.60, Z:-9.85 [[ 9.75238827e-01 2.18391424e-01 3.48484872e-02 2.99171045e+02] [-2.18257964e-01 9.75861240e-01 -7.63548391e-03 -5.55956239e+01] [-3.56748122e-02 -1.59539500e-04 9.99363439e-01 -9.85234686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17401273900003 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:299.20, Y:-55.60, Z:-9.85 [[ 9.75128972e-01 2.18896715e-01 3.47522119e-02 2.99199857e+02] [-2.18764392e-01 9.75748019e-01 -7.61214679e-03 -5.55999912e+01] [-3.55756758e-02 -1.79721652e-04 9.99366969e-01 -9.85341150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:299.23, Y:-55.60, Z:-9.86 [[ 9.75051398e-01 2.19477685e-01 3.32312738e-02 2.99227418e+02] [-2.19357086e-01 9.75617501e-01 -7.27739197e-03 -5.56031662e+01] [-3.40182375e-02 -1.93684197e-04 9.99421193e-01 -9.85501704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234012739 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:299.25, Y:-55.61, Z:-9.86 [[ 9.75116021e-01 2.19348139e-01 3.21735949e-02 2.99254490e+02] [-2.19235091e-01 9.75646637e-01 -7.04381730e-03 -5.56088714e+01] [-3.29351079e-02 -1.85041902e-04 9.99457475e-01 -9.85588843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:299.28, Y:-55.61, Z:-9.86 [[ 9.75186850e-01 2.19010911e-01 3.23238185e-02 2.99283253e+02] [-2.18896700e-01 9.75722394e-01 -7.07424685e-03 -5.56138641e+01] [-3.30884108e-02 -1.76864686e-04 9.99452413e-01 -9.85698943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294012739 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:299.31, Y:-55.62, Z:-9.85 [[ 9.75276754e-01 2.18654014e-01 3.20261818e-02 2.99311165e+02] [-2.18541758e-01 9.75802437e-01 -7.00748254e-03 -5.56182075e+01] [-3.27834405e-02 -1.64823270e-04 9.99462465e-01 -9.85440074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:299.34, Y:-55.62, Z:-9.86 [[ 9.75333189e-01 2.18089769e-01 3.40884721e-02 2.99339168e+02] [-2.17962330e-01 9.75928700e-01 -7.45619048e-03 -5.56215516e+01] [-3.48940371e-02 -1.57732763e-04 9.99391005e-01 -9.85787681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354012739 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:299.37, Y:-55.63, Z:-9.86 [[ 9.75349010e-01 2.17931870e-01 3.46411472e-02 2.99366136e+02] [-2.17800258e-01 9.75963972e-01 -7.57447520e-03 -5.56271420e+01] [-3.54592312e-02 -1.57093908e-04 9.99371111e-01 -9.85856921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:299.39, Y:-55.63, Z:-9.86 [[ 9.75371003e-01 2.18150942e-01 3.25817955e-02 2.99393870e+02] [-2.18034701e-01 9.75915028e-01 -7.12231909e-03 -5.56326004e+01] [-3.33508044e-02 -1.57058531e-04 9.99443695e-01 -9.86083394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414012739 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:299.42, Y:-55.64, Z:-9.86 [[ 9.75429258e-01 2.18045795e-01 3.15244997e-02 2.99421688e+02] [-2.17936994e-01 9.75938527e-01 -6.88895561e-03 -5.56382864e+01] [-3.22680816e-02 -1.50665861e-04 9.99479239e-01 -9.86253388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:299.45, Y:-55.64, Z:-9.86 [[ 9.75543139e-01 2.17583535e-01 3.11927676e-02 2.99448313e+02] [-2.17476850e-01 9.76041693e-01 -6.81416275e-03 -5.56440427e+01] [-3.19280913e-02 -1.36195129e-04 9.99490159e-01 -9.86394890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474012739 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:299.48, Y:-55.65, Z:-9.87 [[ 9.76046611e-01 2.15315034e-01 3.11841154e-02 2.99475353e+02] [-2.15207341e-01 9.76544639e-01 -6.80946524e-03 -5.56514762e+01] [-3.19188610e-02 -6.46950787e-05 9.99490461e-01 -9.86517476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:299.50, Y:-55.66, Z:-9.87 [[ 9.76419588e-01 2.13616901e-01 3.11866634e-02 2.99502094e+02] [-2.13508384e-01 9.76917509e-01 -6.80811066e-03 -5.56584087e+01] [-3.19211250e-02 -1.10415059e-05 9.99490391e-01 -9.86627164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534012739 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:299.53, Y:-55.67, Z:-9.87 [[ 9.77124156e-01 2.10317218e-01 3.15444417e-02 2.99529278e+02] [-2.10204555e-01 9.77633192e-01 -6.88379009e-03 -5.56678037e+01] [-3.22866728e-02 9.55322599e-05 9.99478645e-01 -9.86707772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:299.56, Y:-55.68, Z:-9.87 [[ 9.77464313e-01 2.08771704e-01 3.12712813e-02 2.99556275e+02] [-2.08660242e-01 9.77964393e-01 -6.82265145e-03 -5.56754777e+01] [-3.20065762e-02 1.43825191e-04 9.99487648e-01 -9.86818593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594012739 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:299.58, Y:-55.69, Z:-9.87 [[ 9.78097352e-01 2.05836519e-01 3.09337749e-02 2.99582309e+02] [-2.05726042e-01 9.78586364e-01 -6.74710785e-03 -5.56866865e+01] [-3.16601715e-02 2.35445244e-04 9.99498663e-01 -9.86930969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:299.61, Y:-55.70, Z:-9.87 [[ 9.78409816e-01 2.04230344e-01 3.16890769e-02 2.99609727e+02] [-2.04113627e-01 9.78922817e-01 -6.90986201e-03 -5.56964127e+01] [-3.24323639e-02 2.92504396e-04 9.99473890e-01 -9.86958859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654012739 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:299.64, Y:-55.71, Z:-9.87 [[ 9.78725385e-01 2.02558822e-01 3.26579811e-02 2.99637609e+02] [-2.02433982e-01 9.79270032e-01 -7.11947397e-03 -5.57061009e+01] [-3.34230944e-02 3.56924758e-04 9.99441229e-01 -9.87003075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:299.66, Y:-55.72, Z:-9.87 [[ 9.79207712e-01 2.00100520e-01 3.33472488e-02 2.99664458e+02] [-1.99968957e-01 9.79775270e-01 -7.26885403e-03 -5.57201227e+01] [-3.41273112e-02 4.49303341e-04 9.99417393e-01 -9.87045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714012739 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:299.69, Y:-55.73, Z:-9.87 [[ 9.79372387e-01 1.99341901e-01 3.30534957e-02 2.99692723e+02] [-1.99212200e-01 9.79929887e-01 -7.20527225e-03 -5.57309281e+01] [-3.38264210e-02 4.71985105e-04 9.99427611e-01 -9.87162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:299.72, Y:-55.75, Z:-9.87 [[ 9.79321990e-01 1.99433336e-01 3.39821173e-02 2.99721925e+02] [-1.99296311e-01 9.79911278e-01 -7.40728919e-03 -5.57461371e+01] [-3.47767204e-02 4.81610587e-04 9.99394991e-01 -9.87192527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774012739 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:299.75, Y:-55.76, Z:-9.87 [[ 9.79098128e-01 2.00457504e-01 3.44041355e-02 2.99752505e+02] [-2.00317650e-01 9.79702294e-01 -7.50028205e-03 -5.57573856e+01] [-3.52092983e-02 4.51756536e-04 9.99379858e-01 -9.87288007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:299.78, Y:-55.77, Z:-9.87 [[ 9.78789071e-01 2.02015277e-01 3.40849446e-02 2.99782012e+02] [-2.01878742e-01 9.79382290e-01 -7.43665546e-03 -5.57684664e+01] [-3.48845091e-02 3.97891346e-04 9.99391271e-01 -9.87410780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834012739 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:299.81, Y:-55.78, Z:-9.88 [[ 9.77955274e-01 2.06347810e-01 3.20009917e-02 2.99811122e+02] [-2.06229615e-01 9.78478680e-01 -6.98704879e-03 -5.57838633e+01] [-3.27540503e-02 2.33469001e-04 9.99463415e-01 -9.87537721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:299.84, Y:-55.80, Z:-9.87 [[ 9.76596513e-01 2.12821412e-01 3.10853328e-02 2.99839174e+02] [-2.12713094e-01 9.77091115e-01 -6.78920676e-03 -5.57954617e+01] [-3.18180910e-02 1.80583370e-05 9.99493676e-01 -9.87495647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:299.87, Y:-55.80, Z:-9.88 [[ 9.75920862e-01 2.15758038e-01 3.20459055e-02 2.99868052e+02] [-2.15644515e-01 9.76446856e-01 -6.99860468e-03 -5.58029909e+01] [-3.28011289e-02 -8.04394523e-05 9.99461895e-01 -9.87560570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:299.90, Y:-55.81, Z:-9.88 [[ 9.75424070e-01 2.17774771e-01 3.34967557e-02 2.99897730e+02] [-2.17651951e-01 9.75999039e-01 -7.31460481e-03 -5.58111693e+01] [-3.42857378e-02 -1.55792626e-04 9.99412059e-01 -9.87616187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954012739 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:299.93, Y:-55.82, Z:-9.88 [[ 9.75121426e-01 2.18701918e-01 3.61617973e-02 2.99926896e+02] [-2.18559402e-01 9.75791694e-01 -7.89670964e-03 -5.58209667e+01] [-3.70134070e-02 -2.03250042e-04 9.99314748e-01 -9.87746791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:299.96, Y:-55.83, Z:-9.88 [[ 9.75334851e-01 2.18072300e-01 3.41526133e-02 2.99957786e+02] [-2.17944733e-01 9.75932602e-01 -7.45987588e-03 -5.58296772e+01] [-3.49574411e-02 -1.67505248e-04 9.99388788e-01 -9.87962799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014012739 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:299.99, Y:-55.84, Z:-9.88 [[ 9.75502462e-01 2.17574398e-01 3.25011938e-02 2.99988469e+02] [-2.17458414e-01 9.76043730e-01 -7.10461712e-03 -5.58365163e+01] [-3.32683692e-02 -1.37086576e-04 9.99446445e-01 -9.88151021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:300.02, Y:-55.84, Z:-9.88 [[ 9.75614217e-01 2.17274956e-01 3.11206154e-02 3.00019268e+02] [-2.17168443e-01 9.76110434e-01 -6.80355411e-03 -5.58432399e+01] [-3.18553993e-02 -1.20771468e-04 9.99492481e-01 -9.88268136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:300.05, Y:-55.85, Z:-9.88 [[ 9.75815089e-01 2.16256947e-01 3.19036876e-02 3.00050340e+02] [-2.16144443e-01 9.76336482e-01 -6.97528564e-03 -5.58508387e+01] [-3.26571881e-02 -8.92158129e-05 9.99466608e-01 -9.88392245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:300.08, Y:-55.86, Z:-9.88 [[ 9.75878438e-01 2.15801279e-01 3.30315365e-02 3.00081630e+02] [-2.15680210e-01 9.76437301e-01 -7.22798489e-03 -5.58585381e+01] [-3.38130328e-02 -7.06141441e-05 9.99428173e-01 -9.88450543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:300.11, Y:-55.87, Z:-9.88 [[ 9.75941646e-01 2.15396356e-01 3.37981261e-02 3.00111973e+02] [-2.15269131e-01 9.76526706e-01 -7.40230723e-03 -5.58661995e+01] [-3.45992027e-02 -5.14733333e-05 9.99401267e-01 -9.88483189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:300.14, Y:-55.88, Z:-9.89 [[ 9.75711058e-01 2.16514474e-01 3.33078633e-02 3.00142260e+02] [-2.16391539e-01 9.76279404e-01 -7.29569040e-03 -5.58754387e+01] [-3.40974035e-02 -8.90540204e-05 9.99418511e-01 -9.88572963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194012739 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:300.17, Y:-55.88, Z:-9.89 [[ 9.75439281e-01 2.17954180e-01 3.18462596e-02 3.00171858e+02] [-2.17842403e-01 9.75958995e-01 -6.98056976e-03 -5.58842659e+01] [-3.26020878e-02 -1.28343770e-04 9.99468402e-01 -9.88765219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:300.20, Y:-55.89, Z:-9.89 [[ 9.75201772e-01 2.18984629e-01 3.20505122e-02 3.00201042e+02] [-2.18871944e-01 9.75728295e-01 -7.02614063e-03 -5.58915936e+01] [-3.28112085e-02 -1.63053115e-04 9.99461554e-01 -9.88848075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254012739 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:300.23, Y:-55.90, Z:-9.89 [[ 9.74455453e-01 2.21979525e-01 3.40831394e-02 3.00230362e+02] [-2.21853904e-01 9.75051287e-01 -7.47216605e-03 -5.58982880e+01] [-3.48914768e-02 -2.80184592e-04 9.99391068e-01 -9.88723237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:300.26, Y:-55.91, Z:-9.89 [[ 9.74447843e-01 2.22012928e-01 3.40831358e-02 3.00261428e+02] [-2.21887327e-01 9.75043681e-01 -7.47218229e-03 -5.59051517e+01] [-3.48914673e-02 -2.81363993e-04 9.99391068e-01 -9.88832772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314012739 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:300.29, Y:-55.91, Z:-9.89 [[ 9.73926047e-01 2.24223352e-01 3.45245180e-02 3.00291583e+02] [-2.24095820e-01 9.74537714e-01 -7.57019449e-03 -5.59117525e+01] [-3.53428592e-02 -3.63990561e-04 9.99375180e-01 -9.88812951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:300.32, Y:-55.92, Z:-9.89 [[ 9.72871687e-01 2.28791600e-01 3.42794979e-02 3.00321703e+02] [-2.28668674e-01 9.73475284e-01 -7.51730245e-03 -5.59189432e+01] [-3.50901396e-02 -5.25276587e-04 9.99384013e-01 -9.88973397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374012739 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:300.35, Y:-55.93, Z:-9.89 [[ 9.72522610e-01 2.30291679e-01 3.41396390e-02 3.00351972e+02] [-2.30170648e-01 9.73121478e-01 -7.48747209e-03 -5.59259078e+01] [-3.49463184e-02 -5.76206908e-04 9.99389025e-01 -9.89114117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:300.38, Y:-55.93, Z:-9.89 [[ 9.71938227e-01 2.32755148e-01 3.40752733e-02 3.00381936e+02] [-2.32636056e-01 9.72535142e-01 -7.47418113e-03 -5.59294596e+01] [-3.48790549e-02 -6.62694846e-04 9.99391321e-01 -9.89182402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:300.41, Y:-55.93, Z:-9.89 [[ 9.71713810e-01 2.33701287e-01 3.39996899e-02 3.00412853e+02] [-2.33583302e-01 9.72308194e-01 -7.45760242e-03 -5.59328683e+01] [-3.48010284e-02 -6.95104579e-04 9.99394019e-01 -9.89319860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:300.44, Y:-55.94, Z:-9.89 [[ 9.71636440e-01 2.34024193e-01 3.39897923e-02 3.00442932e+02] [-2.33906474e-01 9.72230517e-01 -7.45542215e-03 -5.59360177e+01] [-3.47906625e-02 -7.06472640e-04 9.99394372e-01 -9.89449208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494012739 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:300.47, Y:-55.94, Z:-9.90 [[ 9.71900955e-01 2.32830018e-01 3.46224922e-02 3.00473123e+02] [-2.32707148e-01 9.72517210e-01 -7.59333946e-03 -5.59380152e+01] [-3.54389269e-02 -6.76927557e-04 9.99371615e-01 -9.89590908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:300.50, Y:-55.94, Z:-9.90 [[ 9.72281298e-01 2.31237412e-01 3.46169947e-02 3.00503279e+02] [-2.31113601e-01 9.72897156e-01 -7.59130968e-03 -5.59421288e+01] [-3.54341705e-02 -6.19569868e-04 9.99371821e-01 -9.89708143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55401273900003 meters Centerline goodness : 0.991003 Centerline is valid? [True, True] Translation: X:300.53, Y:-55.94, Z:-9.90 [[ 9.73419758e-01 2.26375826e-01 3.47557365e-02 3.00533306e+02] [-2.26247920e-01 9.74039931e-01 -7.62172084e-03 -5.59433590e+01] [-3.55788486e-02 -4.44279445e-04 9.99366774e-01 -9.89782664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:300.56, Y:-55.95, Z:-9.90 [[ 9.74075442e-01 2.23501921e-01 3.49846253e-02 3.00563596e+02] [-2.23370485e-01 9.74703429e-01 -7.67149779e-03 -5.59486499e+01] [-3.58142288e-02 -3.41915141e-04 9.99358406e-01 -9.89885851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61401273900003 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:300.59, Y:-55.96, Z:-9.90 [[ 9.75345610e-01 2.17834292e-01 3.53434743e-02 3.00593090e+02] [-2.17696420e-01 9.75985760e-01 -7.75020834e-03 -5.59551936e+01] [-3.61829888e-02 -1.35016151e-04 9.99345172e-01 -9.89928681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:300.62, Y:-55.96, Z:-9.90 [[ 9.75784608e-01 2.15848278e-01 3.54107370e-02 3.00622244e+02] [-2.15708558e-01 9.76426913e-01 -7.76535240e-03 -5.59609633e+01] [-3.62521346e-02 -6.10876912e-05 9.99342673e-01 -9.89975805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67401273900003 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:300.65, Y:-55.97, Z:-9.90 [[ 9.75995646e-01 2.14961429e-01 3.49868855e-02 3.00651577e+02] [-2.14824481e-01 9.76622539e-01 -7.67196921e-03 -5.59655722e+01] [-3.58181585e-02 -2.82309846e-05 9.99358323e-01 -9.90082517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:300.68, Y:-55.97, Z:-9.90 [[ 9.75966882e-01 2.15065040e-01 3.51521640e-02 3.00680824e+02] [-2.14926892e-01 9.76599727e-01 -7.70736462e-03 -5.59722747e+01] [-3.59871785e-02 -3.30127497e-05 9.99352251e-01 -9.90192156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734012739 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:300.71, Y:-55.98, Z:-9.90 [[ 9.75959563e-01 2.15018951e-01 3.56339912e-02 3.00709860e+02] [-2.14876989e-01 9.76609876e-01 -7.81219144e-03 -5.59800540e+01] [-3.64802769e-02 -3.25417706e-05 9.99334373e-01 -9.90285292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:300.74, Y:-55.99, Z:-9.90 [[ 9.75822171e-01 2.15639003e-01 3.56498456e-02 3.00738263e+02] [-2.15497328e-01 9.76473152e-01 -7.81564281e-03 -5.59874433e+01] [-3.64964745e-02 -5.57689400e-05 9.99333780e-01 -9.90285387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794012739 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:300.77, Y:-55.99, Z:-9.90 [[ 9.75605412e-01 2.16760430e-01 3.47706180e-02 3.00767317e+02] [-2.16626386e-01 9.76224824e-01 -7.62247983e-03 -5.59935834e+01] [-3.55961924e-02 -9.57007326e-05 9.99366250e-01 -9.90435320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:300.79, Y:-56.00, Z:-9.91 [[ 9.74937065e-01 2.19946017e-01 3.34883270e-02 3.00794820e+02] [-2.19823570e-01 9.75512023e-01 -7.34099189e-03 -5.59997095e+01] [-3.42828876e-02 -2.04518515e-04 9.99412148e-01 -9.90573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854012739 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:300.82, Y:-56.01, Z:-9.91 [[ 9.74580482e-01 2.21508024e-01 3.35719933e-02 3.00824165e+02] [-2.21385922e-01 9.75158514e-01 -7.35842425e-03 -5.60060454e+01] [-3.43679651e-02 -2.60990035e-04 9.99409213e-01 -9.90717666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:300.85, Y:-56.01, Z:-9.91 [[ 9.74031561e-01 2.23910273e-01 3.35664778e-02 3.00851582e+02] [-2.23789664e-01 9.74609701e-01 -7.35640601e-03 -5.60101127e+01] [-3.43613898e-02 -3.46459141e-04 9.99409413e-01 -9.90850963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914012739 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:300.88, Y:-56.02, Z:-9.91 [[ 9.73780333e-01 2.25039468e-01 3.33031760e-02 3.00879606e+02] [-2.24921472e-01 9.74349573e-01 -7.29671763e-03 -5.60157345e+01] [-3.40909847e-02 -3.85199237e-04 9.99418659e-01 -9.90906505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:300.91, Y:-56.02, Z:-9.91 [[ 9.73546871e-01 2.26099421e-01 3.29475593e-02 3.00908069e+02] [-2.25984591e-01 9.74104140e-01 -7.21724485e-03 -5.60220262e+01] [-3.37261688e-02 -4.19314574e-04 9.99431023e-01 -9.91032399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974012739 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:300.94, Y:-56.03, Z:-9.91 [[ 9.73208477e-01 2.27455636e-01 3.36034765e-02 3.00935296e+02] [-2.27337053e-01 9.73788327e-01 -7.35924835e-03 -5.60290954e+01] [-3.43965757e-02 -4.77232420e-04 9.99408149e-01 -9.91120087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:300.96, Y:-56.04, Z:-9.91 [[ 9.73309860e-01 2.26902842e-01 3.43950183e-02 3.00961977e+02] [-2.26778335e-01 9.73917285e-01 -7.53047559e-03 -5.60352665e+01] [-3.52065891e-02 -4.70558827e-04 9.99379945e-01 -9.91219363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034012739 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:300.99, Y:-56.04, Z:-9.91 [[ 9.73787488e-01 2.24676331e-01 3.54749908e-02 3.00989849e+02] [-2.24542464e-01 9.74433365e-01 -7.76520651e-03 -5.60414880e+01] [-3.63126727e-02 -4.03980906e-04 9.99340396e-01 -9.91326610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:301.02, Y:-56.05, Z:-9.91 [[ 9.74055385e-01 2.23575385e-01 3.50735496e-02 3.01017892e+02] [-2.23443877e-01 9.74686574e-01 -7.67571243e-03 -5.60481738e+01] [-3.59018182e-02 -3.60400868e-04 9.99355257e-01 -9.91390704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094012739 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:301.05, Y:-56.05, Z:-9.92 [[ 9.74356884e-01 2.22597509e-01 3.28483124e-02 3.01045169e+02] [-2.22481655e-01 9.74910383e-01 -7.18730264e-03 -5.60547218e+01] [-3.36240365e-02 -3.05149117e-04 9.99434506e-01 -9.91533734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:301.07, Y:-56.06, Z:-9.92 [[ 9.74334188e-01 2.22806894e-01 3.20932829e-02 3.01072829e+02] [-2.22696479e-01 9.74862551e-01 -7.02026823e-03 -5.60608205e+01] [-3.28507039e-02 -3.06973780e-04 9.99460223e-01 -9.91678319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154012739 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:301.10, Y:-56.07, Z:-9.92 [[ 9.74007848e-01 2.24051520e-01 3.33110948e-02 3.01100440e+02] [-2.23933347e-01 9.74577233e-01 -7.28506000e-03 -5.60673465e+01] [-3.40964634e-02 -3.63759348e-04 9.99418480e-01 -9.91730771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:301.13, Y:-56.07, Z:-9.92 [[ 9.73904537e-01 2.24308230e-01 3.45799178e-02 3.01128065e+02] [-2.24181101e-01 9.74518172e-01 -7.56089972e-03 -5.60738503e+01] [-3.53947303e-02 -3.88569498e-04 9.99373335e-01 -9.91732456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214012739 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:301.16, Y:-56.08, Z:-9.92 [[ 9.73894856e-01 2.24101969e-01 3.61540839e-02 3.01156316e+02] [-2.23962921e-01 9.74565620e-01 -7.90334133e-03 -5.60806317e+01] [-3.70056815e-02 -4.00150755e-04 9.99314975e-01 -9.91787309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:301.19, Y:-56.09, Z:-9.92 [[ 9.74145143e-01 2.22967014e-01 3.64273323e-02 3.01185192e+02] [-2.22825121e-01 9.74825923e-01 -7.96149542e-03 -5.60891124e+01] [-3.72854587e-02 -3.61272623e-04 9.99304590e-01 -9.91778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274012739 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:301.22, Y:-56.10, Z:-9.92 [[ 9.74239157e-01 2.22681872e-01 3.56489543e-02 3.01216656e+02] [-2.22545776e-01 9.74891105e-01 -7.79173775e-03 -5.60971981e+01] [-3.64889272e-02 -3.42508163e-04 9.99333999e-01 -9.91968594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:301.25, Y:-56.11, Z:-9.92 [[ 9.74018396e-01 2.23891165e-01 3.40721482e-02 3.01245320e+02] [-2.23767384e-01 9.74614084e-01 -7.45286152e-03 -5.61062316e+01] [-3.48758254e-02 -3.65011234e-04 9.99391587e-01 -9.92125883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334012739 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:301.27, Y:-56.11, Z:-9.92 [[ 9.73702597e-01 2.25165689e-01 3.46938702e-02 3.01274095e+02] [-2.25038084e-01 9.74320399e-01 -7.59086760e-03 -5.61129759e+01] [-3.55121483e-02 -4.16194574e-04 9.99369158e-01 -9.92168997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters Centerline goodness : 0.989663 Centerline is valid? [True, True] Translation: X:301.30, Y:-56.12, Z:-9.92 [[ 9.72731600e-01 2.28963083e-01 3.70019187e-02 3.01302518e+02] [-2.28820694e-01 9.73434926e-01 -8.09530277e-03 -5.61183600e+01] [-3.78724855e-02 -5.92247915e-04 9.99282405e-01 -9.92137031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394012739 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:301.33, Y:-56.12, Z:-9.92 [[ 9.72139745e-01 2.31336033e-01 3.77883060e-02 3.01331989e+02] [-2.31189368e-01 9.72873655e-01 -8.26601069e-03 -5.61239671e+01] [-3.86754735e-02 -7.00537078e-04 9.99251578e-01 -9.92253902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:301.36, Y:-56.13, Z:-9.92 [[ 9.71615503e-01 2.33558512e-01 3.75996765e-02 3.01361119e+02] [-2.33415004e-01 9.72342431e-01 -8.22385828e-03 -5.61303608e+01] [-3.84805129e-02 -7.85900444e-04 9.99259042e-01 -9.92423396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454012739 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:301.39, Y:-56.14, Z:-9.93 [[ 9.71230858e-01 2.35497467e-01 3.53774299e-02 3.01389885e+02] [-2.35371740e-01 9.71874623e-01 -7.73699560e-03 -5.61362824e+01] [-3.62044692e-02 -8.12438350e-04 9.99344073e-01 -9.92679523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters Centerline goodness : 0.989140 Centerline is valid? [True, True] Translation: X:301.42, Y:-56.14, Z:-9.93 [[ 9.71580474e-01 2.34358790e-01 3.32767345e-02 3.01418880e+02] [-2.34246912e-01 9.72149902e-01 -7.27681713e-03 -5.61396367e+01] [-3.40553603e-02 -7.24958866e-04 9.99419685e-01 -9.92864802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514012739 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:301.45, Y:-56.15, Z:-9.93 [[ 9.71918986e-01 2.33056521e-01 3.25291022e-02 3.01447327e+02] [-2.32948924e-01 9.72462964e-01 -7.11218512e-03 -5.61450938e+01] [-3.32908882e-02 -6.65151600e-04 9.99445483e-01 -9.93016496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters Centerline goodness : 0.988295 Centerline is valid? [True, True] Translation: X:301.48, Y:-56.15, Z:-9.93 [[ 9.72279102e-01 2.31565495e-01 3.24155811e-02 3.01475549e+02] [-2.31457871e-01 9.72819122e-01 -7.08581456e-03 -5.61514231e+01] [-3.31753273e-02 -6.13451985e-04 9.99449359e-01 -9.93157595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574012739 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:301.50, Y:-56.16, Z:-9.93 [[ 9.72962497e-01 2.28633657e-01 3.27204728e-02 3.01502836e+02] [-2.28522395e-01 9.73512394e-01 -7.15084364e-03 -5.61586802e+01] [-3.34887093e-02 -5.19858112e-04 9.99438961e-01 -9.93177309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:301.53, Y:-56.16, Z:-9.93 [[ 9.73224726e-01 2.27562770e-01 3.23854754e-02 3.01531000e+02] [-2.27453220e-01 9.73763296e-01 -7.07648234e-03 -5.61635653e+01] [-3.31461311e-02 -4.79173084e-04 9.99450401e-01 -9.93275498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634012739 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:301.56, Y:-56.17, Z:-9.93 [[ 9.73475508e-01 2.26595884e-01 3.16186664e-02 3.01559217e+02] [-2.26490999e-01 9.73988765e-01 -6.90747702e-03 -5.61668109e+01] [-3.23614317e-02 -4.37083625e-04 9.99476136e-01 -9.93427796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters Centerline goodness : 0.988644 Centerline is valid? [True, True] Translation: X:301.59, Y:-56.17, Z:-9.93 [[ 9.73559824e-01 2.26282851e-01 3.12624395e-02 3.01587757e+02] [-2.26180216e-01 9.74061544e-01 -6.82773951e-03 -5.61724149e+01] [-3.19965405e-02 -4.23732432e-04 9.99487890e-01 -9.93485680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694012739 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:301.62, Y:-56.18, Z:-9.93 [[ 9.73412095e-01 2.26951168e-01 3.10170917e-02 3.01616707e+02] [-2.26850523e-01 9.73906038e-01 -6.77271811e-03 -5.61766396e+01] [-3.17448091e-02 -4.43597733e-04 9.99495908e-01 -9.93493339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters Centerline goodness : 0.988713 Centerline is valid? [True, True] Translation: X:301.65, Y:-56.18, Z:-9.94 [[ 9.73202160e-01 2.27691711e-01 3.21564860e-02 3.01645064e+02] [-2.27583990e-01 9.73733150e-01 -7.01993640e-03 -5.61804830e+01] [-3.29102178e-02 -4.86484121e-04 9.99458194e-01 -9.93519240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754012739 meters Centerline goodness : 0.989214 Centerline is valid? [True, True] Translation: X:301.67, Y:-56.18, Z:-9.94 [[ 9.72333537e-01 2.31086318e-01 3.41556192e-02 3.01672670e+02] [-2.30966938e-01 9.72933042e-01 -7.45456129e-03 -5.61826865e+01] [-3.49537776e-02 -6.40498832e-04 9.99388725e-01 -9.93589329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:301.70, Y:-56.19, Z:-9.94 [[ 9.72025173e-01 2.32401230e-01 3.40107477e-02 3.01700579e+02] [-2.32283736e-01 9.72619760e-01 -7.42086126e-03 -5.61864318e+01] [-3.48041425e-02 -6.86879604e-04 9.99393916e-01 -9.93633968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814012739 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:301.73, Y:-56.19, Z:-9.94 [[ 9.71759356e-01 2.33516129e-01 3.39701519e-02 3.01729525e+02] [-2.33399668e-01 9.72352656e-01 -7.40995349e-03 -5.61869285e+01] [-3.47613111e-02 -7.27930539e-04 9.99395378e-01 -9.93777144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:301.76, Y:-56.19, Z:-9.94 [[ 9.71883104e-01 2.32968090e-01 3.41921179e-02 3.01757614e+02] [-2.32849822e-01 9.72484117e-01 -7.45668325e-03 -5.61907533e+01] [-3.49884608e-02 -7.14604105e-04 9.99387461e-01 -9.93833234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874012739 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:301.78, Y:-56.20, Z:-9.94 [[ 9.72253652e-01 2.31319402e-01 3.48449441e-02 3.01784971e+02] [-2.31195593e-01 9.72877631e-01 -7.59687693e-03 -5.61952587e+01] [-3.56571717e-02 -6.69906155e-04 9.99363856e-01 -9.93945185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:301.81, Y:-56.20, Z:-9.94 [[ 9.73588886e-01 2.25500193e-01 3.56979447e-02 3.01813157e+02] [-2.25366422e-01 9.74243010e-01 -7.78035279e-03 -5.61997398e+01] [-3.65329442e-02 -4.70253080e-04 9.99332339e-01 -9.94013510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934012739 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:301.84, Y:-56.20, Z:-9.94 [[ 9.74294440e-01 2.22423304e-01 3.57521827e-02 3.01840365e+02] [-2.22287121e-01 9.74950125e-01 -7.79037165e-03 -5.62045230e+01] [-3.65893552e-02 -3.57133972e-04 9.99330322e-01 -9.94112962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:301.87, Y:-56.21, Z:-9.94 [[ 9.75485168e-01 2.17275833e-01 3.49270581e-02 3.01867335e+02] [-2.17142638e-01 9.76110233e-01 -7.60846120e-03 -5.62106788e+01] [-3.57457935e-02 -1.62212466e-04 9.99360902e-01 -9.94352667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994012739 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:301.90, Y:-56.22, Z:-9.94 [[ 9.75957609e-01 2.15187764e-01 3.46550249e-02 3.01895117e+02] [-2.15055401e-01 9.76572690e-01 -7.54693608e-03 -5.62174984e+01] [-3.54671592e-02 -8.72605798e-05 9.99370839e-01 -9.94494507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:301.92, Y:-56.22, Z:-9.95 [[ 9.76303921e-01 2.13591150e-01 3.47774918e-02 3.01923715e+02] [-2.13456894e-01 9.76923139e-01 -7.57196611e-03 -5.62231013e+01] [-3.55922414e-02 -3.09551628e-05 9.99366395e-01 -9.94521251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05401273900003 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:301.95, Y:-56.23, Z:-9.95 [[ 9.76331206e-01 2.13584885e-01 3.40422153e-02 3.01952498e+02] [-2.13456298e-01 9.76924509e-01 -7.41031350e-03 -5.62281816e+01] [-3.48394054e-02 -3.16049236e-05 9.99392923e-01 -9.94628542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:301.98, Y:-56.23, Z:-9.95 [[ 9.76329156e-01 2.14115953e-01 3.05898180e-02 3.01980636e+02] [-2.14012411e-01 9.76808250e-01 -6.65820426e-03 -5.62338523e+01] [-3.13060144e-02 -4.60017586e-05 9.99509846e-01 -9.94904246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11401273900003 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:302.01, Y:-56.24, Z:-9.95 [[ 9.76373832e-01 2.14184058e-01 2.86239364e-02 3.02007565e+02] [-2.14093465e-01 9.76793319e-01 -6.22906261e-03 -5.62399346e+01] [-2.92938358e-02 -4.63039922e-05 9.99570842e-01 -9.95059496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:302.04, Y:-56.25, Z:-9.95 [[ 9.76380998e-01 2.14151334e-01 2.86243289e-02 3.02036227e+02] [-2.14060779e-01 9.76800493e-01 -6.22725883e-03 -5.62460827e+01] [-2.92938343e-02 -4.71689519e-05 9.99570842e-01 -9.95160415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17401273900003 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:302.06, Y:-56.25, Z:-9.95 [[ 9.76379405e-01 2.14259157e-01 2.78616309e-02 3.02062986e+02] [-2.14173432e-01 9.76776848e-01 -6.06052064e-03 -5.62518343e+01] [-2.85131180e-02 -4.98535675e-05 9.99593417e-01 -9.95307681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:302.09, Y:-56.26, Z:-9.95 [[ 9.76402931e-01 2.13967672e-01 2.92429706e-02 3.02090028e+02] [-2.13873151e-01 9.76840741e-01 -6.35937921e-03 -5.62564773e+01] [-2.99264266e-02 -4.49697763e-05 9.99552103e-01 -9.95310283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234012739 meters Centerline goodness : 0.988143 Centerline is valid? [True, True] Translation: X:302.12, Y:-56.26, Z:-9.95 [[ 9.76478337e-01 2.13467774e-01 3.03573268e-02 3.02118377e+02] [-2.13365773e-01 9.76950105e-01 -6.59837494e-03 -5.62627666e+01] [-3.10661341e-02 -3.40443287e-05 9.99517331e-01 -9.95358653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:302.15, Y:-56.27, Z:-9.95 [[ 9.76738569e-01 2.12077976e-01 3.16969957e-02 3.02146193e+02] [-2.11966091e-01 9.77252747e-01 -6.88797127e-03 -5.62706312e+01] [-3.24367632e-02 9.05890482e-06 9.99473790e-01 -9.95471478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294012739 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:302.17, Y:-56.28, Z:-9.96 [[ 9.76990318e-01 2.10984067e-01 3.12352703e-02 3.02172824e+02] [-2.10874906e-01 9.77489500e-01 -6.78619363e-03 -5.62773269e+01] [-3.19639275e-02 4.33107826e-05 9.99489022e-01 -9.95642848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters Centerline goodness : 0.988330 Centerline is valid? [True, True] Translation: X:302.20, Y:-56.28, Z:-9.96 [[ 9.77273237e-01 2.09761451e-01 3.06129581e-02 3.02199404e+02] [-2.09656053e-01 9.77752590e-01 -6.64920439e-03 -5.62840714e+01] [-3.13266459e-02 7.98975138e-05 9.99509197e-01 -9.95799380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354012739 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:302.23, Y:-56.29, Z:-9.96 [[ 9.77174469e-01 2.10122910e-01 3.12796957e-02 3.02227713e+02] [-2.10013114e-01 9.77674976e-01 -6.79219263e-03 -5.62901699e+01] [-3.20085710e-02 6.80109577e-05 9.99487592e-01 -9.95830232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:302.26, Y:-56.30, Z:-9.96 [[ 9.76980330e-01 2.10875407e-01 3.22644967e-02 3.02256607e+02] [-2.10759050e-01 9.77512947e-01 -7.00442328e-03 -5.62967910e+01] [-3.30160238e-02 4.31491122e-05 9.99454822e-01 -9.95846682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414012739 meters Centerline goodness : 0.989483 Centerline is valid? [True, True] Translation: X:302.28, Y:-56.30, Z:-9.96 [[ 9.76393536e-01 2.13418750e-01 3.32881298e-02 3.02284208e+02] [-2.13296396e-01 9.76960816e-01 -7.22579735e-03 -5.63031818e+01] [-3.40633190e-02 -4.50162854e-05 9.99419676e-01 -9.95904740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:302.31, Y:-56.31, Z:-9.96 [[ 9.76027437e-01 2.15162289e-01 3.27968208e-02 3.02312377e+02] [-2.15044545e-01 9.76578301e-01 -7.11796323e-03 -5.63088856e+01] [-3.35601808e-02 -1.05450006e-04 9.99436693e-01 -9.95949234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474012739 meters Centerline goodness : 0.989509 Centerline is valid? [True, True] Translation: X:302.34, Y:-56.31, Z:-9.96 [[ 9.75376021e-01 2.18312396e-01 3.13259620e-02 3.02339675e+02] [-2.18206648e-01 9.75878914e-01 -6.79730698e-03 -5.63134524e+01] [-3.20542822e-02 -2.05602924e-04 9.99486108e-01 -9.96142134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:302.37, Y:-56.32, Z:-9.96 [[ 9.75188354e-01 2.19247091e-01 3.06331178e-02 3.02367168e+02] [-2.19146488e-01 9.75669339e-01 -6.64514510e-03 -5.63189640e+01] [-3.13447226e-02 -2.32872081e-04 9.99508606e-01 -9.96298635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534012739 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:302.40, Y:-56.32, Z:-9.96 [[ 9.75031651e-01 2.19944669e-01 3.06206078e-02 3.02395438e+02] [-2.19844551e-01 9.75512315e-01 -6.64053839e-03 -5.63248692e+01] [-3.13313310e-02 -2.57038653e-04 9.99509020e-01 -9.96353113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:302.42, Y:-56.33, Z:-9.96 [[ 9.74741180e-01 2.20643491e-01 3.45844236e-02 3.02422831e+02] [-2.20516275e-01 9.75354473e-01 -7.49824188e-03 -5.63313168e+01] [-3.53865105e-02 -3.17583124e-04 9.99373651e-01 -9.96377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594012739 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:302.45, Y:-56.34, Z:-9.96 [[ 9.74979403e-01 2.19405969e-01 3.57237382e-02 3.02450795e+02] [-2.19269480e-01 9.75633610e-01 -7.74304849e-03 -5.63380560e+01] [-3.65521507e-02 -2.83812713e-04 9.99331707e-01 -9.96422741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:302.48, Y:-56.35, Z:-9.97 [[ 9.75378716e-01 2.17924386e-01 3.38426111e-02 3.02478499e+02] [-2.17801061e-01 9.75965632e-01 -7.33370882e-03 -5.63450568e+01] [-3.46274193e-02 -2.17813111e-04 9.99400267e-01 -9.96573664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654012739 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:302.51, Y:-56.35, Z:-9.97 [[ 9.75880980e-01 2.16036575e-01 3.13769274e-02 3.02507062e+02] [-2.15929622e-01 9.76385261e-01 -6.79854388e-03 -5.63527875e+01] [-3.21047036e-02 -1.40638406e-04 9.99484501e-01 -9.96798226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters Centerline goodness : 0.988627 Centerline is valid? [True, True] Translation: X:302.53, Y:-56.36, Z:-9.97 [[ 9.76846936e-01 2.12072134e-01 2.82041420e-02 3.02534407e+02] [-2.11984082e-01 9.77254015e-01 -6.11054697e-03 -5.63630044e+01] [-2.88584877e-02 -9.76006873e-06 9.99583507e-01 -9.96953051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714012739 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:302.56, Y:-56.37, Z:-9.97 [[ 9.77057754e-01 2.11065636e-01 2.84507021e-02 3.02562302e+02] [-2.10975640e-01 9.77471891e-01 -6.16298275e-03 -5.63704796e+01] [-2.91105555e-02 1.91849890e-05 9.99576198e-01 -9.97032343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:302.59, Y:-56.38, Z:-9.97 [[ 9.76745547e-01 2.12253535e-01 3.02749468e-02 3.02590154e+02] [-2.12152244e-01 9.77214632e-01 -6.55658419e-03 -5.63792363e+01] [-3.09767792e-02 -1.87835066e-05 9.99520104e-01 -9.96965086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774012739 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:302.62, Y:-56.39, Z:-9.97 [[ 9.76289064e-01 2.14153699e-01 3.15888761e-02 3.02617959e+02] [-2.14044470e-01 9.76799972e-01 -6.83951665e-03 -5.63871745e+01] [-3.23207211e-02 -8.40789320e-05 9.99477545e-01 -9.97022884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:302.65, Y:-56.40, Z:-9.97 [[ 9.75236657e-01 2.18630924e-01 3.33763566e-02 3.02645273e+02] [-2.18511642e-01 9.75807593e-01 -7.22527152e-03 -5.63953088e+01] [-3.41485700e-02 -2.46772827e-04 9.99416737e-01 -9.97068667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834012739 meters Centerline goodness : 0.989509 Centerline is valid? [True, True] Translation: X:302.67, Y:-56.40, Z:-9.97 [[ 9.74816717e-01 2.20478121e-01 3.34927831e-02 3.02674699e+02] [-2.20359148e-01 9.75391870e-01 -7.24888516e-03 -5.64012555e+01] [-3.42668089e-02 -3.14106716e-04 9.99412671e-01 -9.97180038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:302.70, Y:-56.41, Z:-9.97 [[ 9.74558745e-01 2.21726410e-01 3.27513594e-02 3.02702524e+02] [-2.21613378e-01 9.75108853e-01 -7.08764578e-03 -5.64065745e+01] [-3.35076588e-02 -3.50812200e-04 9.99438399e-01 -9.97309058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894012739 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:302.73, Y:-56.41, Z:-9.97 [[ 9.74580647e-01 2.21954560e-01 3.04751549e-02 3.02730334e+02] [-2.21856839e-01 9.75056953e-01 -6.59406989e-03 -5.64128736e+01] [-3.11785955e-02 -3.34668640e-04 9.99513773e-01 -9.97490136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:302.76, Y:-56.42, Z:-9.98 [[ 9.75200588e-01 2.19358454e-01 2.94224649e-02 3.02759144e+02] [-2.19266233e-01 9.75644304e-01 -6.36477916e-03 -5.64186193e+01] [-3.01020285e-02 -2.44416663e-04 9.99546801e-01 -9.97590922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954012739 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:302.79, Y:-56.42, Z:-9.98 [[ 9.75524640e-01 2.17803807e-01 3.02188427e-02 3.02787562e+02] [-2.17705788e-01 9.75992552e-01 -6.53675374e-03 -5.64235665e+01] [-3.09170953e-02 -2.02052633e-04 9.99521932e-01 -9.97670247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters Centerline goodness : 0.988806 Centerline is valid? [True, True] Translation: X:302.82, Y:-56.43, Z:-9.98 [[ 9.75858322e-01 2.16233834e-01 3.07158639e-02 3.02816450e+02] [-2.16131823e-01 9.76341592e-01 -6.64306758e-03 -5.64287027e+01] [-3.14256314e-02 -1.55982860e-04 9.99506081e-01 -9.97772109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014012739 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:302.84, Y:-56.43, Z:-9.98 [[ 9.76359181e-01 2.13960988e-01 3.07155652e-02 3.02844313e+02] [-2.13857877e-01 9.76842202e-01 -6.64228344e-03 -5.64330915e+01] [-3.14254499e-02 -8.35111367e-05 9.99506095e-01 -9.97839880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:302.87, Y:-56.44, Z:-9.98 [[ 9.76630950e-01 2.12525414e-01 3.20146089e-02 3.02872643e+02] [-2.12412663e-01 9.77155539e-01 -6.92197454e-03 -5.64376982e+01] [-3.27543479e-02 -4.00937629e-05 9.99463432e-01 -9.97866157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074012739 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:302.90, Y:-56.44, Z:-9.98 [[ 9.76637939e-01 2.12352939e-01 3.29327304e-02 3.02901857e+02] [-2.12233571e-01 9.77193035e-01 -7.11923953e-03 -5.64429801e+01] [-3.36934262e-02 -3.65115480e-05 9.99432215e-01 -9.97913485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:302.93, Y:-56.45, Z:-9.98 [[ 9.76542212e-01 2.12737866e-01 3.32852710e-02 3.02929538e+02] [-2.12616179e-01 9.77109307e-01 -7.19462658e-03 -5.64487312e+01] [-3.40539176e-02 -5.11305945e-05 9.99419996e-01 -9.97989122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134012739 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:302.96, Y:-56.46, Z:-9.98 [[ 9.76229392e-01 2.14344184e-01 3.21363489e-02 3.02957915e+02] [-2.14231663e-01 9.76758189e-01 -6.94512711e-03 -5.64568595e+01] [-3.28780895e-02 -1.04586256e-04 9.99459364e-01 -9.98088388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:302.99, Y:-56.46, Z:-9.98 [[ 9.76006147e-01 2.15402077e-01 3.18425308e-02 3.02985879e+02] [-2.15292191e-01 9.76525435e-01 -6.88089137e-03 -5.64642161e+01] [-3.25771996e-02 -1.39655957e-04 9.99469212e-01 -9.98174012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194012739 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:303.01, Y:-56.47, Z:-9.98 [[ 9.75669096e-01 2.16888589e-01 3.20804410e-02 3.03014568e+02] [-2.16777897e-01 9.76196344e-01 -6.93112116e-03 -5.64714180e+01] [-3.28200903e-02 -1.91849811e-04 9.99461257e-01 -9.98292490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:303.04, Y:-56.48, Z:-9.98 [[ 9.74931204e-01 2.20064110e-01 3.28775755e-02 3.03042543e+02] [-2.19949679e-01 9.75485363e-01 -7.10251662e-03 -5.64789049e+01] [-3.36346026e-02 -3.06947078e-04 9.99434150e-01 -9.98426907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254012739 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:303.07, Y:-56.49, Z:-9.99 [[ 9.74703811e-01 2.21041016e-01 3.30658510e-02 3.03071112e+02] [-2.20925873e-01 9.75264452e-01 -7.14195179e-03 -5.64854714e+01] [-3.38266133e-02 -3.43814379e-04 9.99427657e-01 -9.98604642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:303.10, Y:-56.49, Z:-9.99 [[ 9.74308750e-01 2.22902283e-01 3.22029730e-02 3.03099910e+02] [-2.22794115e-01 9.74840712e-01 -6.95479896e-03 -5.64926844e+01] [-3.29430097e-02 -3.98511383e-04 9.99457152e-01 -9.98650572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314012739 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:303.13, Y:-56.50, Z:-9.99 [[ 9.74158890e-01 2.23613061e-01 3.18065447e-02 3.03127931e+02] [-2.23507943e-01 9.74677908e-01 -6.86842629e-03 -5.64983371e+01] [-3.25370063e-02 -4.18076859e-04 9.99470444e-01 -9.98802741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:303.16, Y:-56.50, Z:-9.99 [[ 9.73984657e-01 2.24374496e-01 3.17800685e-02 3.03157361e+02] [-2.24269997e-01 9.74502893e-01 -6.86151031e-03 -5.65043190e+01] [-3.25093166e-02 -4.44310105e-04 9.99471334e-01 -9.99020872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374012739 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:303.19, Y:-56.51, Z:-9.99 [[ 9.73640441e-01 2.25916554e-01 3.14006650e-02 3.03185062e+02] [-2.25815359e-01 9.74146534e-01 -6.77891448e-03 -5.65090672e+01] [-3.21203179e-02 -4.90527135e-04 9.99483889e-01 -9.99210696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters Centerline goodness : 0.989511 Centerline is valid? [True, True] Translation: X:303.21, Y:-56.51, Z:-9.99 [[ 9.73446803e-01 2.26824370e-01 3.08549398e-02 3.03213435e+02] [-2.26727177e-01 9.73935543e-01 -6.65921541e-03 -5.65137724e+01] [-3.15611949e-02 -5.13261449e-04 9.99501690e-01 -9.99280512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434012739 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:303.24, Y:-56.52, Z:-9.99 [[ 9.72743134e-01 2.30051870e-01 2.91020893e-02 3.03242597e+02] [-2.29966891e-01 9.73178193e-01 -6.27958868e-03 -5.65157351e+01] [-2.97661498e-02 -5.84090206e-04 9.99556719e-01 -9.99362322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:303.27, Y:-56.52, Z:-9.99 [[ 9.72325881e-01 2.31897525e-01 2.83887099e-02 3.03270774e+02] [-2.31817485e-01 9.72740020e-01 -6.12437648e-03 -5.65184462e+01] [-2.90350620e-02 -6.26109569e-04 9.99578198e-01 -9.99464581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494012739 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:303.30, Y:-56.52, Z:-10.00 [[ 9.71493531e-01 2.35241038e-01 2.93593829e-02 3.03299151e+02] [-2.35157008e-01 9.71936771e-01 -6.33199345e-03 -5.65173256e+01] [-3.00250085e-02 -7.52573941e-04 9.99548864e-01 -9.99574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:303.33, Y:-56.52, Z:-10.00 [[ 9.71472097e-01 2.35162671e-01 3.06673015e-02 3.03325989e+02] [-2.35071018e-01 9.71955709e-01 -6.61178671e-03 -5.65191119e+01] [-3.13621042e-02 -7.85827489e-04 9.99507779e-01 -9.99664140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55401273900003 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:303.36, Y:-56.52, Z:-10.00 [[ 9.71897584e-01 2.33146536e-01 3.25235262e-02 3.03355138e+02] [-2.33042418e-01 9.72441311e-01 -7.00907799e-03 -5.65184247e+01] [-3.32613628e-02 -7.67255248e-04 9.99446393e-01 -9.99673747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:303.38, Y:-56.52, Z:-10.00 [[ 9.72121025e-01 2.32177435e-01 3.27773135e-02 3.03381621e+02] [-2.32071214e-01 9.72673166e-01 -7.06144253e-03 -5.65214949e+01] [-3.35211209e-02 -7.42094179e-04 9.99437734e-01 -9.99798180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61401273900003 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:303.41, Y:-56.52, Z:-10.00 [[ 9.72384894e-01 2.31148887e-01 3.22150622e-02 3.03409921e+02] [-2.31045801e-01 9.72918140e-01 -6.93768922e-03 -5.65247376e+01] [-3.29462575e-02 -6.97050663e-04 9.99456882e-01 -9.99879239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:303.44, Y:-56.52, Z:-10.00 [[ 9.73519125e-01 2.26446853e-01 3.13422456e-02 3.03439103e+02] [-2.26346910e-01 9.74023381e-01 -6.74755295e-03 -5.65238035e+01] [-3.20560421e-02 -5.25348587e-04 9.99485935e-01 -1.00006571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67401273900003 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:303.47, Y:-56.53, Z:-10.00 [[ 9.74782127e-01 2.20923702e-01 3.15043343e-02 3.03467682e+02] [-2.20819894e-01 9.75291032e-01 -6.78063419e-03 -5.65256762e+01] [-3.22238976e-02 -3.47142752e-04 9.99480615e-01 -1.00024362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:303.49, Y:-56.53, Z:-10.00 [[ 9.75305499e-01 2.18510782e-01 3.21282194e-02 3.03494165e+02] [-2.18401590e-01 9.75834495e-01 -6.91252592e-03 -5.65312619e+01] [-3.28622862e-02 -2.75029646e-04 9.99459851e-01 -1.00031028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734012739 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:303.52, Y:-56.54, Z:-10.00 [[ 9.75814636e-01 2.16008651e-01 3.35568128e-02 3.03520685e+02] [-2.15888178e-01 9.76391429e-01 -7.21616128e-03 -5.65368666e+01] [-3.43233376e-02 -2.02883372e-04 9.99410760e-01 -1.00036506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:303.55, Y:-56.54, Z:-10.00 [[ 9.76784043e-01 2.11393926e-01 3.47208954e-02 3.03547730e+02] [-2.11262133e-01 9.77400944e-01 -7.46360125e-03 -5.65425015e+01] [-3.55139959e-02 -4.48838061e-05 9.99369178e-01 -1.00040688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794012739 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:303.58, Y:-56.55, Z:-10.01 [[ 9.77201495e-01 2.09573323e-01 3.40038450e-02 3.03575401e+02] [-2.09445882e-01 9.77792934e-01 -7.30755698e-03 -5.65501125e+01] [-3.47801884e-02 1.89902778e-05 9.99394986e-01 -1.00057200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:303.60, Y:-56.56, Z:-10.01 [[ 9.77848903e-01 2.06741278e-01 3.27042297e-02 3.03601295e+02] [-2.06621859e-01 9.78395641e-01 -7.02682139e-03 -5.65604535e+01] [-3.34504098e-02 1.13760833e-04 9.99440372e-01 -1.00068242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854012739 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:303.63, Y:-56.57, Z:-10.01 [[ 9.77992344e-01 2.06053377e-01 3.27563930e-02 3.03628258e+02] [-2.05933259e-01 9.78540744e-01 -7.03601863e-03 -5.65680900e+01] [-3.35032605e-02 1.35541609e-04 9.99438599e-01 -1.00077321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:303.66, Y:-56.58, Z:-10.01 [[ 9.78060726e-01 2.05889540e-01 3.17287472e-02 3.03655583e+02] [-2.05776813e-01 9.78575229e-01 -6.81352895e-03 -5.65781392e+01] [-3.24518004e-02 1.35004610e-04 9.99473293e-01 -1.00087578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914012739 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:303.68, Y:-56.59, Z:-10.01 [[ 9.78040790e-01 2.06024165e-01 3.14683434e-02 3.03681823e+02] [-2.05913396e-01 9.78546896e-01 -6.75622034e-03 -5.65866728e+01] [-3.21851944e-02 1.28105629e-04 9.99481914e-01 -1.00100622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:303.71, Y:-56.60, Z:-10.01 [[ 9.78004618e-01 2.06131608e-01 3.18861719e-02 3.03708388e+02] [-2.06017993e-01 9.78524269e-01 -6.84410633e-03 -5.65951770e+01] [-3.26121797e-02 1.24442455e-04 9.99468074e-01 -1.00110341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974012739 meters Centerline goodness : 0.990360 Centerline is valid? [True, True] Translation: X:303.74, Y:-56.60, Z:-10.01 [[ 9.77995401e-01 2.05909401e-01 3.35606189e-02 3.03735216e+02] [-2.05783474e-01 9.78571050e-01 -7.20153402e-03 -5.66048245e+01] [-3.43243136e-02 1.36846422e-04 9.99410738e-01 -1.00120071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:303.76, Y:-56.61, Z:-10.01 [[ 9.77869158e-01 2.06605467e-01 3.29559084e-02 3.03763048e+02] [-2.06484494e-01 9.78424330e-01 -7.06996147e-03 -5.66131941e+01] [-3.37055553e-02 1.08613196e-04 9.99431800e-01 -1.00124205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034012739 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:303.79, Y:-56.62, Z:-10.01 [[ 9.77642598e-01 2.07824988e-01 3.19957146e-02 3.03791357e+02] [-2.07711664e-01 9.78166024e-01 -6.86252302e-03 -5.66197810e+01] [-3.27233247e-02 6.32117118e-05 9.99464447e-01 -1.00125643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:303.82, Y:-56.63, Z:-10.01 [[ 9.77300903e-01 2.09482622e-01 3.16223990e-02 3.03818245e+02] [-2.09372842e-01 9.77812370e-01 -6.78100190e-03 -5.66257229e+01] [-3.23412750e-02 6.20772888e-06 9.99476884e-01 -1.00135831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:303.85, Y:-56.63, Z:-10.01 [[ 9.77307957e-01 2.09449651e-01 3.16227893e-02 3.03846925e+02] [-2.09339913e-01 9.77819433e-01 -6.77918114e-03 -5.66317841e+01] [-3.23412751e-02 5.43571202e-06 9.99476884e-01 -1.00145923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:303.87, Y:-56.64, Z:-10.02 [[ 9.76237829e-01 2.14291213e-01 3.22331746e-02 3.03873969e+02] [-2.14179869e-01 9.76769804e-01 -6.90890732e-03 -5.66367790e+01] [-3.29649097e-02 -1.58960417e-04 9.99456497e-01 -1.00155761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154012739 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:303.90, Y:-56.64, Z:-10.02 [[ 9.75587522e-01 2.17172776e-01 3.26339099e-02 3.03902196e+02] [-2.17060320e-01 9.76133145e-01 -6.99285734e-03 -5.66412261e+01] [-3.33736994e-02 -2.61382582e-04 9.99442909e-01 -1.00166084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:303.93, Y:-56.64, Z:-10.02 [[ 9.74362214e-01 2.22613605e-01 3.25800333e-02 3.03930795e+02] [-2.22504607e-01 9.74906653e-01 -6.97982689e-03 -5.66421046e+01] [-3.33162956e-02 -4.48327928e-04 9.99444758e-01 -1.00180244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214012739 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:303.96, Y:-56.65, Z:-10.02 [[ 9.73772260e-01 2.25170871e-01 3.26445215e-02 3.03959050e+02] [-2.25062953e-01 9.74319141e-01 -6.99137379e-03 -5.66459923e+01] [-3.33804358e-02 -5.39066531e-04 9.99442573e-01 -1.00190486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:303.99, Y:-56.65, Z:-10.02 [[ 9.72496020e-01 2.30530428e-01 3.32748083e-02 3.03987329e+02] [-2.30421512e-01 9.73064836e-01 -7.12401522e-03 -5.66478819e+01] [-3.40208481e-02 -7.39155167e-04 9.99420850e-01 -1.00192958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274012739 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:304.01, Y:-56.65, Z:-10.02 [[ 9.71872373e-01 2.33195531e-01 3.29231577e-02 3.04014631e+02] [-2.33090510e-01 9.72429515e-01 -7.04640496e-03 -5.66504300e+01] [-3.36586404e-02 -8.25869313e-04 9.99433046e-01 -1.00201849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:304.04, Y:-56.65, Z:-10.02 [[ 9.71238369e-01 2.35891198e-01 3.24248745e-02 3.04043365e+02] [-2.35790921e-01 9.71779048e-01 -6.93710372e-03 -5.66519356e+01] [-3.31462154e-02 -9.07909714e-04 9.99450101e-01 -1.00211125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334012739 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:304.07, Y:-56.65, Z:-10.02 [[ 9.69734490e-01 2.42140016e-01 3.13565296e-02 3.04073165e+02] [-2.42049563e-01 9.70240708e-01 -6.70646707e-03 -5.66473555e+01] [-3.20472856e-02 -1.08634188e-03 9.99485763e-01 -1.00217036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:304.10, Y:-56.64, Z:-10.02 [[ 9.68242447e-01 2.48007817e-01 3.16019916e-02 3.04102608e+02] [-2.47919129e-01 9.68757169e-01 -6.75672494e-03 -5.66420153e+01] [-3.22903765e-02 -1.29259036e-03 9.99477694e-01 -1.00233693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394012739 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:304.13, Y:-56.64, Z:-10.02 [[ 9.67848090e-01 2.49486608e-01 3.20391404e-02 3.04130287e+02] [-2.49396332e-01 9.68377290e-01 -6.84792149e-03 -5.66424258e+01] [-3.27344406e-02 -1.36269636e-03 9.99463156e-01 -1.00240614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:304.16, Y:-56.64, Z:-10.02 [[ 9.67723622e-01 2.49871102e-01 3.27936623e-02 3.04159114e+02] [-2.49776836e-01 9.68278081e-01 -7.00644486e-03 -5.66431575e+01] [-3.35040925e-02 -1.41079500e-03 9.99437585e-01 -1.00246876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454012739 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:304.19, Y:-56.64, Z:-10.02 [[ 9.67886318e-01 2.49116787e-01 3.37179662e-02 3.04187824e+02] [-2.49016757e-01 9.68472402e-01 -7.20153031e-03 -5.66382495e+01] [-3.44489418e-02 -1.42607593e-03 9.99405442e-01 -1.00246215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:304.22, Y:-56.64, Z:-10.03 [[ 9.68267819e-01 2.47627991e-01 3.37314316e-02 3.04216590e+02] [-2.47527072e-01 9.68854212e-01 -7.20170264e-03 -5.66393782e+01] [-3.44641827e-02 -1.37626558e-03 9.99404986e-01 -1.00254081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514012739 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:304.24, Y:-56.64, Z:-10.03 [[ 9.69773482e-01 2.41605981e-01 3.41459294e-02 3.04244803e+02] [-2.41498918e-01 9.70373722e-01 -7.28778771e-03 -5.66354958e+01] [-3.48950857e-02 -1.17870174e-03 9.99390286e-01 -1.00276217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:304.27, Y:-56.64, Z:-10.03 [[ 9.70726290e-01 2.37779141e-01 3.39345072e-02 3.04273205e+02] [-2.37671145e-01 9.71318694e-01 -7.24029446e-03 -5.66373164e+01] [-3.46828122e-02 -1.03690903e-03 9.99397832e-01 -1.00286131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574012739 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:304.30, Y:-56.64, Z:-10.03 [[ 9.71639745e-01 2.34109309e-01 3.33022192e-02 3.04300783e+02] [-2.34003348e-01 9.72209870e-01 -7.09946563e-03 -5.66405011e+01] [-3.40387972e-02 -8.94707809e-04 9.99420112e-01 -1.00302190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:304.33, Y:-56.64, Z:-10.03 [[ 9.73361352e-01 2.27100780e-01 3.15105554e-02 3.04328991e+02] [-2.27002421e-01 9.73871065e-01 -6.71189631e-03 -5.66435904e+01] [-3.22114951e-02 -6.19871897e-04 9.99480883e-01 -1.00309860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634012739 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:304.36, Y:-56.65, Z:-10.03 [[ 9.74005264e-01 2.24293791e-01 3.17181378e-02 3.04356358e+02] [-2.24192715e-01 9.74521427e-01 -6.75388116e-03 -5.66477094e+01] [-3.24248585e-02 -5.32659617e-04 9.99474034e-01 -1.00319535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:304.39, Y:-56.65, Z:-10.03 [[ 9.74990990e-01 2.19708074e-01 3.34803106e-02 3.04385015e+02] [-2.19592835e-01 9.75565579e-01 -7.12654389e-03 -5.66500244e+01] [-3.42279978e-02 -4.03720235e-04 9.99413969e-01 -1.00317734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694012739 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:304.41, Y:-56.65, Z:-10.03 [[ 9.75469563e-01 2.17477138e-01 3.41002384e-02 3.04412393e+02] [-2.17356315e-01 9.76065358e-01 -7.25599277e-03 -5.66549992e+01] [-3.48620739e-02 -3.33902052e-04 9.99392077e-01 -1.00328149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:304.44, Y:-56.66, Z:-10.04 [[ 9.75793100e-01 2.15698330e-01 3.60840244e-02 3.04437064e+02] [-2.15685577e-01 9.76453434e-01 -4.29212361e-03 -5.66627494e+01] [-3.61601734e-02 -3.59457903e-03 9.99339542e-01 -1.00356220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754012739 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:304.47, Y:-56.66, Z:-10.04 [[ 9.76883430e-01 2.11106583e-01 3.36567293e-02 3.04467255e+02] [-2.10864935e-01 9.77457570e-01 -1.06150033e-02 -5.66647716e+01] [-3.51389219e-02 3.27259679e-03 9.99377079e-01 -1.00350188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:304.49, Y:-56.67, Z:-10.04 [[ 9.77321314e-01 2.08962926e-01 3.43153767e-02 3.04494527e+02] [-2.08835832e-01 9.77923562e-01 -7.28709962e-03 -5.66726107e+01] [-3.50805491e-02 -4.44424586e-05 9.99384487e-01 -1.00359296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814012739 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:304.52, Y:-56.68, Z:-10.04 [[ 9.77964198e-01 2.05937506e-01 3.42895263e-02 3.04520892e+02] [-2.05808823e-01 9.78565143e-01 -7.27930592e-03 -5.66814758e+01] [-3.50536173e-02 6.18135103e-05 9.99385431e-01 -1.00367823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:304.55, Y:-56.69, Z:-10.04 [[ 9.78184369e-01 2.04916018e-01 3.41286779e-02 3.04546901e+02] [-2.04787998e-01 9.78779555e-01 -7.24288091e-03 -5.66888500e+01] [-3.48886345e-02 9.57292539e-05 9.99391202e-01 -1.00369979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874012739 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:304.57, Y:-56.70, Z:-10.04 [[ 9.78406811e-01 2.03935044e-01 3.36245446e-02 3.04574576e+02] [-2.03810289e-01 9.78984414e-01 -7.13331555e-03 -5.66955184e+01] [-3.43726381e-02 1.26256350e-04 9.99409078e-01 -1.00383436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:304.60, Y:-56.70, Z:-10.04 [[ 9.78577322e-01 2.03451681e-01 3.15252184e-02 3.04601719e+02] [-2.03341834e-01 9.79084979e-01 -6.68599781e-03 -5.67023425e+01] [-3.22261453e-02 1.32370110e-04 9.99480594e-01 -1.00405509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934012739 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:304.63, Y:-56.71, Z:-10.04 [[ 9.78448177e-01 2.04194587e-01 3.07202928e-02 3.04628172e+02] [-2.04090707e-01 9.78930314e-01 -6.51331699e-03 -5.67099381e+01] [-3.14030100e-02 1.03216850e-04 9.99506799e-01 -1.00423853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:304.65, Y:-56.72, Z:-10.04 [[ 9.78018791e-01 2.06398907e-01 2.96434643e-02 3.04653607e+02] [-2.06303252e-01 9.78467930e-01 -6.28314075e-03 -5.67208122e+01] [-3.03020125e-02 2.94866396e-05 9.99540788e-01 -1.00435859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994012739 meters Centerline goodness : 0.989758 Centerline is valid? [True, True] Translation: X:304.68, Y:-56.73, Z:-10.05 [[ 9.77742348e-01 2.07381052e-01 3.18276733e-02 3.04679398e+02] [-2.07417290e-01 9.78250095e-01 -2.19513965e-03 -5.67312100e+01] [-3.15906548e-02 -4.45532875e-03 9.99490961e-01 -1.00453876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:304.71, Y:-56.73, Z:-10.05 [[ 9.77725275e-01 2.07967284e-01 2.83354080e-02 3.04707489e+02] [-2.07748577e-01 9.78126031e-01 -1.04879266e-02 -5.67328891e+01] [-2.98967457e-02 4.36767027e-03 9.99543450e-01 -1.00450457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05401273900003 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:304.73, Y:-56.75, Z:-10.05 [[ 9.77571412e-01 2.08430958e-01 3.01773232e-02 3.04733390e+02] [-2.08333026e-01 9.78037082e-01 -6.38873693e-03 -5.67464426e+01] [-3.08461517e-02 -4.14864865e-05 9.99524143e-01 -1.00469791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:304.76, Y:-56.76, Z:-10.05 [[ 9.77550525e-01 2.08418182e-01 3.09327168e-02 3.04758658e+02] [-2.08315346e-01 9.78039805e-01 -6.54653863e-03 -5.67550941e+01] [-3.16178460e-02 -4.41873456e-05 9.99500030e-01 -1.00482209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11401273900003 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:304.79, Y:-56.76, Z:-10.05 [[ 9.77436422e-01 2.08907128e-01 3.12386530e-02 3.04785122e+02] [-2.08802577e-01 9.77935482e-01 -6.60877744e-03 -5.67640665e+01] [-3.19300079e-02 -6.30514790e-05 9.99490105e-01 -1.00478009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:304.81, Y:-56.77, Z:-10.05 [[ 9.77276413e-01 2.09613768e-01 3.15100173e-02 3.04812868e+02] [-2.09507825e-01 9.77784261e-01 -6.66414639e-03 -5.67700740e+01] [-3.22068958e-02 -8.88821120e-05 9.99481219e-01 -1.00487102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17401273900003 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:304.84, Y:-56.78, Z:-10.05 [[ 9.76681466e-01 2.12309800e-01 3.19039700e-02 3.04839685e+02] [-2.12202705e-01 9.77202392e-01 -6.74509777e-03 -5.67754079e+01] [-3.26086861e-02 -1.82296736e-04 9.99468179e-01 -1.00496010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:304.87, Y:-56.78, Z:-10.05 [[ 9.76253838e-01 2.14240789e-01 3.20831430e-02 3.04865689e+02] [-2.14133620e-01 9.76780846e-01 -6.78020522e-03 -5.67808900e+01] [-3.27907961e-02 -2.50878206e-04 9.99462206e-01 -1.00496834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234012739 meters Centerline goodness : 0.989423 Centerline is valid? [True, True] Translation: X:304.89, Y:-56.79, Z:-10.05 [[ 9.75879423e-01 2.15872324e-01 3.25344672e-02 3.04892911e+02] [-2.15763116e-01 9.76421549e-01 -6.87283064e-03 -5.67862845e+01] [-3.32510088e-02 -3.12684022e-04 9.99446983e-01 -1.00506342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:304.92, Y:-56.79, Z:-10.05 [[ 9.75385843e-01 2.18054292e-01 3.27838926e-02 3.04920241e+02] [-2.17944715e-01 9.75936561e-01 -6.92311771e-03 -5.67900466e+01] [-3.35046150e-02 -3.92365138e-04 9.99438486e-01 -1.00509859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294012739 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:304.95, Y:-56.79, Z:-10.05 [[ 9.75326897e-01 2.18369728e-01 3.24361955e-02 3.04947125e+02] [-2.18262715e-01 9.75866026e-01 -6.84736306e-03 -5.67943322e+01] [-3.31486380e-02 -4.01194713e-04 9.99450352e-01 -1.00518462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:304.98, Y:-56.80, Z:-10.05 [[ 9.75315888e-01 2.18409354e-01 3.25003488e-02 3.04975063e+02] [-2.18302031e-01 9.75857156e-01 -6.85813001e-03 -5.67978170e+01] [-3.32135777e-02 -4.06048992e-04 9.99448194e-01 -1.00533320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354012739 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:305.00, Y:-56.80, Z:-10.05 [[ 9.75473116e-01 2.17647130e-01 3.28926503e-02 3.05002867e+02] [-2.17536847e-01 9.76027447e-01 -6.93851567e-03 -5.68024338e+01] [-3.36142775e-02 -3.87027939e-04 9.99434806e-01 -1.00541913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:305.03, Y:-56.81, Z:-10.06 [[ 9.75835100e-01 2.15995499e-01 3.30424264e-02 3.05029660e+02] [-2.15883342e-01 9.76394302e-01 -6.96775940e-03 -5.68051581e+01] [-3.37674416e-02 -3.33925247e-04 9.99429662e-01 -1.00552827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414012739 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:305.06, Y:-56.81, Z:-10.06 [[ 9.76014041e-01 2.15274397e-01 3.24580622e-02 3.05057546e+02] [-2.15165911e-01 9.76553552e-01 -6.84041690e-03 -5.68090149e+01] [-3.31696026e-02 -3.07525590e-04 9.99449690e-01 -1.00565197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:305.08, Y:-56.81, Z:-10.06 [[ 9.76092123e-01 2.15031615e-01 3.17107502e-02 3.05084929e+02] [-2.14928012e-01 9.76607044e-01 -6.68073362e-03 -5.68136427e+01] [-3.24055109e-02 -2.94517025e-04 9.99474760e-01 -1.00581639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474012739 meters Centerline goodness : 0.989309 Centerline is valid? [True, True] Translation: X:305.11, Y:-56.82, Z:-10.06 [[ 9.76191418e-01 2.14604700e-01 3.15458128e-02 3.05111841e+02] [-2.14502016e-01 9.76700949e-01 -6.64387010e-03 -5.68170878e+01] [-3.22366311e-02 -2.80951487e-04 9.99480225e-01 -1.00594475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:305.14, Y:-56.82, Z:-10.06 [[ 9.76169750e-01 2.14671011e-01 3.17643725e-02 3.05140018e+02] [-2.14567069e-01 9.76686374e-01 -6.68577389e-03 -5.68214323e+01] [-3.24590717e-02 -2.89138091e-04 9.99473024e-01 -1.00589473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534012739 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:305.17, Y:-56.82, Z:-10.06 [[ 9.76189779e-01 2.14429676e-01 3.27632299e-02 3.05168266e+02] [-2.14319036e-01 9.76739386e-01 -6.89364287e-03 -5.68245225e+01] [-3.34793387e-02 -2.92280134e-04 9.99439367e-01 -1.00602930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters Centerline goodness : 0.989777 Centerline is valid? [True, True] Translation: X:305.19, Y:-56.83, Z:-10.06 [[ 9.76300681e-01 2.13906977e-01 3.28752926e-02 3.05194692e+02] [-2.13795362e-01 9.76853995e-01 -6.91484649e-03 -5.68299539e+01] [-3.35934949e-02 -2.77615754e-04 9.99435541e-01 -1.00614245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594012739 meters Centerline goodness : 0.989497 Centerline is valid? [True, True] Translation: X:305.22, Y:-56.84, Z:-10.06 [[ 9.76299546e-01 2.13919377e-01 3.28282735e-02 3.05221743e+02] [-2.13808234e-01 9.76851279e-01 -6.90062293e-03 -5.68354033e+01] [-3.35445179e-02 -2.81880138e-04 9.99437185e-01 -1.00620556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters Centerline goodness : 0.989524 Centerline is valid? [True, True] Translation: X:305.25, Y:-56.84, Z:-10.06 [[ 9.76165717e-01 2.14534725e-01 3.27924388e-02 3.05248872e+02] [-2.14424248e-01 9.76716314e-01 -6.89079243e-03 -5.68399053e+01] [-3.35072243e-02 -3.04938699e-04 9.99438429e-01 -1.00626354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654012739 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:305.28, Y:-56.84, Z:-10.07 [[ 9.75972575e-01 2.15547383e-01 3.18882285e-02 3.05276134e+02] [-2.15443540e-01 9.76493326e-01 -6.69823935e-03 -5.68442316e+01] [-3.25824303e-02 -3.32814927e-04 9.99468996e-01 -1.00654510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters Centerline goodness : 0.989069 Centerline is valid? [True, True] Translation: X:305.30, Y:-56.85, Z:-10.07 [[ 9.75952996e-01 2.15712127e-01 3.13692350e-02 3.05302678e+02] [-2.15611790e-01 9.76456945e-01 -6.58707969e-03 -5.68492553e+01] [-3.20516204e-02 -3.34896779e-04 9.99486159e-01 -1.00663797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714012739 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:305.33, Y:-56.85, Z:-10.07 [[ 9.76056684e-01 2.15299370e-01 3.09763075e-02 3.05329912e+02] [-2.15201456e-01 9.76548042e-01 -6.50038154e-03 -5.68537471e+01] [-3.16493805e-02 -3.21405632e-04 9.99498981e-01 -1.00673724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:305.36, Y:-56.86, Z:-10.07 [[ 9.76406583e-01 2.13875761e-01 2.97882973e-02 3.05357667e+02] [-2.13784612e-01 9.76860833e-01 -6.24916175e-03 -5.68577921e+01] [-3.04355651e-02 -2.66556900e-04 9.99536695e-01 -1.00682509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774012739 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:305.38, Y:-56.86, Z:-10.07 [[ 9.76503562e-01 2.13508061e-01 2.92421234e-02 3.05383680e+02] [-2.13420119e-01 9.76941270e-01 -6.13257153e-03 -5.68636265e+01] [-2.98771906e-02 -2.52379501e-04 9.99553545e-01 -1.00695462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters Centerline goodness : 0.988830 Centerline is valid? [True, True] Translation: X:305.41, Y:-56.87, Z:-10.07 [[ 9.76496676e-01 2.13550178e-01 2.91644272e-02 3.05411073e+02] [-2.13462796e-01 9.76932063e-01 -6.11379692e-03 -5.68714648e+01] [-2.97972665e-02 -2.55417799e-04 9.99555930e-01 -1.00710767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834012739 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:305.44, Y:-56.88, Z:-10.07 [[ 9.76552210e-01 2.13239527e-01 2.95750875e-02 3.05438063e+02] [-2.13149589e-01 9.76999919e-01 -6.19773552e-03 -5.68768343e+01] [-3.02164602e-02 -2.51505424e-04 9.99543347e-01 -1.00718754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:305.46, Y:-56.88, Z:-10.07 [[ 9.76608289e-01 2.12893854e-01 3.02068947e-02 3.05464333e+02] [-2.12799933e-01 9.77075302e-01 -6.32796267e-03 -5.68810246e+01] [-3.08615951e-02 -2.48084369e-04 9.99523637e-01 -1.00725507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894012739 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:305.49, Y:-56.89, Z:-10.07 [[ 9.76612205e-01 2.12746156e-01 3.11074524e-02 3.05491890e+02] [-2.12646561e-01 9.77107471e-01 -6.51393619e-03 -5.68860681e+01] [-3.17811390e-02 -2.53303166e-04 9.99494820e-01 -1.00736685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:305.52, Y:-56.89, Z:-10.07 [[ 9.76671263e-01 2.12325721e-01 3.21097033e-02 3.05519488e+02] [-2.12219453e-01 9.77198918e-01 -6.72145970e-03 -5.68922924e+01] [-3.28047061e-02 -2.49647118e-04 9.99461750e-01 -1.00741753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954012739 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:305.55, Y:-56.90, Z:-10.08 [[ 9.76683226e-01 2.12270614e-01 3.21101614e-02 3.05547386e+02] [-2.12164388e-01 9.77210890e-01 -6.71927052e-03 -5.68979977e+01] [-3.28047030e-02 -2.50033916e-04 9.99461750e-01 -1.00751511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters Centerline goodness : 0.989160 Centerline is valid? [True, True] Translation: X:305.57, Y:-56.90, Z:-10.08 [[ 9.76717704e-01 2.12268678e-01 3.10569758e-02 3.05573626e+02] [-2.12169361e-01 9.77211312e-01 -6.49717829e-03 -5.69048350e+01] [-3.17283755e-02 -2.43429635e-04 9.99496499e-01 -1.00758252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014012739 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:305.60, Y:-56.91, Z:-10.08 [[ 9.76758796e-01 2.12166790e-01 3.04550205e-02 3.05600026e+02] [-2.12071308e-01 9.77233440e-01 -6.36894197e-03 -5.69103236e+01] [-3.11129424e-02 -2.37715939e-04 9.99515847e-01 -1.00767198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:305.63, Y:-56.92, Z:-10.08 [[ 9.76698733e-01 2.12445799e-01 3.04362931e-02 3.05627380e+02] [-2.12350696e-01 9.77172820e-01 -6.36098747e-03 -5.69164086e+01] [-3.10928834e-02 -2.50399608e-04 9.99516468e-01 -1.00783570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074012739 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:305.65, Y:-56.92, Z:-10.08 [[ 9.76477948e-01 2.13156705e-01 3.24813181e-02 3.05653801e+02] [-2.13048862e-01 9.77017980e-01 -6.78599219e-03 -5.69226015e+01] [-3.31813116e-02 -2.93736125e-04 9.99449306e-01 -1.00788059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:305.68, Y:-56.93, Z:-10.08 [[ 9.76367283e-01 2.13590090e-01 3.29575924e-02 3.05681598e+02] [-2.13479398e-01 9.76923320e-01 -6.88280306e-03 -5.69287041e+01] [-3.36671391e-02 -3.15623250e-04 9.99433051e-01 -1.00791921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134012739 meters Centerline goodness : 0.990160 Centerline is valid? [True, True] Translation: X:305.71, Y:-56.93, Z:-10.08 [[ 9.76299683e-01 2.13910095e-01 3.28846621e-02 3.05708624e+02] [-2.13800149e-01 9.76853297e-01 -6.86533154e-03 -5.69341583e+01] [-3.35920543e-02 -3.28124647e-04 9.99435574e-01 -1.00805324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:305.73, Y:-56.94, Z:-10.08 [[ 9.76420248e-01 2.13507819e-01 3.19047165e-02 3.05734907e+02] [-2.13404183e-01 9.76941307e-01 -6.65865684e-03 -5.69404454e+01] [-3.25907107e-02 -3.06952574e-04 9.99468735e-01 -1.00821799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194012739 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:305.76, Y:-56.95, Z:-10.08 [[ 9.76544400e-01 2.13021175e-01 3.13530604e-02 3.05762390e+02] [-2.12920921e-01 9.77047540e-01 -6.54106848e-03 -5.69466163e+01] [-3.20268166e-02 -2.88078689e-04 9.99486968e-01 -1.00829510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:305.79, Y:-56.95, Z:-10.08 [[ 9.76859867e-01 2.11597363e-01 3.11665870e-02 3.05788894e+02] [-2.11497641e-01 9.77356894e-01 -6.50004996e-03 -5.69522159e+01] [-3.18362721e-02 -2.42021673e-04 9.99493068e-01 -1.00836496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254012739 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:305.82, Y:-56.96, Z:-10.08 [[ 9.77175056e-01 2.10083501e-01 3.15251136e-02 3.05816500e+02] [-2.09980766e-01 9.77683427e-01 -6.57224495e-03 -5.69582589e+01] [-3.22023013e-02 -1.97433667e-04 9.99481352e-01 -1.00846426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:305.84, Y:-56.97, Z:-10.09 [[ 9.77685081e-01 2.07644476e-01 3.18693366e-02 3.05841979e+02] [-2.07538264e-01 9.78204353e-01 -6.64170248e-03 -5.69658421e+01] [-3.25538366e-02 -1.20613340e-04 9.99469976e-01 -1.00859398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314012739 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:305.87, Y:-56.98, Z:-10.09 [[ 9.79096409e-01 2.00828201e-01 3.22219695e-02 3.05866654e+02] [-2.00671284e-01 9.79625432e-01 -8.06527885e-03 -5.69761190e+01] [-3.31851962e-02 1.43066155e-03 9.99448196e-01 -1.00867756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:305.89, Y:-56.99, Z:-10.09 [[ 9.79959905e-01 1.96380231e-01 3.33674781e-02 3.05894869e+02] [-1.96305674e-01 9.80527165e-01 -5.52817716e-03 -5.69855643e+01] [-3.38033434e-02 -1.13283332e-03 9.99427862e-01 -1.00878078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374012739 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:305.92, Y:-57.00, Z:-10.09 [[ 9.81155510e-01 1.90337304e-01 3.32501881e-02 3.05921545e+02] [-1.90211929e-01 9.81718642e-01 -6.92320038e-03 -5.69951248e+01] [-3.39600728e-02 4.68153786e-04 9.99423081e-01 -1.00882182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:305.95, Y:-57.00, Z:-10.09 [[ 9.81613502e-01 1.87993662e-01 3.30653355e-02 3.05949066e+02] [-1.87868412e-01 9.82170091e-01 -6.88279407e-03 -5.70039723e+01] [-3.37697052e-02 5.44311511e-04 9.99429493e-01 -1.00891463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434012739 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:305.98, Y:-57.01, Z:-10.09 [[ 9.82003990e-01 1.86057422e-01 3.24160468e-02 3.05976550e+02] [-1.85936038e-01 9.82538691e-01 -6.74618238e-03 -5.70127728e+01] [-3.31051975e-02 5.97466687e-04 9.99451694e-01 -1.00900154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:306.00, Y:-57.02, Z:-10.09 [[ 9.82696297e-01 1.82581363e-01 3.11774443e-02 3.06003975e+02] [-1.82467377e-01 9.83190508e-01 -6.48697621e-03 -5.70236455e+01] [-3.18377682e-02 6.85861037e-04 9.99492814e-01 -1.00913205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494012739 meters Centerline goodness : 0.989754 Centerline is valid? [True, True] Translation: X:306.03, Y:-57.03, Z:-10.09 [[ 9.83010932e-01 1.80840136e-01 3.14062668e-02 3.06030421e+02] [-1.80723630e-01 9.83512221e-01 -6.53309656e-03 -5.70319500e+01] [-3.20698933e-02 7.46250810e-04 9.99485350e-01 -1.00925932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:306.05, Y:-57.04, Z:-10.09 [[ 9.83262502e-01 1.79076129e-01 3.35647511e-02 3.06054932e+02] [-1.78990243e-01 9.83835077e-01 -5.57082928e-03 -5.70448120e+01] [-3.40197820e-02 -5.30175422e-04 9.99421019e-01 -1.00931029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55401273900003 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:306.08, Y:-57.05, Z:-10.09 [[ 9.83390845e-01 1.78512675e-01 3.27974211e-02 3.06082682e+02] [-1.78320668e-01 9.83933854e-01 -8.71262801e-03 -5.70512161e+01] [-3.38258075e-02 2.71946058e-03 9.99424044e-01 -1.00929602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:306.11, Y:-57.06, Z:-10.09 [[ 9.83457886e-01 1.78072850e-01 3.31759877e-02 3.06111729e+02] [-1.77964363e-01 9.84017284e-01 -6.21852896e-03 -5.70616339e+01] [-3.37530965e-02 2.11517817e-04 9.99430180e-01 -1.00938634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61401273900003 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:306.14, Y:-57.07, Z:-10.09 [[ 9.83404991e-01 1.78776585e-01 3.08797029e-02 3.06138535e+02] [-1.78550730e-01 9.83880444e-01 -9.94527260e-03 -5.70717620e+01] [-3.21599177e-02 4.26663720e-03 9.99473629e-01 -1.00944763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:306.17, Y:-57.08, Z:-10.10 [[ 9.83355337e-01 1.78730329e-01 3.26764642e-02 3.06166248e+02] [-1.78701934e-01 9.83895876e-01 -3.81108754e-03 -5.70842536e+01] [-3.28313953e-02 -2.09169408e-03 9.99458716e-01 -1.00962228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67401273900003 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:306.20, Y:-57.09, Z:-10.10 [[ 9.83327980e-01 1.79046868e-01 3.17537879e-02 3.06195063e+02] [-1.78949602e-01 9.83840538e-01 -5.90217382e-03 -5.70911410e+01] [-3.22974295e-02 1.21444952e-04 9.99478295e-01 -1.00979482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:306.22, Y:-57.10, Z:-10.10 [[ 9.83199634e-01 1.79745758e-01 3.17795969e-02 3.06223825e+02] [-1.79626002e-01 9.83712784e-01 -6.60742649e-03 -5.70982995e+01] [-3.24496526e-02 7.87977379e-04 9.99473061e-01 -1.00995798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734012739 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:306.25, Y:-57.11, Z:-10.10 [[ 9.83028858e-01 1.80438564e-01 3.31087488e-02 3.06252047e+02] [-1.80413547e-01 9.83583635e-01 -3.76622372e-03 -5.71089592e+01] [-3.32447955e-02 -2.27096023e-03 9.99444659e-01 -1.01008395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters Centerline goodness : 0.989972 Centerline is valid? [True, True] Translation: X:306.28, Y:-57.12, Z:-10.10 [[ 9.82992299e-01 1.81086344e-01 3.05593924e-02 3.06280990e+02] [-1.80884572e-01 9.83460684e-01 -9.26582913e-03 -5.71172569e+01] [-3.17318760e-02 3.58051607e-03 9.99490004e-01 -1.01013938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:306.31, Y:-57.13, Z:-10.10 [[ 9.82801627e-01 1.81979180e-01 3.13773738e-02 3.06309016e+02] [-1.81863466e-01 9.83302129e-01 -6.52712596e-03 -5.71276329e+01] [-3.20412395e-02 7.08472053e-04 9.99486297e-01 -1.01012056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:306.34, Y:-57.13, Z:-10.10 [[ 9.82484665e-01 1.83565837e-01 3.20541316e-02 3.06337593e+02] [-1.83445934e-01 9.83007189e-01 -6.66748977e-03 -5.71349239e+01] [-3.27333651e-02 6.70506354e-04 9.99463895e-01 -1.01028305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854012739 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:306.37, Y:-57.14, Z:-10.10 [[ 9.82128611e-01 1.85473458e-01 3.19841737e-02 3.06365228e+02] [-1.85355087e-01 9.82649088e-01 -6.65299485e-03 -5.71420500e+01] [-3.26631731e-02 6.05667283e-04 9.99466233e-01 -1.01040133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:306.39, Y:-57.15, Z:-10.10 [[ 9.81692964e-01 1.87822292e-01 3.16498273e-02 3.06394423e+02] [-1.87707639e-01 9.82202889e-01 -6.58231471e-03 -5.71489732e+01] [-3.23228573e-02 5.20897663e-04 9.99477344e-01 -1.01049308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914012739 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:306.42, Y:-57.15, Z:-10.11 [[ 9.80822118e-01 1.92639260e-01 2.96325607e-02 3.06423049e+02] [-1.92540955e-01 9.81269586e-01 -6.16282645e-03 -5.71546571e+01] [-3.02647329e-02 3.39154968e-04 9.99541861e-01 -1.01066135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:306.45, Y:-57.16, Z:-10.11 [[ 9.79763093e-01 1.97954673e-01 2.96349333e-02 3.06450244e+02] [-1.97858785e-01 9.80211159e-01 -6.16314657e-03 -5.71601222e+01] [-3.02685160e-02 1.74891646e-04 9.99541788e-01 -1.01076813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974012739 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:306.48, Y:-57.17, Z:-10.11 [[ 9.79233070e-01 2.00375632e-01 3.08577413e-02 3.06477825e+02] [-2.00272926e-01 9.79719141e-01 -6.41554633e-03 -5.71652637e+01] [-3.15174390e-02 1.02344969e-04 9.99503197e-01 -1.01071990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:306.51, Y:-57.17, Z:-10.11 [[ 9.78795042e-01 2.02375061e-01 3.16954272e-02 3.06506718e+02] [-2.02267812e-01 9.79308089e-01 -6.58778224e-03 -5.71693164e+01] [-3.23727910e-02 3.71238933e-05 9.99475863e-01 -1.01071914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034012739 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:306.53, Y:-57.17, Z:-10.11 [[ 9.78353193e-01 2.04420586e-01 3.22064339e-02 3.06534844e+02] [-2.04311009e-01 9.78883151e-01 -6.69243512e-03 -5.71730860e+01] [-3.28944070e-02 -3.25637135e-05 9.99458832e-01 -1.01084010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:306.56, Y:-57.18, Z:-10.11 [[ 9.77671030e-01 2.07697396e-01 3.19554184e-02 3.06562901e+02] [-2.07591318e-01 9.78193115e-01 -6.63878830e-03 -5.71759717e+01] [-3.26374293e-02 -1.43116437e-04 9.99467247e-01 -1.01106698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094012739 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:306.59, Y:-57.18, Z:-10.11 [[ 9.77568025e-01 2.08202934e-01 3.18165723e-02 3.06590018e+02] [-2.08098105e-01 9.78085636e-01 -6.60807220e-03 -5.71798792e+01] [-3.24951524e-02 -1.61128312e-04 9.99471880e-01 -1.01120619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:306.62, Y:-57.18, Z:-10.11 [[ 9.77849310e-01 2.06737210e-01 3.27177848e-02 3.06618900e+02] [-2.06625602e-01 9.78396501e-01 -6.79326577e-03 -5.71822253e+01] [-3.34153869e-02 -1.17541708e-04 9.99441543e-01 -1.01129657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154012739 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:306.65, Y:-57.19, Z:-10.11 [[ 9.78080741e-01 2.05508638e-01 3.35300443e-02 3.06646789e+02] [-2.05390754e-01 9.78655299e-01 -6.96022283e-03 -5.71864636e+01] [-3.42447414e-02 -7.91011779e-05 9.99413474e-01 -1.01138052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:306.68, Y:-57.19, Z:-10.11 [[ 9.78461641e-01 2.03701212e-01 3.34459752e-02 3.06675099e+02] [-2.03582933e-01 9.79033103e-01 -6.94072166e-03 -5.71911483e+01] [-3.41585503e-02 -1.77998106e-05 9.99416426e-01 -1.01141919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214012739 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:306.70, Y:-57.20, Z:-10.12 [[ 9.79357896e-01 1.99689724e-01 3.13388761e-02 3.06702156e+02] [-1.99583872e-01 9.79859174e-01 -6.50204930e-03 -5.71955579e+01] [-3.20060777e-02 1.13099084e-04 9.99487668e-01 -1.01159718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:306.73, Y:-57.20, Z:-10.12 [[ 9.79708943e-01 1.98004578e-01 3.10575853e-02 3.06730518e+02] [-1.97899832e-01 9.80201081e-01 -6.44177541e-03 -5.72017270e+01] [-3.17181797e-02 1.64774069e-04 9.99496838e-01 -1.01180791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274012739 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:306.76, Y:-57.21, Z:-10.12 [[ 9.80242014e-01 1.94954611e-01 3.34408952e-02 3.06757524e+02] [-1.94831452e-01 9.80812225e-01 -6.93435488e-03 -5.72098626e+01] [-3.41511233e-02 2.82007818e-04 9.99416640e-01 -1.01185210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:306.79, Y:-57.22, Z:-10.12 [[ 9.80482486e-01 1.93442937e-01 3.51272597e-02 3.06785845e+02] [-1.93306146e-01 9.81111466e-01 -7.28187350e-03 -5.72170080e+01] [-3.58723842e-02 3.49434237e-04 9.99356318e-01 -1.01191902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:306.82, Y:-57.22, Z:-10.12 [[ 9.80772438e-01 1.91872564e-01 3.56418874e-02 3.06815156e+02] [-1.91730730e-01 9.81419762e-01 -7.38768366e-03 -5.72239198e+01] [-3.63971464e-02 4.11991430e-04 9.99337319e-01 -1.01193013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:306.84, Y:-57.23, Z:-10.12 [[ 9.81493223e-01 1.88446139e-01 3.40456464e-02 3.06844065e+02] [-1.88314692e-01 9.82083392e-01 -7.05607432e-03 -5.72334120e+01] [-3.47653539e-02 5.14193689e-04 9.99395370e-01 -1.01212199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394012739 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:306.87, Y:-57.24, Z:-10.12 [[ 9.81879501e-01 1.86656696e-01 3.27402556e-02 3.06873686e+02] [-1.86534084e-01 9.82425044e-01 -6.78732932e-03 -5.72422142e+01] [-3.34317475e-02 5.57165929e-04 9.99440848e-01 -1.01230080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:306.90, Y:-57.25, Z:-10.12 [[ 9.82206772e-01 1.85095836e-01 3.17708797e-02 3.06902889e+02] [-1.84979564e-01 9.82720296e-01 -6.58636958e-03 -5.72510535e+01] [-3.24409979e-02 5.92213327e-04 9.99473477e-01 -1.01243907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454012739 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:306.93, Y:-57.26, Z:-10.12 [[ 9.82464218e-01 1.83799440e-01 3.13341110e-02 3.06931521e+02] [-1.83685685e-01 9.82963567e-01 -6.49579640e-03 -5.72605250e+01] [-3.19942132e-02 6.26259879e-04 9.99487858e-01 -1.01248212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:306.96, Y:-57.27, Z:-10.13 [[ 9.82429680e-01 1.83889400e-01 3.18843601e-02 3.06960346e+02] [-1.83771647e-01 9.82946736e-01 -6.61029104e-03 -5.72680866e+01] [-3.25561902e-02 6.34704744e-04 9.99469705e-01 -1.01255200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514012739 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:306.99, Y:-57.28, Z:-10.13 [[ 9.82274198e-01 1.84817186e-01 3.13050773e-02 3.06989922e+02] [-1.84704158e-01 9.82772739e-01 -6.48980721e-03 -5.72776030e+01] [-3.19652044e-02 5.92592241e-04 9.99488807e-01 -1.01268087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:307.02, Y:-57.29, Z:-10.13 [[ 9.82188108e-01 1.85353265e-01 3.08332322e-02 3.07019746e+02] [-1.85243883e-01 9.82671790e-01 -6.39198975e-03 -5.72850080e+01] [-3.14837237e-02 5.66468661e-04 9.99504104e-01 -1.01273855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574012739 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:307.05, Y:-57.29, Z:-10.13 [[ 9.82038395e-01 1.86129499e-01 3.09257319e-02 3.07048218e+02] [-1.86019844e-01 9.82525071e-01 -6.41119750e-03 -5.72916541e+01] [-3.15786199e-02 5.43242283e-04 9.99501123e-01 -1.01278958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:307.08, Y:-57.30, Z:-10.13 [[ 9.81612867e-01 1.87927040e-01 3.34605317e-02 3.07076994e+02] [-1.87799723e-01 9.82182851e-01 -6.93626426e-03 -5.72995128e+01] [-3.41678720e-02 5.24847651e-04 9.99415970e-01 -1.01278988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634012739 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:307.11, Y:-57.31, Z:-10.13 [[ 9.81454990e-01 1.88544755e-01 3.45973818e-02 3.07107633e+02] [-1.88409034e-01 9.82064461e-01 -7.17154783e-03 -5.73076058e+01] [-3.53290169e-02 5.20092129e-04 9.99375600e-01 -1.01283054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:307.14, Y:-57.32, Z:-10.13 [[ 9.81450320e-01 1.88615000e-01 3.43460343e-02 3.07136788e+02] [-1.88481260e-01 9.82050975e-01 -7.12025315e-03 -5.73179337e+01] [-3.50725430e-02 5.14590928e-04 9.99384637e-01 -1.01296387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694012739 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:307.17, Y:-57.33, Z:-10.13 [[ 9.81533251e-01 1.88297747e-01 3.37110511e-02 3.07167476e+02] [-1.88168660e-01 9.82111852e-01 -6.99037938e-03 -5.73259307e+01] [-3.44242955e-02 5.17926509e-04 9.99407174e-01 -1.01311266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:307.20, Y:-57.33, Z:-10.13 [[ 9.81638593e-01 1.87848746e-01 3.31439561e-02 3.07198279e+02] [-1.87723686e-01 9.82197828e-01 -6.87352963e-03 -5.73333712e+01] [-3.38451056e-02 5.25416357e-04 9.99426952e-01 -1.01318940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754012739 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:307.23, Y:-57.34, Z:-10.13 [[ 9.81826429e-01 1.86938785e-01 3.27223863e-02 3.07228522e+02] [-1.86816359e-01 9.82371410e-01 -6.78677382e-03 -5.73430574e+01] [-3.34142481e-02 5.50356825e-04 9.99441437e-01 -1.01328911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:307.26, Y:-57.35, Z:-10.13 [[ 9.82005401e-01 1.86026864e-01 3.25483928e-02 3.07259300e+02] [-1.85905141e-01 9.82544487e-01 -6.75355382e-03 -5.73523777e+01] [-3.32365863e-02 5.81112780e-04 9.99447343e-01 -1.01345619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814012739 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:307.29, Y:-57.36, Z:-10.14 [[ 9.82300631e-01 1.84506852e-01 3.22907348e-02 3.07288535e+02] [-1.84386057e-01 9.82831024e-01 -6.70526094e-03 -5.73632819e+01] [-3.29735025e-02 6.32620780e-04 9.99456026e-01 -1.01357842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:307.32, Y:-57.37, Z:-10.14 [[ 9.82334873e-01 1.84294074e-01 3.24636971e-02 3.07320644e+02] [-1.84171772e-01 9.82870936e-01 -6.74400382e-03 -5.73716939e+01] [-3.31505043e-02 6.45973514e-04 9.99450162e-01 -1.01372442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874012739 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:307.35, Y:-57.38, Z:-10.14 [[ 9.82311254e-01 1.84346009e-01 3.28808431e-02 3.07351571e+02] [-1.84220353e-01 9.82861188e-01 -6.83717645e-03 -5.73793250e+01] [-3.35777107e-02 6.58914848e-04 9.99435892e-01 -1.01376806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:307.38, Y:-57.39, Z:-10.14 [[ 9.82296375e-01 1.84425415e-01 3.28800451e-02 3.07383515e+02] [-1.84299674e-01 9.82846290e-01 -6.84101205e-03 -5.73860881e+01] [-3.35776868e-02 6.60119739e-04 9.99435892e-01 -1.01388038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934012739 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:307.42, Y:-57.40, Z:-10.14 [[ 9.82231804e-01 1.84612039e-01 3.37502452e-02 3.07415531e+02] [-1.84479562e-01 9.82811244e-01 -7.02499444e-03 -5.73960662e+01] [-3.44670190e-02 6.73942505e-04 9.99405609e-01 -1.01398084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:307.45, Y:-57.40, Z:-10.14 [[ 9.82296310e-01 1.84377183e-01 3.31513823e-02 3.07446044e+02] [-1.84249022e-01 9.82855329e-01 -6.90656697e-03 -5.74046762e+01] [-3.38564261e-02 6.76185477e-04 9.99426478e-01 -1.01413642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994012739 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:307.48, Y:-57.41, Z:-10.14 [[ 9.82376171e-01 1.84114147e-01 3.22341475e-02 3.07477394e+02] [-1.83992658e-01 9.82904639e-01 -6.72103746e-03 -5.74139893e+01] [-3.29205312e-02 6.71740571e-04 9.99457747e-01 -1.01430949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:307.51, Y:-57.43, Z:-10.15 [[ 9.82447009e-01 1.83929424e-01 3.11101608e-02 3.07508720e+02] [-1.83815985e-01 9.82939231e-01 -6.49246793e-03 -5.74255114e+01] [-3.17735534e-02 6.59960844e-04 9.99494875e-01 -1.01452310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05401273900003 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:307.54, Y:-57.43, Z:-10.15 [[ 9.82302331e-01 1.84624983e-01 3.15554353e-02 3.07539325e+02] [-1.84508430e-01 9.82808827e-01 -6.59163967e-03 -5.74348014e+01] [-3.22299417e-02 6.52739209e-04 9.99480267e-01 -1.01460276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:307.57, Y:-57.45, Z:-10.15 [[ 9.81652816e-01 1.87900079e-01 3.24239002e-02 3.07569286e+02] [-1.87778603e-01 9.82187986e-01 -6.77911223e-03 -5.74459630e+01] [-3.31201610e-02 5.66219915e-04 9.99451217e-01 -1.01456924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11401273900003 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:307.60, Y:-57.45, Z:-10.15 [[ 9.81225790e-01 1.90166765e-01 3.21333335e-02 3.07600910e+02] [-1.90048486e-01 9.81751680e-01 -6.72403915e-03 -5.74541077e+01] [-3.28256429e-02 4.90909262e-04 9.99460973e-01 -1.01468037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:307.63, Y:-57.46, Z:-10.15 [[ 9.80531406e-01 1.93891819e-01 3.10503467e-02 3.07631418e+02] [-1.93783064e-01 9.81022850e-01 -6.50314097e-03 -5.74623761e+01] [-3.17220055e-02 3.59502626e-04 9.99496666e-01 -1.01488579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17401273900003 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:307.66, Y:-57.47, Z:-10.15 [[ 9.80289903e-01 1.95181167e-01 3.05944053e-02 3.07662296e+02] [-1.95076043e-01 9.80767154e-01 -6.41300519e-03 -5.74706927e+01] [-3.12576856e-02 3.18368709e-04 9.99511308e-01 -1.01508188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:307.69, Y:-57.48, Z:-10.15 [[ 9.80142228e-01 1.95973132e-01 3.02612766e-02 3.07693993e+02] [-1.95870502e-01 9.80609221e-01 -6.34837148e-03 -5.74796805e+01] [-3.09185972e-02 2.95015509e-04 9.99521862e-01 -1.01521275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234012739 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:307.72, Y:-57.49, Z:-10.15 [[ 9.80161309e-01 1.95813525e-01 3.06736297e-02 3.07724533e+02] [-1.95707815e-01 9.80641100e-01 -6.44079644e-03 -5.74904379e+01] [-3.13410171e-02 3.09950409e-04 9.99508702e-01 -1.01538206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:307.76, Y:-57.50, Z:-10.15 [[ 9.80347109e-01 1.94880346e-01 3.06789363e-02 3.07756804e+02] [-1.94773975e-01 9.80826963e-01 -6.44725615e-03 -5.74990777e+01] [-3.13471715e-02 3.45090545e-04 9.99508497e-01 -1.01547137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294012739 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:307.79, Y:-57.51, Z:-10.16 [[ 9.80759570e-01 1.92913505e-01 2.99173098e-02 3.07787714e+02] [-1.92811258e-01 9.81215683e-01 -6.29302222e-03 -5.75098461e+01] [-3.05693426e-02 4.03547641e-04 9.99532567e-01 -1.01558468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:307.82, Y:-57.52, Z:-10.16 [[ 9.80830222e-01 1.92612287e-01 2.95395159e-02 3.07819552e+02] [-1.92512307e-01 9.81274853e-01 -6.21894254e-03 -5.75181831e+01] [-3.01842288e-02 4.13006441e-04 9.99544267e-01 -1.01561491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354012739 meters Centerline goodness : 0.989663 Centerline is valid? [True, True] Translation: X:307.85, Y:-57.53, Z:-10.16 [[ 9.80543844e-01 1.94037864e-01 2.97166304e-02 3.07850203e+02] [-1.93937157e-01 9.80993968e-01 -6.26211500e-03 -5.75275595e+01] [-3.03669226e-02 3.77119500e-04 9.99538748e-01 -1.01557965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:307.88, Y:-57.54, Z:-10.16 [[ 9.80252526e-01 1.95373153e-01 3.05665841e-02 3.07881396e+02] [-1.95267070e-01 9.80728917e-01 -6.44696943e-03 -5.75353137e+01] [-3.12370977e-02 3.51010744e-04 9.99511941e-01 -1.01567460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414012739 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:307.91, Y:-57.54, Z:-10.16 [[ 9.79932464e-01 1.96787713e-01 3.17326739e-02 3.07913679e+02] [-1.96673934e-01 9.80446068e-01 -6.69867147e-03 -5.75425331e+01] [-3.24303916e-02 3.23255825e-04 9.99473944e-01 -1.01574524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:307.94, Y:-57.55, Z:-10.16 [[ 9.79292841e-01 1.99639601e-01 3.36089467e-02 3.07944944e+02] [-1.99513396e-01 9.79869363e-01 -7.10191189e-03 -5.75489875e+01] [-3.43502000e-02 2.49416380e-04 9.99409827e-01 -1.01586364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474012739 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:307.98, Y:-57.56, Z:-10.16 [[ 9.79025108e-01 2.00837142e-01 3.42677794e-02 3.07976308e+02] [-2.00706443e-01 9.79624619e-01 -7.24767641e-03 -5.75567670e+01] [-3.50251630e-02 2.17893057e-04 9.99386407e-01 -1.01601343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:308.01, Y:-57.57, Z:-10.16 [[ 9.79234611e-01 1.99788444e-01 3.44115333e-02 3.08008220e+02] [-1.99655792e-01 9.79839022e-01 -7.28392941e-03 -5.75662439e+01] [-3.51730080e-02 2.62213848e-04 9.99381204e-01 -1.01606157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534012739 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:308.04, Y:-57.57, Z:-10.16 [[ 9.79600814e-01 1.97990552e-01 3.43800312e-02 3.08040728e+02] [-1.97856804e-01 9.80203872e-01 -7.28385530e-03 -5.75735566e+01] [-3.51415742e-02 3.32947469e-04 9.99382289e-01 -1.01618367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:308.07, Y:-57.58, Z:-10.16 [[ 9.80067763e-01 1.95615816e-01 3.46645565e-02 3.08073004e+02] [-1.95478123e-01 9.80680513e-01 -7.35081688e-03 -5.75803212e+01] [-3.54327911e-02 4.28136230e-04 9.99371970e-01 -1.01632420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594012739 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:308.10, Y:-57.59, Z:-10.16 [[ 9.80510420e-01 1.93332467e-01 3.49553114e-02 3.08104475e+02] [-1.93190754e-01 9.81133164e-01 -7.41939338e-03 -5.75877553e+01] [-3.57302248e-02 5.21749552e-04 9.99361335e-01 -1.01647044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:308.14, Y:-57.60, Z:-10.17 [[ 9.81134951e-01 1.90031719e-01 3.55267949e-02 3.08135488e+02] [-1.89882928e-01 9.81777730e-01 -7.54734250e-03 -5.75981793e+01] [-3.63136505e-02 6.59029688e-04 9.99340225e-01 -1.01660607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654012739 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:308.17, Y:-57.61, Z:-10.17 [[ 9.81198494e-01 1.89947741e-01 3.41960804e-02 3.08166406e+02] [-1.89809617e-01 9.81793991e-01 -7.27102396e-03 -5.76087312e+01] [-3.49546208e-02 6.43572848e-04 9.99388693e-01 -1.01675413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:308.20, Y:-57.62, Z:-10.17 [[ 9.80957368e-01 1.91369045e-01 3.31742408e-02 3.08198421e+02] [-1.91239670e-01 9.81517983e-01 -7.05956613e-03 -5.76166485e+01] [-3.39120964e-02 5.80902550e-04 9.99424651e-01 -1.01686556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714012739 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:308.23, Y:-57.62, Z:-10.17 [[ 9.80569737e-01 1.93600749e-01 3.16502864e-02 3.08229698e+02] [-1.93483960e-01 9.81080279e-01 -6.74121009e-03 -5.76243918e+01] [-3.23565751e-02 4.86403870e-04 9.99476271e-01 -1.01695900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:308.26, Y:-57.63, Z:-10.17 [[ 9.80114179e-01 1.96129688e-01 3.01553054e-02 3.08261549e+02] [-1.96024760e-01 9.80577889e-01 -6.42634541e-03 -5.76320485e+01] [-3.08300228e-02 3.87365745e-04 9.99524567e-01 -1.01711167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774012739 meters Centerline goodness : 0.990629 Centerline is valid? [True, True] Translation: X:308.29, Y:-57.64, Z:-10.17 [[ 9.79097731e-01 2.01132199e-01 3.02236797e-02 3.08292723e+02] [-2.01029107e-01 9.79564079e-01 -6.44312396e-03 -5.76399378e+01] [-3.09019507e-02 2.32608709e-04 9.99522394e-01 -1.01717402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:308.33, Y:-57.65, Z:-10.17 [[ 9.78612597e-01 2.03269380e-01 3.16060859e-02 3.08325242e+02] [-2.03157562e-01 9.79122836e-01 -6.74372623e-03 -5.76479277e+01] [-3.23170335e-02 1.78480090e-04 9.99477652e-01 -1.01727510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834012739 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:308.36, Y:-57.65, Z:-10.17 [[ 9.78181532e-01 2.05796924e-01 2.84344434e-02 3.08357807e+02] [-2.05396746e-01 9.78541805e-01 -1.63741490e-02 -5.76523178e+01] [-3.11940411e-02 1.01765480e-02 9.99461540e-01 -1.01724956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:308.39, Y:-57.67, Z:-10.17 [[ 9.77818901e-01 2.06616693e-01 3.43473422e-02 3.08385052e+02] [-2.06832778e-01 9.78372236e-01 2.82304793e-03 -5.76717507e+01] [-3.30211972e-02 -9.86458585e-03 9.99405969e-01 -1.01729235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894012739 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:308.42, Y:-57.67, Z:-10.18 [[ 9.77234087e-01 2.09990856e-01 3.02882894e-02 3.08418380e+02] [-2.09891049e-01 9.77703350e-01 -6.47363289e-03 -5.76702357e+01] [-3.09723657e-02 -3.09861105e-05 9.99520241e-01 -1.01752530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:308.45, Y:-57.68, Z:-10.18 [[ 9.76920820e-01 2.11510696e-01 2.98150433e-02 3.08451170e+02] [-2.11414535e-01 9.77375680e-01 -6.37761863e-03 -5.76760094e+01] [-3.04894328e-02 -7.29050944e-05 9.99535087e-01 -1.01772097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954012739 meters Centerline goodness : 0.991314 Centerline is valid? [True, True] Translation: X:308.48, Y:-57.68, Z:-10.18 [[ 9.76556680e-01 2.13034833e-01 3.08741083e-02 3.08482264e+02] [-2.12932289e-01 9.77044598e-01 -6.61018412e-03 -5.76818270e+01] [-3.15735802e-02 -1.18875098e-04 9.99501423e-01 -1.01783652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:308.51, Y:-57.69, Z:-10.18 [[ 9.76344901e-01 2.13847439e-01 3.19359923e-02 3.08514847e+02] [-2.13737965e-01 9.76867060e-01 -6.84326459e-03 -5.76883075e+01] [-3.26606335e-02 -1.44547524e-04 9.99466489e-01 -1.01787699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014012739 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:308.55, Y:-57.69, Z:-10.18 [[ 9.76073791e-01 2.14998588e-01 3.24894158e-02 3.08547873e+02] [-2.14885723e-01 9.76614343e-01 -6.96790655e-03 -5.76939519e+01] [-3.32277195e-02 -1.80320628e-04 9.99447791e-01 -1.01789436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:308.58, Y:-57.70, Z:-10.18 [[ 9.75707869e-01 2.16767682e-01 3.17163533e-02 3.08580261e+02] [-2.16660874e-01 9.76223191e-01 -6.80779571e-03 -5.76960493e+01] [-3.24379497e-02 -2.29272980e-04 9.99473725e-01 -1.01813204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074012739 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:308.61, Y:-57.70, Z:-10.18 [[ 9.75682808e-01 2.16932905e-01 3.13556042e-02 3.08612977e+02] [-2.16828429e-01 9.76186490e-01 -6.73564295e-03 -5.77007534e+01] [-3.20700998e-02 -2.26935380e-04 9.99485596e-01 -1.01835530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:308.64, Y:-57.70, Z:-10.18 [[ 9.76077391e-01 2.14980342e-01 3.25019809e-02 3.08644609e+02] [-2.14866793e-01 9.76618363e-01 -6.98819934e-03 -5.77037154e+01] [-3.32443569e-02 -1.62573047e-04 9.99447240e-01 -1.01843593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134012739 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:308.68, Y:-57.71, Z:-10.19 [[ 9.76332496e-01 2.13683427e-01 3.33803894e-02 3.08676588e+02] [-2.13562694e-01 9.76902953e-01 -7.18303851e-03 -5.77094534e+01] [-3.41442973e-02 -1.15771982e-04 9.99416907e-01 -1.01850747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:308.71, Y:-57.72, Z:-10.19 [[ 9.76668358e-01 2.12050374e-01 3.39640652e-02 3.08707913e+02] [-2.11924203e-01 9.77258735e-01 -7.31410737e-03 -5.77151752e+01] [-3.47426386e-02 -5.43502327e-05 9.99396291e-01 -1.01855930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194012739 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:308.74, Y:-57.72, Z:-10.19 [[ 9.77308525e-01 2.09182142e-01 3.33298524e-02 3.08740483e+02] [-2.09058784e-01 9.77876694e-01 -7.18304106e-03 -5.77212608e+01] [-3.40950498e-02 5.21488627e-05 9.99418593e-01 -1.01878965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:308.77, Y:-57.73, Z:-10.19 [[ 9.77507677e-01 2.08348384e-01 3.27061617e-02 3.08771410e+02] [-2.08228921e-01 9.78054673e-01 -7.05498361e-03 -5.77278630e+01] [-3.34583087e-02 8.59318554e-05 9.99440110e-01 -1.01896554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254012739 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:308.80, Y:-57.74, Z:-10.19 [[ 9.77742605e-01 2.07185957e-01 3.30662652e-02 3.08803712e+02] [-2.07062975e-01 9.78301570e-01 -7.13884873e-03 -5.77354018e+01] [-3.38278484e-02 1.33157311e-04 9.99427666e-01 -1.01895763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:308.83, Y:-57.74, Z:-10.19 [[ 9.77863589e-01 2.06528331e-01 3.35983694e-02 3.08834938e+02] [-2.06400736e-01 9.78440607e-01 -7.26050622e-03 -5.77426941e+01] [-3.43735092e-02 1.65056492e-04 9.99409043e-01 -1.01896276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314012739 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:308.87, Y:-57.75, Z:-10.19 [[ 9.77987390e-01 2.05784694e-01 3.45445278e-02 3.08866283e+02] [-2.05649113e-01 9.78597271e-01 -7.47152986e-03 -5.77509544e+01] [-3.53427071e-02 2.03010480e-04 9.99375231e-01 -1.01900268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:308.90, Y:-57.76, Z:-10.19 [[ 9.77920822e-01 2.06197463e-01 3.39628142e-02 3.08896393e+02] [-2.06079328e-01 9.78510387e-01 -6.98096983e-03 -5.77595756e+01] [-3.46724247e-02 -1.72198177e-04 9.99398716e-01 -1.01916955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374012739 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:308.93, Y:-57.77, Z:-10.19 [[ 9.78017447e-01 2.05964918e-01 3.25626547e-02 3.08929798e+02] [-2.05835407e-01 9.78559271e-01 -7.31697990e-03 -5.77682536e+01] [-3.33715288e-02 4.53586710e-04 9.99442912e-01 -1.01933024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:308.96, Y:-57.78, Z:-10.19 [[ 9.77834503e-01 2.06979286e-01 3.16110637e-02 3.08961600e+02] [-2.06865684e-01 9.78345311e-01 -6.85868752e-03 -5.77780445e+01] [-3.23461422e-02 1.67416971e-04 9.99476713e-01 -1.01944892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434012739 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:308.99, Y:-57.79, Z:-10.20 [[ 9.77743786e-01 2.07427712e-01 3.14775190e-02 3.08992233e+02] [-2.07315104e-01 9.78250336e-01 -6.83580745e-03 -5.77858954e+01] [-3.22108295e-02 1.57903138e-04 9.99481084e-01 -1.01954845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:309.02, Y:-57.79, Z:-10.20 [[ 9.77566861e-01 2.08306750e-01 3.11661758e-02 3.09024599e+02] [-2.08196629e-01 9.78063536e-01 -6.77372555e-03 -5.77944041e+01] [-3.18935128e-02 1.33076882e-04 9.99491264e-01 -1.01969979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494012739 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:309.06, Y:-57.80, Z:-10.20 [[ 9.77388298e-01 2.09148697e-01 3.11277483e-02 3.09055758e+02] [-2.09039079e-01 9.77883843e-01 -6.77153810e-03 -5.78018369e+01] [-3.18555805e-02 1.11506279e-04 9.99492476e-01 -1.01993395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:309.09, Y:-57.80, Z:-10.20 [[ 9.77407703e-01 2.09998393e-01 2.39761578e-02 3.09090429e+02] [-2.09487976e-01 9.77560422e-01 -2.21451926e-02 -5.77990257e+01] [-2.80885978e-02 1.66221650e-02 9.99467225e-01 -1.01987573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55401273900003 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:309.12, Y:-57.82, Z:-10.20 [[ 9.76709420e-01 2.11886896e-01 3.38031427e-02 3.09116655e+02] [-2.12281217e-01 9.77171686e-01 8.49593203e-03 -5.78249593e+01] [-3.12312973e-02 -1.54738291e-02 9.99392399e-01 -1.01985612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:309.15, Y:-57.82, Z:-10.20 [[ 9.76526280e-01 2.13202614e-01 3.06768666e-02 3.09149910e+02] [-2.13098012e-01 9.77008007e-01 -6.67776030e-03 -5.78217294e+01] [-3.13952602e-02 -1.61708455e-05 9.99507047e-01 -1.02007388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61401273900003 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:309.18, Y:-57.83, Z:-10.20 [[ 9.76453825e-01 2.13659327e-01 2.97929465e-02 3.09182500e+02] [-2.13560718e-01 9.76908231e-01 -6.49061831e-03 -5.78289250e+01] [-3.04917558e-02 -2.48139943e-05 9.99535018e-01 -1.02023010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:309.21, Y:-57.84, Z:-10.20 [[ 9.76404104e-01 2.13909624e-01 2.96259798e-02 3.09214570e+02] [-2.13812059e-01 9.76853455e-01 -6.45997644e-03 -5.78359884e+01] [-3.03220918e-02 -2.68442330e-05 9.99540179e-01 -1.02040038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67401273900003 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:309.25, Y:-57.84, Z:-10.20 [[ 9.76325507e-01 2.14215005e-01 3.00072594e-02 3.09246960e+02] [-2.14114874e-01 9.76786533e-01 -6.54903958e-03 -5.78428789e+01] [-3.07135894e-02 -3.10061847e-05 9.99528226e-01 -1.02044597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:309.28, Y:-57.85, Z:-10.20 [[ 9.75859876e-01 2.15975241e-01 3.24375945e-02 3.09278961e+02] [-2.15858973e-01 9.76398836e-01 -7.08634133e-03 -5.78490383e+01] [-3.32025038e-02 -8.66696571e-05 9.99448641e-01 -1.02047045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734012739 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:309.31, Y:-57.86, Z:-10.21 [[ 9.75435970e-01 2.17332199e-01 3.59358229e-02 3.09309842e+02] [-2.17389965e-01 9.76082031e-01 -2.33925057e-03 -5.78588427e+01] [-3.55847055e-02 -5.53029813e-03 9.99351362e-01 -1.02051427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:309.34, Y:-57.86, Z:-10.21 [[ 9.75416923e-01 2.17595012e-01 3.48459127e-02 3.09343179e+02] [-2.17461591e-01 9.76039133e-01 -7.62014123e-03 -5.78628667e+01] [-3.56690791e-02 -1.44832910e-04 9.99363645e-01 -1.02068069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794012739 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:309.38, Y:-57.87, Z:-10.21 [[ 9.75080366e-01 2.19538458e-01 3.19553561e-02 3.09376750e+02] [-2.19242886e-01 9.75589977e-01 -1.25201470e-02 -5.78651676e+01] [-3.39239789e-02 5.20216505e-03 9.99410877e-01 -1.02082256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:309.41, Y:-57.87, Z:-10.21 [[ 9.75027293e-01 2.19714388e-01 3.23630462e-02 3.09408614e+02] [-2.19600130e-01 9.75564221e-01 -7.08757876e-03 -5.78746052e+01] [-3.31294730e-02 -1.96346419e-04 9.99451049e-01 -1.02091148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854012739 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:309.44, Y:-57.88, Z:-10.21 [[ 9.75019266e-01 2.19769078e-01 3.22332647e-02 3.09439495e+02] [-2.19655554e-01 9.75551903e-01 -7.06554732e-03 -5.78807347e+01] [-3.29980115e-02 -1.91170845e-04 9.99455399e-01 -1.02108762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:309.47, Y:-57.89, Z:-10.21 [[ 9.75143756e-01 2.19196036e-01 3.23689993e-02 3.09471648e+02] [-2.19081037e-01 9.75680824e-01 -7.10132706e-03 -5.78885155e+01] [-3.31383947e-02 -1.66619209e-04 9.99450759e-01 -1.02110958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914012739 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:309.50, Y:-57.90, Z:-10.21 [[ 9.75099091e-01 2.19328115e-01 3.28167764e-02 3.09502461e+02] [-2.19209769e-01 9.75651142e-01 -7.20605002e-03 -5.78959951e+01] [-3.35982147e-02 -1.67145150e-04 9.99435407e-01 -1.02115990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:309.53, Y:-57.90, Z:-10.21 [[ 9.74764150e-01 2.20640692e-01 3.39490506e-02 3.09534181e+02] [-2.20514609e-01 9.75355135e-01 -7.46106083e-03 -5.79039604e+01] [-3.47585945e-02 -2.13487020e-04 9.99395715e-01 -1.02120482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974012739 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:309.57, Y:-57.91, Z:-10.21 [[ 9.74507974e-01 2.21673100e-01 3.45723223e-02 3.09565869e+02] [-2.21542752e-01 9.75121005e-01 -7.60486958e-03 -5.79117819e+01] [-3.53979927e-02 -2.48241378e-04 9.99373264e-01 -1.02132788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:309.60, Y:-57.92, Z:-10.21 [[ 9.74225114e-01 2.22887879e-01 3.47335760e-02 3.09596929e+02] [-2.22756844e-01 9.74844044e-01 -7.64706207e-03 -5.79189724e+01] [-3.55642571e-02 -2.87181835e-04 9.99367350e-01 -1.02142253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034012739 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:309.63, Y:-57.93, Z:-10.22 [[ 9.74075522e-01 2.23610852e-01 3.42792231e-02 3.09628780e+02] [-2.23483455e-01 9.74678457e-01 -7.55317655e-03 -5.79261798e+01] [-3.51001925e-02 -3.03474827e-04 9.99383752e-01 -1.02157649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:309.66, Y:-57.93, Z:-10.22 [[ 9.74030605e-01 2.23928054e-01 3.34754740e-02 3.09661380e+02] [-2.23806536e-01 9.74605631e-01 -7.38231650e-03 -5.79334687e+01] [-3.42784932e-02 -3.01427679e-04 9.99412274e-01 -1.02172329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094012739 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:309.69, Y:-57.94, Z:-10.22 [[ 9.73938942e-01 2.24455096e-01 3.26013387e-02 3.09692185e+02] [-2.24339936e-01 9.74484385e-01 -7.19559834e-03 -5.79416693e+01] [-3.33845842e-02 -3.05708802e-04 9.99442533e-01 -1.02192735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:309.72, Y:-57.95, Z:-10.22 [[ 9.73839445e-01 2.24930393e-01 3.22963399e-02 3.09724446e+02] [-2.24817451e-01 9.74374784e-01 -7.13395826e-03 -5.79503990e+01] [-3.30733833e-02 -3.13450885e-04 9.99452877e-01 -1.02197071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:309.75, Y:-57.96, Z:-10.22 [[ 9.73667235e-01 2.25751025e-01 3.17583035e-02 3.09754905e+02] [-2.25642059e-01 9.74184975e-01 -7.02104008e-03 -5.79591981e+01] [-3.25234691e-02 -3.29852312e-04 9.99470918e-01 -1.02208913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:309.79, Y:-57.97, Z:-10.22 [[ 9.73650987e-01 2.25841248e-01 3.16146409e-02 3.09787015e+02] [-2.25733135e-01 9.74164064e-01 -6.99482392e-03 -5.79660428e+01] [-3.23775668e-02 -3.25954768e-04 9.99475656e-01 -1.02219766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214012739 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:309.82, Y:-57.97, Z:-10.22 [[ 9.73642335e-01 2.25886106e-01 3.15605818e-02 3.09819094e+02] [-2.25778194e-01 9.74153666e-01 -6.98877279e-03 -5.79726884e+01] [-3.23235231e-02 -3.21126111e-04 9.99477407e-01 -1.02234000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:309.85, Y:-57.98, Z:-10.22 [[ 9.73514892e-01 2.26354435e-01 3.21313604e-02 3.09849855e+02] [-2.26242624e-01 9.74044946e-01 -7.12168040e-03 -5.79808329e+01] [-3.29094132e-02 -3.36421375e-04 9.99458282e-01 -1.02249168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274012739 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:309.88, Y:-57.99, Z:-10.23 [[ 9.73400477e-01 2.26749649e-01 3.28040790e-02 3.09881528e+02] [-2.26633122e-01 9.73953014e-01 -7.27699270e-03 -5.79891815e+01] [-3.35996872e-02 -3.51062681e-04 9.99435309e-01 -1.02254573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:309.91, Y:-58.00, Z:-10.23 [[ 9.73424941e-01 2.26415082e-01 3.43525169e-02 3.09913091e+02] [-2.26286830e-01 9.74030846e-01 -7.62766130e-03 -5.79969213e+01] [-3.51874287e-02 -3.48566420e-04 9.99380670e-01 -1.02261130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334012739 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:309.94, Y:-58.00, Z:-10.23 [[ 9.73414395e-01 2.26415896e-01 3.46447494e-02 3.09944390e+02] [-2.26285220e-01 9.74030658e-01 -7.69909077e-03 -5.80040426e+01] [-3.54882445e-02 -3.45188962e-04 9.99370034e-01 -1.02270339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:309.98, Y:-58.01, Z:-10.23 [[ 9.73484696e-01 2.26086767e-01 3.48183824e-02 3.09975943e+02] [-2.25954339e-01 9.74107112e-01 -7.74408507e-03 -5.80111965e+01] [-3.56676691e-02 -3.28616285e-04 9.99363652e-01 -1.02281899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394012739 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:310.01, Y:-58.02, Z:-10.23 [[ 9.73904841e-01 2.24226528e-01 3.50973631e-02 3.10007182e+02] [-2.24090537e-01 9.74537017e-01 -7.81235963e-03 -5.80191508e+01] [-3.59554178e-02 -2.56492077e-04 9.99353362e-01 -1.02295052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:310.04, Y:-58.03, Z:-10.23 [[ 9.74227343e-01 2.23003210e-01 3.39212810e-02 3.10039039e+02] [-2.22875308e-01 9.74817690e-01 -7.55440345e-03 -5.80255220e+01] [-3.47517210e-02 -2.00509529e-04 9.99395956e-01 -1.02308003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454012739 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:310.07, Y:-58.03, Z:-10.23 [[ 9.74260494e-01 2.22930484e-01 3.34438266e-02 3.10071541e+02] [-2.22805893e-01 9.74834326e-01 -7.45455890e-03 -5.80320008e+01] [-3.42640386e-02 -1.88799406e-04 9.99412798e-01 -1.02319979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:310.10, Y:-58.04, Z:-10.23 [[ 9.74282735e-01 2.22910725e-01 3.29235540e-02 3.10103745e+02] [-2.22789754e-01 9.74838846e-01 -7.34499214e-03 -5.80380666e+01] [-3.37324369e-02 -1.78931478e-04 9.99430883e-01 -1.02332324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514012739 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:310.14, Y:-58.04, Z:-10.24 [[ 9.74361341e-01 2.22629411e-01 3.24980356e-02 3.10136891e+02] [-2.22511180e-01 9.74903134e-01 -7.25638735e-03 -5.80427410e+01] [-3.32979220e-02 -1.60832924e-04 9.99445458e-01 -1.02350628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:310.17, Y:-58.05, Z:-10.24 [[ 9.74484729e-01 2.22055447e-01 3.27244848e-02 3.10168003e+02] [-2.21935021e-01 9.75034030e-01 -7.31345940e-03 -5.80480317e+01] [-3.35314798e-02 -1.35854723e-04 9.99437653e-01 -1.02363947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574012739 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:310.20, Y:-58.05, Z:-10.24 [[ 9.75110051e-01 2.19270008e-01 3.28793465e-02 3.10201152e+02] [-2.19146717e-01 9.75664216e-01 -7.35216439e-03 -5.80521943e+01] [-3.36913109e-02 -3.62314220e-05 9.99432286e-01 -1.02381461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:310.23, Y:-58.06, Z:-10.24 [[ 9.75463503e-01 2.17724138e-01 3.26673140e-02 3.10233047e+02] [-2.17601356e-01 9.76010348e-01 -7.31099677e-03 -5.80584860e+01] [-3.34754169e-02 2.31586990e-05 9.99439541e-01 -1.02399869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634012739 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:310.27, Y:-58.06, Z:-10.24 [[ 9.75836160e-01 2.16100533e-01 3.23163833e-02 3.10265403e+02] [-2.15979279e-01 9.76371114e-01 -7.23869093e-03 -5.80648932e+01] [-3.31170682e-02 8.41071855e-05 9.99451476e-01 -1.02412840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:310.30, Y:-58.07, Z:-10.24 [[ 9.76521321e-01 2.13107802e-01 3.14829199e-02 3.10298449e+02] [-2.12990972e-01 9.77028674e-01 -7.05805360e-03 -5.80697313e+01] [-3.22638418e-02 1.86762109e-04 9.99479369e-01 -1.02418586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694012739 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:310.33, Y:-58.08, Z:-10.24 [[ 9.76639156e-01 2.12676583e-01 3.07348292e-02 3.10329758e+02] [-2.12564836e-01 9.77122628e-01 -6.89641945e-03 -5.80752935e+01] [-3.14984040e-02 2.02169360e-04 9.99503782e-01 -1.02429784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:310.36, Y:-58.08, Z:-10.24 [[ 9.76339357e-01 2.14045186e-01 3.07590242e-02 3.10362752e+02] [-2.13933826e-01 9.76823747e-01 -6.90550401e-03 -5.80797034e+01] [-3.15242351e-02 1.61719616e-04 9.99502975e-01 -1.02443271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754012739 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:310.39, Y:-58.08, Z:-10.24 [[ 9.75908479e-01 2.15898171e-01 3.14741230e-02 3.10393868e+02] [-2.15782331e-01 9.76415878e-01 -7.07235642e-03 -5.80847422e+01] [-3.22587423e-02 1.10412978e-04 9.99479545e-01 -1.02445834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:310.43, Y:-58.09, Z:-10.24 [[ 9.74655371e-01 2.21146634e-01 3.37798025e-02 3.10425825e+02] [-2.21016150e-01 9.75240566e-01 -7.59598646e-03 -5.80869598e+01] [-3.46232605e-02 -6.24128882e-05 9.99400433e-01 -1.02442552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814012739 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:310.46, Y:-58.09, Z:-10.24 [[ 9.74021574e-01 2.23943152e-01 3.36368599e-02 3.10455210e+02] [-2.23815409e-01 9.74602195e-01 -7.56462896e-03 -5.80909903e+01] [-3.44766044e-02 -1.60335756e-04 9.99405492e-01 -1.02448703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:310.49, Y:-58.09, Z:-10.25 [[ 9.73559183e-01 2.25862726e-01 3.41840141e-02 3.10485320e+02] [-2.25731975e-01 9.74159112e-01 -7.68767903e-03 -5.80949681e+01] [-3.50370289e-02 -2.32014474e-04 9.99385988e-01 -1.02464643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874012739 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:310.52, Y:-58.10, Z:-10.25 [[ 9.73024186e-01 2.28361062e-01 3.27896175e-02 3.10515249e+02] [-2.28242180e-01 9.73576463e-01 -7.37408908e-03 -5.80966103e+01] [-3.36071546e-02 -3.08806771e-04 9.99435072e-01 -1.02487239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:310.54, Y:-58.10, Z:-10.25 [[ 9.72962563e-01 2.28614475e-01 3.28522914e-02 3.10544484e+02] [-2.28495296e-01 9.73516985e-01 -7.38777920e-03 -5.81009986e+01] [-3.36712170e-02 -3.18561489e-04 9.99432913e-01 -1.02500214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934012739 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:310.57, Y:-58.10, Z:-10.25 [[ 9.73164792e-01 2.27621972e-01 3.37420583e-02 3.10572809e+02] [-2.27495681e-01 9.73749533e-01 -7.58701566e-03 -5.81041180e+01] [-3.45832850e-02 -2.92756024e-04 9.99401776e-01 -1.02503186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:310.60, Y:-58.11, Z:-10.25 [[ 9.73371733e-01 2.26673664e-01 3.41543559e-02 3.10601800e+02] [-2.26543727e-01 9.73970729e-01 -7.67849028e-03 -5.81098217e+01] [-3.50058544e-02 -2.63429698e-04 9.99387073e-01 -1.02510895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994012739 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:310.63, Y:-58.11, Z:-10.25 [[ 9.73685904e-01 2.25309576e-01 3.42250802e-02 3.10629751e+02] [-2.25178286e-01 9.74287200e-01 -7.69355771e-03 -5.81149805e+01] [-3.50784898e-02 -2.15636214e-04 9.99384537e-01 -1.02517796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:310.66, Y:-58.12, Z:-10.25 [[ 9.74192778e-01 2.23123531e-01 3.41221390e-02 3.10659599e+02] [-2.22991721e-01 9.74790168e-01 -7.66952185e-03 -5.81189738e+01] [-3.49731764e-02 -1.37361688e-04 9.99388242e-01 -1.02525991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05401273900003 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:310.69, Y:-58.12, Z:-10.25 [[ 9.74384365e-01 2.22401667e-01 3.33557796e-02 3.10688096e+02] [-2.22275316e-01 9.74955120e-01 -7.49648823e-03 -5.81228756e+01] [-3.41876196e-02 -1.09705523e-04 9.99415426e-01 -1.02537590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:310.72, Y:-58.13, Z:-10.26 [[ 9.74418954e-01 2.22333983e-01 3.27917976e-02 3.10717307e+02] [-2.22211860e-01 9.74970558e-01 -7.36888921e-03 -5.81280168e+01] [-3.36093917e-02 -1.06341006e-04 9.99435039e-01 -1.02553822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11401273900003 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:310.75, Y:-58.13, Z:-10.26 [[ 9.74444916e-01 2.22294286e-01 3.22855301e-02 3.10745257e+02] [-2.22175909e-01 9.74979610e-01 -7.25437309e-03 -5.81331822e+01] [-3.30903392e-02 -1.04080016e-04 9.99452359e-01 -1.02568119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:310.77, Y:-58.14, Z:-10.26 [[ 9.74765190e-01 2.20901276e-01 3.21784212e-02 3.10773088e+02] [-2.20782974e-01 9.75296172e-01 -7.22879452e-03 -5.81385577e+01] [-3.29803410e-02 -5.80702870e-05 9.99455999e-01 -1.02569868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17401273900003 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:310.80, Y:-58.15, Z:-10.26 [[ 9.75009279e-01 2.19829263e-01 3.21247651e-02 3.10800588e+02] [-2.19710836e-01 9.75538361e-01 -7.21484243e-03 -5.81457600e+01] [-3.29249742e-02 -2.36206994e-05 9.99457826e-01 -1.02576461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:310.83, Y:-58.15, Z:-10.26 [[ 9.75579629e-01 2.17276428e-01 3.21767105e-02 3.10828958e+02] [-2.17156279e-01 9.76110112e-01 -7.22499945e-03 -5.81529362e+01] [-3.29778346e-02 6.11875661e-05 9.99456081e-01 -1.02589471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234012739 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:310.86, Y:-58.16, Z:-10.26 [[ 9.75809237e-01 2.16186322e-01 3.25546871e-02 3.10856823e+02] [-2.16062777e-01 9.76352121e-01 -7.30833143e-03 -5.81585486e+01] [-3.33647991e-02 9.76812101e-05 9.99443235e-01 -1.02602440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:310.89, Y:-58.16, Z:-10.26 [[ 9.76068117e-01 2.14928465e-01 3.31177667e-02 3.10886272e+02] [-2.14799937e-01 9.76629784e-01 -7.43318330e-03 -5.81642221e+01] [-3.39414000e-02 1.41599043e-04 9.99423815e-01 -1.02619851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294012739 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:310.92, Y:-58.17, Z:-10.26 [[ 9.76361523e-01 2.13534698e-01 3.34829665e-02 3.10916319e+02] [-2.13402526e-01 9.76935462e-01 -7.51438236e-03 -5.81713120e+01] [-3.43152787e-02 1.91404170e-04 9.99411039e-01 -1.02628961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:310.95, Y:-58.18, Z:-10.26 [[ 9.76449782e-01 2.13258889e-01 3.26568332e-02 3.10945347e+02] [-2.13133006e-01 9.76995705e-01 -7.32897927e-03 -5.81786655e+01] [-3.34685558e-02 1.96131172e-04 9.99439752e-01 -1.02636409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354012739 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:310.97, Y:-58.19, Z:-10.26 [[ 9.76410444e-01 2.13565263e-01 3.18201715e-02 3.10972958e+02] [-2.13445897e-01 9.76928782e-01 -7.14167514e-03 -5.81851217e+01] [-3.26112552e-02 1.81321126e-04 9.99468095e-01 -1.02643228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:311.00, Y:-58.19, Z:-10.27 [[ 9.76249216e-01 2.14270744e-01 3.20236935e-02 3.11001260e+02] [-2.14150273e-01 9.76774295e-01 -7.18589158e-03 -5.81906472e+01] [-3.28196470e-02 1.57338308e-04 9.99461278e-01 -1.02653177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414012739 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:311.03, Y:-58.20, Z:-10.27 [[ 9.76041729e-01 2.15126051e-01 3.26086738e-02 3.11029057e+02] [-2.15001665e-01 9.76586282e-01 -7.31565765e-03 -5.81961573e+01] [-3.34189721e-02 1.29467989e-04 9.99441422e-01 -1.02667751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:311.06, Y:-58.20, Z:-10.27 [[ 9.75955778e-01 2.15547088e-01 3.24001928e-02 3.11057635e+02] [-2.15424568e-01 9.76493441e-01 -7.26743908e-03 -5.82022558e+01] [-3.32050511e-02 1.12901641e-04 9.99448554e-01 -1.02695055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474012739 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:311.09, Y:-58.21, Z:-10.27 [[ 9.76102853e-01 2.14941118e-01 3.19927550e-02 3.11086609e+02] [-2.14821383e-01 9.76627001e-01 -7.17458584e-03 -5.82088777e+01] [-3.27871018e-02 1.30405844e-04 9.99462350e-01 -1.02702298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:311.11, Y:-58.22, Z:-10.27 [[ 9.76706686e-01 2.12110019e-01 3.24559475e-02 3.11114509e+02] [-2.11985253e-01 9.77245766e-01 -7.27769018e-03 -5.82157659e+01] [-3.32611083e-02 2.27986422e-04 9.99446670e-01 -1.02714060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534012739 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:311.14, Y:-58.22, Z:-10.27 [[ 9.76988713e-01 2.10782872e-01 3.26134133e-02 3.11144079e+02] [-2.10656190e-01 9.77532867e-01 -7.31185056e-03 -5.82240391e+01] [-3.34218963e-02 2.73378061e-04 9.99441295e-01 -1.02722873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:311.17, Y:-58.23, Z:-10.27 [[ 9.77600051e-01 2.08189041e-01 3.09105879e-02 3.11173213e+02] [-2.08073950e-01 9.78088547e-01 -6.93006152e-03 -5.82337777e+01] [-3.16760548e-02 3.43140389e-04 9.99498129e-01 -1.02729135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594012739 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:311.21, Y:-58.24, Z:-10.27 [[ 9.77816592e-01 2.07271883e-01 3.02171994e-02 3.11205464e+02] [-2.07161465e-01 9.78283310e-01 -6.77449719e-03 -5.82410564e+01] [-3.09651446e-02 3.64376458e-04 9.99520399e-01 -1.02740076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:311.24, Y:-58.25, Z:-10.27 [[ 9.77383003e-01 2.09121354e-01 3.14757702e-02 3.11235997e+02] [-2.09002284e-01 9.77889643e-01 -7.06341399e-03 -5.82473361e+01] [-3.22569404e-02 3.25152922e-04 9.99479557e-01 -1.02749811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:311.27, Y:-58.25, Z:-10.28 [[ 9.76930175e-01 2.11058157e-01 3.25866143e-02 3.11265426e+02] [-2.10931422e-01 9.77473467e-01 -7.31824433e-03 -5.82539031e+01] [-3.33971260e-02 2.75872811e-04 9.99442122e-01 -1.02762472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:311.30, Y:-58.26, Z:-10.28 [[ 9.76458463e-01 2.13145776e-01 3.31322698e-02 3.11295097e+02] [-2.13015898e-01 9.77020386e-01 -7.44266565e-03 -5.82601877e+01] [-3.39572758e-02 2.09753659e-04 9.99423263e-01 -1.02765747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:311.33, Y:-58.27, Z:-10.28 [[ 9.76456006e-01 2.13157033e-01 3.31322684e-02 3.11325325e+02] [-2.13027161e-01 9.77017930e-01 -7.44267208e-03 -5.82669843e+01] [-3.39572782e-02 2.09368782e-04 9.99423263e-01 -1.02776098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:311.36, Y:-58.27, Z:-10.28 [[ 9.75699073e-01 2.16667088e-01 3.26602558e-02 3.11355253e+02] [-2.16542843e-01 9.76245546e-01 -7.33703053e-03 -5.82718752e+01] [-3.34741223e-02 8.63892555e-05 9.99439581e-01 -1.02775396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774012739 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:311.38, Y:-58.28, Z:-10.28 [[ 9.75510112e-01 2.17491485e-01 3.28249214e-02 3.11384075e+02] [-2.17366450e-01 9.76062216e-01 -7.37401906e-03 -5.82775636e+01] [-3.36429519e-02 5.83935307e-05 9.99433914e-01 -1.02785642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:311.41, Y:-58.28, Z:-10.28 [[ 9.75697717e-01 2.16384581e-01 3.45206925e-02 3.11411493e+02] [-2.16245614e-01 9.76308201e-01 -7.75447199e-03 -5.82841581e+01] [-3.53807833e-02 1.01072287e-04 9.99373899e-01 -1.02805979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:311.44, Y:-58.29, Z:-10.28 [[ 9.75962561e-01 2.15119037e-01 3.49410981e-02 3.11439693e+02] [-2.14975895e-01 9.76587824e-01 -7.84770099e-03 -5.82915033e+01] [-3.58112409e-02 1.47568516e-04 9.99358561e-01 -1.02816854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:311.47, Y:-58.30, Z:-10.28 [[ 9.76283093e-01 2.13679144e-01 3.48216390e-02 3.11468869e+02] [-2.13536078e-01 9.76903876e-01 -7.82048639e-03 -5.82991386e+01] [-3.56884689e-02 1.99332442e-04 9.99362944e-01 -1.02827675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894012739 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:311.50, Y:-58.31, Z:-10.28 [[ 9.77004792e-01 2.10644569e-01 3.30227542e-02 3.11497777e+02] [-2.10514172e-01 9.77562673e-01 -7.41648558e-03 -5.83073371e+01] [-3.38440543e-02 2.94184179e-04 9.99427083e-01 -1.02833659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:311.53, Y:-58.32, Z:-10.28 [[ 9.77243984e-01 2.09700045e-01 3.19387871e-02 3.11526214e+02] [-2.09577555e-01 9.77765714e-01 -7.17340297e-03 -5.83157414e+01] [-3.27329139e-02 3.16511993e-04 9.99464084e-01 -1.02846499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954012739 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:311.56, Y:-58.32, Z:-10.29 [[ 9.77104016e-01 2.10352704e-01 3.19293288e-02 3.11556049e+02] [-2.10230621e-01 9.77625518e-01 -7.17170708e-03 -5.83237437e+01] [-3.27235146e-02 2.94981179e-04 9.99464399e-01 -1.02856751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:311.59, Y:-58.33, Z:-10.29 [[ 9.76713889e-01 2.12140451e-01 3.20376023e-02 3.11585873e+02] [-2.12018499e-01 9.77239159e-01 -7.19601369e-03 -5.83319255e+01] [-3.28349651e-02 2.35882152e-04 9.99460759e-01 -1.02864281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014012739 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:311.61, Y:-58.34, Z:-10.29 [[ 9.75394101e-01 2.17991767e-01 3.29535474e-02 3.11614005e+02] [-2.17866048e-01 9.75950607e-01 -7.40253634e-03 -5.83386055e+01] [-3.37747265e-02 4.09311552e-05 9.99429470e-01 -1.02865154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:311.64, Y:-58.34, Z:-10.29 [[ 9.74626243e-01 2.21361296e-01 3.32093790e-02 3.11641819e+02] [-2.21235611e-01 9.75191864e-01 -7.45880548e-03 -5.83438393e+01] [-3.40366071e-02 -7.75496877e-05 9.99420584e-01 -1.02869295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:311.67, Y:-58.35, Z:-10.29 [[ 9.73397999e-01 2.26707106e-01 3.31696266e-02 3.11670632e+02] [-2.26584862e-01 9.73962945e-01 -7.44868682e-03 -5.83473976e+01] [-3.39946574e-02 -2.65198400e-04 9.99421979e-01 -1.02890684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:311.70, Y:-58.35, Z:-10.29 [[ 9.72901828e-01 2.28861321e-01 3.29321909e-02 3.11698819e+02] [-2.28742106e-01 9.73458977e-01 -7.39382099e-03 -5.83517389e+01] [-3.37502965e-02 -3.39516752e-04 9.99430239e-01 -1.02903763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:311.73, Y:-58.36, Z:-10.29 [[ 9.72398852e-01 2.31026670e-01 3.26672813e-02 3.11726777e+02] [-2.30910637e-01 9.72947330e-01 -7.33281733e-03 -5.83558045e+01] [-3.34776205e-02 -4.12799612e-04 9.99439382e-01 -1.02915483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:311.75, Y:-58.36, Z:-10.29 [[ 9.71734811e-01 2.33961428e-01 3.15199531e-02 3.11754709e+02] [-2.33855004e-01 9.72245752e-01 -7.07350094e-03 -5.83576052e+01] [-3.23000669e-02 -4.97531644e-04 9.99478093e-01 -1.02922734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:311.78, Y:-58.36, Z:-10.29 [[ 9.71687587e-01 2.34168225e-01 3.14400162e-02 3.11783538e+02] [-2.34062508e-01 9.72195961e-01 -7.05372595e-03 -5.83616276e+01] [-3.22176152e-02 -5.04911094e-04 9.99480750e-01 -1.02937641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:311.81, Y:-58.36, Z:-10.29 [[ 9.72151245e-01 2.32231588e-01 3.14713732e-02 3.11811761e+02] [-2.32124691e-01 9.72660421e-01 -7.05931954e-03 -5.83640865e+01] [-3.22503561e-02 -4.42556515e-04 9.99479724e-01 -1.02947578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254012739 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:311.84, Y:-58.37, Z:-10.30 [[ 9.72552349e-01 2.30525990e-01 3.16179926e-02 3.11840329e+02] [-2.30417252e-01 9.73066090e-01 -7.09039558e-03 -5.83681429e+01] [-3.24009169e-02 -3.89550083e-04 9.99474877e-01 -1.02962943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:311.87, Y:-58.37, Z:-10.30 [[ 9.73305232e-01 2.27289637e-01 3.18801774e-02 3.11867741e+02] [-2.27177426e-01 9.73827161e-01 -7.14692066e-03 -5.83685624e+01] [-3.26702037e-02 -2.86321362e-04 9.99466145e-01 -1.02972723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314012739 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:311.90, Y:-58.37, Z:-10.30 [[ 9.73513357e-01 2.26397170e-01 3.18757789e-02 3.11895598e+02] [-2.26284614e-01 9.74035038e-01 -7.14275596e-03 -5.83723038e+01] [-3.26652252e-02 -2.59429999e-04 9.99466315e-01 -1.02978720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:311.92, Y:-58.38, Z:-10.30 [[ 9.73719221e-01 2.25507595e-01 3.18936300e-02 3.11923439e+02] [-2.25394508e-01 9.74241382e-01 -7.14458024e-03 -5.83758860e+01] [-3.26832512e-02 -2.31833928e-04 9.99465733e-01 -1.02984005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374012739 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:311.95, Y:-58.38, Z:-10.30 [[ 9.74049639e-01 2.23934077e-01 3.28759774e-02 3.11951465e+02] [-2.23813095e-01 9.74604276e-01 -7.36234055e-03 -5.83783147e+01] [-3.36897471e-02 -1.86789106e-04 9.99432322e-01 -1.02993930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:311.98, Y:-58.38, Z:-10.30 [[ 9.74184373e-01 2.23207514e-01 3.38114258e-02 3.11978866e+02] [-2.23079179e-01 9.74770936e-01 -7.56985951e-03 -5.83826321e+01] [-3.46480447e-02 -1.68186241e-04 9.99399562e-01 -1.03004235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434012739 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:312.01, Y:-58.38, Z:-10.30 [[ 9.74446245e-01 2.22017805e-01 3.40970621e-02 3.12006637e+02] [-2.21886643e-01 9.75042603e-01 -7.63150608e-03 -5.83847477e+01] [-3.49404184e-02 -1.29190216e-04 9.99389389e-01 -1.03012759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:312.03, Y:-58.39, Z:-10.30 [[ 9.74718254e-01 2.20993408e-01 3.29581547e-02 3.12034928e+02] [-2.20870351e-01 9.75275297e-01 -7.37447044e-03 -5.83886113e+01] [-3.37729834e-02 -9.14482251e-05 9.99429526e-01 -1.03022697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494012739 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:312.06, Y:-58.39, Z:-10.30 [[ 9.75141717e-01 2.19316116e-01 3.16081170e-02 3.12063296e+02] [-2.19202121e-01 9.75653853e-01 -7.07035994e-03 -5.83923347e+01] [-3.23892250e-02 -3.39633635e-05 9.99475331e-01 -1.03033325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:312.09, Y:-58.39, Z:-10.30 [[ 9.76170066e-01 2.14841830e-01 3.05776066e-02 3.12091614e+02] [-2.14732996e-01 9.76648850e-01 -6.83843454e-03 -5.83935458e+01] [-3.13327661e-02 1.09454007e-04 9.99509002e-01 -1.03047971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55401273900003 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:312.12, Y:-58.40, Z:-10.31 [[ 9.76688235e-01 2.12377642e-01 3.12382566e-02 3.12118834e+02] [-2.12262854e-01 9.77187649e-01 -6.98426599e-03 -5.83975770e+01] [-3.20089405e-02 1.90728910e-04 9.99487564e-01 -1.03056753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:312.15, Y:-58.40, Z:-10.31 [[ 9.77603725e-01 2.07846004e-01 3.30302236e-02 3.12147130e+02] [-2.07715166e-01 9.78161496e-01 -7.38226973e-03 -5.84009882e+01] [-3.38432682e-02 3.56056000e-04 9.99427089e-01 -1.03058669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61401273900003 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:312.17, Y:-58.41, Z:-10.31 [[ 9.78072617e-01 2.05550910e-01 3.35079069e-02 3.12174658e+02] [-2.05414969e-01 9.78646325e-01 -7.48738087e-03 -5.84060845e+01] [-3.43314279e-02 4.40176537e-04 9.99410406e-01 -1.03071774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:312.20, Y:-58.41, Z:-10.31 [[ 9.79219726e-01 2.00047722e-01 3.33112176e-02 3.12202856e+02] [-1.99910254e-01 9.79785954e-01 -7.44145776e-03 -5.84105679e+01] [-3.41265097e-02 6.27568267e-04 9.99417324e-01 -1.03084718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67401273900003 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:312.23, Y:-58.42, Z:-10.31 [[ 9.79733844e-01 1.97542077e-01 3.31469757e-02 3.12229846e+02] [-1.97404581e-01 9.80294152e-01 -7.40319313e-03 -5.84168901e+01] [-3.39562286e-02 7.09794024e-04 9.99423069e-01 -1.03095560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:312.26, Y:-58.42, Z:-10.31 [[ 9.80263928e-01 1.94858711e-01 3.33573684e-02 3.12257982e+02] [-1.94717977e-01 9.80830991e-01 -7.44821717e-03 -5.84239813e+01] [-3.41692907e-02 8.05939306e-04 9.99415734e-01 -1.03098765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734012739 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:312.29, Y:-58.43, Z:-10.31 [[ 9.80660451e-01 1.92749989e-01 3.39488166e-02 3.12285820e+02] [-1.92603012e-01 9.81247494e-01 -7.57866622e-03 -5.84316430e+01] [-3.47729790e-02 8.93453898e-04 9.99394838e-01 -1.03107536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:312.31, Y:-58.44, Z:-10.31 [[ 9.81159231e-01 1.90047536e-01 3.47634499e-02 3.12313121e+02] [-1.89891781e-01 9.81774369e-01 -7.75888706e-03 -5.84403218e+01] [-3.56044215e-02 1.01141025e-03 9.99365450e-01 -1.03117010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794012739 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:312.34, Y:-58.45, Z:-10.31 [[ 9.81239756e-01 1.89785609e-01 3.39111152e-02 3.12342161e+02] [-1.89637283e-01 9.81825052e-01 -7.56754517e-03 -5.84502760e+01] [-3.47309936e-02 9.94764423e-04 9.99396202e-01 -1.03128097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:312.37, Y:-58.46, Z:-10.31 [[ 9.81127372e-01 1.90444297e-01 3.34671315e-02 3.12370602e+02] [-1.90300214e-01 9.81697535e-01 -7.46846654e-03 -5.84593779e+01] [-3.42769274e-02 9.58714680e-04 9.99411914e-01 -1.03137692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854012739 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:312.40, Y:-58.47, Z:-10.31 [[ 9.80961168e-01 1.91259165e-01 3.36915202e-02 3.12397916e+02] [-1.91113624e-01 9.81539126e-01 -7.51850274e-03 -5.84682246e+01] [-3.45075278e-02 9.36450718e-04 9.99403999e-01 -1.03146355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:312.43, Y:-58.48, Z:-10.32 [[ 9.80463320e-01 1.93658867e-01 3.44662517e-02 3.12425820e+02] [-1.93508075e-01 9.81068543e-01 -7.69020162e-03 -5.84790998e+01] [-3.53030311e-02 8.70462577e-04 9.99376275e-01 -1.03153524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914012739 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:312.45, Y:-58.49, Z:-10.32 [[ 9.80261060e-01 1.94728346e-01 3.41924754e-02 3.12453833e+02] [-1.94580618e-01 9.80856866e-01 -7.62836011e-03 -5.84875233e+01] [-3.50233822e-02 8.24591378e-04 9.99386153e-01 -1.03164876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:312.48, Y:-58.50, Z:-10.32 [[ 9.80084042e-01 1.95708043e-01 3.36694634e-02 3.12482519e+02] [-1.95565392e-01 9.80661898e-01 -7.51128783e-03 -5.84965241e+01] [-3.44883794e-02 7.77111515e-04 9.99404797e-01 -1.03183622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:312.51, Y:-58.51, Z:-10.32 [[ 9.79877507e-01 1.97012952e-01 3.20307276e-02 3.12510134e+02] [-1.96884573e-01 9.80400639e-01 -7.14499686e-03 -5.85098056e+01] [-3.28106027e-02 6.94865581e-04 9.99461346e-01 -1.03203785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:312.54, Y:-58.52, Z:-10.32 [[ 9.79890823e-01 1.96987241e-01 3.17805409e-02 3.12537948e+02] [-1.96860833e-01 9.80405809e-01 -7.08961621e-03 -5.85197861e+01] [-3.25543908e-02 6.90706121e-04 9.99469727e-01 -1.03215662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034012739 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:312.56, Y:-58.53, Z:-10.32 [[ 9.79990622e-01 1.96379657e-01 3.24563013e-02 3.12564936e+02] [-1.96247506e-01 9.80527666e-01 -7.23962372e-03 -5.85326453e+01] [-3.32460162e-02 7.25295148e-04 9.99446935e-01 -1.03218203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:312.60, Y:-58.54, Z:-10.32 [[ 9.80033525e-01 1.95963552e-01 3.36537556e-02 3.12595123e+02] [-1.95821233e-01 9.80610881e-01 -7.50637501e-03 -5.85429065e+01] [-3.44722149e-02 7.66379228e-04 9.99405363e-01 -1.03225027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094012739 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:312.63, Y:-58.55, Z:-10.32 [[ 9.79913362e-01 1.96448058e-01 3.43214768e-02 3.12625193e+02] [-1.96300292e-01 9.80513934e-01 -7.65639675e-03 -5.85535389e+01] [-3.51567705e-02 7.65289559e-04 9.99381517e-01 -1.03235303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:312.66, Y:-58.56, Z:-10.32 [[ 9.79864896e-01 1.96714580e-01 3.41783584e-02 3.12656272e+02] [-1.96567996e-01 9.80460503e-01 -7.63048784e-03 -5.85646402e+01] [-3.50115587e-02 7.58475756e-04 9.99386620e-01 -1.03247006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154012739 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:312.69, Y:-58.58, Z:-10.33 [[ 9.79737322e-01 1.97646664e-01 3.24125882e-02 3.12685464e+02] [-1.97515158e-01 9.80273082e-01 -7.24201779e-03 -5.85799933e+01] [-3.32045484e-02 6.93297655e-04 9.99448336e-01 -1.03275316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:312.72, Y:-58.59, Z:-10.33 [[ 9.79536756e-01 1.98774288e-01 3.15677913e-02 3.12716586e+02] [-1.98649962e-01 9.80045085e-01 -7.05860518e-03 -5.85908485e+01] [-3.23409280e-02 6.43222690e-04 9.99476688e-01 -1.03289117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214012739 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:312.75, Y:-58.60, Z:-10.33 [[ 9.78823527e-01 2.02388248e-01 3.07164511e-02 3.12746620e+02] [-2.02272141e-01 9.79305229e-01 -6.87380671e-03 -5.86039051e+01] [-3.14719589e-02 5.15161398e-04 9.99504502e-01 -1.03291690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:312.78, Y:-58.61, Z:-10.33 [[ 9.78437708e-01 2.04240074e-01 3.07513312e-02 3.12776807e+02] [-2.04124439e-01 9.78920722e-01 -6.88724363e-03 -5.86138699e+01] [-3.15097665e-02 4.61640623e-04 9.99503337e-01 -1.03298391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274012739 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:312.81, Y:-58.62, Z:-10.33 [[ 9.78109732e-01 2.05700597e-01 3.14422732e-02 3.12806996e+02] [-2.05580438e-01 9.78614880e-01 -7.04269068e-03 -5.86244086e+01] [-3.22185621e-02 4.24607994e-04 9.99480757e-01 -1.03311592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:312.84, Y:-58.64, Z:-10.33 [[ 9.77864858e-01 2.06630182e-01 3.29285261e-02 3.12835866e+02] [-2.06498892e-01 9.78419029e-01 -7.37634906e-03 -5.86393035e+01] [-3.37420729e-02 4.13368368e-04 9.99430489e-01 -1.03317035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334012739 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:312.87, Y:-58.65, Z:-10.33 [[ 9.77888736e-01 2.06389717e-01 3.37180273e-02 3.12867358e+02] [-2.06251866e-01 9.78469773e-01 -7.55450876e-03 -5.86505267e+01] [-3.45512434e-02 4.33062984e-04 9.99402834e-01 -1.03325908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:312.90, Y:-58.66, Z:-10.33 [[ 9.77960265e-01 2.05964026e-01 3.42423836e-02 3.12897633e+02] [-2.05821363e-01 9.78559455e-01 -7.67850871e-03 -5.86616880e+01] [-3.50897048e-02 4.61462337e-04 9.99384060e-01 -1.03341717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394012739 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:312.93, Y:-58.68, Z:-10.34 [[ 9.78165775e-01 2.05094185e-01 3.35870734e-02 3.12928108e+02] [-2.04956219e-01 9.78742119e-01 -7.53736803e-03 -5.86780633e+01] [-3.44189538e-02 4.88915857e-04 9.99407373e-01 -1.03356298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:312.96, Y:-58.69, Z:-10.34 [[ 9.78126616e-01 2.05365603e-01 3.30649802e-02 3.12957940e+02] [-2.05231831e-01 9.78685210e-01 -7.42665196e-03 -5.86903668e+01] [-3.38853859e-02 4.78219518e-04 9.99425611e-01 -1.03371161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:312.99, Y:-58.71, Z:-10.34 [[ 9.77677075e-01 2.07572864e-01 3.25736498e-02 3.12988187e+02] [-2.07444065e-01 9.78219477e-01 -7.32223202e-03 -5.87057531e+01] [-3.33840753e-02 4.01568053e-04 9.99442516e-01 -1.03364747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:313.02, Y:-58.72, Z:-10.34 [[ 9.77099262e-01 2.10265782e-01 3.26394365e-02 3.13019803e+02] [-2.10137757e-01 9.77644210e-01 -7.34318812e-03 -5.87161001e+01] [-3.34537773e-02 3.16245730e-04 9.99440216e-01 -1.03370774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514012739 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:313.05, Y:-58.73, Z:-10.34 [[ 9.76282008e-01 2.14081842e-01 3.22862953e-02 3.13050753e+02] [-2.13958447e-01 9.76815709e-01 -7.27008263e-03 -5.87254493e+01] [-3.30941531e-02 1.89725269e-04 9.99452220e-01 -1.03380421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:313.08, Y:-58.73, Z:-10.34 [[ 9.74052430e-01 2.24171795e-01 3.11266792e-02 3.13081655e+02] [-2.24062130e-01 9.74549632e-01 -7.01258008e-03 -5.87344244e+01] [-3.19065164e-02 -1.43689357e-04 9.99490847e-01 -1.03399259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:313.11, Y:-58.74, Z:-10.34 [[ 9.72819498e-01 2.29463768e-01 3.11223840e-02 3.13113962e+02] [-2.29356655e-01 9.73317154e-01 -7.01732325e-03 -5.87412871e+01] [-3.19021717e-02 -3.11537012e-04 9.99490948e-01 -1.03406592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:313.15, Y:-58.75, Z:-10.34 [[ 9.72801410e-01 2.29540617e-01 3.11210829e-02 3.13146590e+02] [-2.29433358e-01 9.73299034e-01 -7.02308902e-03 -5.87487932e+01] [-3.19022041e-02 -3.08143658e-04 9.99490948e-01 -1.03417783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634012739 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:313.18, Y:-58.75, Z:-10.34 [[ 9.70511322e-01 2.38986145e-01 3.15181849e-02 3.13179340e+02] [-2.38881016e-01 9.71022777e-01 -7.11523847e-03 -5.87540129e+01] [-3.23053189e-02 -6.23676528e-04 9.99477852e-01 -1.03423825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:313.21, Y:-58.76, Z:-10.34 [[ 9.69670845e-01 2.42366676e-01 3.15728769e-02 3.13211480e+02] [-2.42262778e-01 9.70184446e-01 -7.13353475e-03 -5.87605514e+01] [-3.23604451e-02 -7.31752192e-04 9.99475996e-01 -1.03433527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:313.24, Y:-58.77, Z:-10.34 [[ 9.69126004e-01 2.44543548e-01 3.15157352e-02 3.13242504e+02] [-2.44440979e-01 9.69637983e-01 -7.12669651e-03 -5.87665510e+01] [-3.23016416e-02 -7.97070269e-04 9.99477848e-01 -1.03444527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:313.28, Y:-58.77, Z:-10.35 [[ 9.68666687e-01 2.46353953e-01 3.15369409e-02 3.13275029e+02] [-2.46252022e-01 9.69179551e-01 -7.13714253e-03 -5.87704609e+01] [-3.23232215e-02 -8.52523257e-04 9.99477105e-01 -1.03461858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754012739 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:313.31, Y:-58.78, Z:-10.35 [[ 9.68536336e-01 2.46832010e-01 3.18013332e-02 3.13307784e+02] [-2.46728421e-01 9.69057894e-01 -7.20306531e-03 -5.87752708e+01] [-3.25952801e-02 -8.69862232e-04 9.99468254e-01 -1.03473827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:313.34, Y:-58.78, Z:-10.35 [[ 9.68509269e-01 2.46913136e-01 3.19953012e-02 3.13339727e+02] [-2.46808122e-01 9.69037225e-01 -7.25313348e-03 -5.87794165e+01] [-3.27955318e-02 -8.71973196e-04 9.99461701e-01 -1.03489091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:313.37, Y:-58.78, Z:-10.35 [[ 9.68703880e-01 2.46202165e-01 3.15798374e-02 3.13371948e+02] [-2.46099427e-01 9.69218137e-01 -7.16067256e-03 -5.87812741e+01] [-3.23707243e-02 -8.35208616e-04 9.99475582e-01 -1.03494233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:313.40, Y:-58.79, Z:-10.35 [[ 9.68800942e-01 2.45800905e-01 3.17277562e-02 3.13403266e+02] [-2.45696814e-01 9.69319989e-01 -7.19956929e-03 -5.87855881e+01] [-3.25240089e-02 -8.20459081e-04 9.99470618e-01 -1.03502941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:313.43, Y:-58.79, Z:-10.35 [[ 9.69039097e-01 2.44833413e-01 3.19347531e-02 3.13433854e+02] [-2.44727408e-01 9.69564836e-01 -7.24731435e-03 -5.87858405e+01] [-3.27371984e-02 -7.92378412e-04 9.99463680e-01 -1.03508458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:313.46, Y:-58.79, Z:-10.35 [[ 9.69186783e-01 2.44170502e-01 3.25229975e-02 3.13464771e+02] [-2.44060195e-01 9.69731999e-01 -7.38042293e-03 -5.87903186e+01] [-3.33406730e-02 -7.84560754e-04 9.99443737e-01 -1.03516847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934012739 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:313.50, Y:-58.80, Z:-10.35 [[ 9.69371581e-01 2.43343163e-01 3.32090725e-02 3.13495952e+02] [-2.43227639e-01 9.69939952e-01 -7.53693139e-03 -5.87959863e+01] [-3.40448669e-02 -7.71277195e-04 9.99420008e-01 -1.03526756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:313.53, Y:-58.80, Z:-10.35 [[ 9.70187737e-01 2.39990902e-01 3.37656859e-02 3.13528554e+02] [-2.39869406e-01 9.70774910e-01 -7.66429297e-03 -5.88009406e+01] [-3.46182413e-02 -6.63551982e-04 9.99400389e-01 -1.03539219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994012739 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:313.56, Y:-58.81, Z:-10.36 [[ 9.70865287e-01 2.37296735e-01 3.33294883e-02 3.13561143e+02] [-2.37176550e-01 9.71437056e-01 -7.57173689e-03 -5.88065774e+01] [-3.41742484e-02 -5.53836534e-04 9.99415736e-01 -1.03557667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:313.59, Y:-58.81, Z:-10.36 [[ 9.71656842e-01 2.34121042e-01 3.27157231e-02 3.13592828e+02] [-2.34003228e-01 9.72207362e-01 -7.43869836e-03 -5.88132922e+01] [-3.35480227e-02 -4.27722658e-04 9.99437015e-01 -1.03572798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05401273900003 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:313.62, Y:-58.82, Z:-10.36 [[ 9.73434066e-01 2.26630989e-01 3.26268915e-02 3.13623642e+02] [-2.26509399e-01 9.73980682e-01 -7.42454961e-03 -5.88237854e+01] [-3.34605950e-02 -1.62988083e-04 9.99440024e-01 -1.03589774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:313.66, Y:-58.83, Z:-10.36 [[ 9.74271337e-01 2.23009952e-01 3.25871626e-02 3.13655654e+02] [-2.22886420e-01 9.74816167e-01 -7.42183913e-03 -5.88331895e+01] [-3.34216369e-02 -3.23508836e-05 9.99441341e-01 -1.03600825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11401273900003 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:313.69, Y:-58.84, Z:-10.36 [[ 9.75439581e-01 2.18132887e-01 3.05886678e-02 3.13686498e+02] [-2.18021471e-01 9.75919067e-01 -6.97223209e-03 -5.88420667e+01] [-3.13729372e-02 1.32004801e-04 9.99507740e-01 -1.03616305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:313.72, Y:-58.85, Z:-10.36 [[ 9.75621999e-01 2.17369119e-01 3.02056518e-02 3.13718004e+02] [-2.17259944e-01 9.76089463e-01 -6.89031071e-03 -5.88498892e+01] [-3.09811592e-02 1.59860496e-04 9.99519956e-01 -1.03633112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17401273900003 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:313.75, Y:-58.86, Z:-10.36 [[ 9.75574406e-01 2.17548567e-01 3.04499447e-02 3.13750141e+02] [-2.17437538e-01 9.76049484e-01 -6.95141757e-03 -5.88581302e+01] [-3.12329238e-02 1.60664059e-04 9.99512120e-01 -1.03640533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:313.78, Y:-58.87, Z:-10.36 [[ 9.75439740e-01 2.18084252e-01 3.09285209e-02 3.13781132e+02] [-2.17969773e-01 9.75929934e-01 -7.06697460e-03 -5.88658039e+01] [-3.17252653e-02 1.51925183e-04 9.99496616e-01 -1.03641998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234012739 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:313.81, Y:-58.87, Z:-10.36 [[ 9.75120190e-01 2.19421620e-01 3.15399505e-02 3.13812409e+02] [-2.19303073e-01 9.75630124e-01 -7.21268155e-03 -5.88729563e+01] [-3.23539441e-02 1.16423330e-04 9.99476467e-01 -1.03649050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:313.84, Y:-58.88, Z:-10.37 [[ 9.75112617e-01 2.19393194e-01 3.19689082e-02 3.13844266e+02] [-2.19271190e-01 9.75636516e-01 -7.31671933e-03 -5.88809960e+01] [-3.27952726e-02 1.24764784e-04 9.99462083e-01 -1.03662287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294012739 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:313.87, Y:-58.89, Z:-10.37 [[ 9.75570011e-01 2.17377632e-01 3.17823597e-02 3.13874164e+02] [-2.17255775e-01 9.76087561e-01 -7.28026657e-03 -5.88926510e+01] [-3.26049330e-02 1.97508563e-04 9.99468298e-01 -1.03671580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:313.91, Y:-58.90, Z:-10.37 [[ 9.75723158e-01 2.16819665e-01 3.08796321e-02 3.13906419e+02] [-2.16704242e-01 9.76211651e-01 -7.07700081e-03 -5.89016822e+01] [-3.16794895e-02 2.13446308e-04 9.99498056e-01 -1.03681643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354012739 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:313.94, Y:-58.91, Z:-10.37 [[ 9.75704353e-01 2.17043870e-01 2.98826748e-02 3.13937391e+02] [-2.16935709e-01 9.76161829e-01 -6.85431679e-03 -5.89093746e+01] [-3.06580139e-02 2.05167480e-04 9.99529912e-01 -1.03695334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:313.97, Y:-58.92, Z:-10.37 [[ 9.75055607e-01 2.20047347e-01 2.90814214e-02 3.13968989e+02] [-2.19946088e-01 9.75489186e-01 -6.67577394e-03 -5.89185812e+01] [-2.98375984e-02 1.12905950e-04 9.99554753e-01 -1.03718730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:314.00, Y:-58.93, Z:-10.37 [[ 9.74477348e-01 2.22605080e-01 2.89978611e-02 3.14000685e+02] [-2.22505366e-01 9.74908702e-01 -6.66221789e-03 -5.89274048e+01] [-2.97533107e-02 4.00007122e-05 9.99557271e-01 -1.03727429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:314.03, Y:-58.94, Z:-10.37 [[ 9.73763483e-01 2.25731629e-01 2.88081812e-02 3.14032270e+02] [-2.25634415e-01 9.74189524e-01 -6.62429846e-03 -5.89356947e+01] [-2.95599420e-02 -4.96171744e-05 9.99563008e-01 -1.03737339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474012739 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:314.06, Y:-58.94, Z:-10.37 [[ 9.72289981e-01 2.31982849e-01 2.89162697e-02 3.14063446e+02] [-2.31887490e-01 9.72719848e-01 -6.65500299e-03 -5.89428208e+01] [-2.96712760e-02 -2.34728488e-04 9.99559683e-01 -1.03742310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:314.10, Y:-58.95, Z:-10.37 [[ 9.71566588e-01 2.34943745e-01 2.93223613e-02 3.14095698e+02] [-2.34846871e-01 9.72008915e-01 -6.75394623e-03 -5.89510453e+01] [-3.00883940e-02 -3.24356304e-04 9.99547189e-01 -1.03749282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:314.13, Y:-58.96, Z:-10.38 [[ 9.70655484e-01 2.38501797e-01 3.07379915e-02 3.14127324e+02] [-2.38396921e-01 9.71141952e-01 -7.08638748e-03 -5.89615393e+01] [-3.15410692e-02 -4.49401665e-04 9.99502356e-01 -1.03769319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:314.16, Y:-58.97, Z:-10.38 [[ 9.70263965e-01 2.40029112e-01 3.12067777e-02 3.14158744e+02] [-2.39921603e-01 9.70765561e-01 -7.20067818e-03 -5.89693544e+01] [-3.20228375e-02 -5.00621577e-04 9.99487012e-01 -1.03778355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:314.19, Y:-58.98, Z:-10.38 [[ 9.69722812e-01 2.42185559e-01 3.13659401e-02 3.14190484e+02] [-2.42077892e-01 9.70229783e-01 -7.24316248e-03 -5.89768806e+01] [-3.21863586e-02 -5.69140770e-04 9.99481723e-01 -1.03794613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:314.22, Y:-58.98, Z:-10.38 [[ 9.68489708e-01 2.47187369e-01 3.04317097e-02 3.14222297e+02] [-2.47088306e-01 9.68967442e-01 -7.03318445e-03 -5.89841286e+01] [-3.12258502e-02 -7.07752832e-04 9.99512104e-01 -1.03804750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654012739 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:314.25, Y:-58.99, Z:-10.38 [[ 9.67846881e-01 2.49713960e-01 3.02547934e-02 3.14252596e+02] [-2.49617119e-01 9.68319333e-01 -6.99740584e-03 -5.89915334e+01] [-3.10436513e-02 -7.79696927e-04 9.99517726e-01 -1.03808007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:314.28, Y:-59.00, Z:-10.38 [[ 9.66570055e-01 2.54391786e-01 3.20491627e-02 3.14282858e+02] [-2.54285504e-01 9.67100749e-01 -7.41777387e-03 -5.89961051e+01] [-3.28817900e-02 -9.79839377e-04 9.99458767e-01 -1.03802089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714012739 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:314.31, Y:-59.00, Z:-10.38 [[ 9.65863897e-01 2.56967412e-01 3.27823488e-02 3.14312870e+02] [-2.56857691e-01 9.66419452e-01 -7.58747272e-03 -5.90009692e+01] [-3.36312328e-02 -1.09193245e-03 9.99433714e-01 -1.03813988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:314.34, Y:-59.01, Z:-10.38 [[ 9.64345949e-01 2.62733014e-01 3.17530269e-02 3.14342132e+02] [-2.62633179e-01 9.64867761e-01 -7.34962873e-03 -5.90058375e+01] [-3.25684620e-02 -1.25181370e-03 9.99468723e-01 -1.03834656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774012739 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:314.37, Y:-59.01, Z:-10.38 [[ 9.63734793e-01 2.65101884e-01 3.05980471e-02 3.14371668e+02] [-2.65010393e-01 9.64219551e-01 -7.08161364e-03 -5.90116667e+01] [-3.13805844e-02 -1.28400305e-03 9.99506683e-01 -1.03847976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:314.40, Y:-59.02, Z:-10.39 [[ 9.63117949e-01 2.67355237e-01 3.04137011e-02 3.14400445e+02] [-2.67265986e-01 9.63597092e-01 -7.03828727e-03 -5.90166520e+01] [-3.11882769e-02 -1.34984701e-03 9.99512616e-01 -1.03854937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834012739 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:314.43, Y:-59.02, Z:-10.39 [[ 9.61989964e-01 2.71305204e-01 3.11254728e-02 3.14429626e+02] [-2.71213834e-01 9.62492179e-01 -7.20151070e-03 -5.90183729e+01] [-3.19118315e-02 -1.51387778e-03 9.99489541e-01 -1.03855271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:314.46, Y:-59.02, Z:-10.39 [[ 9.61667184e-01 2.72429253e-01 3.12814503e-02 3.14456805e+02] [-2.72337605e-01 9.62174551e-01 -7.23614360e-03 -5.90223000e+01] [-3.20695526e-02 -1.56035341e-03 9.99484422e-01 -1.03856954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894012739 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:314.49, Y:-59.02, Z:-10.39 [[ 9.61352294e-01 2.73607670e-01 3.06693541e-02 3.14485742e+02] [-2.73520226e-01 9.61840100e-01 -7.09278919e-03 -5.90247071e+01] [-3.14396562e-02 -1.57001952e-03 9.99504419e-01 -1.03878771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:314.51, Y:-59.03, Z:-10.39 [[ 9.61382910e-01 2.73543673e-01 3.02780482e-02 3.14513741e+02] [-2.73458459e-01 9.61858336e-01 -7.00090254e-03 -5.90282983e+01] [-3.10382457e-02 -1.54924033e-03 9.99516997e-01 -1.03886752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954012739 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:314.54, Y:-59.03, Z:-10.39 [[ 9.61440421e-01 2.73311640e-01 3.05460887e-02 3.14541306e+02] [-2.73224850e-01 9.61924281e-01 -7.06105457e-03 -5.90319390e+01] [-3.13128928e-02 -1.55716722e-03 9.99508418e-01 -1.03902327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:314.57, Y:-59.04, Z:-10.39 [[ 9.61640733e-01 2.72565633e-01 3.09043163e-02 3.14568931e+02] [-2.72476468e-01 9.62135939e-01 -7.14206966e-03 -5.90366637e+01] [-3.16808361e-02 -1.55259383e-03 9.99496830e-01 -1.03916433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:314.60, Y:-59.04, Z:-10.39 [[ 9.62493249e-01 2.69459785e-01 3.15938306e-02 3.14597431e+02] [-2.69364986e-01 9.63010499e-01 -7.29956172e-03 -5.90423784e+01] [-3.23921289e-02 -1.48449287e-03 9.99474135e-01 -1.03921888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:314.63, Y:-59.05, Z:-10.39 [[ 9.63586131e-01 2.65534711e-01 3.15132535e-02 3.14625608e+02] [-2.65438335e-01 9.64100355e-01 -7.27984569e-03 -5.90460407e+01] [-3.23149906e-02 -1.35006719e-03 9.99476822e-01 -1.03925013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074012739 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:314.65, Y:-59.05, Z:-10.39 [[ 9.64009490e-01 2.63973847e-01 3.16782347e-02 3.14652682e+02] [-2.63875679e-01 9.64528953e-01 -7.31605944e-03 -5.90508888e+01] [-3.24858229e-02 -1.30636495e-03 9.99471343e-01 -1.03929491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:314.68, Y:-59.06, Z:-10.39 [[ 9.64103983e-01 2.63566378e-01 3.21912118e-02 3.14680533e+02] [-2.63464841e-01 9.64640365e-01 -7.43259106e-03 -5.90565103e+01] [-3.30119234e-02 -1.31546187e-03 9.99454092e-01 -1.03933832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134012739 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:314.71, Y:-59.06, Z:-10.39 [[ 9.63906688e-01 2.64281369e-01 3.22374856e-02 3.14707450e+02] [-2.64179990e-01 9.64444687e-01 -7.44175870e-03 -5.90619241e+01] [-3.30579899e-02 -1.34333764e-03 9.99452533e-01 -1.03940011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:314.74, Y:-59.07, Z:-10.39 [[ 9.63201124e-01 2.66719764e-01 3.32289397e-02 3.14735634e+02] [-2.66613568e-01 9.63773001e-01 -7.66861443e-03 -5.90660282e+01] [-3.40705260e-02 -1.47286812e-03 9.99418346e-01 -1.03949356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194012739 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:314.76, Y:-59.07, Z:-10.40 [[ 9.62754954e-01 2.68243809e-01 3.38844681e-02 3.14763916e+02] [-2.68134403e-01 9.63349795e-01 -7.81752368e-03 -5.90710066e+01] [-3.47395978e-02 -1.55923200e-03 9.99395182e-01 -1.03966007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:314.79, Y:-59.08, Z:-10.40 [[ 9.62843918e-01 2.67995472e-01 3.33169240e-02 3.14790702e+02] [-2.67889608e-01 9.63418963e-01 -7.68497741e-03 -5.90773825e+01] [-3.41576955e-02 -1.52582395e-03 9.99415291e-01 -1.03976696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254012739 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:314.82, Y:-59.08, Z:-10.40 [[ 9.63058153e-01 2.67260258e-01 3.30295054e-02 3.14817466e+02] [-2.67155849e-01 9.63623235e-01 -7.61669457e-03 -5.90833212e+01] [-3.38636386e-02 -1.48870576e-03 9.99425354e-01 -1.03993083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:314.85, Y:-59.09, Z:-10.40 [[ 9.63646431e-01 2.65172792e-01 3.26947351e-02 3.14845525e+02] [-2.65069352e-01 9.64199887e-01 -7.53762384e-03 -5.90882896e+01] [-3.35230327e-02 -1.40276795e-03 9.99436961e-01 -1.04001342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:314.87, Y:-59.09, Z:-10.40 [[ 9.64070181e-01 2.63679105e-01 3.22802704e-02 3.14873726e+02] [-2.63577487e-01 9.64609531e-01 -7.44054973e-03 -5.90936652e+01] [-3.30997739e-02 -1.33514040e-03 9.99451161e-01 -1.04015496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:314.90, Y:-59.10, Z:-10.40 [[ 9.64533513e-01 2.62092323e-01 3.13482955e-02 3.14901175e+02] [-2.61995698e-01 9.65042001e-01 -7.22428632e-03 -5.90989506e+01] [-3.21458518e-02 -1.24505230e-03 9.99482413e-01 -1.04024396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374012739 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:314.93, Y:-59.10, Z:-10.40 [[ 9.65480701e-01 2.58838943e-01 2.91447796e-02 3.14929716e+02] [-2.58753994e-01 9.65919915e-01 -6.71483391e-03 -5.91045689e+01] [-2.98895835e-02 -1.05828557e-03 9.99552646e-01 -1.04042885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:314.96, Y:-59.11, Z:-10.41 [[ 9.65903373e-01 2.57249621e-01 2.92114189e-02 3.14957065e+02] [-2.57163597e-01 9.66344456e-01 -6.72885206e-03 -5.91106127e+01] [-2.99592873e-02 -1.01269266e-03 9.99550607e-01 -1.04052527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:314.98, Y:-59.12, Z:-10.40 [[ 9.66648047e-01 2.54255792e-01 3.07497299e-02 3.14984949e+02] [-2.54159017e-01 9.67136521e-01 -7.08118707e-03 -5.91161117e+01] [-3.15396196e-02 -9.70305459e-04 9.99502031e-01 -1.04041340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:315.01, Y:-59.12, Z:-10.40 [[ 9.67061113e-01 2.52569168e-01 3.16483808e-02 3.15012203e+02] [-2.52465814e-01 9.67578381e-01 -7.28617148e-03 -5.91212782e+01] [-3.24625514e-02 -9.43961136e-04 9.99472507e-01 -1.04049556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:315.04, Y:-59.13, Z:-10.41 [[ 9.67544839e-01 2.50715788e-01 3.16002996e-02 3.15040817e+02] [-2.50611836e-01 9.68060336e-01 -7.27277492e-03 -5.91273648e+01] [-3.24143961e-02 -8.82673237e-04 9.99474126e-01 -1.04061608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:315.07, Y:-59.13, Z:-10.41 [[ 9.67563708e-01 2.50642915e-01 3.16006207e-02 3.15069408e+02] [-2.50538969e-01 9.68079207e-01 -7.27137915e-03 -5.91338367e+01] [-3.24144235e-02 -8.81664374e-04 9.99474126e-01 -1.04071399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55401273900003 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:315.10, Y:-59.14, Z:-10.41 [[ 9.68115975e-01 2.48529835e-01 3.13748433e-02 3.15096896e+02] [-2.48426340e-01 9.68623905e-01 -7.21694325e-03 -5.91405282e+01] [-3.21840489e-02 -8.07499448e-04 9.99481633e-01 -1.04084331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:315.13, Y:-59.15, Z:-10.41 [[ 9.69087855e-01 2.44677465e-01 3.16491335e-02 3.15125219e+02] [-2.44570168e-01 9.69604283e-01 -7.27788593e-03 -5.91475675e+01] [-3.24678700e-02 -6.87523029e-04 9.99472543e-01 -1.04090407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61401273900003 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:315.15, Y:-59.15, Z:-10.41 [[ 9.69485935e-01 2.43005836e-01 3.23293247e-02 3.15152028e+02] [-2.42892998e-01 9.70024611e-01 -7.43274235e-03 -5.91532915e+01] [-3.31664403e-02 -6.46627431e-04 9.99449633e-01 -1.04095651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:315.18, Y:-59.16, Z:-10.41 [[ 9.70202889e-01 2.39821153e-01 3.45278039e-02 3.15179522e+02] [-2.39775762e-01 9.70812657e-01 -5.51074387e-03 -5.91614022e+01] [-3.48416220e-02 -2.93239088e-03 9.99388544e-01 -1.04101172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67401273900003 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:315.21, Y:-59.17, Z:-10.41 [[ 9.70703719e-01 2.38124091e-01 3.21124041e-02 3.15208047e+02] [-2.37930844e-01 9.71232996e-01 -9.76630729e-03 -5.91652998e+01] [-3.35142195e-02 1.83965942e-03 9.99436548e-01 -1.04110612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:315.24, Y:-59.17, Z:-10.41 [[ 9.71020585e-01 2.36827363e-01 3.21220224e-02 3.15235560e+02] [-2.36712724e-01 9.71551650e-01 -7.38084826e-03 -5.91727354e+01] [-3.29561907e-02 -4.36735815e-04 9.99456702e-01 -1.04124709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734012739 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:315.26, Y:-59.18, Z:-10.41 [[ 9.71180063e-01 2.36203847e-01 3.18908799e-02 3.15264591e+02] [-2.36090563e-01 9.71703438e-01 -7.32628804e-03 -5.91768749e+01] [-3.27189751e-02 -4.13990928e-04 9.99464505e-01 -1.04129637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:315.29, Y:-59.18, Z:-10.41 [[ 9.70868342e-01 2.37093946e-01 3.46572180e-02 3.15291201e+02] [-2.37095454e-01 9.71477598e-01 -4.12574265e-03 -5.91842075e+01] [-3.46468995e-02 -4.21151592e-03 9.99390742e-01 -1.04132510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794012739 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:315.32, Y:-59.18, Z:-10.41 [[ 9.70400398e-01 2.39163879e-01 3.35217271e-02 3.15320904e+02] [-2.38909628e-01 9.70974247e-01 -1.14543347e-02 -5.91846478e+01] [-3.52881968e-02 3.10662763e-03 9.99372349e-01 -1.04134308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:315.35, Y:-59.19, Z:-10.41 [[ 9.70114562e-01 2.40271750e-01 3.38706797e-02 3.15347248e+02] [-2.40146610e-01 9.70705485e-01 -7.77611879e-03 -5.91922223e+01] [-3.47468362e-02 -5.90202817e-04 9.99395972e-01 -1.04142505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854012739 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:315.38, Y:-59.20, Z:-10.42 [[ 9.69975232e-01 2.40931484e-01 3.31673042e-02 3.15375074e+02] [-2.40811938e-01 9.70541940e-01 -7.61276674e-03 -5.91972865e+01] [-3.40244149e-02 -6.02887597e-04 9.99420820e-01 -1.04163080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:315.40, Y:-59.20, Z:-10.42 [[ 9.70268494e-01 2.40074767e-01 3.07108397e-02 3.15402280e+02] [-2.39971898e-01 9.70754255e-01 -7.04732155e-03 -5.92024194e+01] [-3.15045623e-02 -5.31944414e-04 9.99503467e-01 -1.04187396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:315.43, Y:-59.21, Z:-10.42 [[ 9.70793043e-01 2.38025898e-01 3.00755510e-02 3.15430629e+02] [-2.37926313e-01 9.71258700e-01 -6.89978503e-03 -5.92093483e+01] [-3.08534681e-02 -4.57501660e-04 9.99523814e-01 -1.04201368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:315.46, Y:-59.22, Z:-10.42 [[ 9.71479123e-01 2.35248572e-01 2.97728571e-02 3.15458823e+02] [-2.35149699e-01 9.71935170e-01 -6.82963507e-03 -5.92167214e+01] [-3.05439489e-02 -3.66230514e-04 9.99533358e-01 -1.04210343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:315.49, Y:-59.23, Z:-10.42 [[ 9.72760501e-01 2.29856634e-01 3.00488928e-02 3.15487769e+02] [-2.29753380e-01 9.73224480e-01 -6.89178119e-03 -5.92250660e+01] [-3.08284396e-02 -1.99782156e-04 9.99524671e-01 -1.04218386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:315.52, Y:-59.23, Z:-10.42 [[ 9.73164654e-01 2.28148270e-01 2.99820336e-02 3.15515808e+02] [-2.28044686e-01 9.73626389e-01 -6.87573726e-03 -5.92318923e+01] [-3.07599867e-02 -1.46018969e-04 9.99526789e-01 -1.04229873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034012739 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:315.54, Y:-59.24, Z:-10.42 [[ 9.73258214e-01 2.27820903e-01 2.94293100e-02 3.15544035e+02] [-2.27720987e-01 9.73703044e-01 -6.74788118e-03 -5.92386359e+01] [-3.01927171e-02 -1.34240734e-04 9.99544087e-01 -1.04230278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:315.57, Y:-59.24, Z:-10.42 [[ 9.73043544e-01 2.28778870e-01 2.90945102e-02 3.15572103e+02] [-2.28681667e-01 9.73478403e-01 -6.67031695e-03 -5.92448204e+01] [-2.98489049e-02 -1.62872255e-04 9.99554409e-01 -1.04235273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094012739 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:315.60, Y:-59.25, Z:-10.42 [[ 9.72825310e-01 2.29645443e-01 2.95615687e-02 3.15600997e+02] [-2.29545518e-01 9.73274336e-01 -6.77655822e-03 -5.92505865e+01] [-3.03277219e-02 -1.93318261e-04 9.99539990e-01 -1.04238887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:315.63, Y:-59.26, Z:-10.42 [[ 9.72797892e-01 2.29446235e-01 3.19168616e-02 3.15629619e+02] [-2.29329670e-01 9.73321316e-01 -7.31562015e-03 -5.92568767e+01] [-3.27439032e-02 -2.02863455e-04 9.99463754e-01 -1.04246595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154012739 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:315.66, Y:-59.27, Z:-10.43 [[ 9.73115084e-01 2.27971174e-01 3.28051408e-02 3.15658417e+02] [-2.27847219e-01 9.73667869e-01 -7.51839500e-03 -5.92650603e+01] [-3.36552889e-02 -1.58296516e-04 9.99433488e-01 -1.04260078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:315.69, Y:-59.28, Z:-10.43 [[ 9.74366500e-01 2.22554234e-01 3.28562969e-02 3.15687305e+02] [-2.22426822e-01 9.74920311e-01 -7.52972788e-03 -5.92770623e+01] [-3.37080440e-02 2.85929081e-05 9.99431722e-01 -1.04273912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214012739 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:315.72, Y:-59.29, Z:-10.43 [[ 9.75124850e-01 2.19321713e-01 3.20860220e-02 3.15718267e+02] [-2.19198433e-01 9.75652585e-01 -7.35390856e-03 -5.92869170e+01] [-3.29176822e-02 1.37773239e-04 9.99458057e-01 -1.04274191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:315.75, Y:-59.30, Z:-10.43 [[ 9.75833055e-01 2.16122640e-01 3.22622650e-02 3.15748988e+02] [-2.15996067e-01 9.76366192e-01 -7.39988362e-03 -5.92962428e+01] [-3.30990672e-02 2.52528689e-04 9.99452044e-01 -1.04287174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274012739 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:315.78, Y:-59.31, Z:-10.43 [[ 9.76923892e-01 2.10872353e-01 3.39493855e-02 3.15780092e+02] [-2.10728804e-01 9.77513499e-01 -7.79301848e-03 -5.93092024e+01] [-3.48293147e-02 4.59072529e-04 9.99393170e-01 -1.04302706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:315.81, Y:-59.32, Z:-10.43 [[ 9.77143494e-01 2.09787808e-01 3.43462806e-02 3.15811124e+02] [-2.09639971e-01 9.77746805e-01 -7.89096888e-03 -5.93197320e+01] [-3.52373952e-02 5.10255648e-04 9.99378840e-01 -1.04306159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334012739 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:315.84, Y:-59.33, Z:-10.43 [[ 9.77194820e-01 2.09808223e-01 3.27229717e-02 3.15841467e+02] [-2.09673840e-01 9.77742435e-01 -7.52412560e-03 -5.93321945e+01] [-3.35732614e-02 4.91385424e-04 9.99436138e-01 -1.04315225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:315.87, Y:-59.34, Z:-10.43 [[ 9.77053555e-01 2.10576542e-01 3.19979743e-02 3.15873016e+02] [-2.10448275e-01 9.77577264e-01 -7.36313687e-03 -5.93415610e+01] [-3.28309961e-02 4.60260575e-04 9.99460812e-01 -1.04329948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394012739 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:315.90, Y:-59.35, Z:-10.43 [[ 9.76400254e-01 2.13554976e-01 3.21996170e-02 3.15904478e+02] [-2.13426499e-01 9.76930978e-01 -7.41575408e-03 -5.93532778e+01] [-3.30404745e-02 3.68492660e-04 9.99453947e-01 -1.04334614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:315.94, Y:-59.36, Z:-10.43 [[ 9.76064587e-01 2.15080968e-01 3.22195433e-02 3.15935576e+02] [-2.14952951e-01 9.76596167e-01 -7.42672329e-03 -5.93629089e+01] [-3.30628293e-02 3.23275700e-04 9.99453223e-01 -1.04341590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454012739 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:315.97, Y:-59.37, Z:-10.44 [[ 9.75787838e-01 2.16329280e-01 3.22449755e-02 3.15966751e+02] [-2.16201544e-01 9.76320419e-01 -7.43855265e-03 -5.93718664e+01] [-3.30906047e-02 2.87035699e-04 9.99452315e-01 -1.04352679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:316.00, Y:-59.38, Z:-10.44 [[ 9.75615907e-01 2.17725516e-01 2.77344987e-02 3.15998887e+02] [-2.17356963e-01 9.75965737e-01 -1.57108735e-02 -5.93751917e+01] [-3.04885785e-02 9.29949169e-03 9.99491854e-01 -1.04366646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514012739 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:316.03, Y:-59.40, Z:-10.44 [[ 9.75667814e-01 2.16944421e-01 3.17401103e-02 3.16028388e+02] [-2.17094793e-01 9.76149622e-01 1.32916282e-03 -5.93966301e+01] [-3.06947422e-02 -8.18743405e-03 9.99495272e-01 -1.04375255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:316.06, Y:-59.40, Z:-10.44 [[ 9.75840485e-01 2.16337525e-01 3.05519623e-02 3.16059762e+02] [-2.16222395e-01 9.76318592e-01 -7.06275887e-03 -5.94008717e+01] [-3.13563886e-02 2.86107589e-04 9.99508227e-01 -1.04374769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574012739 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:316.09, Y:-59.41, Z:-10.44 [[ 9.75671727e-01 2.16899263e-01 3.19278952e-02 3.16091105e+02] [-2.16773688e-01 9.76193951e-01 -7.38506094e-03 -5.94096853e+01] [-3.27696324e-02 2.84267564e-04 9.99462891e-01 -1.04382055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:316.12, Y:-59.42, Z:-10.44 [[ 9.75411807e-01 2.17911032e-01 3.29634515e-02 3.16122463e+02] [-2.17777534e-01 9.75968602e-01 -7.63110142e-03 -5.94190127e+01] [-3.38341949e-02 2.64767248e-04 9.99427425e-01 -1.04390220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634012739 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:316.15, Y:-59.43, Z:-10.44 [[ 9.75107703e-01 2.19238898e-01 3.31552999e-02 3.16153695e+02] [-2.19104389e-01 9.75671181e-01 -7.68195561e-03 -5.94277414e+01] [-3.40328541e-02 2.26262351e-04 9.99420689e-01 -1.04402084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:316.19, Y:-59.43, Z:-10.44 [[ 9.74265252e-01 2.23116470e-01 3.20352753e-02 3.16185811e+02] [-2.22992807e-01 9.74791789e-01 -7.42806334e-03 -5.94340857e+01] [-3.28850466e-02 9.32680614e-05 9.99459136e-01 -1.04421484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694012739 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:316.22, Y:-59.44, Z:-10.44 [[ 9.73688071e-01 2.25708115e-01 3.14227242e-02 3.16218005e+02] [-2.25590294e-01 9.74194974e-01 -7.29196839e-03 -5.94405893e+01] [-3.22577164e-02 1.14410486e-05 9.99479584e-01 -1.04440482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:316.25, Y:-59.45, Z:-10.45 [[ 9.72945725e-01 2.28971881e-01 3.07976389e-02 3.16250021e+02] [-2.28860146e-01 9.73433033e-01 -7.15289534e-03 -5.94462625e+01] [-3.16172509e-02 -8.89731895e-05 9.99500046e-01 -1.04453974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754012739 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:316.28, Y:-59.45, Z:-10.45 [[ 9.72783544e-01 2.29713662e-01 3.03942438e-02 3.16281157e+02] [-2.29590106e-01 9.73258190e-01 -7.54174052e-03 -5.94524678e+01] [-3.13138875e-02 3.58263413e-04 9.99509536e-01 -1.04463552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:316.31, Y:-59.46, Z:-10.45 [[ 9.73094804e-01 2.28411566e-01 3.02433413e-02 3.16313283e+02] [-2.28319627e-01 9.73564495e-01 -6.50549902e-03 -5.94588453e+01] [-3.09297746e-02 -5.74681132e-04 9.99521395e-01 -1.04479131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814012739 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:316.34, Y:-59.46, Z:-10.45 [[ 9.73680607e-01 2.25938847e-01 2.99618487e-02 3.16344500e+02] [-2.25831236e-01 9.74141487e-01 -6.97250659e-03 -5.94640289e+01] [-3.07624399e-02 2.26731230e-05 9.99526724e-01 -1.04491010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:316.38, Y:-59.47, Z:-10.45 [[ 9.74031170e-01 2.24376028e-01 3.03096976e-02 3.16376337e+02] [-2.24264973e-01 9.74502638e-01 -7.05902458e-03 -5.94719424e+01] [-3.11207562e-02 7.83064517e-05 9.99515629e-01 -1.04494914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874012739 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:316.41, Y:-59.48, Z:-10.45 [[ 9.74796513e-01 2.20701086e-01 3.26004427e-02 3.16407713e+02] [-2.20604400e-01 9.75341183e-01 -6.57839544e-03 -5.94793040e+01] [-3.32484134e-02 -7.79204166e-04 9.99446815e-01 -1.04495563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:316.44, Y:-59.48, Z:-10.45 [[ 9.75263744e-01 2.18592231e-01 3.28339114e-02 3.16440584e+02] [-2.18425826e-01 9.75815516e-01 -8.61615422e-03 -5.94846101e+01] [-3.39232646e-02 1.23124860e-03 9.99423682e-01 -1.04506325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934012739 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:316.47, Y:-59.49, Z:-10.45 [[ 9.75682856e-01 2.16697015e-01 3.29449328e-02 3.16471592e+02] [-2.16560868e-01 9.76238838e-01 -7.68907240e-03 -5.94925623e+01] [-3.38283220e-02 3.67512877e-04 9.99427591e-01 -1.04516995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:316.50, Y:-59.50, Z:-10.45 [[ 9.75746636e-01 2.16618245e-01 3.15442146e-02 3.16503193e+02] [-2.16493214e-01 9.76256322e-01 -7.36760527e-03 -5.95007516e+01] [-3.23911967e-02 3.59807640e-04 9.99475203e-01 -1.04526543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994012739 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:316.53, Y:-59.51, Z:-10.45 [[ 9.75610050e-01 2.17304700e-01 3.10434688e-02 3.16532414e+02] [-2.17236791e-01 9.76102960e-01 -5.58455599e-03 -5.95103412e+01] [-3.15151721e-02 -1.29543460e-03 9.99502434e-01 -1.04541016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:316.56, Y:-59.52, Z:-10.46 [[ 9.75830984e-01 2.16494595e-01 2.97318330e-02 3.16564188e+02] [-2.16333752e-01 9.76281921e-01 -8.56259440e-03 -5.95184268e+01] [-3.08804065e-02 1.92364593e-03 9.99521235e-01 -1.04556677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05401273900003 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:316.60, Y:-59.53, Z:-10.46 [[ 9.75950248e-01 2.15778564e-01 3.09955587e-02 3.16595269e+02] [-2.15656992e-01 9.76442244e-01 -7.25298319e-03 -5.95285943e+01] [-3.18304112e-02 3.94141780e-04 9.99493206e-01 -1.04561833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:316.63, Y:-59.54, Z:-10.46 [[ 9.76105400e-01 2.15035350e-01 3.12737265e-02 3.16626475e+02] [-2.14911012e-01 9.76606172e-01 -7.32405468e-03 -5.95412778e+01] [-3.21170450e-02 4.27981112e-04 9.99484023e-01 -1.04568254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11401273900003 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:316.66, Y:-59.55, Z:-10.46 [[ 9.75965005e-01 2.15693051e-01 3.11258357e-02 3.16656394e+02] [-2.15570022e-01 9.76461131e-01 -7.29564296e-03 -5.95521697e+01] [-3.19667882e-02 4.10495148e-04 9.99488847e-01 -1.04578492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:316.69, Y:-59.56, Z:-10.46 [[ 9.75671620e-01 2.17262120e-01 2.93608760e-02 3.16686926e+02] [-2.17081464e-01 9.76109711e-01 -9.24500233e-03 -5.95616753e+01] [-3.06680250e-02 2.64638445e-03 9.99526122e-01 -1.04589022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17401273900003 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:316.72, Y:-59.57, Z:-10.46 [[ 9.75306854e-01 2.18722060e-01 3.06137256e-02 3.16717514e+02] [-2.18677803e-01 9.75785179e-01 -4.82739720e-03 -5.95738148e+01] [-3.09282780e-02 -1.98634868e-03 9.99519633e-01 -1.04598582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:316.75, Y:-59.58, Z:-10.46 [[ 9.74478469e-01 2.22602683e-01 2.89785881e-02 3.16749817e+02] [-2.22498621e-01 9.74909232e-01 -6.80832765e-03 -5.95815262e+01] [-2.97670451e-02 1.86872817e-04 9.99556846e-01 -1.04622671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234012739 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:316.78, Y:-59.59, Z:-10.46 [[ 9.73650919e-01 2.26189838e-01 2.90180241e-02 3.16779982e+02] [-2.26086913e-01 9.74083236e-01 -6.82329944e-03 -5.95949330e+01] [-2.98093318e-02 8.29162868e-05 9.99555600e-01 -1.04626242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:316.81, Y:-59.61, Z:-10.46 [[ 9.73220030e-01 2.28000059e-01 2.93043812e-02 3.16811241e+02] [-2.27895751e-01 9.73661118e-01 -6.89599483e-03 -5.96050735e+01] [-3.01048237e-02 3.29763392e-05 9.99546747e-01 -1.04628505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:316.84, Y:-59.61, Z:-10.46 [[ 9.72849813e-01 2.29551922e-01 2.94814725e-02 3.16843176e+02] [-2.29446897e-01 9.73296417e-01 -6.94311032e-03 -5.96137209e+01] [-3.02880159e-02 -9.82880665e-06 9.99541213e-01 -1.04637878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:316.88, Y:-59.62, Z:-10.47 [[ 9.72547451e-01 2.30822979e-01 2.95331591e-02 3.16875223e+02] [-2.30718006e-01 9.72995761e-01 -6.96070811e-03 -5.96222866e+01] [-3.03423300e-02 -4.42126325e-05 9.99539565e-01 -1.04656136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:316.91, Y:-59.63, Z:-10.47 [[ 9.71572057e-01 2.34818960e-01 3.01296102e-02 3.16905730e+02] [-2.34711447e-01 9.72039108e-01 -7.10694162e-03 -5.96334153e+01] [-3.09560041e-02 -1.66858520e-04 9.99520734e-01 -1.04655884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:316.94, Y:-59.64, Z:-10.47 [[ 9.71006520e-01 2.37063200e-01 3.07794816e-02 3.16938110e+02] [-2.36951956e-01 9.71494201e-01 -7.26554679e-03 -5.96419095e+01] [-3.16244817e-02 -2.38365066e-04 9.99499793e-01 -1.04656364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:316.97, Y:-59.65, Z:-10.47 [[ 9.70976788e-01 2.37185124e-01 3.07781313e-02 3.16970655e+02] [-2.37073760e-01 9.71464441e-01 -7.27126231e-03 -5.96497613e+01] [-3.16244954e-02 -2.36460386e-04 9.99499793e-01 -1.04667322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:317.00, Y:-59.65, Z:-10.47 [[ 9.69488038e-01 2.43083164e-01 3.16783908e-02 3.17002692e+02] [-2.42968190e-01 9.70005353e-01 -7.48826729e-03 -5.96523829e+01] [-3.25484804e-02 -4.37055723e-04 9.99470062e-01 -1.04670771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474012739 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:317.03, Y:-59.66, Z:-10.47 [[ 9.68394482e-01 2.47341156e-01 3.21633175e-02 3.17034062e+02] [-2.47224849e-01 9.68928279e-01 -7.60684345e-03 -5.96572450e+01] [-3.30454333e-02 -5.85146087e-04 9.99453679e-01 -1.04683409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:317.07, Y:-59.66, Z:-10.47 [[ 9.66380293e-01 2.54937675e-01 3.34052496e-02 3.17066125e+02] [-2.54816525e-01 9.66957095e-01 -7.90670937e-03 -5.96612107e+01] [-3.43171612e-02 -8.71321490e-04 9.99410613e-01 -1.04679951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:317.10, Y:-59.67, Z:-10.47 [[ 9.65534252e-01 2.58098485e-01 3.35973391e-02 3.17097609e+02] [-2.57977654e-01 9.66118111e-01 -7.95774872e-03 -5.96661904e+01] [-3.45128806e-02 -9.83883761e-04 9.99403769e-01 -1.04679330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:317.13, Y:-59.67, Z:-10.47 [[ 9.65003445e-01 2.60049410e-01 3.38031862e-02 3.17128421e+02] [-2.59928105e-01 9.65594735e-01 -8.01179677e-03 -5.96699229e+01] [-3.47236416e-02 -1.05498665e-03 9.99396396e-01 -1.04688569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594012739 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:317.16, Y:-59.67, Z:-10.47 [[ 9.64560826e-01 2.61691666e-01 3.37621748e-02 3.17159825e+02] [-2.61672748e-01 9.65143413e-01 -5.05610762e-03 -5.96731328e+01] [-3.39084819e-02 -3.95771773e-03 9.99417106e-01 -1.04714380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:317.19, Y:-59.67, Z:-10.47 [[ 9.64796996e-01 2.61270806e-01 3.00719453e-02 3.17190725e+02] [-2.61083292e-01 9.65263739e-01 -1.00711532e-02 -5.96749521e+01] [-3.16586567e-02 1.86533592e-03 9.99496998e-01 -1.04736331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:317.22, Y:-59.68, Z:-10.47 [[ 9.65191750e-01 2.59946335e-01 2.88580712e-02 3.17220802e+02] [-2.59852161e-01 9.65622803e-01 -7.03258890e-03 -5.96821323e+01] [-2.96941073e-02 -7.11035355e-04 9.99558780e-01 -1.04749292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:317.25, Y:-59.68, Z:-10.48 [[ 9.65883165e-01 2.57417438e-01 2.83896900e-02 3.17250096e+02] [-2.57336337e-01 9.66299787e-01 -6.53689554e-03 -5.96845173e+01] [-2.91156623e-02 -9.91821487e-04 9.99575557e-01 -1.04754580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714012739 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:317.28, Y:-59.69, Z:-10.48 [[ 9.66055791e-01 2.56653322e-01 2.94156644e-02 3.17279463e+02] [-2.56559609e-01 9.66503196e-01 -6.98133620e-03 -5.96889176e+01] [-3.02221168e-02 -8.02511091e-04 9.99542885e-01 -1.04758802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:317.31, Y:-59.69, Z:-10.48 [[ 9.66072578e-01 2.56459808e-01 3.05309978e-02 3.17308083e+02] [-2.56358779e-01 9.66554542e-01 -7.24528662e-03 -5.96921149e+01] [-3.13679994e-02 -8.27416585e-04 9.99507561e-01 -1.04762542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774012739 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:317.34, Y:-59.70, Z:-10.48 [[ 9.66020138e-01 2.56728747e-01 2.99239721e-02 3.17336474e+02] [-2.56631857e-01 9.66483149e-01 -7.10016856e-03 -5.96976773e+01] [-3.07438321e-02 -8.20538727e-04 9.99526960e-01 -1.04773881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:317.36, Y:-59.70, Z:-10.48 [[ 9.66031834e-01 2.56797774e-01 2.89378621e-02 3.17364862e+02] [-2.56707227e-01 9.66464831e-01 -6.86518425e-03 -5.97011621e+01] [-2.97303900e-02 -7.96571817e-04 9.99557637e-01 -1.04788287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834012739 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:317.39, Y:-59.71, Z:-10.48 [[ 9.66189928e-01 2.56107554e-01 2.97648023e-02 3.17392665e+02] [-2.56011462e-01 9.66647962e-01 -7.06033487e-03 -5.97056579e+01] [-3.05802906e-02 -7.98506102e-04 9.99531995e-01 -1.04799988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:317.42, Y:-59.71, Z:-10.48 [[ 9.66700717e-01 2.54090648e-01 3.04576262e-02 3.17421173e+02] [-2.53989093e-01 9.67180115e-01 -7.22260619e-03 -5.97089318e+01] [-3.12932071e-02 -7.53806300e-04 9.99509963e-01 -1.04815231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894012739 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:317.45, Y:-59.71, Z:-10.48 [[ 9.67077055e-01 2.52756965e-01 2.95953657e-02 3.17449205e+02] [-2.52660527e-01 9.67529553e-01 -7.01579550e-03 -5.97142599e+01] [-3.04076821e-02 -6.92765841e-04 9.99537339e-01 -1.04823059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:317.48, Y:-59.72, Z:-10.48 [[ 9.67453008e-01 2.51421709e-01 2.86670721e-02 3.17477087e+02] [-2.51330679e-01 9.67877433e-01 -6.79446701e-03 -5.97191575e+01] [-2.94544886e-02 -6.31587132e-04 9.99565923e-01 -1.04834942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954012739 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:317.51, Y:-59.72, Z:-10.48 [[ 9.68026083e-01 2.49280958e-01 2.80090613e-02 3.17505933e+02] [-2.49193210e-01 9.68431049e-01 -6.63686563e-03 -5.97209751e+01] [-2.87792888e-02 -5.55008859e-04 9.99585636e-01 -1.04840195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:317.53, Y:-59.72, Z:-10.48 [[ 9.68168284e-01 2.48616970e-01 2.89788868e-02 3.17534791e+02] [-2.48522784e-01 9.68601721e-01 -6.86526750e-03 -5.97243751e+01] [-2.97758217e-02 -5.55179371e-04 9.99556448e-01 -1.04845546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014012739 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:317.56, Y:-59.72, Z:-10.49 [[ 9.68218264e-01 2.48126176e-01 3.14132703e-02 3.17563042e+02] [-2.48015291e-01 9.68727545e-01 -7.44039916e-03 -5.97245990e+01] [-3.22770580e-02 -5.87040990e-04 9.99478788e-01 -1.04850057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:317.59, Y:-59.73, Z:-10.49 [[ 9.68171187e-01 2.48176989e-01 3.24458703e-02 3.17591448e+02] [-2.48058785e-01 9.68714514e-01 -7.68302777e-03 -5.97279677e+01] [-3.33375362e-02 -6.09997046e-04 9.99443964e-01 -1.04862096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:317.62, Y:-59.73, Z:-10.49 [[ 9.68230463e-01 2.47932316e-01 3.25474602e-02 3.17619620e+02] [-2.47813308e-01 9.68777167e-01 -7.70483217e-03 -5.97311707e+01] [-3.34415131e-02 -6.05640559e-04 9.99440493e-01 -1.04866535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:317.65, Y:-59.73, Z:-10.49 [[ 9.68709014e-01 2.46062695e-01 3.24960876e-02 3.17647736e+02] [-2.45943085e-01 9.69253762e-01 -7.69045255e-03 -5.97334051e+01] [-3.33892887e-02 -5.42377319e-04 9.99442275e-01 -1.04883296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:317.68, Y:-59.74, Z:-10.49 [[ 9.69156519e-01 2.44349756e-01 3.20755171e-02 3.17675101e+02] [-2.44232344e-01 9.69687046e-01 -7.58911353e-03 -5.97393947e+01] [-3.29576115e-02 -4.78839864e-04 9.99456636e-01 -1.04894343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:317.70, Y:-59.75, Z:-10.49 [[ 9.69681940e-01 2.42361802e-01 3.12680665e-02 3.17702662e+02] [-2.42249251e-01 9.70185856e-01 -7.39633719e-03 -5.97459403e+01] [-3.21284255e-02 -4.02571078e-04 9.99483668e-01 -1.04907528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194012739 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:317.73, Y:-59.75, Z:-10.49 [[ 9.70561089e-01 2.39052139e-01 2.94150944e-02 3.17729995e+02] [-2.38951053e-01 9.71006693e-01 -6.95672231e-03 -5.97521450e+01] [-3.02252728e-02 -2.76843790e-04 9.99543074e-01 -1.04928707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:317.76, Y:-59.76, Z:-10.49 [[ 9.70881609e-01 2.37860939e-01 2.84793638e-02 3.17757489e+02] [-2.37765727e-01 9.71299191e-01 -6.73351161e-03 -5.97588418e+01] [-2.92636224e-02 -2.33974043e-04 9.99571701e-01 -1.04937521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254012739 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:317.79, Y:-59.77, Z:-10.49 [[ 9.70563215e-01 2.39156077e-01 2.84853685e-02 3.17785285e+02] [-2.39061441e-01 9.70981099e-01 -6.73293423e-03 -5.97667576e+01] [-2.92689766e-02 -2.75014953e-04 9.99571534e-01 -1.04932400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:317.81, Y:-59.77, Z:-10.49 [[ 9.70155571e-01 2.40704873e-01 2.93143562e-02 3.17812482e+02] [-2.40605395e-01 9.70598297e-01 -6.92749140e-03 -5.97730016e+01] [-3.01199451e-02 -3.32447876e-04 9.99546236e-01 -1.04931952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314012739 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:317.84, Y:-59.78, Z:-10.49 [[ 9.69660640e-01 2.42561942e-01 3.03635892e-02 3.17841030e+02] [-2.42456181e-01 9.70135836e-01 -7.17359384e-03 -5.97786468e+01] [-3.11968468e-02 -4.05888295e-04 9.99513178e-01 -1.04937320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:317.87, Y:-59.78, Z:-10.50 [[ 9.68656076e-01 2.46350763e-01 3.18858709e-02 3.17868643e+02] [-2.46236233e-01 9.69180578e-01 -7.53160775e-03 -5.97826936e+01] [-3.27585841e-02 -5.55919129e-04 9.99463139e-01 -1.04951444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374012739 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:317.90, Y:-59.79, Z:-10.50 [[ 9.68343295e-01 2.47691044e-01 3.09904873e-02 3.17896417e+02] [-2.47583601e-01 9.68838894e-01 -7.31827511e-03 -5.97887478e+01] [-3.18374606e-02 -5.86133815e-04 9.99492888e-01 -1.04964155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:317.92, Y:-59.79, Z:-10.50 [[ 9.68027575e-01 2.49195484e-01 2.87093043e-02 3.17924930e+02] [-2.49103978e-01 9.68453026e-01 -6.77832453e-03 -5.97948880e+01] [-2.94927404e-02 -5.89996824e-04 9.99564820e-01 -1.04986347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434012739 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:317.95, Y:-59.80, Z:-10.50 [[ 9.67898798e-01 2.49768885e-01 2.80610185e-02 3.17952050e+02] [-2.49681743e-01 9.68305298e-01 -6.62396867e-03 -5.97999374e+01] [-2.88260941e-02 -5.94992698e-04 9.99584265e-01 -1.04989035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:317.98, Y:-59.80, Z:-10.50 [[ 9.67742304e-01 2.50402591e-01 2.78096221e-02 3.17979523e+02] [-2.50317313e-01 9.68141607e-01 -6.56295068e-03 -5.98048927e+01] [-2.85670321e-02 -6.09984877e-04 9.99591693e-01 -1.04999141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494012739 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:318.01, Y:-59.81, Z:-10.50 [[ 9.67509278e-01 2.51354923e-01 2.73221545e-02 3.18007210e+02] [-2.51273032e-01 9.67894781e-01 -6.44636340e-03 -5.98100203e+01] [-2.80652959e-02 -6.28404197e-04 9.99605894e-01 -1.05006073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:318.04, Y:-59.81, Z:-10.50 [[ 9.66908839e-01 2.53666536e-01 2.72137214e-02 3.18035272e+02] [-2.53586262e-01 9.67291479e-01 -6.41883141e-03 -5.98142786e+01] [-2.79518436e-02 -6.94601069e-04 9.99609030e-01 -1.05020258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55401273900003 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:318.06, Y:-59.82, Z:-10.50 [[ 9.66306213e-01 2.55829449e-01 2.83477648e-02 3.18063753e+02] [-2.55743337e-01 9.66721608e-01 -6.68417001e-03 -5.98166005e+01] [-2.91144043e-02 -7.90796954e-04 9.99575773e-01 -1.05023260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:318.09, Y:-59.82, Z:-10.50 [[ 9.66012341e-01 2.56886089e-01 2.88044109e-02 3.18090288e+02] [-2.56797712e-01 9.66441325e-01 -6.78972414e-03 -5.98207867e+01] [-2.95819587e-02 -8.37949490e-04 9.99562007e-01 -1.05028286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61401273900003 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:318.12, Y:-59.83, Z:-10.50 [[ 9.65665808e-01 2.58115337e-01 2.94282173e-02 3.18118307e+02] [-2.58023738e-01 9.66113693e-01 -6.93417902e-03 -5.98260004e+01] [-3.02208217e-02 -8.97079041e-04 9.99542844e-01 -1.05034082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:318.15, Y:-59.83, Z:-10.50 [[ 9.65429792e-01 2.58938668e-01 2.99346386e-02 3.18146021e+02] [-2.58844350e-01 9.65893307e-01 -7.05134327e-03 -5.98314216e+01] [-3.07395325e-02 -9.40835206e-04 9.99526986e-01 -1.05040242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67401273900003 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:318.17, Y:-59.83, Z:-10.51 [[ 9.65467347e-01 2.58764464e-01 3.02283674e-02 3.18173367e+02] [-2.58668269e-01 9.65939986e-01 -7.11831419e-03 -5.98349163e+01] [-3.10407555e-02 -9.46619550e-04 9.99517671e-01 -1.05055448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:318.20, Y:-59.84, Z:-10.51 [[ 9.66140257e-01 2.56253517e-01 3.01187562e-02 3.18199855e+02] [-2.56156876e-01 9.66609221e-01 -7.09000721e-03 -5.98383047e+01] [-3.09299067e-02 -8.65185119e-04 9.99521182e-01 -1.05068958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734012739 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:318.23, Y:-59.84, Z:-10.51 [[ 9.66518905e-01 2.54806955e-01 3.02427254e-02 3.18226987e+02] [-2.54708916e-01 9.66991590e-01 -7.11574748e-03 -5.98435234e+01] [-3.10576031e-02 -8.25587344e-04 9.99517255e-01 -1.05081585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:318.26, Y:-59.85, Z:-10.51 [[ 9.66900122e-01 2.53385810e-01 2.99964178e-02 3.18255004e+02] [-2.53288742e-01 9.67364993e-01 -7.05571729e-03 -5.98480416e+01] [-3.08053031e-02 -7.75581030e-04 9.99525103e-01 -1.05086141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794012739 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:318.28, Y:-59.85, Z:-10.51 [[ 9.67293111e-01 2.52119524e-01 2.79246124e-02 3.18283002e+02] [-2.52034929e-01 9.67695859e-01 -6.56655976e-03 -5.98487758e+01] [-2.86780897e-02 -6.86189690e-04 9.99588463e-01 -1.05095794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:318.31, Y:-59.85, Z:-10.51 [[ 9.67423860e-01 2.51711096e-01 2.70665724e-02 3.18311257e+02] [-2.51631513e-01 9.67802198e-01 -6.36295508e-03 -5.98527732e+01] [-2.77967147e-02 -6.55128001e-04 9.99613382e-01 -1.05113210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854012739 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:318.34, Y:-59.86, Z:-10.51 [[ 9.67806764e-01 2.50151023e-01 2.78304293e-02 3.18339215e+02] [-2.50066298e-01 9.68206625e-01 -6.54042123e-03 -5.98556549e+01] [-2.85816991e-02 -6.29588543e-04 9.99591262e-01 -1.05118852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:318.37, Y:-59.86, Z:-10.51 [[ 9.68047188e-01 2.49056254e-01 2.92510665e-02 3.18366270e+02] [-2.48962227e-01 9.68488815e-01 -6.87199902e-03 -5.98604056e+01] [-3.00408451e-02 -6.29991324e-04 9.99548473e-01 -1.05119597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:318.39, Y:-59.87, Z:-10.51 [[ 9.68290246e-01 2.47986825e-01 3.02743039e-02 3.18393165e+02] [-2.47885663e-01 9.68763206e-01 -7.10970725e-03 -5.98654907e+01] [-3.10917454e-02 -6.20305706e-04 9.99516342e-01 -1.05123459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:318.42, Y:-59.87, Z:-10.51 [[ 9.68684967e-01 2.46373579e-01 3.08138540e-02 3.18421031e+02] [-2.46268082e-01 9.69174763e-01 -7.23264295e-03 -5.98687621e+01] [-3.16459418e-02 -5.82316221e-04 9.99498972e-01 -1.05132369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:318.45, Y:-59.87, Z:-10.51 [[ 9.68786262e-01 2.46007306e-01 3.05546044e-02 3.18447973e+02] [-2.45903464e-01 9.69267808e-01 -7.16959928e-03 -5.98733303e+01] [-3.13793682e-02 -5.67673764e-04 9.99507385e-01 -1.05147625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:318.48, Y:-59.88, Z:-10.52 [[ 9.68813059e-01 2.46001249e-01 2.97429328e-02 3.18475259e+02] [-2.45902925e-01 9.69269352e-01 -6.97666985e-03 -5.98776651e+01] [-3.05451827e-02 -5.54785314e-04 9.99533233e-01 -1.05162832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034012739 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:318.50, Y:-59.88, Z:-10.52 [[ 9.68713183e-01 2.46561444e-01 2.83235597e-02 3.18502469e+02] [-2.46472577e-01 9.69127007e-01 -6.64181770e-03 -5.98798146e+01] [-2.90867428e-02 -5.46964365e-04 9.99576742e-01 -1.05179633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:318.53, Y:-59.89, Z:-10.52 [[ 9.68724108e-01 2.46083658e-01 3.18815809e-02 3.18530140e+02] [-2.46201111e-01 9.69218732e-01 -2.49019886e-04 -5.98882467e+01] [-3.09615051e-02 -7.60804906e-03 9.99491622e-01 -1.05199627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094012739 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:318.56, Y:-59.88, Z:-10.52 [[ 9.69193539e-01 2.44792673e-01 2.72108778e-02 3.18559400e+02] [-2.44502110e-01 9.69553550e-01 -1.35879105e-02 -5.98837345e+01] [-2.97086241e-02 6.51619807e-03 9.99537361e-01 -1.05192060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:318.58, Y:-59.89, Z:-10.52 [[ 9.69664597e-01 2.42751452e-01 2.86758194e-02 3.18584853e+02] [-2.42658974e-01 9.70088415e-01 -6.71488873e-03 -5.98944017e+01] [-2.94481292e-02 -4.47255062e-04 9.99566210e-01 -1.05201146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154012739 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:318.61, Y:-59.90, Z:-10.52 [[ 9.70142178e-01 2.40832090e-01 2.87064138e-02 3.18611232e+02] [-2.40738645e-01 9.70566717e-01 -6.71964845e-03 -5.99012714e+01] [-2.94797968e-02 -3.91728772e-04 9.99565300e-01 -1.05208690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:318.64, Y:-59.91, Z:-10.52 [[ 9.71159049e-01 2.36399747e-01 3.10686574e-02 3.18637840e+02] [-2.36288106e-01 9.71655845e-01 -7.26982760e-03 -5.99085828e+01] [-3.19066280e-02 -2.80995366e-04 9.99490814e-01 -1.05221207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214012739 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:318.66, Y:-59.92, Z:-10.52 [[ 9.71943275e-01 2.32954265e-01 3.25358445e-02 3.18664408e+02] [-2.32829980e-01 9.72487675e-01 -7.61065054e-03 -5.99173523e+01] [-3.34136413e-02 -1.78199413e-04 9.99441593e-01 -1.05234181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:318.69, Y:-59.93, Z:-10.52 [[ 9.72294812e-01 2.31528919e-01 3.22049436e-02 3.18691327e+02] [-2.31406445e-01 9.72828013e-01 -7.53088577e-03 -5.99253886e+01] [-3.30734892e-02 -1.30190365e-04 9.99452914e-01 -1.05249144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274012739 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:318.72, Y:-59.93, Z:-10.53 [[ 9.72594094e-01 2.30408237e-01 3.11893122e-02 3.18717894e+02] [-2.30292852e-01 9.73094053e-01 -7.29153080e-03 -5.99333941e+01] [-3.20301630e-02 -9.09758650e-05 9.99486899e-01 -1.05260307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:318.74, Y:-59.94, Z:-10.53 [[ 9.72901854e-01 2.29248471e-01 3.01184566e-02 3.18743578e+02] [-2.29140371e-01 9.73367935e-01 -7.03949371e-03 -5.99404176e+01] [-3.09301331e-02 -5.26178477e-05 9.99521548e-01 -1.05270565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334012739 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:318.77, Y:-59.95, Z:-10.53 [[ 9.72914110e-01 2.29196352e-01 3.01191918e-02 3.18771341e+02] [-2.29088325e-01 9.73380208e-01 -7.03634661e-03 -5.99467668e+01] [-3.09301302e-02 -5.41943069e-05 9.99521548e-01 -1.05279879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:318.80, Y:-59.96, Z:-10.53 [[ 9.73329570e-01 2.27566432e-01 2.90356239e-02 3.18797070e+02] [-2.27465360e-01 9.73762558e-01 -6.78166622e-03 -5.99574269e+01] [-2.98170830e-02 -3.80238151e-06 9.99555372e-01 -1.05291125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394012739 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:318.82, Y:-59.97, Z:-10.53 [[ 9.73617701e-01 2.26322041e-01 2.91016528e-02 3.18823407e+02] [-2.26220012e-01 9.74052531e-01 -6.79511156e-03 -5.99665229e+01] [-2.98844221e-02 3.24646531e-05 9.99553360e-01 -1.05298009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:318.85, Y:-59.98, Z:-10.53 [[ 9.73864894e-01 2.25064223e-01 3.05493684e-02 3.18848779e+02] [-2.24951241e-01 9.74343928e-01 -7.13084442e-03 -5.99785691e+01] [-3.13704895e-02 7.23607172e-05 9.99507822e-01 -1.05297992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:318.88, Y:-59.99, Z:-10.53 [[ 9.73846784e-01 2.25046087e-01 3.12521920e-02 3.18875368e+02] [-2.24927897e-01 9.74348117e-01 -7.29301250e-03 -5.99871201e+01] [-3.20917783e-02 7.27869676e-05 9.99484924e-01 -1.05302726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:318.90, Y:-60.00, Z:-10.53 [[ 9.73719005e-01 2.25569518e-01 3.14593637e-02 3.18902713e+02] [-2.25450101e-01 9.74227073e-01 -7.33912084e-03 -5.99959606e+01] [-3.23040457e-02 5.37247378e-05 9.99478087e-01 -1.05312297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514012739 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:318.93, Y:-60.01, Z:-10.53 [[ 9.73014081e-01 2.28652604e-01 3.10094303e-02 3.18929277e+02] [-2.28538189e-01 9.73508081e-01 -7.23270700e-03 -6.00074699e+01] [-3.18417082e-02 -4.93132702e-05 9.99492923e-01 -1.05324579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:318.96, Y:-60.02, Z:-10.53 [[ 9.72563323e-01 2.30611528e-01 3.06415802e-02 3.18956137e+02] [-2.30500829e-01 9.73045893e-01 -7.14543932e-03 -6.00155515e+01] [-3.14634844e-02 -1.13517434e-04 9.99504896e-01 -1.05330085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:318.98, Y:-60.02, Z:-10.53 [[ 9.71439847e-01 2.35325681e-01 3.04376142e-02 3.18982299e+02] [-2.35218820e-01 9.71916536e-01 -7.09602124e-03 -6.00243512e+01] [-3.12526966e-02 -2.66141926e-04 9.99511480e-01 -1.05339092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:319.01, Y:-60.03, Z:-10.53 [[ 9.70877212e-01 2.37681485e-01 3.00824073e-02 3.19010172e+02] [-2.37578289e-01 9.71343089e-01 -7.01145814e-03 -6.00323514e+01] [-3.08868322e-02 -3.39661919e-04 9.99522830e-01 -1.05345338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634012739 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:319.04, Y:-60.04, Z:-10.54 [[ 9.70278935e-01 2.40118811e-01 3.00290566e-02 3.19037213e+02] [-2.40017190e-01 9.70743417e-01 -6.99758865e-03 -6.00407619e+01] [-3.08307617e-02 -4.17876921e-04 9.99524532e-01 -1.05353606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:319.06, Y:-60.05, Z:-10.54 [[ 9.69279587e-01 2.43941905e-01 3.14551835e-02 3.19063112e+02] [-2.43832475e-01 9.69789681e-01 -7.32793802e-03 -6.00494011e+01] [-3.22925035e-02 -5.66974501e-04 9.99478300e-01 -1.05351948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694012739 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:319.09, Y:-60.06, Z:-10.54 [[ 9.68968704e-01 2.45125448e-01 3.18302688e-02 3.19090416e+02] [-2.45014113e-01 9.69491173e-01 -7.41277641e-03 -6.00554245e+01] [-3.26762248e-02 -6.16116743e-04 9.99465800e-01 -1.05365316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:319.12, Y:-60.06, Z:-10.54 [[ 9.68616459e-01 2.46525587e-01 3.17378306e-02 3.19118350e+02] [-2.46415722e-01 9.69136056e-01 -7.38900848e-03 -6.00619286e+01] [-3.25798556e-02 -6.63585203e-04 9.99468915e-01 -1.05388121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:319.14, Y:-60.07, Z:-10.54 [[ 9.68646224e-01 2.46363720e-01 3.20844331e-02 3.19144810e+02] [-2.46251405e-01 9.69177214e-01 -7.46811639e-03 -6.00688146e+01] [-3.29353744e-02 -6.66873988e-04 9.99457261e-01 -1.05393660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:319.17, Y:-60.08, Z:-10.54 [[ 9.68887633e-01 2.45427955e-01 3.19667502e-02 3.19172468e+02] [-2.45316017e-01 9.69414626e-01 -7.43879380e-03 -6.00760651e+01] [-3.28147231e-02 -6.34600498e-04 9.99461250e-01 -1.05389447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814012739 meters Centerline goodness : 0.996014 Centerline is valid? [True, True] Translation: X:319.20, Y:-60.08, Z:-10.54 [[ 9.69005625e-01 2.45066805e-01 3.11506063e-02 3.19200410e+02] [-2.44960372e-01 9.69506004e-01 -7.24739662e-03 -6.00826493e+01] [-3.19767962e-02 -6.07896030e-04 9.99488427e-01 -1.05401875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:319.23, Y:-60.09, Z:-10.54 [[ 9.69101262e-01 2.44777003e-01 3.04460786e-02 3.19227809e+02] [-2.44675232e-01 9.69579226e-01 -7.08205390e-03 -6.00895294e+01] [-3.12534092e-02 -5.86173963e-04 9.99511321e-01 -1.05423362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874012739 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:319.25, Y:-60.10, Z:-10.54 [[ 9.69135464e-01 2.44644453e-01 3.04227736e-02 3.19254847e+02] [-2.44542833e-01 9.69612681e-01 -7.07469663e-03 -6.00987396e+01] [-3.12290924e-02 -5.83331852e-04 9.99512083e-01 -1.05444488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:319.28, Y:-60.11, Z:-10.55 [[ 9.69048225e-01 2.44882934e-01 3.12711622e-02 3.19283145e+02] [-2.44775740e-01 9.69552463e-01 -7.27042076e-03 -6.01059832e+01] [-3.20994343e-02 -6.09033556e-04 9.99484495e-01 -1.05453497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:319.31, Y:-60.11, Z:-10.55 [[ 9.68803056e-01 2.45759901e-01 3.19798404e-02 3.19311026e+02] [-2.45648323e-01 9.69330513e-01 -7.43359749e-03 -6.01123864e+01] [-3.28259153e-02 -6.54102179e-04 9.99460870e-01 -1.05453911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:319.34, Y:-60.12, Z:-10.55 [[ 9.67870153e-01 2.49481614e-01 3.14052613e-02 3.19338573e+02] [-2.49376016e-01 9.68379231e-01 -7.29848975e-03 -6.01176670e+01] [-3.22330418e-02 -7.67728542e-04 9.99480086e-01 -1.05460663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994012739 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:319.37, Y:-60.12, Z:-10.55 [[ 9.67334001e-01 2.51651430e-01 3.06020813e-02 3.19366661e+02] [-2.51552308e-01 9.67817589e-01 -7.10995966e-03 -6.01241029e+01] [-3.14064641e-02 -8.20318457e-04 9.99506359e-01 -1.05469854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:319.39, Y:-60.13, Z:-10.55 [[ 9.66813802e-01 2.53721731e-01 2.99391874e-02 3.19393280e+02] [-2.53627892e-01 9.67276862e-01 -6.95452745e-03 -6.01304993e+01] [-3.07239979e-02 -8.69679853e-04 9.99527528e-01 -1.05484499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05401273900003 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:319.42, Y:-60.14, Z:-10.55 [[ 9.66262653e-01 2.55809734e-01 2.99644095e-02 3.19420752e+02] [-2.55716799e-01 9.66726693e-01 -6.95842192e-03 -6.01364200e+01] [-3.07474266e-02 -9.38739677e-04 9.99526745e-01 -1.05499609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:319.45, Y:-60.14, Z:-10.55 [[ 9.66326118e-01 2.55591482e-01 2.97796728e-02 3.19447248e+02] [-2.55499649e-01 9.66784429e-01 -6.91347236e-03 -6.01413678e+01] [-3.05575486e-02 -9.28027045e-04 9.99532578e-01 -1.05508657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11401273900003 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:319.48, Y:-60.15, Z:-10.55 [[ 9.66736458e-01 2.54240229e-01 2.79736754e-02 3.19475344e+02] [-2.54158713e-01 9.67140740e-01 -6.49142377e-03 -6.01460885e+01] [-2.87048622e-02 -8.34257316e-04 9.99587582e-01 -1.05522750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:319.50, Y:-60.15, Z:-10.55 [[ 9.67010491e-01 2.53228808e-01 2.76745553e-02 3.19502315e+02] [-2.53148671e-01 9.67406086e-01 -6.41996481e-03 -6.01517077e+01] [-2.83982532e-02 -7.97603562e-04 9.99596370e-01 -1.05533523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17401273900003 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:319.53, Y:-60.16, Z:-10.55 [[ 9.67236630e-01 2.52314299e-01 2.81211033e-02 3.19529389e+02] [-2.52231217e-01 9.67645017e-01 -6.52185300e-03 -6.01574328e+01] [-2.88568022e-02 -7.84844984e-04 9.99583248e-01 -1.05537420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:319.56, Y:-60.16, Z:-10.55 [[ 9.67481961e-01 2.51101172e-01 3.04443294e-02 3.19556670e+02] [-2.51003265e-01 9.67960506e-01 -7.05834354e-03 -6.01615779e+01] [-3.12412668e-02 -8.12806014e-04 9.99511542e-01 -1.05539840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234012739 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:319.58, Y:-60.17, Z:-10.56 [[ 9.67725648e-01 2.49968168e-01 3.19841433e-02 3.19584452e+02] [-2.49859566e-01 9.68253710e-01 -7.41290246e-03 -6.01666011e+01] [-3.28217550e-02 -8.17888333e-04 9.99460886e-01 -1.05551626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:319.61, Y:-60.17, Z:-10.56 [[ 9.68254558e-01 2.47811672e-01 3.27488334e-02 3.19612206e+02] [-2.47696648e-01 9.68807923e-01 -7.58812616e-03 -6.01726587e+01] [-3.36077555e-02 -7.64538517e-04 9.99434807e-01 -1.05554465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294012739 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:319.64, Y:-60.18, Z:-10.56 [[ 9.68518581e-01 2.46834849e-01 3.23158574e-02 3.19639990e+02] [-2.46722356e-01 9.69057292e-01 -7.48625088e-03 -6.01796673e+01] [-3.31637849e-02 -7.22471387e-04 9.99449669e-01 -1.05569682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:319.67, Y:-60.19, Z:-10.56 [[ 9.69100664e-01 2.44718008e-01 3.09354017e-02 3.19666562e+02] [-2.44613889e-01 9.69594094e-01 -7.16503444e-03 -6.01871236e+01] [-3.17481958e-02 -6.23589284e-04 9.99495704e-01 -1.05581929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:319.69, Y:-60.19, Z:-10.56 [[ 9.69320258e-01 2.43823565e-01 3.11176179e-02 3.19693267e+02] [-2.43717815e-01 9.69819421e-01 -7.20534979e-03 -6.01937020e+01] [-3.19353042e-02 -5.99626312e-04 9.99489758e-01 -1.05590372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:319.72, Y:-60.20, Z:-10.56 [[ 9.69369246e-01 2.43500541e-01 3.21053257e-02 3.19720985e+02] [-2.43387860e-01 9.69900570e-01 -7.43200570e-03 -6.02007458e+01] [-3.29486711e-02 -6.09688779e-04 9.99456859e-01 -1.05596456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414012739 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:319.75, Y:-60.21, Z:-10.56 [[ 9.69447756e-01 2.43134544e-01 3.25060203e-02 3.19747716e+02] [-2.43018880e-01 9.69992384e-01 -7.52318058e-03 -6.02067844e+01] [-3.33597372e-02 -6.06246112e-04 9.99443225e-01 -1.05594759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:319.78, Y:-60.21, Z:-10.56 [[ 9.69568213e-01 2.42719029e-01 3.20148807e-02 3.19776195e+02] [-2.42606669e-01 9.70096455e-01 -7.40763558e-03 -6.02126135e+01] [-3.28554964e-02 -5.84815583e-04 9.99459941e-01 -1.05605687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474012739 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:319.80, Y:-60.22, Z:-10.56 [[ 9.70038012e-01 2.41013983e-01 3.06351962e-02 3.19803611e+02] [-2.40910295e-01 9.70521511e-01 -7.08701968e-03 -6.02197334e+01] [-3.14401878e-02 -5.05655677e-04 9.99505507e-01 -1.05625976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:319.83, Y:-60.23, Z:-10.56 [[ 9.70265608e-01 2.40115286e-01 3.04844135e-02 3.19831215e+02] [-2.40012217e-01 9.70744262e-01 -7.05071029e-03 -6.02275970e+01] [-3.12855528e-02 -4.75569974e-04 9.99510374e-01 -1.05636408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534012739 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:319.86, Y:-60.23, Z:-10.56 [[ 9.70435357e-01 2.39400094e-01 3.07052660e-02 3.19858033e+02] [-2.39295214e-01 9.70920896e-01 -7.10030907e-03 -6.02345814e+01] [-3.15121990e-02 -4.57232248e-04 9.99503263e-01 -1.05642308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:319.89, Y:-60.24, Z:-10.56 [[ 9.70653467e-01 2.38491819e-01 3.08787655e-02 3.19886503e+02] [-2.38385351e-01 9.71144410e-01 -7.13854263e-03 -6.02408775e+01] [-3.16902245e-02 -4.31994208e-04 9.99497645e-01 -1.05643748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594012739 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:319.92, Y:-60.25, Z:-10.57 [[ 9.70722674e-01 2.38173347e-01 3.11600154e-02 3.19915079e+02] [-2.38064814e-01 9.71222567e-01 -7.20206580e-03 -6.02474394e+01] [-3.19786503e-02 -4.26894695e-04 9.99488461e-01 -1.05650322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:319.94, Y:-60.25, Z:-10.57 [[ 9.70636912e-01 2.38426881e-01 3.18842876e-02 3.19941719e+02] [-2.38313432e-01 9.71160349e-01 -7.36787918e-03 -6.02535271e+01] [-3.27214563e-02 -4.46918515e-04 9.99464410e-01 -1.05656857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:319.97, Y:-60.26, Z:-10.57 [[ 9.70387501e-01 2.39400056e-01 3.21824733e-02 3.19970509e+02] [-2.39285076e-01 9.70920891e-01 -7.43475681e-03 -6.02586569e+01] [-3.30265168e-02 -4.86190480e-04 9.99454358e-01 -1.05670748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:320.00, Y:-60.26, Z:-10.57 [[ 9.70021124e-01 2.40901729e-01 3.20214957e-02 3.19998483e+02] [-2.40788765e-01 9.70549365e-01 -7.39602053e-03 -6.02624400e+01] [-3.28601564e-02 -5.36120252e-04 9.99459815e-01 -1.05675227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714012739 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:320.03, Y:-60.26, Z:-10.57 [[ 9.69384383e-01 2.43515070e-01 3.15329621e-02 3.20027196e+02] [-2.43406972e-01 9.69896917e-01 -7.28121708e-03 -6.02640511e+01] [-3.23568088e-02 -6.17044697e-04 9.99476191e-01 -1.05695361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:320.05, Y:-60.27, Z:-10.57 [[ 9.69415017e-01 2.43464016e-01 3.09806082e-02 3.20054890e+02] [-2.43359713e-01 9.69909741e-01 -7.15160373e-03 -6.02691511e+01] [-3.17895518e-02 -6.06559853e-04 9.99494400e-01 -1.05709548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774012739 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:320.08, Y:-60.27, Z:-10.57 [[ 9.70001546e-01 2.41195790e-01 3.03577159e-02 3.20082685e+02] [-2.41094591e-01 9.70476335e-01 -7.00580940e-03 -6.02734144e+01] [-3.11512166e-02 -5.23435153e-04 9.99514546e-01 -1.05717471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:320.11, Y:-60.28, Z:-10.57 [[ 9.70430019e-01 2.39490439e-01 3.01646928e-02 3.20110480e+02] [-2.39389768e-01 9.70898610e-01 -6.95906329e-03 -6.02775861e+01] [-3.09534874e-02 -4.67834872e-04 9.99520717e-01 -1.05721077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834012739 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:320.14, Y:-60.28, Z:-10.57 [[ 9.70911059e-01 2.37455539e-01 3.07665886e-02 3.20138722e+02] [-2.37349846e-01 9.71398320e-01 -7.09604048e-03 -6.02815294e+01] [-3.15716066e-02 -4.12820906e-04 9.99501407e-01 -1.05726570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:320.17, Y:-60.29, Z:-10.57 [[ 9.71671779e-01 2.34051774e-01 3.27676897e-02 3.20166761e+02] [-2.33930031e-01 9.72224080e-01 -7.55505725e-03 -6.02852653e+01] [-3.36258115e-02 -3.24310743e-04 9.99434440e-01 -1.05730798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894012739 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:320.19, Y:-60.29, Z:-10.57 [[ 9.72028608e-01 2.32426998e-01 3.37353778e-02 3.20194127e+02] [-2.32297063e-01 9.72613805e-01 -7.77568761e-03 -6.02913979e+01] [-3.46187739e-02 -2.78438402e-04 9.99400552e-01 -1.05738679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:320.22, Y:-60.30, Z:-10.57 [[ 9.72581103e-01 2.29943504e-01 3.48135520e-02 3.20222466e+02] [-2.29803613e-01 9.73203959e-01 -8.02208947e-03 -6.02976353e+01] [-3.57253140e-02 -1.98147394e-04 9.99361628e-01 -1.05746007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954012739 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:320.25, Y:-60.30, Z:-10.58 [[ 9.72781961e-01 2.29117291e-01 3.46485722e-02 3.20250469e+02] [-2.28978256e-01 9.73398808e-01 -7.98244586e-03 -6.03040768e+01] [-3.55557952e-02 -1.68590303e-04 9.99367679e-01 -1.05755437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:320.28, Y:-60.31, Z:-10.58 [[ 9.72913095e-01 2.28617634e-01 3.42649554e-02 3.20278560e+02] [-2.28481408e-01 9.73516284e-01 -7.89247194e-03 -6.03108850e+01] [-3.51618503e-02 -1.50215958e-04 9.99381620e-01 -1.05767166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014012739 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:320.31, Y:-60.32, Z:-10.58 [[ 9.72828503e-01 2.29133075e-01 3.32074831e-02 3.20305219e+02] [-2.29005483e-01 9.73395093e-01 -7.64736060e-03 -6.03183962e+01] [-3.40762643e-02 -1.65125345e-04 9.99419222e-01 -1.05779510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:320.33, Y:-60.33, Z:-10.58 [[ 9.72702208e-01 2.29735385e-01 3.27424469e-02 3.20333440e+02] [-2.29611747e-01 9.73253111e-01 -7.53838449e-03 -6.03255550e+01] [-3.35985220e-02 -1.85447197e-04 9.99435393e-01 -1.05793913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:320.36, Y:-60.33, Z:-10.58 [[ 9.72481338e-01 2.30713674e-01 3.24229473e-02 3.20360391e+02] [-2.30593031e-01 9.73021661e-01 -7.46331906e-03 -6.03323862e+01] [-3.32701198e-02 -2.18567196e-04 9.99446372e-01 -1.05799689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:320.39, Y:-60.34, Z:-10.58 [[ 9.71884927e-01 2.33054540e-01 3.35450581e-02 3.20387417e+02] [-2.32926876e-01 9.72463616e-01 -7.71920091e-03 -6.03376166e+01] [-3.44203433e-02 -3.11370592e-04 9.99407396e-01 -1.05807021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134012739 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:320.41, Y:-60.34, Z:-10.58 [[ 9.71537441e-01 2.34411286e-01 3.41518797e-02 3.20414946e+02] [-2.34279881e-01 9.72137446e-01 -7.85645277e-03 -6.03423181e+01] [-3.50419623e-02 -3.68260303e-04 9.99385774e-01 -1.05814200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:320.44, Y:-60.35, Z:-10.58 [[ 9.70708113e-01 2.37717228e-01 3.48752012e-02 3.20442618e+02] [-2.37582402e-01 9.71334273e-01 -8.02076619e-03 -6.03457699e+01] [-3.57821525e-02 -4.99911255e-04 9.99359489e-01 -1.05825292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194012739 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:320.47, Y:-60.35, Z:-10.58 [[ 9.70336743e-01 2.39202813e-01 3.50516656e-02 3.20471424e+02] [-2.39067672e-01 9.70969465e-01 -8.05899197e-03 -6.03507536e+01] [-3.59618305e-02 -5.59784057e-04 9.99353007e-01 -1.05841398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:320.50, Y:-60.36, Z:-10.59 [[ 9.70345105e-01 2.39168836e-01 3.50520336e-02 3.20500012e+02] [-2.39033730e-01 9.70977834e-01 -8.05739081e-03 -6.03572402e+01] [-3.59618245e-02 -5.60168616e-04 9.99353007e-01 -1.05850985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254012739 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:320.53, Y:-60.36, Z:-10.59 [[ 9.69954190e-01 2.40776431e-01 3.48651620e-02 3.20528348e+02] [-2.40643848e-01 9.70580408e-01 -8.01311508e-03 -6.03618076e+01] [-3.57688124e-02 -6.17732200e-04 9.99359900e-01 -1.05856739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:320.56, Y:-60.36, Z:-10.59 [[ 9.69733720e-01 2.41792691e-01 3.39530045e-02 3.20556341e+02] [-2.41667638e-01 9.70327721e-01 -7.80175553e-03 -6.03628199e+01] [-3.48319489e-02 -6.39716999e-04 9.99392979e-01 -1.05864079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314012739 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:320.58, Y:-60.37, Z:-10.59 [[ 9.69926244e-01 2.41127903e-01 3.31725163e-02 3.20584538e+02] [-2.41008222e-01 9.70493158e-01 -7.62020137e-03 -6.03669713e+01] [-3.40311433e-02 -6.03815868e-04 9.99420590e-01 -1.05877645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:320.61, Y:-60.37, Z:-10.59 [[ 9.70657978e-01 2.38236946e-01 3.26534470e-02 3.20611467e+02] [-2.38119424e-01 9.71206935e-01 -7.49860688e-03 -6.03687828e+01] [-3.34996994e-02 -4.96837403e-04 9.99438604e-01 -1.05888317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374012739 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:320.64, Y:-60.37, Z:-10.59 [[ 9.71142861e-01 2.36174223e-01 3.32156551e-02 3.20638830e+02] [-2.36051509e-01 9.71710629e-01 -7.62486686e-03 -6.03726141e+01] [-3.40768021e-02 -4.35770506e-04 9.99419122e-01 -1.05896092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:320.67, Y:-60.38, Z:-10.59 [[ 9.71745649e-01 2.33573139e-01 3.39703170e-02 3.20666738e+02] [-2.33443281e-01 9.72339171e-01 -7.79561742e-03 -6.03771615e+01] [-3.48515167e-02 -3.54784928e-04 9.99392438e-01 -1.05905673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434012739 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:320.69, Y:-60.38, Z:-10.59 [[ 9.73010455e-01 2.28236652e-01 3.40394672e-02 3.20693465e+02] [-2.28103085e-01 9.73605671e-01 -7.80895598e-03 -6.03831334e+01] [-3.49233083e-02 -1.66311678e-04 9.99389981e-01 -1.05910096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:320.72, Y:-60.39, Z:-10.59 [[ 9.73556237e-01 2.25846943e-01 3.43716548e-02 3.20720224e+02] [-2.25709343e-01 9.74162795e-01 -7.88297730e-03 -6.03897583e+01] [-3.52639336e-02 -8.34818927e-05 9.99378031e-01 -1.05917086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494012739 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:320.75, Y:-60.40, Z:-10.59 [[ 9.74150876e-01 2.23017350e-01 3.59629411e-02 3.20747480e+02] [-2.22864879e-01 9.74814475e-01 -8.24526188e-03 -6.03955444e+01] [-3.68960321e-02 1.72525409e-05 9.99319109e-01 -1.05920260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:320.78, Y:-60.40, Z:-10.59 [[ 9.74295039e-01 2.22356730e-01 3.61477793e-02 3.20775503e+02] [-2.22202312e-01 9.74965375e-01 -8.28550535e-03 -6.04026111e+01] [-3.70851711e-02 4.04066272e-05 9.99312108e-01 -1.05933456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55401273900003 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:320.80, Y:-60.41, Z:-10.59 [[ 9.74483054e-01 2.21518673e-01 3.62250663e-02 3.20803313e+02] [-2.21363080e-01 9.75156127e-01 -8.30146838e-03 -6.04106186e+01] [-3.71640256e-02 7.07480257e-05 9.99309176e-01 -1.05944760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:320.83, Y:-60.42, Z:-10.60 [[ 9.74870435e-01 2.19808054e-01 3.62222851e-02 3.20829395e+02] [-2.19651371e-01 9.75543132e-01 -8.29903193e-03 -6.04207468e+01] [-3.71605955e-02 1.34206305e-04 9.99309298e-01 -1.05954237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61401273900003 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:320.86, Y:-60.43, Z:-10.60 [[ 9.74896807e-01 2.19711794e-01 3.60963083e-02 3.20855951e+02] [-2.19556213e-01 9.75564816e-01 -8.26801228e-03 -6.04282568e+01] [-3.70308681e-02 1.35290028e-04 9.99314113e-01 -1.05963787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:320.88, Y:-60.44, Z:-10.60 [[ 9.74685418e-01 2.20722098e-01 3.56383334e-02 3.20883162e+02] [-2.20571192e-01 9.75336735e-01 -8.16105215e-03 -6.04377345e+01] [-3.65607003e-02 9.36688529e-05 9.99331430e-01 -1.05976956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67401273900003 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:320.91, Y:-60.45, Z:-10.60 [[ 9.74555285e-01 2.21332498e-01 3.54107575e-02 3.20909801e+02] [-2.21183981e-01 9.75198401e-01 -8.10716593e-03 -6.04462922e+01] [-3.63268934e-02 6.85890828e-05 9.99339958e-01 -1.05983403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:320.94, Y:-60.45, Z:-10.60 [[ 9.74496658e-01 2.21606274e-01 3.53117818e-02 3.20936847e+02] [-2.21458844e-01 9.75136224e-01 -8.08235951e-03 -6.04549277e+01] [-3.62248992e-02 5.61259672e-05 9.99343661e-01 -1.05986545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734012739 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:320.96, Y:-60.46, Z:-10.60 [[ 9.74756515e-01 2.20468550e-01 3.52612304e-02 3.20963011e+02] [-2.20320871e-01 9.75394079e-01 -8.06873050e-03 -6.04648989e+01] [-3.61724967e-02 9.62626144e-05 9.99345556e-01 -1.05998474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:320.99, Y:-60.47, Z:-10.60 [[ 9.75024034e-01 2.19283815e-01 3.52525520e-02 3.20991485e+02] [-2.19135505e-01 9.75661104e-01 -8.06481171e-03 -6.04738102e+01] [-3.61630265e-02 1.38299466e-04 9.99345894e-01 -1.06013355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794012739 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:321.02, Y:-60.49, Z:-10.60 [[ 9.75492954e-01 2.17112601e-01 3.57157682e-02 3.21019109e+02] [-2.16958939e-01 9.76146541e-01 -8.16999942e-03 -6.04876671e+01] [-3.66376334e-02 2.20921674e-04 9.99328592e-01 -1.06021136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:321.05, Y:-60.50, Z:-10.60 [[ 9.75726892e-01 2.16026145e-01 3.59129136e-02 3.21047517e+02] [-2.15870044e-01 9.76387544e-01 -8.21514608e-03 -6.04973798e+01] [-3.68396078e-02 2.63216703e-04 9.99321157e-01 -1.06030539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:321.08, Y:-60.51, Z:-10.60 [[ 9.76142456e-01 2.14268510e-01 3.51413124e-02 3.21077418e+02] [-2.14117892e-01 9.76774744e-01 -8.03910192e-03 -6.05087674e+01] [-3.60476729e-02 3.22924955e-04 9.99350019e-01 -1.06042600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:321.11, Y:-60.52, Z:-10.61 [[ 9.76332113e-01 2.13614402e-01 3.38303419e-02 3.21106817e+02] [-2.13474390e-01 9.76917998e-01 -7.74013364e-03 -6.05178614e+01] [-3.47028739e-02 3.35029426e-04 9.99397618e-01 -1.06057202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914012739 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:321.14, Y:-60.53, Z:-10.61 [[ 9.76445938e-01 2.13286354e-01 3.25923576e-02 3.21135714e+02] [-2.13156123e-01 9.76989671e-01 -7.45986751e-03 -6.05273148e+01] [-3.34334846e-02 3.36896754e-04 9.99440888e-01 -1.06075321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:321.17, Y:-60.54, Z:-10.61 [[ 9.76446025e-01 2.13478326e-01 3.13075912e-02 3.21165434e+02] [-2.13358264e-01 9.76947749e-01 -7.16571103e-03 -6.05399913e+01] [-3.21156048e-02 3.17196743e-04 9.99484111e-01 -1.06091810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974012739 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:321.20, Y:-60.55, Z:-10.61 [[ 9.76220159e-01 2.14438252e-01 3.17873672e-02 3.21195091e+02] [-2.14314810e-01 9.76737503e-01 -7.28101196e-03 -6.05490856e+01] [-3.26092411e-02 2.95367078e-04 9.99468134e-01 -1.06092270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:321.22, Y:-60.56, Z:-10.61 [[ 9.75838689e-01 2.16037905e-01 3.26569635e-02 3.21224147e+02] [-2.15908484e-01 9.76384945e-01 -7.48100233e-03 -6.05576086e+01] [-3.35019476e-02 2.49336042e-04 9.99438621e-01 -1.06094325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034012739 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:321.25, Y:-60.57, Z:-10.61 [[ 9.75009429e-01 2.19401618e-01 3.49219602e-02 3.21253352e+02] [-2.19255752e-01 9.75634619e-01 -8.00034863e-03 -6.05691895e+01] [-3.58263627e-02 1.43574690e-04 9.99358019e-01 -1.06100596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:321.28, Y:-60.58, Z:-10.61 [[ 9.74564437e-01 2.21231477e-01 3.57881414e-02 3.21284827e+02] [-2.21079458e-01 9.75221322e-01 -8.20035461e-03 -6.05796952e+01] [-3.67155351e-02 7.97510672e-05 9.99325754e-01 -1.06113290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094012739 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:321.32, Y:-60.59, Z:-10.61 [[ 9.73847786e-01 2.24378586e-01 3.57034994e-02 3.21315872e+02] [-2.24229140e-01 9.74502052e-01 -8.18802233e-03 -6.05893606e+01] [-3.66303503e-02 -3.18775356e-05 9.99328883e-01 -1.06123058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:321.35, Y:-60.60, Z:-10.61 [[ 9.73490750e-01 2.26135999e-01 3.43259404e-02 3.21347315e+02] [-2.25998742e-01 9.74095736e-01 -7.87823956e-03 -6.05960826e+01] [-3.52183057e-02 -8.82260047e-05 9.99379639e-01 -1.06134644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154012739 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:321.38, Y:-60.60, Z:-10.62 [[ 9.73064000e-01 2.28224641e-01 3.25571058e-02 3.21377237e+02] [-2.28102163e-01 9.73608489e-01 -7.47747309e-03 -6.06026191e+01] [-3.34044182e-02 -1.50286390e-04 9.99441905e-01 -1.06155415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:321.41, Y:-60.61, Z:-10.62 [[ 9.72296345e-01 2.31765304e-01 3.04082485e-02 3.21406314e+02] [-2.31660170e-01 9.72771700e-01 -6.98469766e-03 -6.06090779e+01] [-3.11990941e-02 -2.53183996e-04 9.99513158e-01 -1.06173727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214012739 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:321.43, Y:-60.61, Z:-10.62 [[ 9.72080383e-01 2.32693858e-01 3.02208024e-02 3.21434089e+02] [-2.32539020e-01 9.72549135e-01 -8.58977553e-03 -6.06140281e+01] [-3.13900033e-02 1.32243650e-03 9.99506338e-01 -1.06177307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:321.46, Y:-60.62, Z:-10.62 [[ 9.72095654e-01 2.32577101e-01 3.06256539e-02 3.21463981e+02] [-2.32301391e-01 9.72565801e-01 -1.23217682e-02 -6.06188750e+01] [-3.26512248e-02 4.86355533e-03 9.99454973e-01 -1.06173311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:321.49, Y:-60.63, Z:-10.62 [[ 9.72186845e-01 2.31529707e-01 3.53091076e-02 3.21491821e+02] [-2.31631453e-01 9.72802826e-01 -1.23767595e-03 -6.06334940e+01] [-3.46353584e-02 -6.97544764e-03 9.99375673e-01 -1.06183096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:321.52, Y:-60.64, Z:-10.62 [[ 9.72171796e-01 2.31749954e-01 3.42630758e-02 3.21521268e+02] [-2.31649535e-01 9.72774646e-01 -6.92682809e-03 -6.06374100e+01] [-3.49355435e-02 -1.20295869e-03 9.99388844e-01 -1.06199462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334012739 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:321.55, Y:-60.64, Z:-10.62 [[ 9.72374571e-01 2.31038669e-01 3.32990662e-02 3.21551981e+02] [-2.30828960e-01 9.72942305e-01 -1.00628867e-02 -6.06411154e+01] [-3.47229861e-02 2.09850634e-03 9.99394772e-01 -1.06207119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:321.58, Y:-60.65, Z:-10.62 [[ 9.72502851e-01 2.30554563e-01 3.29059082e-02 3.21582183e+02] [-2.30378639e-01 9.73058580e-01 -9.09298302e-03 -6.06481447e+01] [-3.41158050e-02 1.26213358e-03 9.99417090e-01 -1.06217250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394012739 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:321.61, Y:-60.66, Z:-10.62 [[ 9.72598599e-01 2.30160044e-01 3.28377812e-02 3.21611119e+02] [-2.30137890e-01 9.73147607e-01 -4.50415331e-03 -6.06576303e+01] [-3.29926843e-02 -3.17648447e-03 9.99450545e-01 -1.06233689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:321.64, Y:-60.66, Z:-10.62 [[ 9.72460942e-01 2.30844971e-01 3.20985459e-02 3.21639992e+02] [-2.30756659e-01 9.72989916e-01 -6.47976709e-03 -6.06626567e+01] [-3.27273832e-02 -1.10563281e-03 9.99463704e-01 -1.06247557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454012739 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:321.67, Y:-60.67, Z:-10.63 [[ 9.72385798e-01 2.31283517e-01 3.12056794e-02 3.21670714e+02] [-2.31144624e-01 9.72886207e-01 -8.03678791e-03 -6.06675528e+01] [-3.22183516e-02 6.01833385e-04 9.99480673e-01 -1.06252910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:321.70, Y:-60.67, Z:-10.63 [[ 9.71793375e-01 2.33638377e-01 3.21052194e-02 3.21699427e+02] [-2.33541657e-01 9.72323139e-01 -6.78285024e-03 -6.06726585e+01] [-3.28013818e-02 -9.06377200e-04 9.99461479e-01 -1.06253496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:321.73, Y:-60.68, Z:-10.63 [[ 9.71579176e-01 2.34594266e-01 3.16138315e-02 3.21728814e+02] [-2.34463992e-01 9.72093358e-01 -7.81921678e-03 -6.06773120e+01] [-3.25659391e-02 1.84683060e-04 9.99469572e-01 -1.06263943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:321.76, Y:-60.68, Z:-10.63 [[ 9.71048022e-01 2.36831741e-01 3.12484315e-02 3.21756758e+02] [-2.36723212e-01 9.71550589e-01 -7.18149744e-03 -6.06801049e+01] [-3.20602385e-02 -4.23650191e-04 9.99485849e-01 -1.06275889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574012739 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:321.79, Y:-60.68, Z:-10.63 [[ 9.70696880e-01 2.38245615e-01 3.14101103e-02 3.21785224e+02] [-2.38136759e-01 9.71204820e-01 -7.21680194e-03 -6.06836641e+01] [-3.22250219e-02 -4.74574743e-04 9.99480526e-01 -1.06292589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:321.81, Y:-60.69, Z:-10.63 [[ 9.70007966e-01 2.41014817e-01 3.15658729e-02 3.21814672e+02] [-2.40906392e-01 9.70521268e-01 -7.25107592e-03 -6.06859546e+01] [-3.23829678e-02 -5.70819149e-04 9.99475371e-01 -1.06302947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634012739 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:321.84, Y:-60.69, Z:-10.63 [[ 9.69924280e-01 2.41408177e-01 3.11285009e-02 3.21842552e+02] [-2.41302987e-01 9.70423495e-01 -7.14912166e-03 -6.06903325e+01] [-3.19336851e-02 -5.77293556e-04 9.99489823e-01 -1.06318354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:321.87, Y:-60.69, Z:-10.63 [[ 9.70132434e-01 2.40713502e-01 3.00011743e-02 3.21871447e+02] [-2.40615517e-01 9.70596066e-01 -6.88845111e-03 -6.06946347e+01] [-3.07771650e-02 -5.36038216e-04 9.99526127e-01 -1.06327269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694012739 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:321.90, Y:-60.70, Z:-10.64 [[ 9.71217026e-01 2.36585938e-01 2.76510977e-02 3.21900798e+02] [-2.36439700e-01 9.71609065e-01 -8.49078378e-03 -6.06967012e+01] [-2.88748572e-02 1.70857653e-03 9.99581574e-01 -1.06350360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:321.93, Y:-60.71, Z:-10.64 [[ 9.71987414e-01 2.33208497e-01 2.92277830e-02 3.21926142e+02] [-2.33175255e-01 9.72423904e-01 -4.58824152e-03 -6.07056068e+01] [-2.94918118e-02 -2.35548275e-03 9.99562247e-01 -1.06358454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754012739 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:321.95, Y:-60.71, Z:-10.64 [[ 9.73842158e-01 2.25208186e-01 3.02113359e-02 3.21954335e+02] [-2.25101500e-01 9.74310664e-01 -6.93141742e-03 -6.07127998e+01] [-3.09962387e-02 -5.05105302e-05 9.99519500e-01 -1.06362467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:321.98, Y:-60.72, Z:-10.64 [[ 9.74633892e-01 2.21643866e-01 3.10285899e-02 3.21982725e+02] [-2.21529571e-01 9.75127680e-01 -7.11734447e-03 -6.07201965e+01] [-3.18343526e-02 6.30549268e-05 9.99493157e-01 -1.06368294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:322.01, Y:-60.73, Z:-10.64 [[ 9.75215659e-01 2.18883247e-01 3.23193823e-02 3.22011532e+02] [-2.18806260e-01 9.75750223e-01 -5.94337476e-03 -6.07287444e+01] [-3.28365497e-02 -1.27561103e-03 9.99459921e-01 -1.06378376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:322.04, Y:-60.74, Z:-10.64 [[ 9.75830560e-01 2.16359679e-01 3.07116781e-02 3.22040752e+02] [-2.16198543e-01 9.76312300e-01 -8.51373317e-03 -6.07368772e+01] [-3.18262176e-02 1.66814096e-03 9.99492026e-01 -1.06396343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874012739 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:322.07, Y:-60.75, Z:-10.64 [[ 9.75886415e-01 2.16194874e-01 3.00912128e-02 3.22069407e+02] [-2.16084800e-01 9.76350205e-01 -6.90197543e-03 -6.07455479e+01] [-3.08717335e-02 2.33290369e-04 9.99523327e-01 -1.06404633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters Centerline goodness : 0.992211 Centerline is valid? [True, True] Translation: X:322.10, Y:-60.75, Z:-10.64 [[ 9.75457184e-01 2.18389154e-01 2.80973158e-02 3.22097699e+02] [-2.18294113e-01 9.75861750e-01 -6.44406303e-03 -6.07524490e+01] [-2.88264092e-02 1.52428948e-04 9.99584421e-01 -1.06414431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934012739 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:322.13, Y:-60.76, Z:-10.64 [[ 9.75111164e-01 2.19997557e-01 2.75552692e-02 3.22126885e+02] [-2.19906819e-01 9.75500417e-01 -6.31874598e-03 -6.07596299e+01] [-2.82702853e-02 1.01888159e-04 9.99600310e-01 -1.06426317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:322.16, Y:-60.77, Z:-10.64 [[ 9.74768311e-01 2.21490877e-01 2.77223831e-02 3.22155912e+02] [-2.21399658e-01 9.75162442e-01 -6.35637262e-03 -6.07671675e+01] [-2.84417053e-02 5.82644700e-05 9.99595451e-01 -1.06433717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994012739 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:322.18, Y:-60.77, Z:-10.64 [[ 9.74315409e-01 2.23165897e-01 3.01075654e-02 3.22183816e+02] [-2.23059126e-01 9.74780479e-01 -6.90245620e-03 -6.07746004e+01] [-3.08886599e-02 9.40220402e-06 9.99522831e-01 -1.06442671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:322.21, Y:-60.78, Z:-10.65 [[ 9.74290852e-01 2.23183005e-01 3.07681960e-02 3.22212736e+02] [-2.23059573e-01 9.74776489e-01 -7.43120526e-03 -6.07813597e+01] [-3.16506328e-02 3.77014648e-04 9.99498922e-01 -1.06454838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05401273900003 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:322.24, Y:-60.79, Z:-10.65 [[ 9.74307128e-01 2.23202209e-01 3.01063720e-02 3.22240754e+02] [-2.23105967e-01 9.74772111e-01 -6.56187589e-03 -6.07914890e+01] [-3.08114770e-02 -3.23628775e-04 9.99525161e-01 -1.06465170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:322.27, Y:-60.80, Z:-10.65 [[ 9.74318792e-01 2.23218590e-01 2.96032604e-02 3.22270287e+02] [-2.23115453e-01 9.74768414e-01 -6.78481509e-03 -6.07991328e+01] [-3.03708201e-02 5.62798010e-06 9.99538700e-01 -1.06471195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11401273900003 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:322.30, Y:-60.81, Z:-10.65 [[ 9.74252946e-01 2.23478248e-01 2.98105738e-02 3.22298009e+02] [-2.23373780e-01 9.74708917e-01 -6.83239669e-03 -6.08052051e+01] [-3.05835241e-02 -2.41794394e-06 9.99532215e-01 -1.06470436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:322.33, Y:-60.81, Z:-10.65 [[ 9.74255495e-01 2.23467101e-01 2.98108192e-02 3.22327406e+02] [-2.23362661e-01 9.74711473e-01 -6.83132581e-03 -6.08119017e+01] [-3.05835240e-02 -3.16717181e-06 9.99532215e-01 -1.06480233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17401273900003 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:322.36, Y:-60.82, Z:-10.65 [[ 9.73815984e-01 2.25234665e-01 3.08508545e-02 3.22355394e+02] [-2.25123706e-01 9.74304543e-01 -7.06929157e-03 -6.08162420e+01] [-3.16503772e-02 -6.10695658e-05 9.99498999e-01 -1.06483222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:322.38, Y:-60.82, Z:-10.65 [[ 9.73115669e-01 2.28228409e-01 3.09465278e-02 3.22383454e+02] [-2.28118309e-01 9.73607605e-01 -7.09009451e-03 -6.08227151e+01] [-3.17479357e-02 -1.59987524e-04 9.99495894e-01 -1.06491096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234012739 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:322.41, Y:-60.83, Z:-10.65 [[ 9.72733479e-01 2.29865193e-01 3.08475657e-02 3.22411823e+02] [-2.29756644e-01 9.73222455e-01 -7.06662393e-03 -6.08281272e+01] [-3.16459145e-02 -2.13491488e-04 9.99499120e-01 -1.06503219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:322.44, Y:-60.83, Z:-10.65 [[ 9.72372204e-01 2.31420996e-01 3.06042532e-02 3.22440225e+02] [-2.31314968e-01 9.72853665e-01 -7.00945646e-03 -6.08328060e+01] [-3.13955953e-02 -2.63421222e-04 9.99507002e-01 -1.06510103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294012739 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:322.47, Y:-60.84, Z:-10.65 [[ 9.72127341e-01 2.32477724e-01 3.03733697e-02 3.22468233e+02] [-2.32373850e-01 9.72601676e-01 -6.95515700e-03 -6.08378959e+01] [-3.11581093e-02 -2.96678559e-04 9.99514424e-01 -1.06517270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:322.50, Y:-60.84, Z:-10.65 [[ 9.72147999e-01 2.32504030e-01 2.94982210e-02 3.22495757e+02] [-2.32406108e-01 9.72595390e-01 -6.75344332e-03 -6.08444441e+01] [-3.02600365e-02 -2.90220327e-04 9.99542018e-01 -1.06531239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354012739 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:322.52, Y:-60.85, Z:-10.66 [[ 9.73014564e-01 2.28873312e-01 2.93200471e-02 3.22522894e+02] [-2.28774972e-01 9.73456201e-01 -6.71097204e-03 -6.08516875e+01] [-3.00777441e-02 -1.77819414e-04 9.99547546e-01 -1.06552078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:322.55, Y:-60.86, Z:-10.66 [[ 9.73532913e-01 2.26589968e-01 2.98438104e-02 3.22550590e+02] [-2.26487071e-01 9.73990233e-01 -6.82882348e-03 -6.08594318e+01] [-3.06149227e-02 -1.11152780e-04 9.99531247e-01 -1.06561394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414012739 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:322.58, Y:-60.87, Z:-10.66 [[ 9.74043353e-01 2.24302690e-01 3.04606234e-02 3.22579367e+02] [-2.24194422e-01 9.74519523e-01 -6.96848783e-03 -6.08680731e+01] [-3.12475228e-02 -4.14926117e-05 9.99511676e-01 -1.06565502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:322.61, Y:-60.88, Z:-10.66 [[ 9.74455742e-01 2.22471487e-01 3.06992531e-02 3.22607276e+02] [-2.22360630e-01 9.74939197e-01 -7.02232682e-03 -6.08779199e+01] [-3.14921727e-02 1.66414317e-05 9.99503998e-01 -1.06571420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474012739 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:322.64, Y:-60.89, Z:-10.66 [[ 9.75097185e-01 2.19729647e-01 3.00726102e-02 3.22635525e+02] [-2.19621977e-01 9.75560799e-01 -6.87861508e-03 -6.08915762e+01] [-3.08490953e-02 1.02712099e-04 9.99524048e-01 -1.06572550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:322.66, Y:-60.90, Z:-10.66 [[ 9.75280641e-01 2.18984500e-01 2.95543555e-02 3.22664455e+02] [-2.18880168e-01 9.75728330e-01 -6.76007284e-03 -6.09016686e+01] [-3.03173731e-02 1.24105889e-04 9.99540315e-01 -1.06584742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534012739 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:322.69, Y:-60.92, Z:-10.66 [[ 9.75409298e-01 2.18475454e-01 2.90719498e-02 3.22693701e+02] [-2.18374277e-01 9.75842435e-01 -6.64966970e-03 -6.09156111e+01] [-2.98224318e-02 1.37583639e-04 9.99555203e-01 -1.06603901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:322.72, Y:-60.93, Z:-10.66 [[ 9.75153069e-01 2.19576481e-01 2.93710974e-02 3.22724495e+02] [-2.19473701e-01 9.75595284e-01 -6.71839487e-03 -6.09271199e+01] [-3.01295057e-02 1.05279925e-04 9.99545998e-01 -1.06609746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594012739 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:322.75, Y:-60.94, Z:-10.66 [[ 9.74285071e-01 2.23326080e-01 2.99008607e-02 3.22753863e+02] [-2.23221137e-01 9.74743793e-01 -6.84557246e-03 -6.09403903e+01] [-3.06744733e-02 -4.96508401e-06 9.99529428e-01 -1.06601737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:322.78, Y:-60.95, Z:-10.66 [[ 9.73712452e-01 2.25782485e-01 3.01053370e-02 3.22784929e+02] [-2.25677104e-01 9.74177737e-01 -6.89792520e-03 -6.09488790e+01] [-3.08853798e-02 -7.74896083e-05 9.99522930e-01 -1.06611742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654012739 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:322.82, Y:-60.96, Z:-10.66 [[ 9.73062039e-01 2.28572407e-01 3.00819214e-02 3.22816664e+02] [-2.28468354e-01 9.73526902e-01 -6.89800315e-03 -6.09572892e+01] [-3.08622529e-02 -1.60582051e-04 9.99523634e-01 -1.06627579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:322.85, Y:-60.97, Z:-10.66 [[ 9.71450431e-01 2.35456529e-01 2.90565578e-02 3.22846435e+02] [-2.35362356e-01 9.71884815e-01 -6.66847646e-03 -6.09668457e+01] [-2.98097636e-02 -3.60725550e-04 9.99555525e-01 -1.06640154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714012739 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:322.88, Y:-60.97, Z:-10.66 [[ 9.70595586e-01 2.39016747e-01 2.85517574e-02 3.22875582e+02] [-2.38927210e-01 9.71015338e-01 -6.55762829e-03 -6.09735578e+01] [-2.92915774e-02 -4.56986688e-04 9.99570805e-01 -1.06648144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:322.90, Y:-60.97, Z:-10.66 [[ 9.69400599e-01 2.44258826e-01 2.44970434e-02 3.22904266e+02] [-2.43998478e-01 9.69686421e-01 -1.31524398e-02 -6.09729497e+01] [-2.69670499e-02 6.77274171e-03 9.99613379e-01 -1.06645209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774012739 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:322.93, Y:-60.99, Z:-10.67 [[ 9.69265075e-01 2.44130689e-01 3.04207503e-02 3.22932691e+02] [-2.44254953e-01 9.69710974e-01 3.80899633e-04 -6.09877397e+01] [-2.94063461e-02 -7.79961165e-03 9.99537109e-01 -1.06653433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:322.96, Y:-60.99, Z:-10.67 [[ 9.69235571e-01 2.44371910e-01 2.94071153e-02 3.22963783e+02] [-2.44279377e-01 9.69681372e-01 -6.75438539e-03 -6.09909929e+01] [-3.01661139e-02 -6.36961227e-04 9.99544696e-01 -1.06666766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834012739 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:322.99, Y:-61.00, Z:-10.67 [[ 9.69370871e-01 2.43742370e-01 3.01624146e-02 3.22992758e+02] [-2.43644694e-01 9.69839810e-01 -6.92863245e-03 -6.09984885e+01] [-3.09415117e-02 -6.32497799e-04 9.99520997e-01 -1.06675495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:323.02, Y:-61.00, Z:-10.67 [[ 9.69854989e-01 2.41696163e-01 3.10526022e-02 3.23023155e+02] [-2.41591575e-01 9.70351804e-01 -7.13349908e-03 -6.10045134e+01] [-3.18560879e-02 -5.83587390e-04 9.99492296e-01 -1.06684284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894012739 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:323.05, Y:-61.01, Z:-10.67 [[ 9.70301069e-01 2.39909565e-01 3.09715232e-02 3.23053228e+02] [-2.39804590e-01 9.70795101e-01 -7.11558138e-03 -6.10114035e+01] [-3.17740991e-02 -5.22857198e-04 9.99494939e-01 -1.06694815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:323.08, Y:-61.02, Z:-10.67 [[ 9.70413203e-01 2.39528206e-01 3.04048231e-02 3.23083046e+02] [-2.39426761e-01 9.70889278e-01 -6.98824821e-03 -6.10191040e+01] [-3.11935993e-02 -4.98239987e-04 9.99513237e-01 -1.06703289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:323.11, Y:-61.03, Z:-10.67 [[ 9.70444454e-01 2.39455769e-01 2.99749400e-02 3.23112911e+02] [-2.39357128e-01 9.70907151e-01 -6.88980263e-03 -6.10262987e+01] [-3.07526866e-02 -4.88544804e-04 9.99526905e-01 -1.06718492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:323.14, Y:-61.03, Z:-10.67 [[ 9.70412301e-01 2.39621608e-01 2.96892562e-02 3.23143835e+02] [-2.39524917e-01 9.70866235e-01 -6.82409564e-03 -6.10329068e+01] [-3.04594971e-02 -4.89130268e-04 9.99535882e-01 -1.06729823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014012739 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:323.17, Y:-61.04, Z:-10.67 [[ 9.70251781e-01 2.40272772e-01 2.96728139e-02 3.23173496e+02] [-2.40176470e-01 9.70705278e-01 -6.82104359e-03 -6.10403278e+01] [-3.04424681e-02 -5.08582010e-04 9.99536391e-01 -1.06739356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:323.20, Y:-61.05, Z:-10.67 [[ 9.70051235e-01 2.41128237e-01 2.92877953e-02 3.23201413e+02] [-2.41034796e-01 9.70493119e-01 -6.73297784e-03 -6.10487915e+01] [-3.00471149e-02 -5.28044286e-04 9.99548344e-01 -1.06741102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074012739 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:323.23, Y:-61.06, Z:-10.68 [[ 9.69947408e-01 2.41585204e-01 2.89588493e-02 3.23230564e+02] [-2.41494083e-01 9.70379462e-01 -6.65636711e-03 -6.10555155e+01] [-2.97091525e-02 -5.37064750e-04 9.99558441e-01 -1.06752319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:323.26, Y:-61.06, Z:-10.68 [[ 9.69889835e-01 2.41781277e-01 2.92493169e-02 3.23260929e+02] [-2.41688431e-01 9.70330620e-01 -6.72237102e-03 -6.10617853e+01] [-3.00068513e-02 -5.49262187e-04 9.99549542e-01 -1.06767670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134012739 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:323.29, Y:-61.07, Z:-10.68 [[ 9.69792087e-01 2.41947987e-01 3.10560754e-02 3.23290661e+02] [-2.41843374e-01 9.70289043e-01 -7.13836449e-03 -6.10693329e+01] [-3.18604826e-02 -5.87976681e-04 9.99492153e-01 -1.06783491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:323.32, Y:-61.08, Z:-10.68 [[ 9.69876506e-01 2.41609692e-01 3.10534987e-02 3.23322070e+02] [-2.41504769e-01 9.70373345e-01 -7.14263551e-03 -6.10776564e+01] [-3.18592174e-02 -5.72093652e-04 9.99492203e-01 -1.06788859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:323.35, Y:-61.08, Z:-10.68 [[ 9.70316750e-01 2.39981991e-01 2.99006393e-02 3.23353429e+02] [-2.39883794e-01 9.70777214e-01 -6.88228814e-03 -6.10849127e+01] [-3.06784845e-02 -4.94679332e-04 9.99529182e-01 -1.06804315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:323.38, Y:-61.09, Z:-10.68 [[ 9.70649737e-01 2.38672681e-01 2.95709066e-02 3.23384347e+02] [-2.38575863e-01 9.71099972e-01 -6.81193629e-03 -6.10908912e+01] [-3.03421297e-02 -4.42900397e-04 9.99539473e-01 -1.06814842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254012739 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:323.42, Y:-61.10, Z:-10.68 [[ 9.70918342e-01 2.37512520e-01 3.00894653e-02 3.23416312e+02] [-2.37411702e-01 9.71384389e-01 -6.93192336e-03 -6.10970875e+01] [-3.08748554e-02 -4.13259627e-04 9.99523173e-01 -1.06830524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:323.45, Y:-61.10, Z:-10.68 [[ 9.71385121e-01 2.35441798e-01 3.12746870e-02 3.23448800e+02] [-2.35331629e-01 9.71888385e-01 -7.21049302e-03 -6.11045144e+01] [-3.20931565e-02 -3.55757403e-04 9.99484819e-01 -1.06834988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314012739 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:323.48, Y:-61.11, Z:-10.69 [[ 9.71714070e-01 2.34055976e-01 3.14573752e-02 3.23479794e+02] [-2.33943582e-01 9.72223075e-01 -7.25904068e-03 -6.11132004e+01] [-3.22826079e-02 -3.05539089e-04 9.99478734e-01 -1.06851458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:323.51, Y:-61.12, Z:-10.69 [[ 9.72693248e-01 2.29877098e-01 3.20056930e-02 3.23509850e+02] [-2.29758284e-01 9.73219653e-01 -7.39174098e-03 -6.11230274e+01] [-3.28477614e-02 -1.63676572e-04 9.99460353e-01 -1.06858475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374012739 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:323.54, Y:-61.13, Z:-10.69 [[ 9.73173734e-01 2.27797851e-01 3.22648936e-02 3.23541467e+02] [-2.27675770e-01 9.73708443e-01 -7.45736656e-03 -6.11310145e+01] [-3.31153714e-02 -8.86212561e-05 9.99451532e-01 -1.06872937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:323.57, Y:-61.14, Z:-10.69 [[ 9.73643226e-01 2.25838575e-01 3.18717275e-02 3.23573160e+02] [-2.25718206e-01 9.74164739e-01 -7.37249819e-03 -6.11392309e+01] [-3.27133076e-02 -1.58462421e-05 9.99464776e-01 -1.06884513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434012739 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:323.60, Y:-61.15, Z:-10.69 [[ 9.74721768e-01 2.21388695e-01 3.00752633e-02 3.23604328e+02] [-2.21279228e-01 9.75185638e-01 -6.96236143e-03 -6.11499966e+01] [-3.08703530e-02 1.31334184e-04 9.99523388e-01 -1.06905237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:323.64, Y:-61.16, Z:-10.69 [[ 9.75226336e-01 2.19280844e-01 2.91462697e-02 3.23635261e+02] [-2.19176933e-01 9.75661761e-01 -6.75276103e-03 -6.11608809e+01] [-2.99176520e-02 1.97280396e-04 9.99552347e-01 -1.06913645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494012739 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:323.67, Y:-61.18, Z:-10.69 [[ 9.75852135e-01 2.16440015e-01 2.94334950e-02 3.23665745e+02] [-2.16332574e-01 9.76295874e-01 -6.82519483e-03 -6.11760234e+01] [-3.02130450e-02 2.92957198e-04 9.99543439e-01 -1.06911357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:323.70, Y:-61.19, Z:-10.69 [[ 9.75995490e-01 2.15724978e-01 2.99255358e-02 3.23696015e+02] [-2.15613386e-01 9.76454109e-01 -6.94551585e-03 -6.11866753e+01] [-3.07192337e-02 3.26446028e-04 9.99528000e-01 -1.06912344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55401273900003 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:323.73, Y:-61.20, Z:-10.69 [[ 9.75859735e-01 2.16265845e-01 3.04444111e-02 3.23726914e+02] [-2.16150493e-01 9.76334463e-01 -7.06973608e-03 -6.12001822e+01] [-3.12528702e-02 3.18496302e-04 9.99511459e-01 -1.06921120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:323.76, Y:-61.21, Z:-10.69 [[ 9.75471362e-01 2.18006570e-01 3.04755086e-02 3.23757694e+02] [-2.17891639e-01 9.75947265e-01 -7.08310427e-03 -6.12105357e+01] [-3.12866525e-02 2.69006843e-04 9.99510417e-01 -1.06935774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61401273900003 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:323.79, Y:-61.22, Z:-10.69 [[ 9.74906588e-01 2.20489957e-01 3.06809939e-02 3.23789175e+02] [-2.20374517e-01 9.75389225e-01 -7.13664691e-03 -6.12206709e+01] [-3.14994698e-02 1.96254875e-04 9.99503749e-01 -1.06945575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:323.82, Y:-61.23, Z:-10.69 [[ 9.73480613e-01 2.26608405e-01 3.13708078e-02 3.23819629e+02] [-2.26490678e-01 9.73985950e-01 -7.30357225e-03 -6.12304049e+01] [-3.22097769e-02 4.69047608e-06 9.99481131e-01 -1.06948359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67401273900003 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:323.85, Y:-61.24, Z:-10.70 [[ 9.72797202e-01 2.29502027e-01 3.15344889e-02 3.23851712e+02] [-2.29384392e-01 9.73308180e-01 -7.34765340e-03 -6.12392821e+01] [-3.23790773e-02 -8.57429078e-05 9.99475657e-01 -1.06962489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:323.88, Y:-61.25, Z:-10.70 [[ 9.72117996e-01 2.32532005e-01 3.02566972e-02 3.23882146e+02] [-2.32424999e-01 9.72588729e-01 -7.05573548e-03 -6.12512735e+01] [-3.10680070e-02 -1.73405365e-04 9.99517258e-01 -1.06972886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734012739 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:323.91, Y:-61.26, Z:-10.70 [[ 9.72021563e-01 2.33027667e-01 2.95328172e-02 3.23913863e+02] [-2.32925788e-01 9.72470089e-01 -6.89226032e-03 -6.12613758e+01] [-3.03258687e-02 -1.79529082e-04 9.99540049e-01 -1.06980764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:323.94, Y:-61.27, Z:-10.70 [[ 9.71709044e-01 2.34206290e-01 3.04786378e-02 3.23944388e+02] [-2.34098165e-01 9.72186899e-01 -7.11916509e-03 -6.12723463e+01] [-3.12982856e-02 -2.17236065e-04 9.99510065e-01 -1.06983671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:323.98, Y:-61.28, Z:-10.70 [[ 9.71250482e-01 2.35972638e-01 3.14549677e-02 3.23976190e+02] [-2.35858208e-01 9.71759660e-01 -7.35312522e-03 -6.12814757e+01] [-3.23018051e-02 -2.77185887e-04 9.99478122e-01 -1.06992593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:324.01, Y:-61.29, Z:-10.70 [[ 9.70622964e-01 2.38402952e-01 3.24822275e-02 3.24007549e+02] [-2.38282066e-01 9.71166258e-01 -7.59976631e-03 -6.12907469e+01] [-3.33574501e-02 -3.63424596e-04 9.99443419e-01 -1.06994175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854012739 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:324.04, Y:-61.30, Z:-10.70 [[ 9.69180889e-01 2.44170044e-01 3.27016003e-02 3.24038500e+02] [-2.44050582e-01 9.69732271e-01 -7.65743496e-03 -6.12998561e+01] [-3.35815134e-02 -5.59404989e-04 9.99435825e-01 -1.07005036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:324.07, Y:-61.31, Z:-10.70 [[ 9.68457207e-01 2.47093654e-01 3.21770862e-02 3.24071002e+02] [-2.46979418e-01 9.68991388e-01 -7.54031633e-03 -6.13072063e+01] [-3.30424837e-02 -6.44604337e-04 9.99453740e-01 -1.07018573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914012739 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:324.10, Y:-61.31, Z:-10.70 [[ 9.67317973e-01 2.51628737e-01 3.12876760e-02 3.24102645e+02] [-2.51522907e-01 9.67823529e-01 -7.33781056e-03 -6.13129163e+01] [-3.21273530e-02 -7.71571208e-04 9.99483486e-01 -1.07027310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:324.13, Y:-61.32, Z:-10.70 [[ 9.66802041e-01 2.53675826e-01 3.06983613e-02 3.24134796e+02] [-2.53574806e-01 9.67288946e-01 -7.20504753e-03 -6.13193502e+01] [-3.15219319e-02 -8.18476335e-04 9.99502725e-01 -1.07035350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:324.17, Y:-61.33, Z:-10.70 [[ 9.66408755e-01 2.55200380e-01 3.04447769e-02 3.24166596e+02] [-2.55101590e-01 9.66887809e-01 -7.15152079e-03 -6.13256036e+01] [-3.12617544e-02 -8.55218672e-04 9.99510866e-01 -1.07046682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:324.20, Y:-61.33, Z:-10.71 [[ 9.65933455e-01 2.56905930e-01 3.11753649e-02 3.24198388e+02] [-2.56803038e-01 9.66435970e-01 -7.32905069e-03 -6.13291364e+01] [-3.20118706e-02 -9.26553171e-04 9.99487059e-01 -1.07056568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034012739 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:324.23, Y:-61.34, Z:-10.71 [[ 9.65913116e-01 2.56982492e-01 3.11745262e-02 3.24230947e+02] [-2.56879525e-01 9.66415616e-01 -7.33261627e-03 -6.13369330e+01] [-3.20119030e-02 -9.25427272e-04 9.99487059e-01 -1.07067383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:324.26, Y:-61.34, Z:-10.71 [[ 9.65639273e-01 2.57881429e-01 3.22174354e-02 3.24263383e+02] [-2.57771860e-01 9.66176071e-01 -7.58078750e-03 -6.13428507e+01] [-3.30826595e-02 -9.84442140e-04 9.99452134e-01 -1.07075210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094012739 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:324.30, Y:-61.35, Z:-10.71 [[ 9.64934936e-01 2.60457294e-01 3.25970403e-02 3.24296293e+02] [-2.60346383e-01 9.65484766e-01 -7.67641964e-03 -6.13462346e+01] [-3.34713253e-02 -1.07927604e-03 9.99439095e-01 -1.07071925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:324.33, Y:-61.35, Z:-10.71 [[ 9.64502490e-01 2.62184500e-01 3.15315063e-02 3.24327678e+02] [-2.62081450e-01 9.65017143e-01 -7.43148787e-03 -6.13513708e+01] [-3.23768651e-02 -1.09613434e-03 9.99475131e-01 -1.07083089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154012739 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:324.36, Y:-61.36, Z:-10.71 [[ 9.64179204e-01 2.63532240e-01 3.01532988e-02 3.24359830e+02] [-2.63438499e-01 9.64649977e-01 -7.11190486e-03 -6.13564802e+01] [-3.09615953e-02 -1.08638902e-03 9.99519984e-01 -1.07105070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:324.39, Y:-61.36, Z:-10.71 [[ 9.63667259e-01 2.65460855e-01 2.95964198e-02 3.24391632e+02] [-2.65371278e-01 9.64120986e-01 -6.98628570e-03 -6.13592569e+01] [-3.03891149e-02 -1.12158498e-03 9.99537515e-01 -1.07124867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214012739 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:324.42, Y:-61.36, Z:-10.71 [[ 9.63416549e-01 2.66288029e-01 3.03189366e-02 3.24424464e+02] [-2.66194320e-01 9.63892790e-01 -7.16049618e-03 -6.13648306e+01] [-3.11309588e-02 -1.17218817e-03 9.99514627e-01 -1.07126813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:324.46, Y:-61.37, Z:-10.71 [[ 9.63017644e-01 2.67612318e-01 3.13155512e-02 3.24456280e+02] [-2.67512843e-01 9.63525862e-01 -7.40211589e-03 -6.13669353e+01] [-3.21542409e-02 -1.24894394e-03 9.99482138e-01 -1.07131757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274012739 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:324.49, Y:-61.37, Z:-10.71 [[ 9.62690917e-01 2.68784033e-01 3.13263669e-02 3.24488740e+02] [-2.68684951e-01 9.63199613e-01 -7.40956688e-03 -6.13719200e+01] [-3.21651177e-02 -1.28380062e-03 9.99481744e-01 -1.07149202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:324.52, Y:-61.38, Z:-10.72 [[ 9.62317764e-01 2.70143561e-01 3.10962691e-02 3.24519807e+02] [-2.70046443e-01 9.62819158e-01 -7.36122685e-03 -6.13762907e+01] [-3.19286717e-02 -1.31359752e-03 9.99489287e-01 -1.07162199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334012739 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:324.55, Y:-61.38, Z:-10.72 [[ 9.61519105e-01 2.73060847e-01 3.03114475e-02 3.24549913e+02] [-2.72969863e-01 9.61995788e-01 -7.18033487e-03 -6.13766181e+01] [-3.11201531e-02 -1.37008248e-03 9.99514712e-01 -1.07171495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:324.58, Y:-61.38, Z:-10.72 [[ 9.61094537e-01 2.74494203e-01 3.08256839e-02 3.24579105e+02] [-2.74400863e-01 9.61587674e-01 -7.30143411e-03 -6.13753143e+01] [-3.16457991e-02 -1.44122583e-03 9.99498107e-01 -1.07179586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394012739 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:324.61, Y:-61.38, Z:-10.72 [[ 9.61343206e-01 2.73492479e-01 3.19547130e-02 3.24608731e+02] [-2.73391694e-01 9.61873030e-01 -7.56669827e-03 -6.13793280e+01] [-3.28058117e-02 -1.46195913e-03 9.99460675e-01 -1.07189258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:324.64, Y:-61.38, Z:-10.72 [[ 9.61848461e-01 2.71651226e-01 3.24522781e-02 3.24637028e+02] [-2.71546258e-01 9.62394717e-01 -7.68371012e-03 -6.13841928e+01] [-3.33191903e-02 -1.42172994e-03 9.99443750e-01 -1.07199532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:324.67, Y:-61.39, Z:-10.72 [[ 9.63111361e-01 2.67197821e-01 3.19660754e-02 3.24665312e+02] [-2.67093562e-01 9.63640889e-01 -7.56745701e-03 -6.13891352e+01] [-3.28258253e-02 -1.24962911e-03 9.99460306e-01 -1.07216186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:324.69, Y:-61.40, Z:-10.72 [[ 9.63843030e-01 2.64646775e-01 3.11239134e-02 3.24694101e+02] [-2.64546644e-01 9.64344752e-01 -7.36701799e-03 -6.13950681e+01] [-3.19638401e-02 -1.13307789e-03 9.99488384e-01 -1.07228455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514012739 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:324.72, Y:-61.40, Z:-10.72 [[ 9.65437799e-01 2.58929987e-01 2.97509281e-02 3.24722900e+02] [-2.58835801e-01 9.65895671e-01 -7.04134487e-03 -6.13978298e+01] [-3.05595080e-02 -9.02624832e-04 9.99532542e-01 -1.07246145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:324.75, Y:-61.40, Z:-10.73 [[ 9.65990255e-01 2.56762124e-01 3.05947372e-02 3.24751208e+02] [-2.56712221e-01 9.66471576e-01 -5.61504164e-03 -6.14040051e+01] [-3.10106739e-02 -2.42996743e-03 9.99516100e-01 -1.07259092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574012739 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:324.78, Y:-61.41, Z:-10.73 [[ 9.66619126e-01 2.54563026e-01 2.90711300e-02 3.24779742e+02] [-2.54424340e-01 9.67055888e-01 -8.43588202e-03 -6.14078875e+01] [-3.02608711e-02 7.57881856e-04 9.99541748e-01 -1.07263956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:324.81, Y:-61.41, Z:-10.73 [[ 9.67160938e-01 2.52525377e-01 2.88210605e-02 3.24808306e+02] [-2.52434225e-01 9.67590032e-01 -6.81848661e-03 -6.14143048e+01] [-2.96088118e-02 -6.80848179e-04 9.99561331e-01 -1.07271154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634012739 meters Centerline goodness : 0.995650 Centerline is valid? [True, True] Translation: X:324.84, Y:-61.42, Z:-10.73 [[ 9.67361933e-01 2.51702955e-01 2.92662328e-02 3.24836621e+02] [-2.51608630e-01 9.67804307e-01 -6.92242522e-03 -6.14164143e+01] [-3.00663811e-02 -6.67146087e-04 9.99547682e-01 -1.07275955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:324.87, Y:-61.42, Z:-10.73 [[ 9.67430104e-01 2.51374237e-01 2.98326525e-02 3.24865113e+02] [-2.51276124e-01 9.67889737e-01 -7.05459497e-03 -6.14210551e+01] [-3.06480616e-02 -6.71405734e-04 9.99530012e-01 -1.07280934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694012739 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:324.89, Y:-61.43, Z:-10.73 [[ 9.67507909e-01 2.51022094e-01 3.02713414e-02 3.24893513e+02] [-2.50920947e-01 9.67981125e-01 -7.15688919e-03 -6.14261881e+01] [-3.10986244e-02 -6.71366744e-04 9.99516095e-01 -1.07290575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:324.92, Y:-61.43, Z:-10.73 [[ 9.68052367e-01 2.48887306e-01 3.04913671e-02 3.24921089e+02] [-2.48783670e-01 9.68532260e-01 -7.20743713e-03 -6.14299670e+01] [-3.13257123e-02 -6.08577631e-04 9.99509044e-01 -1.07297556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:324.95, Y:-61.43, Z:-10.73 [[ 9.68346503e-01 2.47983694e-01 2.84453414e-02 3.24948038e+02] [-2.47772768e-01 9.68758304e-01 -1.07704683e-02 -6.14325580e+01] [-3.02275612e-02 3.38156431e-03 9.99537323e-01 -1.07301874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:324.98, Y:-61.44, Z:-10.73 [[ 9.68774274e-01 2.46013962e-01 3.08794029e-02 3.24975974e+02] [-2.46028257e-01 9.69256710e-01 -3.39506196e-03 -6.14423124e+01] [-3.07653011e-02 -4.30815698e-03 9.99517352e-01 -1.07309558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814012739 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:325.00, Y:-61.44, Z:-10.73 [[ 9.69257837e-01 2.44133355e-01 3.06292460e-02 3.25004990e+02] [-2.44026429e-01 9.69741561e-01 -7.23921160e-03 -6.14437962e+01] [-3.14697859e-02 -4.57682951e-04 9.99504599e-01 -1.07318331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:325.03, Y:-61.45, Z:-10.73 [[ 9.69395127e-01 2.43456681e-01 3.16533164e-02 3.25032433e+02] [-2.43342176e-01 9.69911666e-01 -7.47962336e-03 -6.14481020e+01] [-3.25218851e-02 -4.51876455e-04 9.99470921e-01 -1.07330715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874012739 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:325.06, Y:-61.45, Z:-10.73 [[ 9.69455726e-01 2.43209132e-01 3.17003817e-02 3.25061108e+02] [-2.43094227e-01 9.69973772e-01 -7.48852501e-03 -6.14538251e+01] [-3.25698165e-02 -4.46386324e-04 9.99469363e-01 -1.07338062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:325.09, Y:-61.46, Z:-10.74 [[ 9.69448375e-01 2.43271297e-01 3.14471520e-02 3.25088166e+02] [-2.43158303e-01 9.69958183e-01 -7.42716735e-03 -6.14598939e+01] [-3.23092391e-02 -4.46380819e-04 9.99477821e-01 -1.07355303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:325.12, Y:-61.47, Z:-10.74 [[ 9.69422195e-01 2.43523051e-01 3.02841892e-02 3.25115106e+02] [-2.43418448e-01 9.69895010e-01 -7.15047048e-03 -6.14667453e+01] [-3.11137883e-02 -4.39905533e-04 9.99515752e-01 -1.07358903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:325.14, Y:-61.47, Z:-10.74 [[ 9.69418650e-01 2.43581111e-01 2.99286468e-02 3.25143076e+02] [-2.43479034e-01 9.69880431e-01 -7.06471760e-03 -6.14725019e+01] [-3.07480406e-02 -4.38328998e-04 9.99527071e-01 -1.07367828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994012739 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:325.17, Y:-61.48, Z:-10.74 [[ 9.69190273e-01 2.44553752e-01 2.93883973e-02 3.25171436e+02] [-2.44455816e-01 9.69635627e-01 -6.93578077e-03 -6.14752027e+01] [-3.01922083e-02 -4.62073396e-04 9.99544005e-01 -1.07383580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:325.20, Y:-61.48, Z:-10.74 [[ 9.68972250e-01 2.45398845e-01 2.95327853e-02 3.25199846e+02] [-2.45300395e-01 9.69422078e-01 -6.96792704e-03 -6.14801102e+01] [-3.03396554e-02 -4.92675957e-04 9.99539525e-01 -1.07391640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05401273900003 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:325.23, Y:-61.49, Z:-10.74 [[ 9.68826835e-01 2.46027346e-01 2.90707473e-02 3.25228482e+02] [-2.45932276e-01 9.69262756e-01 -6.85755161e-03 -6.14861876e+01] [-2.98643378e-02 -5.05655023e-04 9.99553833e-01 -1.07401606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:325.26, Y:-61.49, Z:-10.74 [[ 9.68931765e-01 2.45838866e-01 2.71014164e-02 3.25256081e+02] [-2.45756201e-01 9.69310597e-01 -6.39187634e-03 -6.14910496e+01] [-2.78410618e-02 -4.67049103e-04 9.99612253e-01 -1.07419723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11401273900003 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:325.28, Y:-61.50, Z:-10.74 [[ 9.69176892e-01 2.44903199e-01 2.68062624e-02 3.25284124e+02] [-2.44822011e-01 9.69547437e-01 -6.32065791e-03 -6.14961926e+01] [-2.75378923e-02 -4.36927471e-04 9.99620665e-01 -1.07430906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:325.31, Y:-61.50, Z:-10.74 [[ 9.69722625e-01 2.42569952e-01 2.82462229e-02 3.25312843e+02] [-2.42478880e-01 9.70133838e-01 -6.65800208e-03 -6.15018585e+01] [-2.90176479e-02 -3.92697225e-04 9.99578822e-01 -1.07440190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17401273900003 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:325.34, Y:-61.51, Z:-10.74 [[ 9.70022264e-01 2.41252634e-01 2.92228296e-02 3.25340115e+02] [-2.41154599e-01 9.70462277e-01 -6.88678347e-03 -6.15087918e+01] [-3.00211085e-02 -3.66886453e-04 9.99549198e-01 -1.07442084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:325.37, Y:-61.52, Z:-10.74 [[ 9.70365419e-01 2.39716085e-01 3.04491746e-02 3.25368483e+02] [-2.39608953e-01 9.70842977e-01 -7.17377669e-03 -6.15159972e+01] [-3.12810370e-02 -3.34710003e-04 9.99510573e-01 -1.07449343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234012739 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:325.39, Y:-61.52, Z:-10.75 [[ 9.71394409e-01 2.35496564e-01 3.05658366e-02 3.25394710e+02] [-2.35386564e-01 9.71875161e-01 -7.19981773e-03 -6.15244022e+01] [-3.14017097e-02 -2.00924574e-04 9.99506825e-01 -1.07455392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:325.42, Y:-61.53, Z:-10.75 [[ 9.72047415e-01 2.32825355e-01 3.02684294e-02 3.25422767e+02] [-2.32716254e-01 9.72518555e-01 -7.12774180e-03 -6.15330420e+01] [-3.10961283e-02 -1.15452513e-04 9.99516392e-01 -1.07465289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294012739 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:325.45, Y:-61.54, Z:-10.75 [[ 9.73172865e-01 2.28028671e-01 3.06186202e-02 3.25449968e+02] [-2.27914699e-01 9.73654417e-01 -7.20873858e-03 -6.15443153e+01] [-3.14557539e-02 3.69151603e-05 9.99505145e-01 -1.07473529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:325.48, Y:-61.55, Z:-10.75 [[ 9.73627965e-01 2.26015354e-01 3.10748551e-02 3.25477609e+02] [-2.25896969e-01 9.74123734e-01 -7.31504080e-03 -6.15523643e+01] [-3.19240654e-02 1.02412690e-04 9.99490292e-01 -1.07482622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354012739 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:325.51, Y:-61.56, Z:-10.75 [[ 9.73938553e-01 2.24567457e-01 3.18300451e-02 3.25506884e+02] [-2.24442523e-01 9.74458534e-01 -7.49130943e-03 -6.15607930e+01] [-3.26993634e-02 1.52059440e-04 9.99465221e-01 -1.07491790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:325.54, Y:-61.57, Z:-10.75 [[ 9.74332890e-01 2.22894526e-01 3.15190304e-02 3.25535928e+02] [-2.22771147e-01 9.74842545e-01 -7.41811820e-03 -6.15720100e+01] [-3.23795498e-02 2.06185990e-04 9.99475624e-01 -1.07498136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:325.57, Y:-61.58, Z:-10.75 [[ 9.74293274e-01 2.23376059e-01 2.92532509e-02 3.25565359e+02] [-2.23269989e-01 9.74732325e-01 -6.88525499e-03 -6.15840316e+01] [-3.00520904e-02 1.76884610e-04 9.99548318e-01 -1.07506300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:325.60, Y:-61.59, Z:-10.75 [[ 9.74127941e-01 2.24161476e-01 2.87469538e-02 3.25596210e+02] [-2.24059259e-01 9.74552004e-01 -6.77049550e-03 -6.15935407e+01] [-2.95330857e-02 1.54307694e-04 9.99563791e-01 -1.07516406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:325.63, Y:-61.60, Z:-10.75 [[ 9.74019907e-01 2.24557825e-01 2.93087729e-02 3.25627299e+02] [-2.24451595e-01 9.74460754e-01 -6.90802473e-03 -6.16036846e+01] [-3.01115000e-02 1.50152763e-04 9.99546535e-01 -1.07530130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:325.66, Y:-61.61, Z:-10.75 [[ 9.73955310e-01 2.24695070e-01 3.03838560e-02 3.25656369e+02] [-2.24580796e-01 9.74429115e-01 -7.16695274e-03 -6.16144023e+01] [-3.12172929e-02 1.56661112e-04 9.99512609e-01 -1.07539136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534012739 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:325.69, Y:-61.63, Z:-10.75 [[ 9.74082263e-01 2.23842169e-01 3.25334962e-02 3.25685530e+02] [-2.23710486e-01 9.74625386e-01 -7.67958787e-03 -6.16309333e+01] [-3.34269869e-02 2.02466088e-04 9.99441142e-01 -1.07541506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:325.71, Y:-61.65, Z:-10.75 [[ 9.74146000e-01 2.23643838e-01 3.19844417e-02 3.25714905e+02] [-2.23516327e-01 9.74670914e-01 -7.55391657e-03 -6.16463262e+01] [-3.28636920e-02 2.09572661e-04 9.99459821e-01 -1.07545666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594012739 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:325.75, Y:-61.66, Z:-10.76 [[ 9.73883933e-01 2.24960906e-01 3.07030352e-02 3.25745833e+02] [-2.24843894e-01 9.74367776e-01 -7.25668957e-03 -6.16570333e+01] [-3.15485196e-02 1.63783385e-04 9.99502208e-01 -1.07558124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:325.78, Y:-61.67, Z:-10.76 [[ 9.73342139e-01 2.27409634e-01 2.98318352e-02 3.25776392e+02] [-2.27300143e-01 9.73799184e-01 -7.05650342e-03 -6.16673045e+01] [-3.06549336e-02 8.76117393e-05 9.99530023e-01 -1.07575376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654012739 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:325.81, Y:-61.68, Z:-10.76 [[ 9.71479763e-01 2.35487888e-01 2.77943146e-02 3.25807166e+02] [-2.35396010e-01 9.71877272e-01 -6.57926082e-03 -6.16772386e+01] [-2.85619989e-02 -1.51052025e-04 9.99592011e-01 -1.07580517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:325.84, Y:-61.68, Z:-10.76 [[ 9.70299121e-01 2.40296375e-01 2.78795300e-02 3.25837953e+02] [-2.40205755e-01 9.70699526e-01 -6.60502274e-03 -6.16834711e+01] [-2.86498096e-02 -2.87975793e-04 9.99589468e-01 -1.07588807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714012739 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:325.87, Y:-61.69, Z:-10.76 [[ 9.68065255e-01 2.49079359e-01 2.84452830e-02 3.25868648e+02] [-2.48988781e-01 9.68482918e-01 -6.73982437e-03 -6.16882452e+01] [-2.92275219e-02 -5.57966564e-04 9.99572629e-01 -1.07598897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:325.90, Y:-61.69, Z:-10.76 [[ 9.67196423e-01 2.52420947e-01 2.85437236e-02 3.25900188e+02] [-2.52331208e-01 9.67617294e-01 -6.76268469e-03 -6.16949561e+01] [-2.93264439e-02 -6.61627809e-04 9.99569668e-01 -1.07606908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774012739 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:325.93, Y:-61.70, Z:-10.76 [[ 9.66520592e-01 2.54980040e-01 2.86901459e-02 3.25929440e+02] [-2.54890343e-01 9.66946035e-01 -6.80279607e-03 -6.17009732e+01] [-2.94764000e-02 -7.37798628e-04 9.99565204e-01 -1.07622205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:325.96, Y:-61.70, Z:-10.76 [[ 9.65819705e-01 2.57592434e-01 2.89557494e-02 3.25959091e+02] [-2.57502228e-01 9.66253309e-01 -6.86621627e-03 -6.17030097e+01] [-2.97472741e-02 -8.24643015e-04 9.99557112e-01 -1.07640325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:325.99, Y:-61.71, Z:-10.77 [[ 9.65836126e-01 2.57491582e-01 2.93029500e-02 3.25988688e+02] [-2.57399174e-01 9.66280183e-01 -6.94784893e-03 -6.17075847e+01] [-3.01038726e-02 -8.32071639e-04 9.99546429e-01 -1.07653475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:326.02, Y:-61.71, Z:-10.77 [[ 9.66403837e-01 2.55322985e-01 2.95600721e-02 3.26017708e+02] [-2.55227953e-01 9.66855510e-01 -7.00815401e-03 -6.17103188e+01] [-3.03696614e-02 -7.71849768e-04 9.99538437e-01 -1.07657297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894012739 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:326.05, Y:-61.71, Z:-10.77 [[ 9.66727893e-01 2.54154938e-01 2.90249577e-02 3.26045508e+02] [-2.54062829e-01 9.67163246e-01 -6.87998419e-03 -6.17136596e+01] [-2.98204542e-02 -7.23090248e-04 9.99555010e-01 -1.07661415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:326.07, Y:-61.72, Z:-10.77 [[ 9.66736224e-01 2.54123202e-01 2.90253480e-02 3.26074055e+02] [-2.54031129e-01 9.67171585e-01 -6.87833707e-03 -6.17203384e+01] [-2.98204369e-02 -7.23804311e-04 9.99555010e-01 -1.07670823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954012739 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:326.10, Y:-61.72, Z:-10.77 [[ 9.67054528e-01 2.52920854e-01 2.89237304e-02 3.26102821e+02] [-2.52828915e-01 9.67486730e-01 -6.85328478e-03 -6.17237734e+01] [-2.97166640e-02 -6.85255311e-04 9.99558128e-01 -1.07682951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:326.13, Y:-61.73, Z:-10.77 [[ 9.67859244e-01 2.49741284e-01 2.96272551e-02 3.26130642e+02] [-2.49643370e-01 9.68312412e-01 -7.01859342e-03 -6.17262663e+01] [-3.04412713e-02 -6.03237259e-04 9.99536375e-01 -1.07696850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014012739 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:326.16, Y:-61.73, Z:-10.77 [[ 9.69028865e-01 2.45180839e-01 2.94858369e-02 3.26160459e+02] [-2.45081799e-01 9.69477254e-01 -6.98329879e-03 -6.17340222e+01] [-3.02980192e-02 -4.59423854e-04 9.99540804e-01 -1.07695125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:326.19, Y:-61.74, Z:-10.77 [[ 9.69714083e-01 2.42447224e-01 2.95624865e-02 3.26189742e+02] [-2.42346399e-01 9.70164524e-01 -7.00143193e-03 -6.17407141e+01] [-3.03779534e-02 -3.74974994e-04 9.99538413e-01 -1.07699351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074012739 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:326.22, Y:-61.75, Z:-10.77 [[ 9.70475692e-01 2.39324229e-01 3.00140856e-02 3.26216701e+02] [-2.39218791e-01 9.70939666e-01 -7.10885019e-03 -6.17470728e+01] [-3.08431863e-02 -2.80966972e-04 9.99524196e-01 -1.07705100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:326.24, Y:-61.76, Z:-10.77 [[ 9.72004827e-01 2.32765057e-01 3.20475176e-02 3.26244770e+02] [-2.32641345e-01 9.72532993e-01 -7.58834129e-03 -6.17563968e+01] [-3.29335689e-02 -7.96732259e-05 9.99457540e-01 -1.07715111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:326.27, Y:-61.77, Z:-10.77 [[ 9.72663533e-01 2.29937140e-01 3.24740342e-02 3.26273099e+02] [-2.29808559e-01 9.73205483e-01 -7.68860096e-03 -6.17650531e+01] [-3.33718031e-02 1.56107443e-05 9.99443006e-01 -1.07722465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:326.30, Y:-61.77, Z:-10.77 [[ 9.73246959e-01 2.27592002e-01 3.14998006e-02 3.26302447e+02] [-2.27469805e-01 9.73756577e-01 -7.45759774e-03 -6.17745678e+01] [-3.23704276e-02 9.28308083e-05 9.99475936e-01 -1.07731815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194012739 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:326.33, Y:-61.78, Z:-10.77 [[ 9.73282757e-01 2.27587549e-01 3.04069434e-02 3.26330843e+02] [-2.27473685e-01 9.73757618e-01 -7.19885289e-03 -6.17829768e+01] [-3.12473621e-02 8.97399319e-05 9.99511678e-01 -1.07746707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:326.36, Y:-61.79, Z:-10.78 [[ 9.73162311e-01 2.28267541e-01 2.91383971e-02 3.26359739e+02] [-2.28163274e-01 9.73598442e-01 -6.89890162e-03 -6.17918818e+01] [-2.99438933e-02 6.54389568e-05 9.99551579e-01 -1.07757508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254012739 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:326.39, Y:-61.80, Z:-10.78 [[ 9.72554748e-01 2.31141251e-01 2.66642826e-02 3.26386345e+02] [-2.31055017e-01 9.72920203e-01 -6.31327470e-03 -6.18019452e+01] [-2.74014775e-02 -2.09109786e-05 9.99624509e-01 -1.07773816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:326.41, Y:-61.81, Z:-10.78 [[ 9.72144073e-01 2.32909045e-01 2.62541100e-02 3.26414667e+02] [-2.32826110e-01 9.72498520e-01 -6.21535039e-03 -6.18092517e+01] [-2.69796945e-02 -7.04262585e-05 9.99635979e-01 -1.07787170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314012739 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:326.44, Y:-61.82, Z:-10.78 [[ 9.71149995e-01 2.36940250e-01 2.69630421e-02 3.26441202e+02] [-2.36854360e-01 9.71524206e-01 -6.38198795e-03 -6.18161032e+01] [-2.77073979e-02 -1.88446518e-04 9.99616059e-01 -1.07794938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:326.47, Y:-61.82, Z:-10.78 [[ 9.70699398e-01 2.38670812e-01 2.79091710e-02 3.26469326e+02] [-2.38579549e-01 9.71100501e-01 -6.60428307e-03 -6.18231585e+01] [-2.86788595e-02 -2.47783833e-04 9.99588646e-01 -1.07792390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:326.50, Y:-61.83, Z:-10.78 [[ 9.70247343e-01 2.40403395e-01 2.87454579e-02 3.26500112e+02] [-2.40307395e-01 9.70673020e-01 -6.80033701e-03 -6.18313852e+01] [-2.95372645e-02 -3.09737173e-04 9.99563632e-01 -1.07798667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:326.53, Y:-61.84, Z:-10.78 [[ 9.69975779e-01 2.41404861e-01 2.95073282e-02 3.26531551e+02] [-2.41304006e-01 9.70424430e-01 -6.98582232e-03 -6.18395341e+01] [-3.03210436e-02 -3.44158064e-04 9.99540152e-01 -1.07811302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434012739 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:326.56, Y:-61.85, Z:-10.78 [[ 9.70188788e-01 2.40464803e-01 3.01727329e-02 3.26562970e+02] [-2.40358716e-01 9.70657807e-01 -7.14907381e-03 -6.18462303e+01] [-3.10064994e-02 -3.16328089e-04 9.99519133e-01 -1.07824391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:326.60, Y:-61.85, Z:-10.78 [[ 9.70275126e-01 2.40027482e-01 3.08704965e-02 3.26595021e+02] [-2.39916039e-01 9.70766046e-01 -7.31976561e-03 -6.18533674e+01] [-3.17249747e-02 -3.04140741e-04 9.99496590e-01 -1.07827813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494012739 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:326.63, Y:-61.86, Z:-10.78 [[ 9.70282872e-01 2.39905710e-01 3.15657684e-02 3.26626394e+02] [-2.39788920e-01 9.70796147e-01 -7.49094459e-03 -6.18602431e+01] [-3.24410467e-02 -3.00786256e-04 9.99473605e-01 -1.07828996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:326.66, Y:-61.87, Z:-10.78 [[ 9.70236806e-01 2.40076704e-01 3.16814935e-02 3.26658805e+02] [-2.39958957e-01 9.70753875e-01 -7.52424987e-03 -6.18666634e+01] [-3.25613297e-02 -3.01953966e-04 9.99469694e-01 -1.07836228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55401273900003 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:326.69, Y:-61.87, Z:-10.78 [[ 9.69837898e-01 2.41647787e-01 3.19499472e-02 3.26691024e+02] [-2.41528679e-01 9.70363965e-01 -7.59429926e-03 -6.18716136e+01] [-3.28382230e-02 -3.51589314e-04 9.99460618e-01 -1.07846817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:326.72, Y:-61.88, Z:-10.78 [[ 9.69449726e-01 2.43117997e-01 3.25709735e-02 3.26722772e+02] [-2.42994850e-01 9.69996637e-01 -7.74765386e-03 -6.18774989e+01] [-3.34773289e-02 -4.03617928e-04 9.99439396e-01 -1.07849633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61401273900003 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:326.75, Y:-61.88, Z:-10.79 [[ 9.69525527e-01 2.42793685e-01 3.27334614e-02 3.26753243e+02] [-2.42668931e-01 9.70077871e-01 -7.79196088e-03 -6.18841315e+01] [-3.36458455e-02 -3.88889118e-04 9.99433743e-01 -1.07861226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:326.78, Y:-61.89, Z:-10.79 [[ 9.69757865e-01 2.41910921e-01 3.23850209e-02 3.26784905e+02] [-2.41788147e-01 9.70298399e-01 -7.71415154e-03 -6.18908056e+01] [-3.32892714e-02 -3.49455048e-04 9.99445698e-01 -1.07869380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.674012739 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:326.82, Y:-61.90, Z:-10.79 [[ 9.70087091e-01 2.40682903e-01 3.16666282e-02 3.26815951e+02] [-2.40564687e-01 9.70603757e-01 -7.54839439e-03 -6.18984204e+01] [-3.25525177e-02 -2.95272539e-04 9.99469983e-01 -1.07889547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:326.85, Y:-61.91, Z:-10.79 [[ 9.70861160e-01 2.37688853e-01 3.05387742e-02 3.26847720e+02] [-2.37577258e-01 9.71341328e-01 -7.28496599e-03 -6.19084935e+01] [-3.13951287e-02 -1.82627680e-04 9.99507035e-01 -1.07911406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734012739 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:326.88, Y:-61.92, Z:-10.79 [[ 9.71037493e-01 2.37000677e-01 3.02797830e-02 3.26878863e+02] [-2.36890447e-01 9.71509473e-01 -7.22916922e-03 -6.19178502e+01] [-3.11304140e-02 -1.53196964e-04 9.99515319e-01 -1.07920492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:326.91, Y:-61.93, Z:-10.79 [[ 9.70998318e-01 2.37224961e-01 2.97755795e-02 3.26909786e+02] [-2.37118318e-01 9.71454731e-01 -7.11397806e-03 -6.19264076e+01] [-3.06132407e-02 -1.52674598e-04 9.99531293e-01 -1.07920464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794012739 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:326.94, Y:-61.93, Z:-10.79 [[ 9.70649647e-01 2.38713614e-01 2.92416226e-02 3.26940785e+02] [-2.38611333e-01 9.71089992e-01 -6.98986594e-03 -6.19330893e+01] [-3.00648232e-02 -1.92671653e-04 9.99547932e-01 -1.07933367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:326.97, Y:-61.94, Z:-10.79 [[ 9.70139461e-01 2.40825274e-01 2.88550588e-02 3.26970347e+02] [-2.40726455e-01 9.70568455e-01 -6.90279780e-03 -6.19384347e+01] [-2.96681780e-02 -2.49499470e-04 9.99559772e-01 -1.07945382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854012739 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:327.00, Y:-61.94, Z:-10.80 [[ 9.68698216e-01 2.46662369e-01 2.79542720e-02 3.27000229e+02] [-2.46572037e-01 9.69101390e-01 -6.68776169e-03 -6.19406732e+01] [-2.87401430e-02 -4.14318980e-04 9.99586831e-01 -1.07960244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:327.03, Y:-61.94, Z:-10.80 [[ 9.67449971e-01 2.51426427e-01 2.87281263e-02 3.27030858e+02] [-2.51333142e-01 9.67876245e-01 -6.87216744e-03 -6.19408001e+01] [-2.95331155e-02 -5.71852068e-04 9.99563639e-01 -1.07973153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914012739 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:327.06, Y:-61.94, Z:-10.80 [[ 9.67133464e-01 2.52598307e-01 2.91025531e-02 3.27059302e+02] [-2.52503125e-01 9.67571039e-01 -6.96102894e-03 -6.19447508e+01] [-2.99171316e-02 -6.16241569e-04 9.99552192e-01 -1.07982423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:327.09, Y:-61.95, Z:-10.80 [[ 9.67162781e-01 2.52465211e-01 2.92826425e-02 3.27087895e+02] [-2.52368819e-01 9.67605776e-01 -7.00304020e-03 -6.19493560e+01] [-3.01020781e-02 -6.16946069e-04 9.99546639e-01 -1.07990154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974012739 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:327.12, Y:-61.95, Z:-10.80 [[ 9.67411489e-01 2.51507196e-01 2.93111160e-02 3.27115401e+02] [-2.51410220e-01 9.67855249e-01 -7.00844000e-03 -6.19533785e+01] [-3.01315906e-02 -5.89068744e-04 9.99545767e-01 -1.07998007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:327.15, Y:-61.95, Z:-10.80 [[ 9.68155438e-01 2.48684613e-01 2.88272524e-02 3.27145203e+02] [-2.48589613e-01 9.68584389e-01 -6.89099541e-03 -6.19531688e+01] [-2.96353111e-02 -4.94600822e-04 9.99560655e-01 -1.08013680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034012739 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:327.18, Y:-61.95, Z:-10.80 [[ 9.68573435e-01 2.46967196e-01 2.95415807e-02 3.27175111e+02] [-2.46866674e-01 9.69023734e-01 -7.06027013e-03 -6.19538141e+01] [-3.03701480e-02 -4.54441695e-04 9.99538617e-01 -1.08036341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:327.20, Y:-61.96, Z:-10.80 [[ 9.68678308e-01 2.46561292e-01 2.94934691e-02 3.27202794e+02] [-2.46460954e-01 9.69127099e-01 -7.04733305e-03 -6.19577072e+01] [-3.03205197e-02 -4.42389877e-04 9.99540129e-01 -1.08037917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094012739 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:327.23, Y:-61.96, Z:-10.80 [[ 9.68677869e-01 2.46552716e-01 2.95794735e-02 3.27232001e+02] [-2.46451845e-01 9.69129279e-01 -7.06598003e-03 -6.19615908e+01] [-3.04084704e-02 -4.45257328e-04 9.99537456e-01 -1.08042050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:327.26, Y:-61.96, Z:-10.80 [[ 9.68434204e-01 2.47502455e-01 2.96264478e-02 3.27260709e+02] [-2.47401752e-01 9.68887149e-01 -7.07575397e-03 -6.19612168e+01] [-3.04559511e-02 -4.77232928e-04 9.99535996e-01 -1.08036605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154012739 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:327.29, Y:-61.96, Z:-10.80 [[ 9.68239064e-01 2.48280579e-01 2.94935351e-02 3.27288349e+02] [-2.48181192e-01 9.68688032e-01 -7.04223162e-03 -6.19646443e+01] [-3.03184838e-02 -5.01176933e-04 9.99540163e-01 -1.08047241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:327.32, Y:-61.97, Z:-10.81 [[ 9.68053119e-01 2.48874859e-01 3.05689770e-02 3.27316499e+02] [-2.48768461e-01 9.68535498e-01 -7.29666487e-03 -6.19676870e+01] [-3.14230959e-02 -5.41038175e-04 9.99506026e-01 -1.08066177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:327.34, Y:-61.97, Z:-10.81 [[ 9.68187889e-01 2.48276992e-01 3.11568156e-02 3.27344997e+02] [-2.48166228e-01 9.68688934e-01 -7.43460490e-03 -6.19724055e+01] [-3.20271038e-02 -5.33974972e-04 9.99486858e-01 -1.08074773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:327.37, Y:-61.98, Z:-10.81 [[ 9.68393906e-01 2.47467140e-01 3.11970694e-02 3.27373425e+02] [-2.47355719e-01 9.68896153e-01 -7.44265365e-03 -6.19763500e+01] [-3.20685328e-02 -5.09353116e-04 9.99485543e-01 -1.08083532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274012739 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:327.40, Y:-61.98, Z:-10.81 [[ 9.68823953e-01 2.45826507e-01 3.08135668e-02 3.27401840e+02] [-2.45717027e-01 9.69313739e-01 -7.34965176e-03 -6.19782309e+01] [-3.16747529e-02 -4.50899356e-04 9.99498127e-01 -1.08095749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:327.43, Y:-61.98, Z:-10.81 [[ 9.69105475e-01 2.44642392e-01 3.13795894e-02 3.27430150e+02] [-2.44528296e-01 9.69613285e-01 -7.48267586e-03 -6.19821370e+01] [-3.22566465e-02 -4.21695374e-04 9.99479530e-01 -1.08097830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:327.46, Y:-61.99, Z:-10.81 [[ 9.69227207e-01 2.44140421e-01 3.15289799e-02 3.27457882e+02] [-2.44025034e-01 9.69739804e-01 -7.51634614e-03 -6.19869368e+01] [-3.24099507e-02 -4.08813211e-04 9.99474576e-01 -1.08109308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:327.49, Y:-61.99, Z:-10.81 [[ 9.69350452e-01 2.43643286e-01 3.15855934e-02 3.27485625e+02] [-2.43527283e-01 9.69864833e-01 -7.52788756e-03 -6.19915221e+01] [-3.24678755e-02 -3.94792536e-04 9.99472702e-01 -1.08118847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394012739 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:327.51, Y:-62.00, Z:-10.81 [[ 9.69453630e-01 2.43185460e-01 3.19451371e-02 3.27513380e+02] [-2.43066628e-01 9.69979733e-01 -7.61127807e-03 -6.19965677e+01] [-3.28370877e-02 -3.86015588e-04 9.99460643e-01 -1.08134572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:327.54, Y:-62.00, Z:-10.81 [[ 9.69644685e-01 2.42444675e-01 3.17767827e-02 3.27540539e+02] [-2.42326771e-01 9.70165166e-01 -7.56881621e-03 -6.20037743e+01] [-3.26637468e-02 -3.61302734e-04 9.99466332e-01 -1.08141740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454012739 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:327.57, Y:-62.01, Z:-10.81 [[ 9.70117538e-01 2.40654300e-01 3.09430262e-02 3.27566689e+02] [-2.40541652e-01 9.70610849e-01 -7.36836917e-03 -6.20114165e+01] [-3.18068667e-02 -2.94902481e-04 9.99493990e-01 -1.08149063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:327.59, Y:-62.02, Z:-10.82 [[ 9.70335192e-01 2.39873173e-01 3.01741025e-02 3.27594221e+02] [-2.39765755e-01 9.70804198e-01 -7.18279395e-03 -6.20186633e+01] [-3.10161050e-02 -2.64998723e-04 9.99518850e-01 -1.08161114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514012739 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:327.62, Y:-62.03, Z:-10.82 [[ 9.70496802e-01 2.39243790e-01 2.99727718e-02 3.27622268e+02] [-2.39137546e-01 9.70959499e-01 -7.13336272e-03 -6.20260952e+01] [-3.08089602e-02 -2.44709400e-04 9.99525261e-01 -1.08173349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:327.65, Y:-62.04, Z:-10.82 [[ 9.70626265e-01 2.38622221e-01 3.07260526e-02 3.27648677e+02] [-2.38510307e-01 9.71112446e-01 -7.31105538e-03 -6.20361728e+01] [-3.15830324e-02 -2.32177868e-04 9.99501105e-01 -1.08175838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574012739 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:327.68, Y:-62.04, Z:-10.82 [[ 9.70674812e-01 2.38394758e-01 3.09572118e-02 3.27675972e+02] [-2.38281106e-01 9.71168310e-01 -7.36394327e-03 -6.20434757e+01] [-3.18201885e-02 -2.28524399e-04 9.99493583e-01 -1.08186178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:327.70, Y:-62.05, Z:-10.82 [[ 9.70562400e-01 2.38967432e-01 3.00531702e-02 3.27702318e+02] [-2.38860661e-01 9.71027552e-01 -7.14682798e-03 -6.20499776e+01] [-3.08903154e-02 -2.42077567e-04 9.99522751e-01 -1.08203996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634012739 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:327.73, Y:-62.06, Z:-10.82 [[ 9.70528208e-01 2.39186317e-01 2.94092280e-02 3.27729772e+02] [-2.39084266e-01 9.70973658e-01 -6.99061590e-03 -6.20573603e+01] [-3.02276454e-02 -2.46693783e-04 9.99543010e-01 -1.08217317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:327.76, Y:-62.07, Z:-10.82 [[ 9.70469532e-01 2.39464745e-01 2.90778698e-02 3.27757528e+02] [-2.39365149e-01 9.70905027e-01 -6.91042843e-03 -6.20652862e+01] [-2.98866539e-02 -2.53868390e-04 9.99553262e-01 -1.08225433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694012739 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:327.78, Y:-62.07, Z:-10.82 [[ 9.70394131e-01 2.39685737e-01 2.97653880e-02 3.27784438e+02] [-2.39581524e-01 9.70850491e-01 -7.07232626e-03 -6.20735813e+01] [-3.05928773e-02 -2.68293137e-04 9.99531892e-01 -1.08228252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:327.81, Y:-62.08, Z:-10.82 [[ 9.70538797e-01 2.38989313e-01 3.06357919e-02 3.27812755e+02] [-2.38878630e-01 9.71022164e-01 -7.27718262e-03 -6.20804119e+01] [-3.14872018e-02 -2.55447922e-04 9.99504122e-01 -1.08233543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754012739 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:327.84, Y:-62.09, Z:-10.82 [[ 9.70779254e-01 2.37959328e-01 3.10322227e-02 3.27839933e+02] [-2.37845284e-01 9.71275093e-01 -7.36978854e-03 -6.20868523e+01] [-3.18945349e-02 -2.26430008e-04 9.99491214e-01 -1.08245279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:327.87, Y:-62.09, Z:-10.83 [[ 9.71096241e-01 2.36616689e-01 3.13788562e-02 3.27867916e+02] [-2.36499445e-01 9.71603061e-01 -7.45014749e-03 -6.20939780e+01] [-3.22506220e-02 -1.86271852e-04 9.99479796e-01 -1.08254071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814012739 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:327.89, Y:-62.10, Z:-10.83 [[ 9.71378642e-01 2.35417699e-01 3.16550409e-02 3.27894578e+02] [-2.35297796e-01 9.71894277e-01 -7.51414803e-03 -6.21009987e+01] [-3.25343165e-02 -1.49278450e-04 9.99470608e-01 -1.08261910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:327.92, Y:-62.11, Z:-10.83 [[ 9.71396553e-01 2.35343722e-01 3.16554766e-02 3.27923124e+02] [-2.35223840e-01 9.71912193e-01 -7.51231216e-03 -6.21076623e+01] [-3.25343192e-02 -1.48688612e-04 9.99470608e-01 -1.08271318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874012739 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:327.95, Y:-62.11, Z:-10.83 [[ 9.71600622e-01 2.34475324e-01 3.18363502e-02 3.27951208e+02] [-2.34353685e-01 9.72122064e-01 -7.55268071e-03 -6.21145155e+01] [-3.27197357e-02 -1.22776696e-04 9.99464559e-01 -1.08285292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:327.98, Y:-62.12, Z:-10.83 [[ 9.71581397e-01 2.34631238e-01 3.12693234e-02 3.27977935e+02] [-2.34514024e-01 9.72084444e-01 -7.41663676e-03 -6.21203470e+01] [-3.21365975e-02 -1.27228568e-04 9.99483478e-01 -1.08288099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934012739 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:328.01, Y:-62.12, Z:-10.83 [[ 9.71473946e-01 2.35222716e-01 3.01437479e-02 3.28006268e+02] [-2.35114131e-01 9.71941487e-01 -7.14786001e-03 -6.21245919e+01] [-3.09792982e-02 -1.43261327e-04 9.99520016e-01 -1.08300826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:328.03, Y:-62.13, Z:-10.83 [[ 9.71311415e-01 2.35874252e-01 3.02898219e-02 3.28033863e+02] [-2.35764975e-01 9.71783571e-01 -7.18102124e-03 -6.21292675e+01] [-3.11289693e-02 -1.66271200e-04 9.99515362e-01 -1.08310491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994012739 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:328.06, Y:-62.13, Z:-10.83 [[ 9.71118461e-01 2.36619383e-01 3.06627188e-02 3.28061094e+02] [-2.36507829e-01 9.71602403e-01 -7.26753687e-03 -6.21335884e+01] [-3.15116114e-02 -1.94333849e-04 9.99503367e-01 -1.08320305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:328.09, Y:-62.14, Z:-10.83 [[ 9.70878143e-01 2.37635292e-01 3.04154500e-02 3.28088701e+02] [-2.37526085e-01 9.71354424e-01 -7.20714792e-03 -6.21363869e+01] [-3.12568546e-02 -2.27200375e-04 9.99511359e-01 -1.08338034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05401273900003 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:328.12, Y:-62.14, Z:-10.83 [[ 9.70849254e-01 2.37830896e-01 2.98025409e-02 3.28116222e+02] [-2.37726206e-01 9.71306549e-01 -7.05971842e-03 -6.21407619e+01] [-3.06264223e-02 -2.30922623e-04 9.99530874e-01 -1.08347711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:328.14, Y:-62.14, Z:-10.84 [[ 9.70790426e-01 2.38206281e-01 2.87004736e-02 3.28143516e+02] [-2.38109404e-01 9.71214555e-01 -6.79700940e-03 -6.21423902e+01] [-2.94934080e-02 -2.35381014e-04 9.99564947e-01 -1.08350563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11401273900003 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:328.17, Y:-62.15, Z:-10.84 [[ 9.70740716e-01 2.38338966e-01 2.92745652e-02 3.28169969e+02] [-2.38238310e-01 9.71182000e-01 -6.93045372e-03 -6.21462902e+01] [-3.00827280e-02 -2.46649343e-04 9.99547382e-01 -1.08360263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:328.20, Y:-62.15, Z:-10.84 [[ 9.70672063e-01 2.38379750e-01 3.11583284e-02 3.28197752e+02] [-2.38265829e-01 9.71171985e-01 -7.37364944e-03 -6.21489920e+01] [-3.20178244e-02 -2.66569444e-04 9.99487262e-01 -1.08359843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.174012739 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:328.23, Y:-62.15, Z:-10.84 [[ 9.70642051e-01 2.38384765e-01 3.20423601e-02 3.28225532e+02] [-2.38264369e-01 9.71170751e-01 -7.58043448e-03 -6.21533912e+01] [-3.29256631e-02 -2.76664263e-04 9.99457765e-01 -1.08366045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:328.25, Y:-62.16, Z:-10.84 [[ 9.70657084e-01 2.38276158e-01 3.23928744e-02 3.28251939e+02] [-2.38153135e-01 9.71197403e-01 -7.66088179e-03 -6.21568678e+01] [-3.32852810e-02 -2.78375437e-04 9.99445853e-01 -1.08375168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:328.28, Y:-62.16, Z:-10.84 [[ 9.70823628e-01 2.37634625e-01 3.21133688e-02 3.28280426e+02] [-2.37513457e-01 9.71354579e-01 -7.59200996e-03 -6.21590574e+01] [-3.29975923e-02 -2.56854604e-04 9.99455398e-01 -1.08381932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:328.31, Y:-62.16, Z:-10.84 [[ 9.71018888e-01 2.36893470e-01 3.16828391e-02 3.28308363e+02] [-2.36775209e-01 9.71535604e-01 -7.48797285e-03 -6.21636721e+01] [-3.25548581e-02 -2.30747790e-04 9.99469923e-01 -1.08390836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294012739 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:328.34, Y:-62.17, Z:-10.84 [[ 9.71419710e-01 2.35220193e-01 3.18623274e-02 3.28336814e+02] [-2.35099765e-01 9.71942091e-01 -7.52806195e-03 -6.21670158e+01] [-3.27390893e-02 -1.77917926e-04 9.99463916e-01 -1.08398935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:328.36, Y:-62.17, Z:-10.84 [[ 9.71747029e-01 2.33826330e-01 3.21396826e-02 3.28363181e+02] [-2.33703112e-01 9.72278370e-01 -7.59119822e-03 -6.21706509e+01] [-3.30237402e-02 -1.34419515e-04 9.99454559e-01 -1.08404944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:328.39, Y:-62.18, Z:-10.84 [[ 9.72059147e-01 2.32565536e-01 3.18478489e-02 3.28391017e+02] [-2.32443987e-01 9.72580723e-01 -7.51866535e-03 -6.21754565e+01] [-3.27231864e-02 -9.42535433e-05 9.99464449e-01 -1.08418824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:328.42, Y:-62.18, Z:-10.84 [[ 9.72573630e-01 2.30551325e-01 3.07672059e-02 3.28419086e+02] [-2.30436946e-01 9.73060165e-01 -7.26142231e-03 -6.21792965e+01] [-3.16124730e-02 -2.76331289e-05 9.99500200e-01 -1.08427792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414012739 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:328.45, Y:-62.18, Z:-10.84 [[ 9.72754281e-01 2.29773025e-01 3.08782584e-02 3.28445244e+02] [-2.29657502e-01 9.73244243e-01 -7.28522993e-03 -6.21837165e+01] [-3.17260366e-02 -4.68510375e-06 9.99496603e-01 -1.08440081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:328.47, Y:-62.19, Z:-10.84 [[ 9.73283370e-01 2.27455947e-01 3.13571925e-02 3.28472627e+02] [-2.27335701e-01 9.73788369e-01 -7.39537072e-03 -6.21869719e+01] [-3.22173904e-02 6.91819963e-05 9.99480883e-01 -1.08445089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474012739 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:328.50, Y:-62.19, Z:-10.85 [[ 9.73774709e-01 2.25363479e-01 3.12108833e-02 3.28499453e+02] [-2.25243364e-01 9.74274748e-01 -7.35820520e-03 -6.21931751e+01] [-3.20662462e-02 1.35189787e-04 9.99485737e-01 -1.08453064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:328.53, Y:-62.20, Z:-10.85 [[ 9.75389522e-01 2.18390337e-01 3.03469984e-02 3.28526170e+02] [-2.18273469e-01 9.75861433e-01 -7.15236265e-03 -6.22018366e+01] [-3.11764722e-02 3.52394967e-04 9.99513834e-01 -1.08470698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534012739 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:328.55, Y:-62.21, Z:-10.85 [[ 9.76270039e-01 2.14443279e-01 3.01809825e-02 3.28552536e+02] [-2.14325868e-01 9.76736329e-01 -7.11099825e-03 -6.22102761e+01] [-3.10037678e-02 4.73689265e-04 9.99519155e-01 -1.08479202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:328.58, Y:-62.22, Z:-10.85 [[ 9.77148206e-01 2.10407443e-01 3.01677355e-02 3.28580171e+02] [-2.10288270e-01 9.77613599e-01 -7.10601531e-03 -6.22185755e+01] [-3.09875469e-02 5.99709216e-04 9.99519591e-01 -1.08488546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594012739 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:328.61, Y:-62.23, Z:-10.85 [[ 9.78467494e-01 2.04179678e-01 3.01997136e-02 3.28606399e+02] [-2.04057329e-01 9.78933105e-01 -7.11207105e-03 -6.22284351e+01] [-3.10156398e-02 7.96457420e-04 9.99518582e-01 -1.08489856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:328.63, Y:-62.24, Z:-10.85 [[ 9.78906700e-01 2.02054802e-01 3.02577271e-02 3.28634280e+02] [-2.01931027e-01 9.79373836e-01 -7.12386028e-03 -6.22368370e+01] [-3.10730364e-02 8.63620653e-04 9.99516744e-01 -1.08495873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654012739 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:328.66, Y:-62.25, Z:-10.85 [[ 9.79260359e-01 2.00377149e-01 2.99691191e-02 3.28661033e+02] [-2.00254985e-01 9.79718417e-01 -7.05441698e-03 -6.22473079e+01] [-3.07748419e-02 9.06645411e-04 9.99525931e-01 -1.08509484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:328.69, Y:-62.26, Z:-10.85 [[ 9.79323949e-01 2.00160944e-01 2.93291455e-02 3.28689845e+02] [-2.00043879e-01 9.79762624e-01 -6.90268362e-03 -6.22564552e+01] [-3.01172482e-02 8.92847350e-04 9.99545974e-01 -1.08518415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714012739 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:328.72, Y:-62.27, Z:-10.85 [[ 9.79331675e-01 2.00188249e-01 2.88813876e-02 3.28717547e+02] [-2.00074764e-01 9.79757059e-01 -6.79664054e-03 -6.22657323e+01] [-2.96573509e-02 8.77728557e-04 9.99559739e-01 -1.08527101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:328.75, Y:-62.28, Z:-10.85 [[ 9.79361730e-01 1.99948440e-01 2.95165086e-02 3.28745409e+02] [-1.99829832e-01 9.79806004e-01 -6.94498432e-03 -6.22785933e+01] [-3.03090911e-02 9.03372907e-04 9.99540166e-01 -1.08534410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774012739 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:328.77, Y:-62.29, Z:-10.85 [[ 9.79367681e-01 1.99830290e-01 3.01131262e-02 3.28774015e+02] [-1.99706805e-01 9.79830087e-01 -7.08461895e-03 -6.22881464e+01] [-3.09214685e-02 9.24650608e-04 9.99521389e-01 -1.08534511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:328.80, Y:-62.30, Z:-10.85 [[ 9.79274398e-01 2.00291629e-01 3.00818308e-02 3.28801533e+02] [-2.00168640e-01 9.79735902e-01 -7.07651342e-03 -6.22996473e+01] [-3.08896160e-02 9.08409246e-04 9.99522389e-01 -1.08542163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834012739 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:328.83, Y:-62.31, Z:-10.86 [[ 9.79192876e-01 2.00768904e-01 2.95492469e-02 3.28830607e+02] [-2.00650462e-01 9.79638238e-01 -6.95085365e-03 -6.23092244e+01] [-3.03430875e-02 8.77156342e-04 9.99539158e-01 -1.08558944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:328.86, Y:-62.32, Z:-10.86 [[ 9.79086572e-01 2.01324362e-01 2.92913977e-02 3.28858537e+02] [-2.01208227e-01 9.79524259e-01 -6.89017601e-03 -6.23221466e+01] [-3.00787950e-02 8.52408607e-04 9.99547167e-01 -1.08574504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894012739 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:328.89, Y:-62.33, Z:-10.86 [[ 9.79034763e-01 2.01532354e-01 2.95912578e-02 3.28887872e+02] [-2.01413912e-01 9.79481485e-01 -6.96110124e-03 -6.23318825e+01] [-3.03869763e-02 8.55069114e-04 9.99537843e-01 -1.08576867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:328.92, Y:-62.34, Z:-10.86 [[ 9.78963737e-01 2.01484655e-01 3.21548757e-02 3.28915645e+02] [-2.01344769e-01 9.79491229e-01 -7.56418237e-03 -6.23442930e+01] [-3.30194854e-02 9.30844219e-04 9.99454275e-01 -1.08568806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954012739 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:328.95, Y:-62.36, Z:-10.86 [[ 9.79014369e-01 2.01171998e-01 3.25682812e-02 3.28945998e+02] [-2.01028298e-01 9.79555469e-01 -7.66202924e-03 -6.23552124e+01] [-3.34438237e-02 9.54090590e-04 9.99440143e-01 -1.08580369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:328.98, Y:-62.37, Z:-10.86 [[ 9.79107945e-01 2.00747277e-01 3.23753457e-02 3.28976670e+02] [-2.00604865e-01 9.79642585e-01 -7.62199122e-03 -6.23667256e+01] [-3.32463613e-02 9.68100331e-04 9.99446718e-01 -1.08601840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014012739 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:329.01, Y:-62.38, Z:-10.86 [[ 9.79176373e-01 2.00728094e-01 3.03622048e-02 3.29006080e+02] [-2.00602664e-01 9.79646567e-01 -7.15361002e-03 -6.23813621e+01] [-3.11801602e-02 9.13906729e-04 9.99513363e-01 -1.08622663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:329.04, Y:-62.39, Z:-10.86 [[ 9.79019671e-01 2.01557258e-01 2.99191340e-02 3.29035939e+02] [-2.01435743e-01 9.79476340e-01 -7.05269068e-03 -6.23923616e+01] [-3.07266049e-02 8.77939906e-04 9.99527441e-01 -1.08631024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074012739 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:329.07, Y:-62.41, Z:-10.86 [[ 9.78514319e-01 2.03852383e-01 3.08858249e-02 3.29065393e+02] [-2.03723846e-01 9.79001279e-01 -7.28629977e-03 -6.24078595e+01] [-3.17225916e-02 8.37569604e-04 9.99496361e-01 -1.08618531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:329.10, Y:-62.42, Z:-10.86 [[ 9.78133601e-01 2.05608369e-01 3.13026625e-02 3.29096122e+02] [-2.05477117e-01 9.78634031e-01 -7.38835441e-03 -6.24197056e+01] [-3.21529583e-02 7.94816874e-04 9.99482644e-01 -1.08622322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:329.13, Y:-62.44, Z:-10.86 [[ 9.77180596e-01 2.10192590e-01 3.06130435e-02 3.29125066e+02] [-2.10069117e-01 9.77659793e-01 -7.23152086e-03 -6.24355060e+01] [-3.14491539e-02 6.35646837e-04 9.99505151e-01 -1.08640227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:329.16, Y:-62.45, Z:-10.87 [[ 9.76619003e-01 2.12916985e-01 2.96931110e-02 3.29155850e+02] [-2.12801915e-01 9.77070146e-01 -7.01966996e-03 -6.24465258e+01] [-3.05068593e-02 5.36792194e-04 9.99534413e-01 -1.08654942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194012739 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:329.19, Y:-62.46, Z:-10.87 [[ 9.75942681e-01 2.16093768e-01 2.89718222e-02 3.29185813e+02] [-2.15985553e-01 9.76372521e-01 -6.85137774e-03 -6.24572726e+01] [-2.97678311e-02 4.29056924e-04 9.99556748e-01 -1.08664789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:329.22, Y:-62.47, Z:-10.87 [[ 9.74642753e-01 2.21829998e-01 2.93761057e-02 3.29216171e+02] [-2.21721176e-01 9.75085321e-01 -6.95252008e-03 -6.24698664e+01] [-3.01864869e-02 2.62918618e-04 9.99544250e-01 -1.08668554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254012739 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:329.25, Y:-62.48, Z:-10.87 [[ 9.73973742e-01 2.24707815e-01 2.96908545e-02 3.29248303e+02] [-2.24597815e-01 9.74426172e-01 -7.03253014e-03 -6.24794497e+01] [-3.05118102e-02 1.80998642e-04 9.99534390e-01 -1.08672134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:329.28, Y:-62.49, Z:-10.87 [[ 9.72822218e-01 2.29563674e-01 3.02894572e-02 3.29279219e+02] [-2.29451348e-01 9.73293644e-01 -7.18059525e-03 -6.24874230e+01] [-3.11289400e-02 3.54858352e-05 9.99515376e-01 -1.08672669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314012739 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:329.31, Y:-62.50, Z:-10.87 [[ 9.72300224e-01 2.31709620e-01 3.07071233e-02 3.29311079e+02] [-2.31595057e-01 9.72784998e-01 -7.28548257e-03 -6.24951466e+01] [-3.15595452e-02 -2.79416229e-05 9.99501873e-01 -1.08684360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:329.34, Y:-62.50, Z:-10.87 [[ 9.71863622e-01 2.33380781e-01 3.18514081e-02 3.29342327e+02] [-2.33258191e-01 9.72385420e-01 -7.56382051e-03 -6.25036455e+01] [-3.27370952e-02 -7.85998458e-05 9.99463995e-01 -1.08696027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374012739 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:329.37, Y:-62.51, Z:-10.87 [[ 9.71364526e-01 2.35311527e-01 3.28548763e-02 3.29374166e+02] [-2.35181972e-01 9.71919989e-01 -7.80865618e-03 -6.25134249e+01] [-3.37697778e-02 -1.41822989e-04 9.99429628e-01 -1.08702248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:329.41, Y:-62.52, Z:-10.87 [[ 9.71284243e-01 2.35711259e-01 3.23592452e-02 3.29406670e+02] [-2.35585596e-01 9.71823122e-01 -7.69715549e-03 -6.25206889e+01] [-3.32617689e-02 -1.47246235e-04 9.99446663e-01 -1.08720141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434012739 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:329.44, Y:-62.53, Z:-10.87 [[ 9.71249551e-01 2.36030659e-01 3.10457498e-02 3.29439113e+02] [-2.35914969e-01 9.71745598e-01 -7.39057136e-03 -6.25253042e+01] [-3.19129721e-02 -1.46067993e-04 9.99490641e-01 -1.08729701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:329.47, Y:-62.53, Z:-10.87 [[ 9.71069620e-01 2.36830301e-01 3.05810798e-02 3.29471302e+02] [-2.36718261e-01 9.71551018e-01 -7.28584019e-03 -6.25320391e+01] [-3.14365870e-02 -1.64041966e-04 9.99505735e-01 -1.08737026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494012739 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:329.50, Y:-62.54, Z:-10.87 [[ 9.70910772e-01 2.37491808e-01 3.04944867e-02 3.29502335e+02] [-2.37380541e-01 9.71389525e-01 -7.27116008e-03 -6.25391011e+01] [-3.13488659e-02 -1.79150116e-04 9.99508487e-01 -1.08741662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:329.53, Y:-62.55, Z:-10.88 [[ 9.71079877e-01 2.36660552e-01 3.15540146e-02 3.29533174e+02] [-2.36540795e-01 9.71592384e-01 -7.52943296e-03 -6.25463765e+01] [-3.24395600e-02 -1.52130848e-04 9.99473687e-01 -1.08752792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55401273900003 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:329.57, Y:-62.55, Z:-10.88 [[ 9.71389573e-01 2.35242484e-01 3.26078498e-02 3.29565400e+02] [-2.35113584e-01 9.71936707e-01 -7.78711706e-03 -6.25545138e+01] [-3.35246269e-02 -1.02224130e-04 9.99437886e-01 -1.08763689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:329.60, Y:-62.56, Z:-10.88 [[ 9.71832235e-01 2.33326397e-01 3.31798104e-02 3.29595960e+02] [-2.33191599e-01 9.72398474e-01 -7.93009635e-03 -6.25630962e+01] [-3.41142978e-02 -3.05297896e-05 9.99417937e-01 -1.08770685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61401273900003 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:329.63, Y:-62.57, Z:-10.88 [[ 9.72780694e-01 2.29472292e-01 3.22519541e-02 3.29627600e+02] [-2.29342683e-01 9.73315188e-01 -7.71220331e-03 -6.25740451e+01] [-3.31610537e-02 1.05532814e-04 9.99450015e-01 -1.08779257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:329.66, Y:-62.58, Z:-10.88 [[ 9.73051317e-01 2.28424728e-01 3.15163025e-02 3.29659196e+02] [-2.28300217e-01 9.73561566e-01 -7.54243253e-03 -6.25832427e+01] [-3.24059389e-02 1.43995216e-04 9.99474779e-01 -1.08794750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.674012739 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:329.69, Y:-62.59, Z:-10.88 [[ 9.73284533e-01 2.27598139e-01 3.02705257e-02 3.29689563e+02] [-2.27482691e-01 9.73755132e-01 -7.25032912e-03 -6.25930938e+01] [-3.11262412e-02 1.70612540e-04 9.99515447e-01 -1.08803157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:329.72, Y:-62.60, Z:-10.88 [[ 9.73263793e-01 2.27770612e-01 2.96333940e-02 3.29721267e+02] [-2.27659944e-01 9.73714805e-01 -7.10132260e-03 -6.26018674e+01] [-3.04719471e-02 1.65123330e-04 9.99535609e-01 -1.08816640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734012739 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:329.75, Y:-62.61, Z:-10.88 [[ 9.73244949e-01 2.27851296e-01 2.96320132e-02 3.29753794e+02] [-2.27740490e-01 9.73695927e-01 -7.10707947e-03 -6.26098104e+01] [-3.04719279e-02 1.68519983e-04 9.99535609e-01 -1.08827392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:329.79, Y:-62.62, Z:-10.88 [[ 9.73195885e-01 2.28149200e-01 2.89432393e-02 3.29785886e+02] [-2.28043553e-01 9.73626169e-01 -6.94409699e-03 -6.26190251e+01] [-2.97641854e-02 1.57647493e-04 9.99556936e-01 -1.08844200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794012739 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:329.82, Y:-62.63, Z:-10.89 [[ 9.73092571e-01 2.28598321e-01 2.88730925e-02 3.29817514e+02] [-2.28493211e-01 9.73520819e-01 -6.93303047e-03 -6.26300942e+01] [-2.96934358e-02 1.49174827e-04 9.99559042e-01 -1.08852646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:329.85, Y:-62.64, Z:-10.89 [[ 9.72953574e-01 2.29115176e-01 2.94546904e-02 3.29848139e+02] [-2.29005843e-01 9.73399310e-01 -7.07870937e-03 -6.26394751e+01] [-3.02930151e-02 1.41959379e-04 9.99541051e-01 -1.08859773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854012739 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:329.88, Y:-62.65, Z:-10.89 [[ 9.72573381e-01 2.30487604e-01 3.12487178e-02 3.29879390e+02] [-2.30365052e-01 9.73075255e-01 -7.51601896e-03 -6.26495309e+01] [-3.21397032e-02 1.11267479e-04 9.99483380e-01 -1.08862036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:329.91, Y:-62.66, Z:-10.89 [[ 9.72329146e-01 2.31478093e-01 3.15265747e-02 3.29911478e+02] [-2.31353667e-01 9.72840113e-01 -7.58920421e-03 -6.26589356e+01] [-3.24270510e-02 8.54158020e-05 9.99474101e-01 -1.08871267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914012739 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:329.94, Y:-62.67, Z:-10.89 [[ 9.72400905e-01 2.31407173e-01 2.97859152e-02 3.29941749e+02] [-2.31295902e-01 9.72856985e-01 -7.17588326e-03 -6.26685051e+01] [-3.06379865e-02 8.84752525e-05 9.99530543e-01 -1.08885091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters Centerline goodness : 0.992149 Centerline is valid? [True, True] Translation: X:329.97, Y:-62.68, Z:-10.89 [[ 9.72581250e-01 2.30754876e-01 2.89465046e-02 3.29972289e+02] [-2.30649402e-01 9.73011909e-01 -6.97699211e-03 -6.26768319e+01] [-2.97752686e-02 1.09197748e-04 9.99556612e-01 -1.08899849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974012739 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:330.00, Y:-62.69, Z:-10.89 [[ 9.72817333e-01 2.29778886e-01 2.87767199e-02 3.30003831e+02] [-2.29674062e-01 9.73242849e-01 -6.94133631e-03 -6.26858071e+01] [-2.96017094e-02 1.43386112e-04 9.99561763e-01 -1.08911156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:330.04, Y:-62.70, Z:-10.89 [[ 9.72917072e-01 2.29209823e-01 2.99203530e-02 3.30035367e+02] [-2.29096041e-01 9.73377022e-01 -7.22335750e-03 -6.26963638e+01] [-3.07794486e-02 1.73093422e-04 9.99526186e-01 -1.08912055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034012739 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:330.07, Y:-62.70, Z:-10.89 [[ 9.72638108e-01 2.30279919e-01 3.07615082e-02 3.30067213e+02] [-2.30159984e-01 9.73124420e-01 -7.43270823e-03 -6.27046279e+01] [-3.16463783e-02 1.49267041e-04 9.99499117e-01 -1.08912027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:330.10, Y:-62.71, Z:-10.89 [[ 9.71824795e-01 2.33604705e-01 3.13912488e-02 3.30098603e+02] [-2.33481334e-01 9.72331651e-01 -7.59125490e-03 -6.27123809e+01] [-3.22960576e-02 4.80990861e-05 9.99478345e-01 -1.08913701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094012739 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:330.13, Y:-62.72, Z:-10.89 [[ 9.71443281e-01 2.35202011e-01 3.12724591e-02 3.30129703e+02] [-2.35080213e-01 9.71946508e-01 -7.56832180e-03 -6.27196795e+01] [-3.21752419e-02 6.59018107e-07 9.99482243e-01 -1.08920871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:330.16, Y:-62.73, Z:-10.89 [[ 9.70781368e-01 2.37869807e-01 3.16463278e-02 3.30161822e+02] [-2.37746304e-01 9.71297044e-01 -7.66465783e-03 -6.27270582e+01] [-3.25611753e-02 -8.30904478e-05 9.99469741e-01 -1.08926763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154012739 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:330.19, Y:-62.73, Z:-10.89 [[ 9.70381671e-01 2.39421969e-01 3.21952320e-02 3.30192659e+02] [-2.39294786e-01 9.70915601e-01 -7.80396440e-03 -6.27344383e+01] [-3.31272936e-02 -1.31327154e-04 9.99451132e-01 -1.08944148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:330.22, Y:-62.74, Z:-10.90 [[ 9.69969988e-01 2.41101849e-01 3.20643180e-02 3.30224831e+02] [-2.40976423e-01 9.70499802e-01 -7.77807012e-03 -6.27421696e+01] [-3.29937213e-02 -1.82250055e-04 9.99455542e-01 -1.08952949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214012739 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:330.26, Y:-62.75, Z:-10.90 [[ 9.69250545e-01 2.44131198e-01 3.08762044e-02 3.30256806e+02] [-2.44016246e-01 9.69742175e-01 -7.49572491e-03 -6.27502862e+01] [-3.17718979e-02 -2.69060033e-04 9.99495110e-01 -1.08967579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:330.29, Y:-62.76, Z:-10.90 [[ 9.68839794e-01 2.45839896e-01 3.02026348e-02 3.30288791e+02] [-2.45730555e-01 9.69310398e-01 -7.33800451e-03 -6.27579785e+01] [-3.10797023e-02 -3.12359434e-04 9.99516861e-01 -1.08981697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274012739 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:330.32, Y:-62.76, Z:-10.90 [[ 9.67668109e-01 2.50443492e-01 2.99414273e-02 3.30320631e+02] [-2.50338049e-01 9.68131114e-01 -7.28057323e-03 -6.27638084e+01] [-3.08105996e-02 -4.50299962e-04 9.99525139e-01 -1.08990764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:330.35, Y:-62.77, Z:-10.90 [[ 9.66980003e-01 2.53046624e-01 3.02833224e-02 3.30352342e+02] [-2.52939916e-01 9.67453936e-01 -7.36747642e-03 -6.27695447e+01] [-3.11620345e-02 -5.35658657e-04 9.99514202e-01 -1.08995411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334012739 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:330.38, Y:-62.77, Z:-10.90 [[ 9.65765998e-01 2.57575750e-01 3.08345701e-02 3.30384416e+02] [-2.57467243e-01 9.66257864e-01 -7.50733507e-03 -6.27716889e+01] [-3.17278533e-02 -6.88562807e-04 9.99496308e-01 -1.09007966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:330.42, Y:-62.78, Z:-10.90 [[ 9.65251051e-01 2.59548997e-01 3.04093304e-02 3.30417432e+02] [-2.59444278e-01 9.65729659e-01 -7.40897881e-03 -6.27771390e+01] [-3.12901853e-02 -7.38002188e-04 9.99510070e-01 -1.09024520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394012739 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:330.45, Y:-62.78, Z:-10.90 [[ 9.64937746e-01 2.60775927e-01 2.98506647e-02 3.30448874e+02] [-2.60675425e-01 9.65399058e-01 -7.27879947e-03 -6.27820784e+01] [-3.07159393e-02 -7.57746353e-04 9.99527867e-01 -1.09039333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:330.48, Y:-62.78, Z:-10.91 [[ 9.64843485e-01 2.61110077e-01 2.99762617e-02 3.30479166e+02] [-2.61008706e-01 9.65308728e-01 -7.31535333e-03 -6.27837243e+01] [-3.08464596e-02 -7.65894273e-04 9.99523841e-01 -1.09055588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454012739 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:330.51, Y:-62.79, Z:-10.91 [[ 9.64932017e-01 2.60731329e-01 3.04200006e-02 3.30507769e+02] [-2.60626769e-01 9.65411098e-01 -7.42290205e-03 -6.27879904e+01] [-3.13031893e-02 -7.65670630e-04 9.99509642e-01 -1.09066193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:330.54, Y:-62.79, Z:-10.91 [[ 9.65563681e-01 2.58440826e-01 2.99185206e-02 3.30536409e+02] [-2.58338619e-01 9.66026851e-01 -7.29946695e-03 -6.27900530e+01] [-3.07885744e-02 -6.81009095e-04 9.99525687e-01 -1.09079415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514012739 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:330.57, Y:-62.80, Z:-10.91 [[ 9.66103325e-01 2.56547322e-01 2.87721498e-02 3.30565350e+02] [-2.56451989e-01 9.66531487e-01 -7.01876948e-03 -6.27950987e+01] [-2.96098352e-02 -5.97818489e-04 9.99561354e-01 -1.09096650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:330.59, Y:-62.80, Z:-10.91 [[ 9.67313760e-01 2.52227062e-01 2.61839359e-02 3.30593574e+02] [-2.52146543e-01 9.67667985e-01 -6.38681696e-03 -6.27984765e+01] [-2.69482846e-02 -4.24133006e-04 9.99636739e-01 -1.09113569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574012739 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:330.62, Y:-62.80, Z:-10.91 [[ 9.67843176e-01 2.50157844e-01 2.64696102e-02 3.30623002e+02] [-2.50074802e-01 9.68204997e-01 -6.45584344e-03 -6.28039416e+01] [-2.72429887e-02 -3.71138501e-04 9.99628772e-01 -1.09123491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:330.65, Y:-62.81, Z:-10.91 [[ 9.68251715e-01 2.48427243e-01 2.77942578e-02 3.30651276e+02] [-2.48334987e-01 9.68650499e-01 -6.77823327e-03 -6.28096223e+01] [-2.86068195e-02 -3.39250660e-04 9.99590684e-01 -1.09123931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634012739 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:330.68, Y:-62.82, Z:-10.91 [[ 9.68737521e-01 2.46235692e-01 3.02588868e-02 3.30680174e+02] [-2.46125314e-01 9.69209933e-01 -7.37805426e-03 -6.28165857e+01] [-3.11439539e-02 -3.00080029e-04 9.99514864e-01 -1.09131823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:330.71, Y:-62.82, Z:-10.91 [[ 9.68861229e-01 2.45725147e-01 3.04478305e-02 3.30709339e+02] [-2.45613159e-01 9.69339502e-01 -7.42334423e-03 -6.28238256e+01] [-3.13383872e-02 -2.86197399e-04 9.99508791e-01 -1.09140426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694012739 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:330.74, Y:-62.83, Z:-10.91 [[ 9.69028822e-01 2.44968077e-01 3.12054859e-02 3.30739239e+02] [-2.44850053e-01 9.69531108e-01 -7.60806420e-03 -6.28276116e+01] [-3.21184222e-02 -2.68231369e-04 9.99484034e-01 -1.09149155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:330.77, Y:-62.83, Z:-10.92 [[ 9.69033336e-01 2.44908323e-01 3.15326327e-02 3.30768786e+02] [-2.44787791e-01 9.69546203e-01 -7.68743562e-03 -6.28331086e+01] [-3.24550612e-02 -2.69422110e-04 9.99473159e-01 -1.09157182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754012739 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:330.80, Y:-62.84, Z:-10.92 [[ 9.69088297e-01 2.44712634e-01 3.13623853e-02 3.30797361e+02] [-2.44593298e-01 9.69595616e-01 -7.64592810e-03 -6.28396342e+01] [-3.22798865e-02 -2.61449811e-04 9.99478834e-01 -1.09168362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:330.82, Y:-62.85, Z:-10.92 [[ 9.69127807e-01 2.44570787e-01 3.12477711e-02 3.30824940e+02] [-2.44452261e-01 9.69631406e-01 -7.61760140e-03 -6.28471916e+01] [-3.21618630e-02 -2.56158947e-04 9.99482641e-01 -1.09182566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814012739 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:330.85, Y:-62.85, Z:-10.92 [[ 9.69388627e-01 2.43580802e-01 3.08882170e-02 3.30854256e+02] [-2.43464512e-01 9.69880582e-01 -7.52911575e-03 -6.28545329e+01] [-3.17918300e-02 -2.21545509e-04 9.99494487e-01 -1.09183910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:330.88, Y:-62.86, Z:-10.92 [[ 9.69726495e-01 2.42183466e-01 3.12680966e-02 3.30883171e+02] [-2.42063571e-01 9.70230456e-01 -7.62171154e-03 -6.28603579e+01] [-3.21831121e-02 -1.77891487e-04 9.99481974e-01 -1.09189009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874012739 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:330.91, Y:-62.87, Z:-10.92 [[ 9.69945399e-01 2.41243781e-01 3.17389654e-02 3.30912060e+02] [-2.41119757e-01 9.70464536e-01 -7.73608409e-03 -6.28673162e+01] [-3.26678225e-02 -1.49312454e-04 9.99466253e-01 -1.09201295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:330.94, Y:-62.87, Z:-10.92 [[ 9.70193863e-01 2.40180267e-01 3.22072513e-02 3.30940685e+02] [-2.40051996e-01 9.70728297e-01 -7.84943856e-03 -6.28748472e+01] [-3.31497704e-02 -1.15937824e-04 9.99450389e-01 -1.09210981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934012739 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:330.97, Y:-62.88, Z:-10.92 [[ 9.70447292e-01 2.39106640e-01 3.25586769e-02 3.30970068e+02] [-2.38974962e-01 9.70993310e-01 -7.93470471e-03 -6.28825911e+01] [-3.35114980e-02 -8.04958644e-05 9.99438329e-01 -1.09213670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:331.00, Y:-62.89, Z:-10.92 [[ 9.70504890e-01 2.38919726e-01 3.22121500e-02 3.30998868e+02] [-2.38790733e-01 9.71039319e-01 -7.85026733e-03 -6.28911222e+01] [-3.31548479e-02 -7.32400742e-05 9.99450224e-01 -1.09217656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994012739 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:331.03, Y:-62.90, Z:-10.92 [[ 9.70129781e-01 2.40536783e-01 3.14684654e-02 3.31027496e+02] [-2.40414517e-01 9.70640016e-01 -7.66940251e-03 -6.29014776e+01] [-3.23893251e-02 -1.25160108e-04 9.99475320e-01 -1.09242179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:331.06, Y:-62.91, Z:-10.93 [[ 9.69939328e-01 2.41281989e-01 3.16338670e-02 3.31055762e+02] [-2.41158830e-01 9.70455037e-01 -7.70970799e-03 -6.29099948e+01] [-3.25594592e-02 -1.50837362e-04 9.99469789e-01 -1.09252446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05401273900003 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:331.08, Y:-62.92, Z:-10.93 [[ 9.69772013e-01 2.41933392e-01 3.17879783e-02 3.31084790e+02] [-2.41809393e-01 9.70292844e-01 -7.74688403e-03 -6.29183519e+01] [-3.27178778e-02 -1.73920400e-04 9.99464612e-01 -1.09260652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:331.11, Y:-62.93, Z:-10.93 [[ 9.69414775e-01 2.43359973e-01 3.17949163e-02 3.31113105e+02] [-2.43236686e-01 9.69936015e-01 -7.74858244e-03 -6.29290420e+01] [-3.27247292e-02 -2.22099758e-04 9.99464378e-01 -1.09269239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11401273900003 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:331.14, Y:-62.94, Z:-10.93 [[ 9.69075177e-01 2.44499371e-01 3.33670399e-02 3.31140540e+02] [-2.44494648e-01 9.69641176e-01 -4.28459425e-03 -6.29406548e+01] [-3.34016364e-02 -4.00596873e-03 9.99433981e-01 -1.09276372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:331.17, Y:-62.95, Z:-10.93 [[ 9.68105742e-01 2.48595296e-01 3.11713088e-02 3.31168667e+02] [-2.48354207e-01 9.68601697e-01 -1.14429287e-02 -6.29460122e+01] [-3.30372408e-02 3.33643933e-03 9.99448552e-01 -1.09282784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.174012739 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:331.20, Y:-62.96, Z:-10.93 [[ 9.67543192e-01 2.50728090e-01 3.15530606e-02 3.31197343e+02] [-2.50610620e-01 9.68057439e-01 -7.68844516e-03 -6.29554490e+01] [-3.24728842e-02 -4.68629293e-04 9.99472507e-01 -1.09285401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:331.23, Y:-62.96, Z:-10.93 [[ 9.67031986e-01 2.52831612e-01 3.04189720e-02 3.31225227e+02] [-2.52723497e-01 9.67510158e-01 -7.41141216e-03 -6.29618740e+01] [-3.13045037e-02 -5.20516354e-04 9.99509758e-01 -1.09299715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234012739 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:331.26, Y:-62.97, Z:-10.93 [[ 9.65842418e-01 2.57503948e-01 2.89851569e-02 3.31255487e+02] [-2.57407910e-01 9.66277034e-01 -7.06132397e-03 -6.29677070e+01] [-2.98260103e-02 -6.40882429e-04 9.99554900e-01 -1.09319829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:331.28, Y:-62.97, Z:-10.93 [[ 9.65313102e-01 2.59466179e-01 2.91190341e-02 3.31283495e+02] [-2.59370140e-01 9.65751938e-01 -7.09401380e-03 -6.29736792e+01] [-2.99624202e-02 -7.04663476e-04 9.99550778e-01 -1.09327765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294012739 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:331.31, Y:-62.98, Z:-10.93 [[ 9.64325080e-01 2.62914046e-01 3.08762848e-02 3.31312288e+02] [-2.62807866e-01 9.64818875e-01 -7.52091605e-03 -6.29795102e+01] [-3.17673768e-02 -8.61922550e-04 9.99494918e-01 -1.09327734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:331.34, Y:-62.98, Z:-10.93 [[ 9.63976991e-01 2.64108665e-01 3.15432017e-02 3.31340039e+02] [-2.63998512e-01 9.64492490e-01 -7.68255880e-03 -6.29847108e+01] [-3.24522115e-02 -9.21548415e-04 9.99472863e-01 -1.09334404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354012739 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:331.37, Y:-62.99, Z:-10.93 [[ 9.63684591e-01 2.65114257e-01 3.20381104e-02 3.31369627e+02] [-2.65001215e-01 9.64216514e-01 -7.80190265e-03 -6.29896214e+01] [-3.29600708e-02 -9.71564814e-04 9.99456197e-01 -1.09346841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:331.40, Y:-62.99, Z:-10.94 [[ 9.63304129e-01 2.66549960e-01 3.15638186e-02 3.31398881e+02] [-2.66441034e-01 9.63820578e-01 -7.68563732e-03 -6.29926223e+01] [-3.24704642e-02 -1.00629033e-03 9.99472189e-01 -1.09367744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414012739 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:331.43, Y:-63.00, Z:-10.94 [[ 9.63075264e-01 2.67375622e-01 3.15644264e-02 3.31425012e+02] [-2.67302046e-01 9.63590147e-01 -6.60640199e-03 -6.29982874e+01] [-3.21815611e-02 -2.07477339e-03 9.99479886e-01 -1.09373799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:331.46, Y:-63.00, Z:-10.94 [[ 9.63060305e-01 2.67525931e-01 3.07363681e-02 3.31455871e+02] [-2.67391703e-01 9.63550659e-01 -8.47376430e-03 -6.29987796e+01] [-3.18829994e-02 -5.79037733e-05 9.99491606e-01 -1.09374191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474012739 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:331.48, Y:-63.00, Z:-10.94 [[ 9.62886605e-01 2.68124126e-01 3.09651247e-02 3.31484622e+02] [-2.68020109e-01 9.63383814e-01 -7.53976639e-03 -6.30024641e+01] [-3.18528932e-02 -1.03933603e-03 9.99492027e-01 -1.09383210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:331.51, Y:-63.00, Z:-10.94 [[ 9.62422552e-01 2.69874149e-01 3.01790675e-02 3.31513618e+02] [-2.69776250e-01 9.62895009e-01 -7.34694616e-03 -6.30015889e+01] [-3.10420243e-02 -1.07072897e-03 9.99517507e-01 -1.09408760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534012739 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:331.54, Y:-63.00, Z:-10.94 [[ 9.62420768e-01 2.69938303e-01 2.96576754e-02 3.31541114e+02] [-2.69843842e-01 9.62877042e-01 -7.21826650e-03 -6.30041839e+01] [-3.05051813e-02 -1.05593147e-03 9.99534051e-01 -1.09420357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:331.57, Y:-63.01, Z:-10.94 [[ 9.62508629e-01 2.69604909e-01 2.98384350e-02 3.31568121e+02] [-2.69509200e-01 9.62970447e-01 -7.26007043e-03 -6.30064904e+01] [-3.06908817e-02 -1.05385230e-03 9.99528368e-01 -1.09430767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594012739 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:331.60, Y:-63.01, Z:-10.94 [[ 9.62755175e-01 2.68668100e-01 3.03302730e-02 3.31596538e+02] [-2.68568827e-01 9.63232248e-01 -7.37710944e-03 -6.30092391e+01] [-3.11970911e-02 -1.04341558e-03 9.99512708e-01 -1.09431927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:331.62, Y:-63.01, Z:-10.94 [[ 9.63245361e-01 2.66791909e-01 3.13121627e-02 3.31624298e+02] [-2.66685187e-01 9.63753622e-01 -7.61361867e-03 -6.30085662e+01] [-3.22084620e-02 -1.01670710e-03 9.99480656e-01 -1.09430598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:331.65, Y:-63.02, Z:-10.94 [[ 9.63260275e-01 2.66737986e-01 3.13127585e-02 3.31652005e+02] [-2.66631316e-01 9.63768547e-01 -7.61116716e-03 -6.30151691e+01] [-3.22084392e-02 -1.01742704e-03 9.99480656e-01 -1.09439738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:331.68, Y:-63.01, Z:-10.94 [[ 9.63874345e-01 2.64435384e-01 3.19401738e-02 3.31681699e+02] [-2.64323196e-01 9.64402926e-01 -7.76173480e-03 -6.30135846e+01] [-3.28556744e-02 -9.61191779e-04 9.99459644e-01 -1.09447624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714012739 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:331.71, Y:-63.02, Z:-10.95 [[ 9.64333528e-01 2.62761880e-01 3.18910931e-02 3.31709587e+02] [-2.62649195e-01 9.64860288e-01 -7.74755234e-03 -6.30158767e+01] [-3.28062107e-02 -9.04945448e-04 9.99461322e-01 -1.09462635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:331.74, Y:-63.02, Z:-10.95 [[ 9.64850808e-01 2.60882897e-01 3.16706892e-02 3.31736609e+02] [-2.60770829e-01 9.65370091e-01 -7.69168706e-03 -6.30190406e+01] [-3.25805657e-02 -8.37461385e-04 9.99468762e-01 -1.09476086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774012739 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:331.76, Y:-63.02, Z:-10.95 [[ 9.65392659e-01 2.58865420e-01 3.17129061e-02 3.31764585e+02] [-2.58752083e-01 9.65913089e-01 -7.69831396e-03 -6.30235706e+01] [-3.26247384e-02 -7.73884737e-04 9.99467372e-01 -1.09487656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:331.79, Y:-63.03, Z:-10.95 [[ 9.66386088e-01 2.55028986e-01 3.25291360e-02 3.31792584e+02] [-2.54907645e-01 9.66933181e-01 -7.89403590e-03 -6.30275503e+01] [-3.34667090e-02 -6.63239006e-04 9.99439613e-01 -1.09492565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834012739 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:331.82, Y:-63.03, Z:-10.95 [[ 9.66860889e-01 2.53209606e-01 3.26330489e-02 3.31819177e+02] [-2.53086537e-01 9.67411252e-01 -7.91675724e-03 -6.30322553e+01] [-3.35741776e-02 -6.04582370e-04 9.99436046e-01 -1.09496342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:331.85, Y:-63.04, Z:-10.95 [[ 9.67724122e-01 2.49806789e-01 3.32654708e-02 3.31845769e+02] [-2.49677019e-01 9.68295574e-01 -8.06646526e-03 -6.30366630e+01] [-3.42258659e-02 -4.99510572e-04 9.99413999e-01 -1.09495239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894012739 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:331.87, Y:-63.04, Z:-10.95 [[ 9.68185758e-01 2.48003103e-01 3.33286554e-02 3.31873066e+02] [-2.47871892e-01 9.68759138e-01 -8.07824301e-03 -6.30433927e+01] [-3.42908688e-02 -4.39997017e-04 9.99411798e-01 -1.09503575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:331.90, Y:-63.05, Z:-10.95 [[ 9.68660798e-01 2.46187444e-01 3.29848572e-02 3.31900463e+02] [-2.46057954e-01 9.69222164e-01 -7.99254345e-03 -6.30503411e+01] [-3.39373185e-02 -3.74122960e-04 9.99423893e-01 -1.09514418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954012739 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:331.93, Y:-63.06, Z:-10.95 [[ 9.69509192e-01 2.42745648e-01 3.35630425e-02 3.31926795e+02] [-2.42609588e-01 9.70089935e-01 -8.13051264e-03 -6.30572382e+01] [-3.45328163e-02 -2.60109163e-04 9.99403531e-01 -1.09542731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:331.95, Y:-63.06, Z:-10.95 [[ 9.69910744e-01 2.41050350e-01 3.41742080e-02 3.31952915e+02] [-2.40908338e-01 9.70512589e-01 -8.27565931e-03 -6.30643847e+01] [-3.51613497e-02 -2.06200782e-04 9.99381627e-01 -1.09547198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014012739 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:331.98, Y:-63.07, Z:-10.95 [[ 9.70765407e-01 2.37621739e-01 3.39180319e-02 3.31979665e+02] [-2.37479849e-01 9.71357762e-01 -8.21092867e-03 -6.30747175e+01] [-3.48976387e-02 -8.39635680e-05 9.99390888e-01 -1.09549163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:332.01, Y:-63.08, Z:-10.96 [[ 9.71206689e-01 2.36011181e-01 3.25006195e-02 3.32006183e+02] [-2.35880056e-01 9.71750339e-01 -7.86622424e-03 -6.30823838e+01] [-3.34390049e-02 -2.65183484e-05 9.99440760e-01 -1.09556720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074012739 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:332.03, Y:-63.09, Z:-10.96 [[ 9.71550209e-01 2.34775726e-01 3.11536582e-02 3.32033535e+02] [-2.34654672e-01 9.72049566e-01 -7.53835743e-03 -6.30900853e+01] [-3.20527233e-02 1.35412946e-05 9.99486179e-01 -1.09568798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:332.06, Y:-63.10, Z:-10.96 [[ 9.71745759e-01 2.34172717e-01 2.95519549e-02 3.32060299e+02] [-2.34063554e-01 9.72195010e-01 -7.14946986e-03 -6.30992703e+01] [-3.04044739e-02 3.04314204e-05 9.99537677e-01 -1.09581180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134012739 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:332.09, Y:-63.11, Z:-10.96 [[ 9.71614996e-01 2.34624430e-01 3.02601435e-02 3.32087058e+02] [-2.34510247e-01 9.72086095e-01 -7.31896431e-03 -6.31078855e+01] [-3.11326725e-02 1.49017527e-05 9.99515261e-01 -1.09587796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:332.11, Y:-63.12, Z:-10.96 [[ 9.71495308e-01 2.34871980e-01 3.21250717e-02 3.32112195e+02] [-2.34743501e-01 9.72026313e-01 -7.76760227e-03 -6.31168725e+01] [-3.30508071e-02 5.03736039e-06 9.99453673e-01 -1.09586318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194012739 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:332.14, Y:-63.12, Z:-10.96 [[ 9.71424827e-01 2.35056991e-01 3.28940255e-02 3.32139832e+02] [-2.34922504e-01 9.71981590e-01 -7.95021271e-03 -6.31241018e+01] [-3.38411402e-02 -4.51282791e-06 9.99427225e-01 -1.09588459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:332.17, Y:-63.13, Z:-10.96 [[ 9.71388324e-01 2.35150583e-01 3.33005488e-02 3.32167307e+02] [-2.35012864e-01 9.71958951e-01 -8.04679648e-03 -6.31319854e+01] [-3.42589753e-02 -9.49317739e-06 9.99412989e-01 -1.09601666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254012739 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:332.19, Y:-63.14, Z:-10.96 [[ 9.71696936e-01 2.33938187e-01 3.28327571e-02 3.32194889e+02] [-2.33803671e-01 9.72251472e-01 -7.93218512e-03 -6.31431591e+01] [-3.37773374e-02 3.12608277e-05 9.99429382e-01 -1.09617737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:332.22, Y:-63.15, Z:-10.96 [[ 9.71902915e-01 2.33212519e-01 3.18848805e-02 3.32223657e+02] [-2.33085295e-01 9.72425791e-01 -7.70240837e-03 -6.31521824e+01] [-3.28019782e-02 5.40963592e-05 9.99461869e-01 -1.09625882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314012739 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:332.25, Y:-63.16, Z:-10.96 [[ 9.72281048e-01 2.31776745e-01 3.08075259e-02 3.32250638e+02] [-2.31657278e-01 9.72769002e-01 -7.44141307e-03 -6.31606513e+01] [-3.16933527e-02 9.83572987e-05 9.99497635e-01 -1.09636692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:332.28, Y:-63.17, Z:-10.96 [[ 9.72328921e-01 2.31583443e-01 3.07502480e-02 3.32278360e+02] [-2.31464360e-01 9.72815038e-01 -7.42642911e-03 -6.31686874e+01] [-3.16341417e-02 1.03345325e-04 9.99499510e-01 -1.09648321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374012739 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:332.31, Y:-63.18, Z:-10.97 [[ 9.72246247e-01 2.31912216e-01 3.08862321e-02 3.32305951e+02] [-2.31792279e-01 9.72736714e-01 -7.45812232e-03 -6.31769170e+01] [-3.17738016e-02 9.19412992e-05 9.99495081e-01 -1.09663928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:332.33, Y:-63.19, Z:-10.97 [[ 9.71635768e-01 2.34390858e-01 3.13824666e-02 3.32333875e+02] [-2.34268378e-01 9.72142441e-01 -7.57637607e-03 -6.31851923e+01] [-3.22840610e-02 9.55843725e-06 9.99478734e-01 -1.09654414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434012739 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:332.36, Y:-63.19, Z:-10.97 [[ 9.71178212e-01 2.36191993e-01 3.20347097e-02 3.32361786e+02] [-2.36065399e-01 9.71706406e-01 -7.73223654e-03 -6.31909087e+01] [-3.29546250e-02 -5.29068737e-05 9.99456847e-01 -1.09667026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:332.39, Y:-63.19, Z:-10.97 [[ 9.70285949e-01 2.39722538e-01 3.28371956e-02 3.32389132e+02] [-2.39591597e-01 9.70841425e-01 -7.92426228e-03 -6.31947631e+01] [-3.37793340e-02 -1.78715793e-04 9.99429299e-01 -1.09671091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494012739 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:332.42, Y:-63.20, Z:-10.97 [[ 9.70005095e-01 2.40848450e-01 3.28958933e-02 3.32416435e+02] [-2.40717758e-01 9.70562711e-01 -7.93634394e-03 -6.32006849e+01] [-3.38389835e-02 -2.20331624e-04 9.99427273e-01 -1.09687353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:332.44, Y:-63.21, Z:-10.97 [[ 9.69823996e-01 2.41627761e-01 3.25183455e-02 3.32444702e+02] [-2.41500556e-01 9.70368984e-01 -7.84328086e-03 -6.32070034e+01] [-3.34499483e-02 -2.46596547e-04 9.99440363e-01 -1.09696493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55401273900003 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:332.47, Y:-63.21, Z:-10.97 [[ 9.69968291e-01 2.41147849e-01 3.17683743e-02 3.32473105e+02] [-2.41026237e-01 9.70488364e-01 -7.66090303e-03 -6.32113948e+01] [-3.26782479e-02 -2.26178697e-04 9.99465898e-01 -1.09709936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:332.50, Y:-63.22, Z:-10.97 [[ 9.70105999e-01 2.40580854e-01 3.18622529e-02 3.32500287e+02] [-2.40458266e-01 9.70629079e-01 -7.68200656e-03 -6.32166533e+01] [-3.27745729e-02 -2.09181452e-04 9.99462747e-01 -1.09725123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61401273900003 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:332.53, Y:-63.22, Z:-10.97 [[ 9.70255781e-01 2.39919500e-01 3.22854926e-02 3.32528723e+02] [-2.39793334e-01 9.70792767e-01 -7.78201609e-03 -6.32222232e+01] [-3.32095802e-02 -1.91299833e-04 9.99448391e-01 -1.09731192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:332.56, Y:-63.23, Z:-10.97 [[ 9.70279938e-01 2.39740453e-01 3.28839883e-02 3.32557284e+02] [-2.39609516e-01 9.70836999e-01 -7.92468866e-03 -6.32267519e+01] [-3.38248610e-02 -1.90150102e-04 9.99427758e-01 -1.09734213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.674012739 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:332.59, Y:-63.23, Z:-10.97 [[ 9.70246292e-01 2.39900273e-01 3.27107407e-02 3.32585164e+02] [-2.39770860e-01 9.70797518e-01 -7.88125063e-03 -6.32318784e+01] [-3.36462201e-02 -1.96328228e-04 9.99433786e-01 -1.09741577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:332.61, Y:-63.24, Z:-10.97 [[ 9.69948405e-01 2.41067157e-01 3.29654005e-02 3.32612469e+02] [-2.40936466e-01 9.70508407e-01 -7.94049649e-03 -6.32357614e+01] [-3.39073912e-02 -2.40695206e-04 9.99424950e-01 -1.09749998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734012739 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:332.64, Y:-63.24, Z:-10.98 [[ 9.69773640e-01 2.41746357e-01 3.31328528e-02 3.32639759e+02] [-2.41614799e-01 9.70339439e-01 -7.97882273e-03 -6.32413632e+01] [-3.40789651e-02 -2.67735605e-04 9.99419108e-01 -1.09759657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:332.67, Y:-63.25, Z:-10.98 [[ 9.69475157e-01 2.42969673e-01 3.29189711e-02 3.32667430e+02] [-2.42840578e-01 9.70033835e-01 -7.92541282e-03 -6.32454828e+01] [-3.38581507e-02 -3.10571117e-04 9.99426600e-01 -1.09766690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794012739 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:332.69, Y:-63.25, Z:-10.98 [[ 9.69391755e-01 2.43285358e-01 3.30433045e-02 3.32694565e+02] [-2.43155547e-01 9.69954705e-01 -7.95306540e-03 -6.32506121e+01] [-3.39853730e-02 -3.25026729e-04 9.99422278e-01 -1.09779566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:332.72, Y:-63.25, Z:-10.98 [[ 9.69065223e-01 2.44522703e-01 3.34849375e-02 3.32723041e+02] [-2.44390214e-01 9.69643495e-01 -8.05707845e-03 -6.32549856e+01] [-3.44385904e-02 -3.75556519e-04 9.99406745e-01 -1.09784482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854012739 meters Centerline goodness : 0.991936 Centerline is valid? [True, True] Translation: X:332.75, Y:-63.26, Z:-10.98 [[ 9.68856450e-01 2.45411638e-01 3.30198033e-02 3.32750351e+02] [-2.45283377e-01 9.69418880e-01 -7.94351164e-03 -6.32600957e+01] [-3.39594509e-02 -4.03086376e-04 9.99423130e-01 -1.09792974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:332.78, Y:-63.26, Z:-10.98 [[ 9.68783535e-01 2.45836973e-01 3.19788219e-02 3.32777935e+02] [-2.45716969e-01 9.69311105e-01 -7.69115781e-03 -6.32648338e+01] [-3.28881982e-02 -4.06672143e-04 9.99458954e-01 -1.09809966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914012739 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:332.81, Y:-63.27, Z:-10.98 [[ 9.68850072e-01 2.45726328e-01 3.07913826e-02 3.32806269e+02] [-2.45615079e-01 9.69339167e-01 -7.40357180e-03 -6.32681475e+01] [-3.16665456e-02 -3.89876797e-04 9.99498413e-01 -1.09822920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:332.83, Y:-63.27, Z:-10.98 [[ 9.68982854e-01 2.45212081e-01 3.07125866e-02 3.32832880e+02] [-2.45101214e-01 9.69469388e-01 -7.38239701e-03 -6.32730174e+01] [-3.15851655e-02 -3.74276146e-04 9.99500994e-01 -1.09831704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974012739 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:332.86, Y:-63.28, Z:-10.98 [[ 9.69030215e-01 2.44985614e-01 3.10240542e-02 3.32860458e+02] [-2.44872455e-01 9.69526642e-01 -7.45460400e-03 -6.32762406e+01] [-3.19049178e-02 -3.73199775e-04 9.99490839e-01 -1.09833982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:332.89, Y:-63.28, Z:-10.98 [[ 9.68875110e-01 2.45522981e-01 3.16146667e-02 3.32887196e+02] [-2.45405835e-01 9.69390688e-01 -7.59414180e-03 -6.32800257e+01] [-3.25114998e-02 -4.00648711e-04 9.99471281e-01 -1.09843589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034012739 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:332.91, Y:-63.28, Z:-10.98 [[ 9.68635761e-01 2.46410251e-01 3.20429673e-02 3.32914905e+02] [-2.46290484e-01 9.69165515e-01 -7.69426011e-03 -6.32838685e+01] [-3.29508835e-02 -4.38942445e-04 9.99456876e-01 -1.09848749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:332.94, Y:-63.28, Z:-10.99 [[ 9.68334712e-01 2.47478628e-01 3.28970279e-02 3.32942593e+02] [-2.47353094e-01 9.68893228e-01 -7.89676223e-03 -6.32845500e+01] [-3.38279875e-02 -4.90472658e-04 9.99427550e-01 -1.09860582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094012739 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:332.97, Y:-63.29, Z:-10.99 [[ 9.68466045e-01 2.46977819e-01 3.27944522e-02 3.32970367e+02] [-2.46852876e-01 9.69021017e-01 -7.86927490e-03 -6.32878837e+01] [-3.37220498e-02 -4.74279298e-04 9.99431137e-01 -1.09872761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:333.00, Y:-63.29, Z:-10.99 [[ 9.69361812e-01 2.43605922e-01 3.15250874e-02 3.32997834e+02] [-2.43488758e-01 9.69874237e-01 -7.56237926e-03 -6.32897155e+01] [-3.24176105e-02 -3.45322699e-04 9.99474351e-01 -1.09896268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:333.02, Y:-63.29, Z:-10.99 [[ 9.70038235e-01 2.40987731e-01 3.08340141e-02 3.33024005e+02] [-2.40874410e-01 9.70528129e-01 -7.39394440e-03 -6.32944884e+01] [-3.17071279e-02 -2.54716173e-04 9.99497170e-01 -1.09912100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:333.05, Y:-63.30, Z:-10.99 [[ 9.70740355e-01 2.38174552e-01 3.05948726e-02 3.33051543e+02] [-2.38061665e-01 9.71222351e-01 -7.33399023e-03 -6.32998314e+01] [-3.14611939e-02 -1.64066043e-04 9.99504961e-01 -1.09923243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214012739 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:333.08, Y:-63.30, Z:-10.99 [[ 9.72062509e-01 2.32559474e-01 3.17894670e-02 3.33079936e+02] [-2.32434673e-01 9.72582177e-01 -7.61789696e-03 -6.33033842e+01] [-3.26894832e-02 1.60976694e-05 9.99465556e-01 -1.09916282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:333.11, Y:-63.31, Z:-10.99 [[ 9.72477182e-01 2.30394747e-01 3.47331297e-02 3.33105357e+02] [-2.30404727e-01 9.73087587e-01 -3.76955571e-03 -6.33105081e+01] [-3.46668632e-02 -4.33687035e-03 9.99389514e-01 -1.09926959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274012739 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:333.14, Y:-63.31, Z:-10.99 [[ 9.73575921e-01 2.26086729e-01 3.21670177e-02 3.33136276e+02] [-2.25800316e-01 9.74095678e-01 -1.23218007e-02 -6.33092903e+01] [-3.41195486e-02 4.73288574e-03 9.99406552e-01 -1.09921440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters Centerline goodness : 0.992203 Centerline is valid? [True, True] Translation: X:333.16, Y:-63.32, Z:-10.99 [[ 9.73914773e-01 2.24399401e-01 3.36886387e-02 3.33163213e+02] [-2.24254714e-01 9.74497214e-01 -8.06242567e-03 -6.33178645e+01] [-3.46386881e-02 2.97279416e-04 9.99399856e-01 -1.09932653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334012739 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:333.19, Y:-63.32, Z:-10.99 [[ 9.74143236e-01 2.23386754e-01 3.38129128e-02 3.33190569e+02] [-2.23240474e-01 9.74729833e-01 -8.08968660e-03 -6.33237894e+01] [-3.47655837e-02 3.32102808e-04 9.99395439e-01 -1.09937523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:333.22, Y:-63.33, Z:-10.99 [[ 9.74514444e-01 2.21711544e-01 3.41407209e-02 3.33218247e+02] [-2.21561473e-01 9.75112218e-01 -8.16560052e-03 -6.33286794e+01] [-3.51014419e-02 3.93227256e-04 9.99383677e-01 -1.09949875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394012739 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:333.25, Y:-63.33, Z:-11.00 [[ 9.74664835e-01 2.21114273e-01 3.37185200e-02 3.33245865e+02] [-2.20967618e-01 9.75247821e-01 -8.06220592e-03 -6.33348803e+01] [-3.46665820e-02 4.07247531e-04 9.99398850e-01 -1.09956175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:333.27, Y:-63.34, Z:-11.00 [[ 9.75037692e-01 2.19665717e-01 3.23801159e-02 3.33272497e+02] [-2.19529753e-01 9.75575103e-01 -7.73994189e-03 -6.33418537e+01] [-3.32894347e-02 4.38336223e-04 9.99445657e-01 -1.09963059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454012739 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:333.30, Y:-63.35, Z:-11.00 [[ 9.75364341e-01 2.18270699e-01 3.19734992e-02 3.33299557e+02] [-2.18137443e-01 9.75888146e-01 -7.64084804e-03 -6.33486754e+01] [-3.28703321e-02 4.77993350e-04 9.99459510e-01 -1.09975623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:333.33, Y:-63.36, Z:-11.00 [[ 9.75776354e-01 2.16477830e-01 3.15888632e-02 3.33327120e+02] [-2.16346882e-01 9.76287390e-01 -7.54708408e-03 -6.33550685e+01] [-3.24735852e-02 5.30114141e-04 9.99472453e-01 -1.09987429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514012739 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:333.35, Y:-63.37, Z:-11.00 [[ 9.76609405e-01 2.12010677e-01 3.58544550e-02 3.33352205e+02] [-2.12118801e-01 9.77243555e-01 -8.04695115e-04 -6.33665131e+01] [-3.52091390e-02 -6.81953118e-03 9.99356698e-01 -1.10013884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:333.38, Y:-63.37, Z:-11.00 [[ 9.76628716e-01 2.12197637e-01 3.41835375e-02 3.33380792e+02] [-2.12043790e-01 9.77226543e-01 -8.10649695e-03 -6.33685320e+01] [-3.51252397e-02 6.68630841e-04 9.99382695e-01 -1.10023317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574012739 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:333.41, Y:-63.37, Z:-11.00 [[ 9.77243466e-01 2.09933637e-01 3.03821790e-02 3.33408629e+02] [-2.09561616e-01 9.77680589e-01 -1.49864718e-02 -6.33714947e+01] [-3.28502312e-02 8.27849308e-03 9.99426000e-01 -1.10016049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:333.43, Y:-63.39, Z:-11.00 [[ 9.78200631e-01 2.05234432e-01 3.16599800e-02 3.33434468e+02] [-2.05097263e-01 9.78712431e-01 -7.55582318e-03 -6.33855695e+01] [-3.25367310e-02 8.97735752e-04 9.99470137e-01 -1.10028697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634012739 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:333.46, Y:-63.39, Z:-11.00 [[ 9.78732947e-01 2.02722928e-01 3.13884094e-02 3.33462009e+02] [-2.02586859e-01 9.79235657e-01 -7.48957609e-03 -6.33932977e+01] [-3.22549585e-02 9.71415623e-04 9.99479201e-01 -1.10037474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:333.49, Y:-63.40, Z:-11.01 [[ 9.79272410e-01 2.00118996e-01 3.12719355e-02 3.33489508e+02] [-1.99982658e-01 9.79771035e-01 -7.46024149e-03 -6.34011424e+01] [-3.21322726e-02 1.05176390e-03 9.99483072e-01 -1.10050284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:333.52, Y:-63.41, Z:-11.01 [[ 9.79903860e-01 1.96889078e-01 3.19861986e-02 3.33515846e+02] [-1.96744759e-01 9.80425057e-01 -7.62941865e-03 -6.34132518e+01] [-3.28622198e-02 1.18297984e-03 9.99459191e-01 -1.10064771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:333.54, Y:-63.42, Z:-11.01 [[ 9.80168277e-01 1.95557745e-01 3.20517999e-02 3.33542635e+02] [-1.95412172e-01 9.80691419e-01 -7.64360066e-03 -6.34232475e+01] [-3.29276904e-02 1.22870307e-03 9.99456981e-01 -1.10073000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754012739 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:333.57, Y:-63.43, Z:-11.01 [[ 9.80425020e-01 1.94274889e-01 3.20007441e-02 3.33571081e+02] [-1.94129145e-01 9.80946308e-01 -7.62996141e-03 -6.34331624e+01] [-3.28733217e-02 1.26832797e-03 9.99458722e-01 -1.10078434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:333.60, Y:-63.44, Z:-11.01 [[ 9.80834192e-01 1.92473237e-01 3.03041249e-02 3.33597618e+02] [-1.92341704e-01 9.81301417e-01 -7.22477736e-03 -6.34441556e+01] [-3.11280570e-02 1.25756167e-03 9.99514614e-01 -1.10095032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814012739 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:333.63, Y:-63.45, Z:-11.01 [[ 9.80913522e-01 1.92159088e-01 2.97245405e-02 3.33625101e+02] [-1.92032418e-01 9.81363002e-01 -7.08584322e-03 -6.34535180e+01] [-3.05321734e-02 1.24252404e-03 9.99533012e-01 -1.10111020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:333.65, Y:-63.47, Z:-11.01 [[ 9.80781342e-01 1.92788726e-01 3.00077688e-02 3.33653534e+02] [-1.92659958e-01 9.81239515e-01 -7.15227125e-03 -6.34667053e+01] [-3.08236858e-02 1.23351872e-03 9.99524076e-01 -1.10113358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874012739 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:333.68, Y:-63.48, Z:-11.01 [[ 9.80496679e-01 1.94183053e-01 3.03183844e-02 3.33682226e+02] [-1.94052258e-01 9.80964574e-01 -7.22668556e-03 -6.34761987e+01] [-3.11445609e-02 1.20239026e-03 9.99514167e-01 -1.10114475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:333.71, Y:-63.49, Z:-11.01 [[ 9.79763261e-01 1.97943776e-01 2.97020989e-02 3.33710480e+02] [-1.97819971e-01 9.80212801e-01 -7.07977102e-03 -6.34890807e+01] [-3.05157742e-02 1.06083121e-03 9.99533722e-01 -1.10122244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934012739 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:333.74, Y:-63.50, Z:-11.01 [[ 9.79334907e-01 2.00113243e-01 2.92887411e-02 3.33738732e+02] [-1.99993818e-01 9.79772285e-01 -6.98159443e-03 -6.34996760e+01] [-3.00934063e-02 9.79751968e-04 9.99546611e-01 -1.10141755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:333.76, Y:-63.52, Z:-11.02 [[ 9.78753504e-01 2.02245103e-01 3.37416115e-02 3.33764954e+02] [-2.02429329e-01 9.79294621e-01 2.10050689e-03 -6.35157334e+01] [-3.26181614e-02 -8.88617026e-03 9.99428382e-01 -1.10162657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994012739 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:333.80, Y:-63.52, Z:-11.02 [[ 9.78055811e-01 2.06693806e-01 2.61629865e-02 3.33797414e+02] [-2.06318157e-01 9.78348290e-01 -1.63536201e-02 -6.35165997e+01] [-2.89767051e-02 1.05968541e-02 9.99523915e-01 -1.10165936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:333.82, Y:-63.53, Z:-11.02 [[ 9.77599223e-01 2.08542162e-01 2.84591878e-02 3.33823461e+02] [-2.08432842e-01 9.78013124e-01 -6.78819127e-03 -6.35314369e+01] [-2.92490833e-02 7.04301101e-04 9.99571906e-01 -1.10164388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05401273900003 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:333.85, Y:-63.54, Z:-11.02 [[ 9.76291666e-01 2.14546453e-01 2.87124165e-02 3.33849759e+02] [-2.14437800e-01 9.76713643e-01 -6.84756003e-03 -6.35432418e+01] [-2.95129287e-02 5.28188347e-04 9.99564259e-01 -1.10165846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:333.88, Y:-63.55, Z:-11.02 [[ 9.75672516e-01 2.17242881e-01 2.94732365e-02 3.33878510e+02] [-2.17129655e-01 9.76117473e-01 -7.02791272e-03 -6.35520648e+01] [-3.02961051e-02 4.57427614e-04 9.99540863e-01 -1.10174558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11401273900003 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:333.91, Y:-63.56, Z:-11.02 [[ 9.75153156e-01 2.19421012e-01 3.05080467e-02 3.33909199e+02] [-2.19300783e-01 9.75630185e-01 -7.27388945e-03 -6.35604367e+01] [-3.13606155e-02 4.02717735e-04 9.99508054e-01 -1.10184817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:333.94, Y:-63.57, Z:-11.02 [[ 9.74171983e-01 2.23416592e-01 3.27715369e-02 3.33937476e+02] [-2.23428913e-01 9.74714530e-01 -3.33249905e-03 -6.35725609e+01] [-3.26874288e-02 -4.07568166e-03 9.99457313e-01 -1.10197812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.174012739 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:333.97, Y:-63.58, Z:-11.02 [[ 9.73824926e-01 2.25388029e-01 2.94151363e-02 3.33969339e+02] [-2.25139002e-01 9.74258039e-01 -1.15630038e-02 -6.35764295e+01] [-3.12640956e-02 4.63784693e-03 9.99500399e-01 -1.10211124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:334.00, Y:-63.59, Z:-11.02 [[ 9.72925926e-01 2.29140199e-01 3.01647474e-02 3.33996649e+02] [-2.29027147e-01 9.73393425e-01 -7.19761352e-03 -6.35872527e+01] [-3.10114294e-02 9.41987683e-05 9.99519026e-01 -1.10220109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234012739 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:334.03, Y:-63.59, Z:-11.02 [[ 9.72542171e-01 2.30817382e-01 2.97499938e-02 3.34026486e+02] [-2.30708214e-01 9.72997089e-01 -7.09827100e-03 -6.35937525e+01] [-3.05850617e-02 3.97999444e-05 9.99532167e-01 -1.10225635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:334.05, Y:-63.60, Z:-11.02 [[ 9.72198976e-01 2.32354472e-01 2.89922409e-02 3.34054702e+02] [-2.32251477e-01 9.72631173e-01 -6.91753011e-03 -6.35998720e+01] [-2.98060763e-02 -8.27506881e-06 9.99555700e-01 -1.10238645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294012739 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:334.08, Y:-63.61, Z:-11.02 [[ 9.71597323e-01 2.34982707e-01 2.79601259e-02 3.34082744e+02] [-2.34888023e-01 9.71999547e-01 -6.67058108e-03 -6.36052961e+01] [-2.87447010e-02 -8.63799977e-05 9.99586782e-01 -1.10245433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:334.11, Y:-63.61, Z:-11.02 [[ 9.71215170e-01 2.36467778e-01 2.87068422e-02 3.34111461e+02] [-2.36368659e-01 9.71639322e-01 -6.84726518e-03 -6.36106329e+01] [-2.95118543e-02 -1.35229998e-04 9.99564421e-01 -1.10248333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354012739 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:334.14, Y:-63.61, Z:-11.02 [[ 9.70585907e-01 2.38696569e-01 3.14156726e-02 3.34140290e+02] [-2.38579078e-01 9.71094176e-01 -7.49168116e-03 -6.36131616e+01] [-3.22958153e-02 -2.23802052e-04 9.99478329e-01 -1.10247602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:334.17, Y:-63.62, Z:-11.03 [[ 9.70449458e-01 2.39151976e-01 3.21586843e-02 3.34167954e+02] [-2.39029166e-01 9.70982117e-01 -7.66720957e-03 -6.36188895e+01] [-3.30591357e-02 -2.46224100e-04 9.99453367e-01 -1.10259115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414012739 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:334.20, Y:-63.63, Z:-11.03 [[ 9.70605747e-01 2.38620105e-01 3.13836000e-02 3.34195317e+02] [-2.38502904e-01 9.71112967e-01 -7.48125530e-03 -6.36255735e+01] [-3.22621989e-02 -2.23730367e-04 9.99479415e-01 -1.10270839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:334.22, Y:-63.63, Z:-11.03 [[ 9.71236823e-01 2.36330744e-01 2.91000393e-02 3.34223993e+02] [-2.36228984e-01 9.71672661e-01 -6.93587584e-03 -6.36334741e+01] [-2.99148733e-02 -1.37894708e-04 9.99552441e-01 -1.10286781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474012739 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:334.25, Y:-63.64, Z:-11.03 [[ 9.71720521e-01 2.34445856e-01 2.81845787e-02 3.34252059e+02] [-2.34349625e-01 9.72129176e-01 -6.71703189e-03 -6.36386618e+01] [-2.89738316e-02 -7.79677352e-05 9.99580167e-01 -1.10295312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:334.28, Y:-63.65, Z:-11.03 [[ 9.71794947e-01 2.34039699e-01 2.89827573e-02 3.34279779e+02] [-2.33937792e-01 9.72227039e-01 -6.90616272e-03 -6.36453144e+01] [-2.97941365e-02 -6.87882102e-05 9.99556054e-01 -1.10298394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534012739 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:334.31, Y:-63.65, Z:-11.03 [[ 9.71874008e-01 2.33561711e-01 3.01635366e-02 3.34308712e+02] [-2.33451148e-01 9.72341979e-01 -7.18595294e-03 -6.36526693e+01] [-3.10076363e-02 -5.78713452e-05 9.99519146e-01 -1.10302520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:334.34, Y:-63.66, Z:-11.03 [[ 9.72218298e-01 2.32178627e-01 2.97433479e-02 3.34336923e+02] [-2.32070498e-01 9.72673165e-01 -7.08512265e-03 -6.36591865e+01] [-3.05755704e-02 -1.42676812e-05 9.99532458e-01 -1.10313185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594012739 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:334.37, Y:-63.66, Z:-11.03 [[ 9.72604595e-01 2.30842922e-01 2.74198358e-02 3.34365196e+02] [-2.30666226e-01 9.72986709e-01 -9.48451297e-03 -6.36640517e+01] [-2.88685685e-02 2.89985086e-03 9.99579010e-01 -1.10330033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:334.39, Y:-63.68, Z:-11.03 [[ 9.73653836e-01 2.26161268e-01 2.91425423e-02 3.34391941e+02] [-2.26141972e-01 9.74086142e-01 -3.99957694e-03 -6.36789700e+01] [-2.92918960e-02 -2.69614857e-03 9.99567264e-01 -1.10346147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654012739 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:334.42, Y:-63.69, Z:-11.03 [[ 9.74241755e-01 2.23651804e-01 2.88595495e-02 3.34420094e+02] [-2.23546337e-01 9.74669078e-01 -6.87195700e-03 -6.36872381e+01] [-2.96654361e-02 2.43500868e-04 9.99559854e-01 -1.10347920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:334.45, Y:-63.70, Z:-11.04 [[ 9.74799576e-01 2.21125697e-01 2.94824021e-02 3.34448568e+02] [-2.21014483e-01 9.75245261e-01 -7.01991472e-03 -6.36967473e+01] [-3.03048565e-02 3.26972045e-04 9.99540649e-01 -1.10354881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714012739 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:334.48, Y:-63.71, Z:-11.04 [[ 9.75457146e-01 2.18154502e-01 2.98658462e-02 3.34478545e+02] [-2.18039011e-01 9.75914153e-01 -7.11029455e-03 -6.37086417e+01] [-3.06976448e-02 4.23868074e-04 9.99528626e-01 -1.10357934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:334.51, Y:-63.72, Z:-11.04 [[ 9.75388367e-01 2.18464627e-01 2.98452719e-02 3.34508346e+02] [-2.18349280e-01 9.75844778e-01 -7.11060336e-03 -6.37188123e+01] [-3.06777680e-02 4.18906160e-04 9.99529239e-01 -1.10369308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774012739 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:334.54, Y:-63.73, Z:-11.04 [[ 9.74723150e-01 2.21483530e-01 2.93227989e-02 3.34538768e+02] [-2.21373412e-01 9.75164059e-01 -6.99073488e-03 -6.37308265e+01] [-3.01428723e-02 3.22743071e-04 9.99545548e-01 -1.10372349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:334.57, Y:-63.74, Z:-11.04 [[ 9.74159469e-01 2.24004303e-01 2.89033079e-02 3.34568757e+02] [-2.23898274e-01 9.74588124e-01 -6.89573242e-03 -6.37395024e+01] [-2.97134944e-02 2.46142281e-04 9.99558426e-01 -1.10375828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834012739 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:334.60, Y:-63.75, Z:-11.04 [[ 9.73611129e-01 2.26231213e-01 3.00134467e-02 3.34597753e+02] [-2.26184230e-01 9.74071730e-01 -4.99595957e-03 -6.37482393e+01] [-3.03654919e-02 -1.92444647e-03 9.99537010e-01 -1.10392233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:334.63, Y:-63.76, Z:-11.04 [[ 9.72425569e-01 2.31528477e-01 2.79835233e-02 3.34625461e+02] [-2.31368048e-01 9.72825715e-01 -8.88561156e-03 -6.37556484e+01] [-2.92803632e-02 2.16610271e-03 9.99568891e-01 -1.10399010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:334.65, Y:-63.77, Z:-11.04 [[ 9.71970169e-01 2.33318918e-01 2.89183824e-02 3.34652394e+02] [-2.33283945e-01 9.72397663e-01 -4.62455596e-03 -6.37668278e+01] [-2.91991639e-02 -2.25126391e-03 9.99571078e-01 -1.10407494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:334.68, Y:-63.77, Z:-11.04 [[ 9.71582649e-01 2.35305751e-01 2.56585326e-02 3.34683163e+02] [-2.35168861e-01 9.71919336e-01 -8.27111234e-03 -6.37726939e+01] [-2.68842643e-02 2.00198135e-03 9.99636548e-01 -1.10426435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:334.71, Y:-63.78, Z:-11.04 [[ 9.71260258e-01 2.36653250e-01 2.54705709e-02 3.34711883e+02] [-2.36575110e-01 9.71594167e-01 -6.08213307e-03 -6.37807473e+01] [-2.61864147e-02 -1.18368975e-04 9.99657070e-01 -1.10436472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:334.74, Y:-63.79, Z:-11.04 [[ 9.70446595e-01 2.39793750e-01 2.70622055e-02 3.34740568e+02] [-2.39706765e-01 9.70823831e-01 -6.46189132e-03 -6.37884915e+01] [-2.78221552e-02 -2.16073307e-04 9.99612866e-01 -1.10437375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014012739 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:334.77, Y:-63.80, Z:-11.04 [[ 9.69995565e-01 2.41501067e-01 2.80328133e-02 3.34769484e+02] [-2.41408464e-01 9.70400515e-01 -6.69288857e-03 -6.37959397e+01] [-2.88193962e-02 -2.75286188e-04 9.99584597e-01 -1.10440004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:334.80, Y:-63.80, Z:-11.04 [[ 9.69662984e-01 2.42773388e-01 2.85443348e-02 3.34799534e+02] [-2.42677936e-01 9.70082976e-01 -6.81462480e-03 -6.38026569e+01] [-2.93447828e-02 -3.19190845e-04 9.99569298e-01 -1.10446343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:334.83, Y:-63.81, Z:-11.05 [[ 9.68797893e-01 2.46223303e-01 2.83677149e-02 3.34827918e+02] [-2.46130503e-01 9.69213035e-01 -6.77255865e-03 -6.38069781e+01] [-2.91619208e-02 -4.20919371e-04 9.99574612e-01 -1.10459375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:334.86, Y:-63.81, Z:-11.05 [[ 9.68307866e-01 2.48094704e-01 2.87905259e-02 3.34855876e+02] [-2.47999974e-01 9.68735662e-01 -6.87245385e-03 -6.38121986e+01] [-2.95954286e-02 -4.85398547e-04 9.99561842e-01 -1.10476646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134012739 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:334.88, Y:-63.82, Z:-11.05 [[ 9.67228573e-01 2.52244431e-01 2.90109528e-02 3.34884646e+02] [-2.52150150e-01 9.67663353e-01 -6.92367618e-03 -6.38159486e+01] [-2.98192946e-02 -6.18338680e-04 9.99555115e-01 -1.10476915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:334.91, Y:-63.82, Z:-11.05 [[ 9.66816581e-01 2.53830681e-01 2.89081897e-02 3.34913040e+02] [-2.53737815e-01 9.67248439e-01 -6.89778413e-03 -6.38201019e+01] [-2.97122706e-02 -6.66208815e-04 9.99558271e-01 -1.10484995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194012739 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:334.94, Y:-63.82, Z:-11.05 [[ 9.66550500e-01 2.54882580e-01 2.85482348e-02 3.34941787e+02] [-2.54792510e-01 9.66971764e-01 -6.81056813e-03 -6.38248496e+01] [-2.93412322e-02 -6.91118384e-04 9.99569214e-01 -1.10492015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:334.97, Y:-63.83, Z:-11.05 [[ 9.66326459e-01 2.55715640e-01 2.86825107e-02 3.34969730e+02] [-2.55625129e-01 9.66751773e-01 -6.84121339e-03 -6.38279745e+01] [-2.94782733e-02 -7.21124985e-04 9.99565161e-01 -1.10493685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254012739 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:335.00, Y:-63.83, Z:-11.05 [[ 9.66357199e-01 2.55515137e-01 2.94241192e-02 3.34997227e+02] [-2.55419847e-01 9.66804776e-01 -7.01622774e-03 -6.38324989e+01] [-3.02401313e-02 -7.35321840e-04 9.99542392e-01 -1.10502560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:335.03, Y:-63.84, Z:-11.05 [[ 9.66762832e-01 2.53875683e-01 3.02781285e-02 3.35025468e+02] [-2.53774044e-01 9.67236599e-01 -7.21771796e-03 -6.38360676e+01] [-3.11185171e-02 -7.05981654e-04 9.99515452e-01 -1.10514218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314012739 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:335.05, Y:-63.84, Z:-11.05 [[ 9.66933136e-01 2.53192279e-01 3.05610986e-02 3.35054015e+02] [-2.53088458e-01 9.67415728e-01 -7.28301578e-03 -6.38418940e+01] [-3.14092908e-02 -6.92472034e-04 9.99506367e-01 -1.10526283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:335.08, Y:-63.85, Z:-11.05 [[ 9.67022792e-01 2.52827692e-01 3.07421257e-02 3.35082519e+02] [-2.52722500e-01 9.67511079e-01 -7.32465952e-03 -6.38477664e+01] [-3.15952239e-02 -6.86114135e-04 9.99500511e-01 -1.10533451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374012739 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:335.11, Y:-63.85, Z:-11.05 [[ 9.66965663e-01 2.53068680e-01 3.05556771e-02 3.35110242e+02] [-2.52964927e-01 9.67448069e-01 -7.27877229e-03 -6.38523832e+01] [-3.14030601e-02 -6.91191745e-04 9.99506563e-01 -1.10535871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:335.14, Y:-63.86, Z:-11.06 [[ 9.66932108e-01 2.53319673e-01 2.95201755e-02 3.35138075e+02] [-2.53223004e-01 9.67382388e-01 -7.03036676e-03 -6.38579454e+01] [-3.03382281e-02 -6.77300144e-04 9.99539461e-01 -1.10551715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:335.17, Y:-63.86, Z:-11.06 [[ 9.66994429e-01 2.53201970e-01 2.84699172e-02 3.35166145e+02] [-2.53112044e-01 9.67413220e-01 -6.77897239e-03 -6.38602901e+01] [-2.92586234e-02 -6.50850406e-04 9.99571663e-01 -1.10569564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:335.19, Y:-63.87, Z:-11.06 [[ 9.67012067e-01 2.53134559e-01 2.84702885e-02 3.35194688e+02] [-2.53044649e-01 9.67430862e-01 -6.77741268e-03 -6.38669783e+01] [-2.92586331e-02 -6.50414329e-04 9.99571663e-01 -1.10578938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494012739 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:335.22, Y:-63.87, Z:-11.06 [[ 9.67024348e-01 2.53048762e-01 2.88137726e-02 3.35221728e+02] [-2.52956694e-01 9.67453302e-01 -6.85709467e-03 -6.38707635e+01] [-2.96111588e-02 -6.57659153e-04 9.99561277e-01 -1.10579911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:335.25, Y:-63.88, Z:-11.06 [[ 9.66966406e-01 2.53176101e-01 2.96282345e-02 3.35249423e+02] [-2.53078909e-01 9.67419968e-01 -7.04776614e-03 -6.38750008e+01] [-3.04472717e-02 -6.83328173e-04 9.99536141e-01 -1.10585318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55401273900003 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:335.28, Y:-63.88, Z:-11.06 [[ 9.66941983e-01 2.53104669e-01 3.10036773e-02 3.35277483e+02] [-2.52998277e-01 9.67438637e-01 -7.37265444e-03 -6.38790356e+01] [-3.18602086e-02 -7.14947851e-04 9.99492079e-01 -1.10588995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:335.30, Y:-63.88, Z:-11.06 [[ 9.67047556e-01 2.52676593e-01 3.12019667e-02 3.35304775e+02] [-2.52568673e-01 9.67550536e-01 -7.41796914e-03 -6.38841250e+01] [-3.20638268e-02 -7.07110391e-04 9.99485573e-01 -1.10596146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61401273900003 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:335.33, Y:-63.89, Z:-11.06 [[ 9.67335757e-01 2.51616944e-01 3.08293101e-02 3.35331742e+02] [-2.51511116e-01 9.67826673e-01 -7.32725907e-03 -6.38863356e+01] [-3.16810911e-02 -6.65994477e-04 9.99497806e-01 -1.10604610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:335.36, Y:-63.89, Z:-11.06 [[ 9.67346339e-01 2.51599376e-01 3.06400764e-02 3.35359256e+02] [-2.51494912e-01 9.67831242e-01 -7.27981665e-03 -6.38903555e+01] [-3.14860205e-02 -6.63719311e-04 9.99503972e-01 -1.10613488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.674012739 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:335.39, Y:-63.89, Z:-11.06 [[ 9.67355948e-01 2.51560355e-01 3.06571126e-02 3.35387364e+02] [-2.51455821e-01 9.67841385e-01 -7.28175422e-03 -6.38945200e+01] [-3.15030230e-02 -6.64861174e-04 9.99503435e-01 -1.10624599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:335.42, Y:-63.90, Z:-11.06 [[ 9.67208735e-01 2.52094868e-01 3.09102049e-02 3.35415413e+02] [-2.51988942e-01 9.67702279e-01 -7.33973133e-03 -6.38968939e+01] [-3.17621843e-02 -6.89977567e-04 9.99495216e-01 -1.10625577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734012739 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:335.44, Y:-63.90, Z:-11.06 [[ 9.67170234e-01 2.52274177e-01 3.06508918e-02 3.35442303e+02] [-2.52170179e-01 9.67655549e-01 -7.27599427e-03 -6.39010258e+01] [-3.14950510e-02 -6.92115795e-04 9.99503668e-01 -1.10632910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:335.47, Y:-63.90, Z:-11.06 [[ 9.67040234e-01 2.52703335e-01 3.12123415e-02 3.35470582e+02] [-2.52595800e-01 9.67543541e-01 -7.40663331e-03 -6.39026351e+01] [-3.20709803e-02 -7.21593938e-04 9.99485333e-01 -1.10639725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:335.50, Y:-63.91, Z:-11.06 [[ 9.66913844e-01 2.53119754e-01 3.17491451e-02 3.35498038e+02] [-2.53008786e-01 9.67434663e-01 -7.53173170e-03 -6.39065725e+01] [-3.26216536e-02 -7.50277008e-04 9.99467491e-01 -1.10646306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:335.53, Y:-63.91, Z:-11.07 [[ 9.66938282e-01 2.53057078e-01 3.15035620e-02 3.35525753e+02] [-2.52947862e-01 9.67451064e-01 -7.47116655e-03 -6.39082752e+01] [-3.23687861e-02 -7.44601696e-04 9.99475716e-01 -1.10655621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854012739 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:335.55, Y:-63.91, Z:-11.07 [[ 9.67131208e-01 2.52391518e-01 3.09151898e-02 3.35553522e+02] [-2.52286087e-01 9.67624935e-01 -7.32903594e-03 -6.39123599e+01] [-3.17640951e-02 -7.11332885e-04 9.99495141e-01 -1.10674223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:335.58, Y:-63.92, Z:-11.07 [[ 9.67395280e-01 2.51549610e-01 2.94816193e-02 3.35580761e+02] [-2.51453405e-01 9.67844185e-01 -6.98706180e-03 -6.39164303e+01] [-3.02912064e-02 -6.54002952e-04 9.99540902e-01 -1.10683867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914012739 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:335.61, Y:-63.92, Z:-11.07 [[ 9.67834801e-01 2.49946211e-01 2.86825824e-02 3.35608223e+02] [-2.49854521e-01 9.68259544e-01 -6.79519183e-03 -6.39198935e+01] [-2.94706166e-02 -5.89849761e-04 9.99565473e-01 -1.10698604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:335.63, Y:-63.92, Z:-11.07 [[ 9.67996671e-01 2.49226822e-01 2.94692527e-02 3.35634456e+02] [-2.49129763e-01 9.68444964e-01 -6.97943130e-03 -6.39245831e+01] [-3.02788109e-02 -5.85601700e-04 9.99541320e-01 -1.10703749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974012739 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:335.66, Y:-63.93, Z:-11.07 [[ 9.68069410e-01 2.48716336e-01 3.13337174e-02 3.35662604e+02] [-2.48606476e-01 9.68576178e-01 -7.41672938e-03 -6.39271069e+01] [-3.21937540e-02 -6.09856215e-04 9.99481461e-01 -1.10702928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:335.69, Y:-63.93, Z:-11.07 [[ 9.68079446e-01 2.48652063e-01 3.15331339e-02 3.35689302e+02] [-2.48540843e-01 9.68592677e-01 -7.46154735e-03 -6.39309690e+01] [-3.23980918e-02 -6.13901072e-04 9.99474856e-01 -1.10713394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:335.72, Y:-63.93, Z:-11.07 [[ 9.67976298e-01 2.49129983e-01 3.09214904e-02 3.35717738e+02] [-2.49023365e-01 9.68469858e-01 -7.31417358e-03 -6.39327742e+01] [-3.17687114e-02 -6.20226921e-04 9.99495055e-01 -1.10729145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:335.74, Y:-63.94, Z:-11.07 [[ 9.67884839e-01 2.49509352e-01 3.07249220e-02 3.35744773e+02] [-2.49404346e-01 9.68372183e-01 -7.26545945e-03 -6.39366211e+01] [-3.15659599e-02 -6.30801029e-04 9.99501472e-01 -1.10740190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094012739 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:335.77, Y:-63.94, Z:-11.08 [[ 9.67825515e-01 2.49752268e-01 3.06198812e-02 3.35772222e+02] [-2.49648226e-01 9.68309555e-01 -7.23663626e-03 -6.39413953e+01] [-3.14568898e-02 -6.40397783e-04 9.99504904e-01 -1.10752861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:335.80, Y:-63.95, Z:-11.08 [[ 9.68134317e-01 2.48534259e-01 3.07679386e-02 3.35799531e+02] [-2.48428663e-01 9.68622917e-01 -7.26942710e-03 -6.39451385e+01] [-3.16092321e-02 -6.05855998e-04 9.99500120e-01 -1.10764922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154012739 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:335.83, Y:-63.95, Z:-11.08 [[ 9.68446448e-01 2.47282690e-01 3.10281741e-02 3.35826141e+02] [-2.47174740e-01 9.68943210e-01 -7.32831450e-03 -6.39505394e+01] [-3.18767039e-02 -5.72300720e-04 9.99491645e-01 -1.10769931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:335.85, Y:-63.96, Z:-11.08 [[ 9.69432257e-01 2.43394445e-01 3.09877864e-02 3.35853006e+02] [-2.43284915e-01 9.69927288e-01 -7.31481716e-03 -6.39572332e+01] [-3.18362855e-02 -4.47641267e-04 9.99492997e-01 -1.10784618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214012739 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:335.88, Y:-63.96, Z:-11.08 [[ 9.70082861e-01 2.40825511e-01 3.06971699e-02 3.35879708e+02] [-2.40716806e-01 9.70568360e-01 -7.24410203e-03 -6.39646129e+01] [-3.15382665e-02 -3.61945486e-04 9.99502480e-01 -1.10794667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:335.91, Y:-63.97, Z:-11.08 [[ 9.70563360e-01 2.38897888e-01 3.05706438e-02 3.35905934e+02] [-2.38789191e-01 9.71044648e-01 -7.21203137e-03 -6.39722975e+01] [-3.14083991e-02 -3.00205887e-04 9.99506589e-01 -1.10803476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274012739 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:335.93, Y:-63.98, Z:-11.08 [[ 9.71020570e-01 2.36993039e-01 3.08764002e-02 3.35932140e+02] [-2.36881309e-01 9.71511317e-01 -7.28050203e-03 -6.39802328e+01] [-3.17222006e-02 -2.44524875e-04 9.99496694e-01 -1.10801704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:335.96, Y:-63.99, Z:-11.08 [[ 9.70932947e-01 2.37380086e-01 3.06579050e-02 3.35959678e+02] [-2.37270205e-01 9.71416815e-01 -7.22642434e-03 -6.39866648e+01] [-3.14970137e-02 -2.57833925e-04 9.99503813e-01 -1.10808332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334012739 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:335.99, Y:-63.99, Z:-11.08 [[ 9.70253844e-01 2.40146627e-01 3.06116765e-02 3.35985614e+02] [-2.40038522e-01 9.70736563e-01 -7.21334081e-03 -6.39926083e+01] [-3.14481331e-02 -3.49209957e-04 9.99505324e-01 -1.10814267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:336.01, Y:-64.00, Z:-11.08 [[ 9.69908836e-01 2.41510345e-01 3.08156365e-02 3.36012448e+02] [-2.41401564e-01 9.70398163e-01 -7.25881669e-03 -6.39997638e+01] [-3.16565164e-02 -3.98552405e-04 9.99498727e-01 -1.10824971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:336.04, Y:-64.01, Z:-11.08 [[ 9.69634023e-01 2.42565489e-01 3.11744195e-02 3.36038122e+02] [-2.42454777e-01 9.70134934e-01 -7.34108598e-03 -6.40069076e+01] [-3.20240876e-02 -4.40220197e-04 9.99487000e-01 -1.10834170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:336.06, Y:-64.02, Z:-11.08 [[ 9.69578391e-01 2.42675845e-01 3.20340232e-02 3.36063349e+02] [-2.42559091e-01 9.70107326e-01 -7.54079813e-03 -6.40153132e+01] [-3.29064102e-02 -4.58748633e-04 9.99458332e-01 -1.10845170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454012739 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:336.09, Y:-64.02, Z:-11.09 [[ 9.69735978e-01 2.42040620e-01 3.20697838e-02 3.36090517e+02] [-2.41923344e-01 9.70266017e-01 -7.54659507e-03 -6.40231929e+01] [-3.29428040e-02 -4.40224605e-04 9.99457142e-01 -1.10861356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:336.12, Y:-64.03, Z:-11.09 [[ 9.70059053e-01 2.40762725e-01 3.19177569e-02 3.36116510e+02] [-2.40645940e-01 9.70583924e-01 -7.50858562e-03 -6.40328029e+01] [-3.27866493e-02 -3.97107175e-04 9.99462294e-01 -1.10864352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514012739 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:336.14, Y:-64.04, Z:-11.09 [[ 9.70261517e-01 2.39882131e-01 3.23906046e-02 3.36144012e+02] [-2.39761447e-01 9.70801948e-01 -7.61746842e-03 -6.40400509e+01] [-3.32721566e-02 -3.75081765e-04 9.99446258e-01 -1.10869151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:336.17, Y:-64.05, Z:-11.09 [[ 9.70421766e-01 2.39139479e-01 3.30742418e-02 3.36170263e+02] [-2.39013298e-01 9.70985160e-01 -7.77580337e-03 -6.40463243e+01] [-3.39740995e-02 -3.59374763e-04 9.99422649e-01 -1.10875691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574012739 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:336.20, Y:-64.05, Z:-11.09 [[ 9.70500792e-01 2.38872460e-01 3.26827300e-02 3.36196895e+02] [-2.38749187e-01 9.71050888e-01 -7.68109440e-03 -6.40536905e+01] [-3.35713958e-02 -3.48467015e-04 9.99436261e-01 -1.10885612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:336.22, Y:-64.06, Z:-11.09 [[ 9.70284959e-01 2.39846187e-01 3.19515863e-02 3.36224109e+02] [-2.39728970e-01 9.70810829e-01 -7.50704901e-03 -6.40618599e+01] [-3.28194830e-02 -3.75744109e-04 9.99461225e-01 -1.10899706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634012739 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:336.25, Y:-64.07, Z:-11.09 [[ 9.70156557e-01 2.40398727e-01 3.16971010e-02 3.36251208e+02] [-2.40283739e-01 9.70674146e-01 -7.44499230e-03 -6.40683056e+01] [-3.25573231e-02 -3.93489825e-04 9.99469792e-01 -1.10907403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:336.28, Y:-64.07, Z:-11.09 [[ 9.69921924e-01 2.41436364e-01 3.09829697e-02 3.36277681e+02] [-2.41327098e-01 9.70416563e-01 -7.27504553e-03 -6.40746742e+01] [-3.18228475e-02 -4.20804014e-04 9.99493436e-01 -1.10919204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:336.31, Y:-64.08, Z:-11.09 [[ 9.69657266e-01 2.42703996e-01 2.93182063e-02 3.36305055e+02] [-2.42606810e-01 9.70100292e-01 -6.88177625e-03 -6.40821682e+01] [-3.01118351e-02 -4.39832145e-04 9.99546439e-01 -1.10931377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:336.33, Y:-64.09, Z:-11.09 [[ 9.69627551e-01 2.42889213e-01 2.87618136e-02 3.36331096e+02] [-2.42795823e-01 9.70053935e-01 -6.74912436e-03 -6.40880585e+01] [-2.95398000e-02 -4.39111285e-04 9.99563508e-01 -1.10938424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754012739 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:336.36, Y:-64.09, Z:-11.10 [[ 9.69713700e-01 2.42522024e-01 2.89552605e-02 3.36358842e+02] [-2.42427286e-01 9.70145804e-01 -6.79197883e-03 -6.40938751e+01] [-2.97380289e-02 -4.33270293e-04 9.99557633e-01 -1.10953578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:336.39, Y:-64.10, Z:-11.10 [[ 9.69952258e-01 2.41490007e-01 2.95836655e-02 3.36385709e+02] [-2.41390693e-01 9.70403218e-01 -6.93735135e-03 -6.41006090e+01] [-3.03833853e-02 -4.12321920e-04 9.99538233e-01 -1.10963267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814012739 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:336.41, Y:-64.11, Z:-11.10 [[ 9.70313226e-01 2.39903610e-01 3.06349694e-02 3.36412640e+02] [-2.39796389e-01 9.70796639e-01 -7.18167465e-03 -6.41078415e+01] [-3.14632350e-02 -3.77681153e-04 9.99504839e-01 -1.10979545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:336.44, Y:-64.12, Z:-11.10 [[ 9.71034689e-01 2.36853582e-01 3.14962451e-02 3.36439677e+02] [-2.36738718e-01 9.71545314e-01 -7.38122406e-03 -6.41167718e+01] [-3.23482987e-02 -2.88956075e-04 9.99476615e-01 -1.10984043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874012739 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:336.47, Y:-64.12, Z:-11.10 [[ 9.71353858e-01 2.35545167e-01 3.14667687e-02 3.36466238e+02] [-2.35429905e-01 9.71863372e-01 -7.37201747e-03 -6.41242907e+01] [-3.23178430e-02 -2.47380776e-04 9.99477611e-01 -1.10985679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:336.49, Y:-64.13, Z:-11.10 [[ 9.71959798e-01 2.33047954e-01 3.13496642e-02 3.36492842e+02] [-2.32932310e-01 9.72465230e-01 -7.34268872e-03 -6.41331768e+01] [-3.21976570e-02 -1.65551450e-04 9.99481507e-01 -1.10987630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934012739 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:336.52, Y:-64.14, Z:-11.10 [[ 9.72207632e-01 2.32029340e-01 3.12202870e-02 3.36519963e+02] [-2.31914197e-01 9.72708778e-01 -7.31012370e-03 -6.41398244e+01] [-3.20644104e-02 -1.33469734e-04 9.99485796e-01 -1.10996925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:336.55, Y:-64.15, Z:-11.10 [[ 9.72520549e-01 2.30698597e-01 3.13359219e-02 3.36547454e+02] [-2.30581969e-01 9.73025256e-01 -7.33529725e-03 -6.41466035e+01] [-3.21828862e-02 -9.17712607e-05 9.99481993e-01 -1.11001601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994012739 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:336.58, Y:-64.15, Z:-11.10 [[ 9.72540069e-01 2.30573588e-01 3.16486259e-02 3.36575139e+02] [-2.30454627e-01 9.73054887e-01 -7.40624845e-03 -6.41532572e+01] [-3.25035354e-02 -9.06989196e-05 9.99471616e-01 -1.11002591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:336.60, Y:-64.16, Z:-11.10 [[ 9.72342891e-01 2.31311299e-01 3.23169624e-02 3.36603006e+02] [-2.31187743e-01 9.72879781e-01 -7.56035593e-03 -6.41599831e+01] [-3.31893151e-02 -1.20027264e-04 9.99449076e-01 -1.11008316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05401273900003 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:336.63, Y:-64.17, Z:-11.10 [[ 9.71778083e-01 2.33503707e-01 3.35168158e-02 3.36631461e+02] [-2.33372164e-01 9.72355890e-01 -7.83936382e-03 -6.41652721e+01] [-3.44207938e-02 -2.03769881e-04 9.99407408e-01 -1.11012325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:336.66, Y:-64.17, Z:-11.10 [[ 9.71521388e-01 2.34650145e-01 3.29469661e-02 3.36659544e+02] [-2.34523752e-01 9.72079858e-01 -7.70447711e-03 -6.41717676e+01] [-3.38349388e-02 -2.41781811e-04 9.99427405e-01 -1.11031907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11401273900003 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:336.69, Y:-64.18, Z:-11.10 [[ 9.71721985e-01 2.33872731e-01 3.25565473e-02 3.36686952e+02] [-2.33748934e-01 9.72267196e-01 -7.61157033e-03 -6.41783717e+01] [-3.34338017e-02 -2.13728001e-04 9.99440911e-01 -1.11043845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:336.71, Y:-64.19, Z:-11.10 [[ 9.71979851e-01 2.32787179e-01 3.26389109e-02 3.36714550e+02] [-2.32662213e-01 9.72527685e-01 -7.62872033e-03 -6.41856444e+01] [-3.35181127e-02 -1.78878789e-04 9.99438094e-01 -1.11049184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.174012739 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:336.74, Y:-64.19, Z:-11.11 [[ 9.72904163e-01 2.28732269e-01 3.37496384e-02 3.36741146e+02] [-2.28596269e-01 9.73489367e-01 -7.88660739e-03 -6.41943273e+01] [-3.46588357e-02 -4.21282482e-05 9.99399201e-01 -1.11054617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:336.77, Y:-64.20, Z:-11.11 [[ 9.73457501e-01 2.26345090e-01 3.38879763e-02 3.36769336e+02] [-2.26206593e-01 9.74047175e-01 -7.91697836e-03 -6.42022327e+01] [-3.48004568e-02 4.11582876e-05 9.99394280e-01 -1.11061806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:336.80, Y:-64.21, Z:-11.11 [[ 9.74419526e-01 2.22484993e-01 3.17335027e-02 3.36797832e+02] [-2.22361528e-01 9.74936100e-01 -7.41289413e-03 -6.42109232e+01] [-3.25873950e-02 1.66958655e-04 9.99468876e-01 -1.11079060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:336.83, Y:-64.22, Z:-11.11 [[ 9.74614953e-01 2.21802195e-01 3.04873620e-02 3.36826007e+02] [-2.21687915e-01 9.75091664e-01 -7.12144179e-03 -6.42179686e+01] [-3.13075239e-02 1.81983941e-04 9.99509783e-01 -1.11092870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294012739 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:336.85, Y:-64.22, Z:-11.11 [[ 9.74665115e-01 2.21690883e-01 2.96827421e-02 3.36853719e+02] [-2.21582538e-01 9.75116978e-01 -6.93244801e-03 -6.42249510e+01] [-3.04810063e-02 1.79637893e-04 9.99535330e-01 -1.11112136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:336.88, Y:-64.23, Z:-11.11 [[ 9.74791121e-01 2.21040556e-01 3.03865589e-02 3.36880280e+02] [-2.20926743e-01 9.75264595e-01 -7.09528999e-03 -6.42326331e+01] [-3.12032819e-02 2.03222190e-04 9.99513038e-01 -1.11125128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354012739 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:336.91, Y:-64.24, Z:-11.11 [[ 9.74798581e-01 2.21007599e-01 3.03869798e-02 3.36908848e+02] [-2.20893826e-01 9.75272065e-01 -7.09348706e-03 -6.42392151e+01] [-3.12032871e-02 2.02424891e-04 9.99513038e-01 -1.11134502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:336.94, Y:-64.25, Z:-11.11 [[ 9.74986174e-01 2.20059566e-01 3.12369582e-02 3.36936307e+02] [-2.19938887e-01 9.75486407e-01 -7.29075989e-03 -6.42468539e+01] [-3.20756296e-02 2.38168272e-04 9.99485416e-01 -1.11135280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414012739 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:336.97, Y:-64.26, Z:-11.11 [[ 9.76060404e-01 2.15215664e-01 3.14373389e-02 3.36965320e+02] [-2.15090967e-01 9.76566464e-01 -7.33599068e-03 -6.42578547e+01] [-3.22794710e-02 3.98482394e-04 9.99478803e-01 -1.11146635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:337.00, Y:-64.27, Z:-11.12 [[ 9.76859421e-01 2.11615396e-01 3.10579521e-02 3.36995571e+02] [-2.11491872e-01 9.77352885e-01 -7.24745801e-03 -6.42675060e+01] [-3.18882528e-02 5.11243209e-04 9.99491310e-01 -1.11161895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474012739 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:337.03, Y:-64.28, Z:-11.12 [[ 9.77666112e-01 2.07891289e-01 3.08250858e-02 3.37025395e+02] [-2.07767736e-01 9.78151735e-01 -7.19383741e-03 -6.42768520e+01] [-3.16471473e-02 6.28712745e-04 9.99498906e-01 -1.11176514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:337.05, Y:-64.29, Z:-11.12 [[ 9.78969038e-01 2.01725973e-01 3.04344420e-02 3.37054839e+02] [-2.01602402e-01 9.79441655e-01 -7.10747242e-03 -6.42895199e+01] [-3.12425220e-02 8.22338829e-04 9.99511495e-01 -1.11187718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534012739 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:337.09, Y:-64.30, Z:-11.12 [[ 9.79384280e-01 1.99697111e-01 3.04548201e-02 3.37085200e+02] [-1.99572219e-01 9.79857268e-01 -7.11783125e-03 -6.43000702e+01] [-3.12627872e-02 8.93156013e-04 9.99510801e-01 -1.11194697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:337.12, Y:-64.31, Z:-11.12 [[ 9.79581094e-01 1.98634522e-01 3.10677808e-02 3.37116335e+02] [-1.98503845e-01 9.80073172e-01 -7.26642060e-03 -6.43134279e+01] [-3.18920604e-02 9.50974292e-04 9.99490866e-01 -1.11190814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594012739 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:337.15, Y:-64.32, Z:-11.12 [[ 9.79430894e-01 1.99343789e-01 3.12598535e-02 3.37147284e+02] [-1.99211654e-01 9.79929166e-01 -7.31751048e-03 -6.43228271e+01] [-3.20911424e-02 9.39668706e-04 9.99484505e-01 -1.11196157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:337.18, Y:-64.33, Z:-11.12 [[ 9.78794088e-01 2.02373323e-01 3.17359761e-02 3.37178685e+02] [-2.02238529e-01 9.79308072e-01 -7.43484577e-03 -6.43343347e+01] [-3.25839120e-02 8.58945956e-04 9.99468634e-01 -1.11199110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654012739 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:337.21, Y:-64.34, Z:-11.12 [[ 9.78351554e-01 2.04513527e-01 3.16615504e-02 3.37210802e+02] [-2.04380282e-01 9.78863418e-01 -7.42361259e-03 -6.43439897e+01] [-3.25105626e-02 7.91906309e-04 9.99471078e-01 -1.11210739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:337.24, Y:-64.35, Z:-11.12 [[ 9.77297577e-01 2.09507813e-01 3.15582305e-02 3.37240963e+02] [-2.09377833e-01 9.77806770e-01 -7.40563513e-03 -6.43536237e+01] [-3.24093898e-02 6.29915345e-04 9.99474479e-01 -1.11224807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714012739 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:337.27, Y:-64.36, Z:-11.12 [[ 9.76675462e-01 2.12385549e-01 3.15819778e-02 3.37272370e+02] [-2.12256686e-01 9.77185799e-01 -7.41705188e-03 -6.43610154e+01] [-3.24367349e-02 5.40566608e-04 9.99473644e-01 -1.11230700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:337.30, Y:-64.37, Z:-11.12 [[ 9.76092650e-01 2.15018003e-01 3.17867300e-02 3.37302867e+02] [-2.14888688e-01 9.76609976e-01 -7.47032529e-03 -6.43679349e+01] [-3.26494920e-02 4.61120896e-04 9.99466757e-01 -1.11241465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774012739 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:337.33, Y:-64.38, Z:-11.13 [[ 9.75509873e-01 2.17612906e-01 3.20173628e-02 3.37332443e+02] [-2.17483079e-01 9.76035082e-01 -7.52527927e-03 -6.43756226e+01] [-3.28876672e-02 3.77749563e-04 9.99458983e-01 -1.11251978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:337.36, Y:-64.38, Z:-11.13 [[ 9.75467428e-01 2.17731589e-01 3.25000277e-02 3.37362756e+02] [-2.17597869e-01 9.76008612e-01 -7.63912888e-03 -6.43833782e+01] [-3.33835866e-02 3.79784619e-04 9.99442541e-01 -1.11258767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834012739 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:337.39, Y:-64.39, Z:-11.13 [[ 9.75836128e-01 2.16057364e-01 3.26046996e-02 3.37394252e+02] [-2.15921814e-01 9.76380573e-01 -7.66472110e-03 -6.43917742e+01] [-3.34906147e-02 4.39445890e-04 9.99438935e-01 -1.11272971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:337.43, Y:-64.40, Z:-11.13 [[ 9.76136944e-01 2.14744059e-01 3.22746999e-02 3.37425043e+02] [-2.14610341e-01 9.76670238e-01 -7.59260204e-03 -6.44003952e+01] [-3.31522051e-02 4.84935002e-04 9.99450197e-01 -1.11288654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894012739 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:337.46, Y:-64.41, Z:-11.13 [[ 9.76741221e-01 2.12007536e-01 3.20841522e-02 3.37456662e+02] [-2.11873725e-01 9.77267859e-01 -7.55358142e-03 -6.44108689e+01] [-3.29562269e-02 5.80105497e-04 9.99456628e-01 -1.11300534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:337.49, Y:-64.42, Z:-11.13 [[ 9.76851227e-01 2.11504817e-01 3.20529736e-02 3.37487342e+02] [-2.11370783e-01 9.77376769e-01 -7.55266965e-03 -6.44190425e+01] [-3.29252578e-02 6.02772476e-04 9.99457635e-01 -1.11309388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954012739 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:337.52, Y:-64.43, Z:-11.13 [[ 9.76812649e-01 2.11718634e-01 3.18161577e-02 3.37519471e+02] [-2.11586494e-01 9.77330478e-01 -7.50279581e-03 -6.44269085e+01] [-3.26833823e-02 5.96956583e-04 9.99465577e-01 -1.11313811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:337.55, Y:-64.43, Z:-11.13 [[ 9.76609784e-01 2.12629036e-01 3.19722159e-02 3.37550156e+02] [-2.12495869e-01 9.77132827e-01 -7.54612372e-03 -6.44349343e+01] [-3.28456267e-02 5.75654467e-04 9.99460271e-01 -1.11317798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014012739 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:337.58, Y:-64.44, Z:-11.13 [[ 9.76536806e-01 2.12923628e-01 3.22396648e-02 3.37581150e+02] [-2.12788181e-01 9.77068675e-01 -7.61534470e-03 -6.44433082e+01] [-3.31218534e-02 5.76444756e-04 9.99451155e-01 -1.11330984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:337.61, Y:-64.45, Z:-11.13 [[ 9.75993418e-01 2.15446764e-01 3.19302299e-02 3.37613083e+02] [-2.15315124e-01 9.76515464e-01 -7.54622320e-03 -6.44531184e+01] [-3.28061726e-02 4.90002767e-04 9.99461613e-01 -1.11341061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074012739 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:337.65, Y:-64.46, Z:-11.14 [[ 9.75511919e-01 2.17687984e-01 3.14394356e-02 3.37645024e+02] [-2.17561323e-01 9.76018325e-01 -7.43646144e-03 -6.44615480e+01] [-3.23042936e-02 4.14351560e-04 9.99477994e-01 -1.11353209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:337.68, Y:-64.47, Z:-11.14 [[ 9.74795894e-01 2.21163743e-01 2.93183184e-02 3.37675710e+02] [-2.21055004e-01 9.75236647e-01 -6.94027284e-03 -6.44700467e+01] [-3.01272353e-02 2.84388478e-04 9.99546031e-01 -1.11370293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134012739 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:337.71, Y:-64.48, Z:-11.14 [[ 9.74599986e-01 2.22161095e-01 2.82721600e-02 3.37706028e+02] [-2.22060247e-01 9.75009941e-01 -6.69784972e-03 -6.44780392e+01] [-2.90536386e-02 2.49601435e-04 9.99577823e-01 -1.11386026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:337.74, Y:-64.49, Z:-11.14 [[ 9.74387387e-01 2.23165184e-01 2.76861114e-02 3.37737410e+02] [-2.23068758e-01 9.74780618e-01 -6.56327302e-03 -6.44862568e+01] [-2.84525788e-02 2.19263985e-04 9.99595119e-01 -1.11402804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194012739 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:337.77, Y:-64.49, Z:-11.14 [[ 9.73884958e-01 2.25255543e-01 2.84258617e-02 3.37768998e+02] [-2.25154637e-01 9.74299704e-01 -6.74366580e-03 -6.44939467e+01] [-2.92143567e-02 1.67340104e-04 9.99573156e-01 -1.11405467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:337.80, Y:-64.50, Z:-11.14 [[ 9.73550421e-01 2.26337411e-01 3.11601277e-02 3.37800031e+02] [-2.26216515e-01 9.74048948e-01 -7.39833005e-03 -6.44997719e+01] [-3.20260085e-02 1.53711828e-04 9.99487024e-01 -1.11408147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254012739 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:337.83, Y:-64.51, Z:-11.14 [[ 9.73557016e-01 2.26201700e-01 3.19300328e-02 3.37831640e+02] [-2.26074508e-01 9.74080470e-01 -7.58643197e-03 -6.45073415e+01] [-3.28184852e-02 1.67257617e-04 9.99461314e-01 -1.11420479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:337.86, Y:-64.52, Z:-11.14 [[ 9.73669484e-01 2.25744890e-01 3.17329504e-02 3.37862367e+02] [-2.25618843e-01 9.74186435e-01 -7.54506290e-03 -6.45151044e+01] [-3.26170692e-02 1.86845924e-04 9.99467904e-01 -1.11434078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314012739 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:337.89, Y:-64.52, Z:-11.15 [[ 9.73851193e-01 2.25082110e-01 3.08528513e-02 3.37893764e+02] [-2.24962452e-01 9.74339776e-01 -7.34132514e-03 -6.45221947e+01] [-3.17135612e-02 2.08625154e-04 9.99496977e-01 -1.11451972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:337.92, Y:-64.53, Z:-11.15 [[ 9.73909025e-01 2.24915582e-01 3.02355975e-02 3.37924106e+02] [-2.24800425e-01 9.74378230e-01 -7.19958769e-03 -6.45284586e+01] [-3.10802074e-02 2.14768283e-04 9.99516871e-01 -1.11465492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374012739 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:337.96, Y:-64.53, Z:-11.15 [[ 9.74013881e-01 2.24580266e-01 2.93370556e-02 3.37955962e+02] [-2.24471565e-01 9.74455568e-01 -6.99014330e-03 -6.45343475e+01] [-3.01575054e-02 2.23161808e-04 9.99545134e-01 -1.11474771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:337.99, Y:-64.54, Z:-11.15 [[ 9.74165458e-01 2.23913837e-01 2.93981981e-02 3.37986322e+02] [-2.23804219e-01 9.74608912e-01 -7.00999430e-03 -6.45406180e+01] [-3.02213806e-02 2.49453520e-04 9.99543199e-01 -1.11480232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434012739 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:338.02, Y:-64.55, Z:-11.15 [[ 9.74271632e-01 2.23393605e-01 2.98342929e-02 3.38016958e+02] [-2.23280443e-01 9.74728282e-01 -7.11471967e-03 -6.45466927e+01] [-3.06697120e-02 2.70255395e-04 9.99529537e-01 -1.11485523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:338.05, Y:-64.55, Z:-11.15 [[ 9.74317602e-01 2.23033067e-01 3.10074344e-02 3.38047953e+02] [-2.22910621e-01 9.74810836e-01 -7.39527450e-03 -6.45527273e+01] [-3.18757738e-02 2.93459666e-04 9.99491795e-01 -1.11490100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:338.08, Y:-64.56, Z:-11.15 [[ 9.74307049e-01 2.23089785e-01 3.09309298e-02 3.38080332e+02] [-2.22967948e-01 9.74797857e-01 -7.37775153e-03 -6.45607191e+01] [-3.17973051e-02 2.91589377e-04 9.99494295e-01 -1.11505306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:338.11, Y:-64.57, Z:-11.15 [[ 9.74263174e-01 2.23341855e-01 3.04907027e-02 3.38110837e+02] [-2.23223395e-01 9.74740137e-01 -7.27884824e-03 -6.45671173e+01] [-3.13461832e-02 2.85275616e-04 9.99508547e-01 -1.11517543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55401273900003 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:338.14, Y:-64.57, Z:-11.15 [[ 9.74129103e-01 2.24001932e-01 2.99269997e-02 3.38142331e+02] [-2.23888036e-01 9.74588665e-01 -7.14713819e-03 -6.45731707e+01] [-3.07674875e-02 2.61938124e-04 9.99526534e-01 -1.11524064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:338.17, Y:-64.58, Z:-11.15 [[ 9.73880891e-01 2.25148666e-01 2.93953722e-02 3.38172075e+02] [-2.25039143e-01 9.74324395e-01 -7.02550072e-03 -6.45799639e+01] [-3.02224103e-02 2.26891556e-04 9.99543173e-01 -1.11541982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61401273900003 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:338.20, Y:-64.59, Z:-11.15 [[ 9.73864279e-01 2.25245068e-01 2.92065932e-02 3.38202449e+02] [-2.25136980e-01 9.74302114e-01 -6.98071978e-03 -6.45877649e+01] [-3.00284182e-02 2.22789450e-04 9.99549021e-01 -1.11544866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:338.23, Y:-64.60, Z:-11.16 [[ 9.74001936e-01 2.24648070e-01 2.92142726e-02 3.38231995e+02] [-2.24539635e-01 9.74439934e-01 -6.98330132e-03 -6.45952470e+01] [-3.00363390e-02 2.41986910e-04 9.99548778e-01 -1.11558424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.674012739 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:338.26, Y:-64.60, Z:-11.16 [[ 9.74152448e-01 2.24045522e-01 2.88203354e-02 3.38262088e+02] [-2.23939719e-01 9.74578646e-01 -6.88945810e-03 -6.46036976e+01] [-2.96312357e-02 2.57364676e-04 9.99560865e-01 -1.11573969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:338.29, Y:-64.61, Z:-11.16 [[ 9.74394172e-01 2.23009703e-01 2.86822283e-02 3.38291689e+02] [-2.22904442e-01 9.74816182e-01 -6.85714281e-03 -6.46133511e+01] [-2.94891097e-02 2.88163904e-04 9.99565060e-01 -1.11586412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734012739 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:338.32, Y:-64.63, Z:-11.16 [[ 9.74864041e-01 2.20988872e-01 2.83552618e-02 3.38321771e+02] [-2.20885134e-01 9.75276268e-01 -6.77926022e-03 -6.46265047e+01] [-2.91523549e-02 3.45601207e-04 9.99574920e-01 -1.11594079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:338.35, Y:-64.64, Z:-11.16 [[ 9.75089128e-01 2.20009508e-01 2.82313325e-02 3.38352102e+02] [-2.19906120e-01 9.75497654e-01 -6.75463083e-03 -6.46355551e+01] [-2.90256816e-02 3.78124293e-04 9.99578595e-01 -1.11603878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794012739 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:338.38, Y:-64.65, Z:-11.16 [[ 9.75095812e-01 2.19890381e-01 2.89201949e-02 3.38381818e+02] [-2.19781751e-01 9.75524508e-01 -6.92217548e-03 -6.46474555e+01] [-2.97344787e-02 3.93653264e-04 9.99557755e-01 -1.11610276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:338.41, Y:-64.66, Z:-11.16 [[ 9.74885839e-01 2.20727178e-01 2.96161218e-02 3.38412819e+02] [-2.20613485e-01 9.75335515e-01 -7.09386476e-03 -6.46584840e+01] [-3.04514641e-02 3.81992459e-04 9.99536174e-01 -1.11610864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854012739 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:338.44, Y:-64.67, Z:-11.16 [[ 9.74538166e-01 2.22094391e-01 3.08130433e-02 3.38443412e+02] [-2.21971807e-01 9.75025104e-01 -7.38678107e-03 -6.46694803e+01] [-3.16840534e-02 3.59073178e-04 9.99497870e-01 -1.11618189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:338.47, Y:-64.68, Z:-11.16 [[ 9.73636704e-01 2.25919179e-01 3.14975055e-02 3.38473177e+02] [-2.25792959e-01 9.74146018e-01 -7.55476623e-03 -6.46819040e+01] [-3.23899362e-02 2.43682721e-04 9.99475279e-01 -1.11625036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914012739 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:338.50, Y:-64.69, Z:-11.16 [[ 9.73112454e-01 2.28247514e-01 3.09067151e-02 3.38504763e+02] [-2.28126976e-01 9.73603124e-01 -7.41883121e-03 -6.46917091e+01] [-3.17842042e-02 1.68701593e-04 9.99494740e-01 -1.11641656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:338.53, Y:-64.70, Z:-11.17 [[ 9.72176989e-01 2.32431902e-01 2.91086548e-02 3.38534742e+02] [-2.32326699e-01 9.72612672e-01 -6.99251110e-03 -6.47019344e+01] [-2.99367292e-02 3.52407137e-05 9.99551795e-01 -1.11653178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974012739 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:338.57, Y:-64.71, Z:-11.17 [[ 9.71525947e-01 2.35182643e-01 2.87482039e-02 3.38566060e+02] [-2.35081084e-01 9.71951193e-01 -6.91097403e-03 -6.47107902e+01] [-2.95671922e-02 -4.39683402e-05 9.99562794e-01 -1.11660671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:338.60, Y:-64.72, Z:-11.17 [[ 9.70724843e-01 2.38411072e-01 2.92136979e-02 3.38596979e+02] [-2.38307481e-01 9.71164323e-01 -7.02871875e-03 -6.47186584e+01] [-3.00470256e-02 -1.38890877e-04 9.99548477e-01 -1.11668413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034012739 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:338.63, Y:-64.72, Z:-11.17 [[ 9.68706187e-01 2.46379537e-01 3.00906293e-02 3.38628815e+02] [-2.46273292e-01 9.69173344e-01 -7.24537507e-03 -6.47248237e+01] [-3.09481480e-02 -3.91878692e-04 9.99520915e-01 -1.11669962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:338.66, Y:-64.73, Z:-11.17 [[ 9.66843132e-01 2.53548477e-01 3.04553332e-02 3.38659896e+02] [-2.53443019e-01 9.67322480e-01 -7.33860391e-03 -6.47306820e+01] [-3.13208203e-02 -6.23412795e-04 9.99509188e-01 -1.11681983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094012739 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:338.69, Y:-64.74, Z:-11.17 [[ 9.66200764e-01 2.55990871e-01 3.04098280e-02 3.38689999e+02] [-2.55886913e-01 9.66678945e-01 -7.32836976e-03 -6.47371589e+01] [-3.12725362e-02 -7.00800549e-04 9.99510649e-01 -1.11687854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:338.72, Y:-64.74, Z:-11.17 [[ 9.65953347e-01 2.56942906e-01 3.02402913e-02 3.38720550e+02] [-2.56840516e-01 9.66426312e-01 -7.28926007e-03 -6.47438902e+01] [-3.10979369e-02 -7.25846860e-04 9.99516079e-01 -1.11701449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154012739 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:338.75, Y:-64.75, Z:-11.17 [[ 9.66422932e-01 2.55203562e-01 2.99642909e-02 3.38750147e+02] [-2.55102175e-01 9.66887120e-01 -7.22341955e-03 -6.47504200e+01] [-3.08155293e-02 -6.63077487e-04 9.99524869e-01 -1.11718574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:338.78, Y:-64.76, Z:-11.17 [[ 9.67026189e-01 2.52897560e-01 3.00528570e-02 3.38780930e+02] [-2.52794409e-01 9.67492882e-01 -7.24638448e-03 -6.47588120e+01] [-3.09085182e-02 -5.89750664e-04 9.99522044e-01 -1.11737079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214012739 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:338.81, Y:-64.77, Z:-11.17 [[ 9.68335319e-01 2.47871681e-01 2.97714566e-02 3.38810759e+02] [-2.47767923e-01 9.68792781e-01 -7.18354091e-03 -6.47696419e+01] [-3.06229686e-02 -4.20335596e-04 9.99530919e-01 -1.11747990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:338.84, Y:-64.78, Z:-11.18 [[ 9.68639616e-01 2.46696268e-01 2.96352109e-02 3.38841645e+02] [-2.46592743e-01 9.69092777e-01 -7.15605764e-03 -6.47778541e+01] [-3.04846415e-02 -3.76187011e-04 9.99535165e-01 -1.11758725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274012739 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:338.87, Y:-64.79, Z:-11.18 [[ 9.68629102e-01 2.46737690e-01 2.96340204e-02 3.38872559e+02] [-2.46634034e-01 9.69082233e-01 -7.16098388e-03 -6.47853776e+01] [-3.04846873e-02 -3.72420613e-04 9.99535165e-01 -1.11768905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:338.90, Y:-64.79, Z:-11.18 [[ 9.68620776e-01 2.46780965e-01 2.95456941e-02 3.38902440e+02] [-2.46677906e-01 9.69071214e-01 -7.14095149e-03 -6.47919260e+01] [-3.03941325e-02 -3.71395972e-04 9.99537923e-01 -1.11773222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:338.93, Y:-64.80, Z:-11.18 [[ 9.67596782e-01 2.50639117e-01 3.06023110e-02 3.38933181e+02] [-2.50530423e-01 9.68080459e-01 -7.39813214e-03 -6.47970542e+01] [-3.14797605e-02 -5.08401074e-04 9.99504260e-01 -1.11783096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:338.96, Y:-64.80, Z:-11.18 [[ 9.66914132e-01 2.53214530e-01 3.09752056e-02 3.38962476e+02] [-2.53104466e-01 9.67409967e-01 -7.48904301e-03 -6.48028580e+01] [-3.18620571e-02 -5.98701356e-04 9.99492096e-01 -1.11791264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394012739 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:338.99, Y:-64.81, Z:-11.18 [[ 9.65608615e-01 2.58123297e-01 3.11827928e-02 3.38992763e+02] [-2.58014295e-01 9.66111680e-01 -7.53961074e-03 -6.48068243e+01] [-3.20722095e-02 -7.65293215e-04 9.99485261e-01 -1.11796911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:339.02, Y:-64.81, Z:-11.18 [[ 9.65257599e-01 2.59463327e-01 3.09281473e-02 3.39021659e+02] [-2.59356786e-01 9.65752627e-01 -7.47804232e-03 -6.48120073e+01] [-3.18092173e-02 -8.03187703e-04 9.99493636e-01 -1.11813415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454012739 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:339.05, Y:-64.82, Z:-11.18 [[ 9.65074877e-01 2.60198791e-01 3.04478334e-02 3.39050756e+02] [-2.60095910e-01 9.65554724e-01 -7.36155237e-03 -6.48177760e+01] [-3.13145164e-02 -8.14907676e-04 9.99509248e-01 -1.11827676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:339.08, Y:-64.82, Z:-11.18 [[ 9.64956659e-01 2.60597457e-01 3.07832854e-02 3.39080443e+02] [-2.60492522e-01 9.65447183e-01 -7.44192491e-03 -6.48217406e+01] [-3.16589828e-02 -8.37680651e-04 9.99498378e-01 -1.11834956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514012739 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:339.11, Y:-64.83, Z:-11.18 [[ 9.64876970e-01 2.60844506e-01 3.11861749e-02 3.39110282e+02] [-2.60736959e-01 9.65380447e-01 -7.53856481e-03 -6.48260290e+01] [-3.20729167e-02 -8.57600824e-04 9.99485164e-01 -1.11844951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:339.14, Y:-64.83, Z:-11.19 [[ 9.64530585e-01 2.62195622e-01 3.05647953e-02 3.39140154e+02] [-2.62093019e-01 9.65014338e-01 -7.38763805e-03 -6.48271554e+01] [-3.14324720e-02 -8.85216633e-04 9.99505486e-01 -1.11857565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574012739 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:339.17, Y:-64.83, Z:-11.19 [[ 9.64234851e-01 2.63384441e-01 2.96612172e-02 3.39168340e+02] [-2.63288397e-01 9.64690537e-01 -7.16859088e-03 -6.48307062e+01] [-3.05019909e-02 -8.97249177e-04 9.99534303e-01 -1.11868655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:339.20, Y:-64.83, Z:-11.19 [[ 9.63881447e-01 2.64782645e-01 2.86828812e-02 3.39196349e+02] [-2.64693510e-01 9.64307689e-01 -6.93017360e-03 -6.48340287e+01] [-2.94941126e-02 -9.12306746e-04 9.99564538e-01 -1.11883922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:339.22, Y:-64.84, Z:-11.19 [[ 9.63448691e-01 2.66451649e-01 2.77513794e-02 3.39224828e+02] [-2.66368946e-01 9.63847834e-01 -6.70350754e-03 -6.48352598e+01] [-2.85342676e-02 -9.33620142e-04 9.99592379e-01 -1.11897880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:339.25, Y:-64.84, Z:-11.19 [[ 9.63442849e-01 2.66435188e-01 2.81099272e-02 3.39251966e+02] [-2.66350385e-01 9.63852371e-01 -6.78812895e-03 -6.48404523e+01] [-2.89024164e-02 -9.47115636e-04 9.99581789e-01 -1.11906676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694012739 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:339.28, Y:-64.84, Z:-11.19 [[ 9.63945526e-01 2.64561388e-01 2.85708692e-02 3.39279101e+02] [-2.64473017e-01 9.64368420e-01 -6.89744900e-03 -6.48447976e+01] [-2.93776427e-02 -9.07458865e-04 9.99567972e-01 -1.11923942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:339.31, Y:-64.85, Z:-11.19 [[ 9.64394937e-01 2.62932622e-01 2.84401286e-02 3.39307469e+02] [-2.62844439e-01 9.64813817e-01 -6.86284934e-03 -6.48503574e+01] [-2.92438960e-02 -8.56832489e-04 9.99571939e-01 -1.11936013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754012739 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:339.33, Y:-64.86, Z:-11.19 [[ 9.64864882e-01 2.61242167e-01 2.80764985e-02 3.39334608e+02] [-2.61155547e-01 9.65272964e-01 -6.77380939e-03 -6.48555858e+01] [-2.88710896e-02 -7.96522535e-04 9.99582826e-01 -1.11942874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:339.36, Y:-64.86, Z:-11.20 [[ 9.65242316e-01 2.59914564e-01 2.74169667e-02 3.39362133e+02] [-2.59831478e-01 9.65631333e-01 -6.61302505e-03 -6.48600832e+01] [-2.81935036e-02 -7.40619373e-04 9.99602210e-01 -1.11953085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814012739 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:339.39, Y:-64.87, Z:-11.20 [[ 9.65042596e-01 2.60620198e-01 2.77470767e-02 3.39389448e+02] [-2.60535449e-01 9.65441099e-01 -6.69057875e-03 -6.48651564e+01] [-2.85318682e-02 -7.72403601e-04 9.99592585e-01 -1.11957904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:339.42, Y:-64.87, Z:-11.20 [[ 9.63977047e-01 2.64456374e-01 2.84794451e-02 3.39417540e+02] [-2.64368813e-01 9.64397219e-01 -6.86544602e-03 -6.48669669e+01] [-2.92811086e-02 -9.10944712e-04 9.99570801e-01 -1.11957296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874012739 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:339.45, Y:-64.87, Z:-11.20 [[ 9.63297311e-01 2.66886823e-01 2.88047589e-02 3.39445536e+02] [-2.66798396e-01 9.63727362e-01 -6.94179147e-03 -6.48706001e+01] [-2.96126070e-02 -9.98054413e-04 9.99560952e-01 -1.11974160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:339.47, Y:-64.87, Z:-11.20 [[ 9.62595439e-01 2.69360827e-01 2.92363731e-02 3.39472053e+02] [-2.69270931e-01 9.63038707e-01 -7.04371571e-03 -6.48745267e+01] [-3.00530601e-02 -1.09225680e-03 9.99547708e-01 -1.11981255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934012739 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:339.50, Y:-64.88, Z:-11.20 [[ 9.61649454e-01 2.72536763e-01 3.08875394e-02 3.39499847e+02] [-2.72438144e-01 9.62144543e-01 -7.43882078e-03 -6.48777216e+01] [-3.17456296e-02 -1.26140596e-03 9.99495185e-01 -1.11989619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:339.53, Y:-64.88, Z:-11.20 [[ 9.61604762e-01 2.72671656e-01 3.10877773e-02 3.39526543e+02] [-2.72571895e-01 9.62106304e-01 -7.48485029e-03 -6.48824742e+01] [-3.19506531e-02 -1.27618668e-03 9.99488633e-01 -1.11996839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:339.55, Y:-64.89, Z:-11.20 [[ 9.62482127e-01 2.69567245e-01 3.10105777e-02 3.39554880e+02] [-2.69466449e-01 9.62980854e-01 -7.46374657e-03 -6.48857298e+01] [-3.18745742e-02 -1.17258758e-03 9.99491189e-01 -1.12012897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:339.58, Y:-64.89, Z:-11.20 [[ 9.63336586e-01 2.66477226e-01 3.11850961e-02 3.39581841e+02] [-2.66373743e-01 9.63840612e-01 -7.50357092e-03 -6.48914209e+01] [-3.20569928e-02 -1.07842638e-03 9.99485461e-01 -1.12024941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05401273900003 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:339.61, Y:-64.90, Z:-11.20 [[ 9.64224134e-01 2.63243171e-01 3.12226210e-02 3.39609480e+02] [-2.63137815e-01 9.64729021e-01 -7.51041832e-03 -6.48981766e+01] [-3.20984349e-02 -9.74125657e-04 9.99484238e-01 -1.12039265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:339.64, Y:-64.90, Z:-11.20 [[ 9.65663195e-01 2.58021465e-01 3.03235445e-02 3.39636651e+02] [-2.57919579e-01 9.66138870e-01 -7.29206907e-03 -6.49043794e+01] [-3.11782653e-02 -7.79353106e-04 9.99513536e-01 -1.12046069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11401273900003 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:339.66, Y:-64.91, Z:-11.21 [[ 9.66055679e-01 2.56609839e-01 2.97962383e-02 3.39664406e+02] [-2.56510859e-01 9.66514805e-01 -7.16319910e-03 -6.49105712e+01] [-3.06366529e-02 -7.23009523e-04 9.99530326e-01 -1.12052680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:339.69, Y:-64.92, Z:-11.21 [[ 9.66133989e-01 2.56246341e-01 3.03797409e-02 3.39690521e+02] [-2.56143334e-01 9.66611237e-01 -7.30129367e-03 -6.49161722e+01] [-3.12363287e-02 -7.27540130e-04 9.99511762e-01 -1.12060904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.174012739 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:339.72, Y:-64.92, Z:-11.21 [[ 9.65910491e-01 2.56989607e-01 3.11972030e-02 3.39717408e+02] [-2.56881453e-01 9.66413857e-01 -7.49512034e-03 -6.49222329e+01] [-3.20755773e-02 -7.74367480e-04 9.99485146e-01 -1.12067011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:339.74, Y:-64.93, Z:-11.21 [[ 9.65668298e-01 2.57911653e-01 3.10856595e-02 3.39744551e+02] [-2.57804818e-01 9.66168170e-01 -7.46614976e-03 -6.49273490e+01] [-3.19595818e-02 -8.04208665e-04 9.99488839e-01 -1.12070537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234012739 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:339.77, Y:-64.93, Z:-11.21 [[ 9.64848125e-01 2.61199723e-01 2.90310220e-02 3.39771890e+02] [-2.61108088e-01 9.65284401e-01 -6.97079224e-03 -6.49309290e+01] [-2.98439616e-02 -8.54478818e-04 9.99554205e-01 -1.12089433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:339.80, Y:-64.94, Z:-11.21 [[ 9.64110918e-01 2.63978553e-01 2.83806631e-02 3.39798825e+02] [-2.63892245e-01 9.64528110e-01 -6.81237236e-03 -6.49355524e+01] [-2.91722675e-02 -9.21554341e-04 9.99573974e-01 -1.12106754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:339.83, Y:-64.94, Z:-11.21 [[ 9.63905080e-01 2.64705608e-01 2.85996148e-02 3.39826937e+02] [-2.64618352e-01 9.64328799e-01 -6.86257662e-03 -6.49404789e+01] [-2.93959947e-02 -9.53110466e-04 9.99567390e-01 -1.12111731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:339.85, Y:-64.94, Z:-11.21 [[ 9.63822319e-01 2.64979777e-01 2.88488330e-02 3.39853704e+02] [-2.64891172e-01 9.64253480e-01 -6.92050873e-03 -6.49444459e+01] [-2.96513824e-02 -9.71660397e-04 9.99559829e-01 -1.12125646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354012739 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:339.88, Y:-64.95, Z:-11.21 [[ 9.63920976e-01 2.64724900e-01 2.78761553e-02 3.39881608e+02] [-2.64642164e-01 9.64323521e-01 -6.68364507e-03 -6.49469538e+01] [-2.86509595e-02 -9.34700401e-04 9.99589040e-01 -1.12134897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:339.91, Y:-64.95, Z:-11.21 [[ 9.64124366e-01 2.64086883e-01 2.68761058e-02 3.39909148e+02] [-2.64009778e-01 9.64498489e-01 -6.44212473e-03 -6.49518115e+01] [-2.76232441e-02 -8.84545326e-04 9.99618014e-01 -1.12145896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414012739 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:339.94, Y:-64.95, Z:-11.22 [[ 9.64685131e-01 2.62022846e-01 2.69560173e-02 3.39936594e+02] [-2.61944527e-01 9.65061314e-01 -6.45947355e-03 -6.49532374e+01] [-2.77067392e-02 -8.29623121e-04 9.99615750e-01 -1.12154259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:339.96, Y:-64.96, Z:-11.22 [[ 9.64906605e-01 2.61091386e-01 2.80451844e-02 3.39964618e+02] [-2.61006283e-01 9.65313725e-01 -6.71812451e-03 -6.49573173e+01] [-2.88264459e-02 -8.37606650e-04 9.99584081e-01 -1.12161769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474012739 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:339.99, Y:-64.96, Z:-11.22 [[ 9.65133500e-01 2.60143242e-01 2.90313676e-02 3.39992756e+02] [-2.60051684e-01 9.65569670e-01 -6.95224627e-03 -6.49618049e+01] [-2.98403879e-02 -8.39810244e-04 9.99554324e-01 -1.12170796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:340.02, Y:-64.97, Z:-11.22 [[ 9.65658233e-01 2.58190490e-01 2.90146228e-02 3.40021232e+02] [-2.58098216e-01 9.66093712e-01 -6.94619866e-03 -6.49650327e+01] [-2.98242871e-02 -7.80968467e-04 9.99554852e-01 -1.12175807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534012739 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:340.05, Y:-64.97, Z:-11.22 [[ 9.66048689e-01 2.56782387e-01 2.85085205e-02 3.40047745e+02] [-2.56692749e-01 9.66468974e-01 -6.82311152e-03 -6.49692601e+01] [-2.93046554e-02 -7.26472547e-04 9.99570262e-01 -1.12185152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:340.08, Y:-64.97, Z:-11.22 [[ 9.66819354e-01 2.53836814e-01 2.87612384e-02 3.40075556e+02] [-2.53744346e-01 9.67246843e-01 -6.88122607e-03 -6.49720344e+01] [-2.95659255e-02 -6.45099075e-04 9.99562624e-01 -1.12194782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594012739 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:340.10, Y:-64.98, Z:-11.22 [[ 9.67145396e-01 2.52452293e-01 2.99603621e-02 3.40102256e+02] [-2.52351356e-01 9.67609138e-01 -7.16591061e-03 -6.49775424e+01] [-3.07989707e-02 -6.30060544e-04 9.99525401e-01 -1.12196764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:340.13, Y:-64.98, Z:-11.22 [[ 9.67478823e-01 2.51033995e-01 3.10911673e-02 3.40129845e+02] [-2.50924633e-01 9.67978080e-01 -7.43410766e-03 -6.49837391e+01] [-3.19617821e-02 -6.09198014e-04 9.99488906e-01 -1.12199558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654012739 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:340.16, Y:-64.99, Z:-11.22 [[ 9.68158223e-01 2.48241285e-01 3.23406798e-02 3.40157342e+02] [-2.48121480e-01 9.68698081e-01 -7.73036507e-03 -6.49898991e+01] [-3.32473502e-02 -5.40200815e-04 9.99447008e-01 -1.12209808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:340.18, Y:-65.00, Z:-11.22 [[ 9.68776130e-01 2.46020946e-01 3.07653013e-02 3.40184639e+02] [-2.45911481e-01 9.69264410e-01 -7.35160912e-03 -6.49964676e+01] [-3.16283615e-02 -4.43477380e-04 9.99499600e-01 -1.12225750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714012739 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:340.21, Y:-65.00, Z:-11.22 [[ 9.68906402e-01 2.45555827e-01 3.03763113e-02 3.40211469e+02] [-2.45448955e-01 9.69382358e-01 -7.25640797e-03 -6.50030592e+01] [-3.12281135e-02 -4.25053731e-04 9.99512193e-01 -1.12241334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:340.24, Y:-65.01, Z:-11.22 [[ 9.68965151e-01 2.45342402e-01 3.02265143e-02 3.40237534e+02] [-2.45236547e-01 9.69436398e-01 -7.21841245e-03 -6.50095959e+01] [-3.10736658e-02 -4.18255879e-04 9.99517010e-01 -1.12249940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774012739 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:340.26, Y:-65.02, Z:-11.23 [[ 9.68984833e-01 2.45200860e-01 3.07397554e-02 3.40264351e+02] [-2.45091426e-01 9.69472206e-01 -7.33722718e-03 -6.50167173e+01] [-3.16004329e-02 -4.24388638e-04 9.99500492e-01 -1.12252934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:340.29, Y:-65.02, Z:-11.23 [[ 9.69024146e-01 2.45074821e-01 3.05046920e-02 3.40290575e+02] [-2.44967065e-01 9.69504078e-01 -7.27877420e-03 -6.50236760e+01] [-3.13582676e-02 -4.19336926e-04 9.99508121e-01 -1.12267769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834012739 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:340.32, Y:-65.03, Z:-11.23 [[ 9.69407663e-01 2.43722198e-01 2.91251439e-02 3.40316645e+02] [-2.43623455e-01 9.69845018e-01 -6.94641481e-03 -6.50332454e+01] [-2.99398712e-02 -3.61660426e-04 9.99551636e-01 -1.12290190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:340.34, Y:-65.04, Z:-11.23 [[ 9.69729230e-01 2.42471035e-01 2.88620415e-02 3.40343292e+02] [-2.42373578e-01 9.70158592e-01 -6.88151800e-03 -6.50416412e+01] [-2.96693263e-02 -3.22187116e-04 9.99559717e-01 -1.12300846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894012739 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:340.37, Y:-65.05, Z:-11.23 [[ 9.70106488e-01 2.40946519e-01 2.89512781e-02 3.40369560e+02] [-2.40847844e-01 9.70538354e-01 -6.90062776e-03 -6.50493418e+01] [-2.97610080e-02 -2.78509160e-04 9.99557004e-01 -1.12307460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:340.40, Y:-65.06, Z:-11.23 [[ 9.70626754e-01 2.38883131e-01 2.86103939e-02 3.40395263e+02] [-2.38785943e-01 9.71048301e-01 -6.81689157e-03 -6.50574019e+01] [-2.94105148e-02 -2.15102548e-04 9.99567394e-01 -1.12317692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954012739 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:340.42, Y:-65.07, Z:-11.23 [[ 9.70832699e-01 2.38113394e-01 2.80335818e-02 3.40420876e+02] [-2.38019831e-01 9.71237342e-01 -6.67717206e-03 -6.50652504e+01] [-2.88171855e-02 -1.90131413e-04 9.99584681e-01 -1.12333605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:340.45, Y:-65.08, Z:-11.23 [[ 9.71267534e-01 2.36430657e-01 2.72015029e-02 3.40447588e+02] [-2.36341969e-01 9.71648355e-01 -6.47677133e-03 -6.50757840e+01] [-2.79616029e-02 -1.38179034e-04 9.99608988e-01 -1.12339459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014012739 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:340.47, Y:-65.08, Z:-11.23 [[ 9.71338152e-01 2.36083210e-01 2.76931797e-02 3.40474467e+02] [-2.35991203e-01 9.71732834e-01 -6.59179571e-03 -6.50834408e+01] [-2.84665843e-02 -1.32484147e-04 9.99594736e-01 -1.12340681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:340.50, Y:-65.09, Z:-11.24 [[ 9.71164361e-01 2.36700001e-01 2.85112894e-02 3.40501069e+02] [-2.36602809e-01 9.71582773e-01 -6.78424853e-03 -6.50907899e+01] [-2.93069093e-02 -1.57230766e-04 9.99570448e-01 -1.12350180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074012739 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:340.53, Y:-65.10, Z:-11.24 [[ 9.70617749e-01 2.38878788e-01 2.89501240e-02 3.40527457e+02] [-2.38779604e-01 9.71049367e-01 -6.88683223e-03 -6.51000759e+01] [-2.97571177e-02 -2.28217538e-04 9.99557133e-01 -1.12364972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:340.55, Y:-65.11, Z:-11.24 [[ 9.70337862e-01 2.40058206e-01 2.85743262e-02 3.40554751e+02] [-2.39962155e-01 9.70758460e-01 -6.79526721e-03 -6.51082109e+01] [-2.93700285e-02 -2.63051838e-04 9.99568573e-01 -1.12378951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134012739 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:340.58, Y:-65.12, Z:-11.24 [[ 9.69908642e-01 2.41801739e-01 2.84454738e-02 3.40581446e+02] [-2.41707342e-01 9.70325626e-01 -6.76321921e-03 -6.51168735e+01] [-2.92367303e-02 -3.15775105e-04 9.99572466e-01 -1.12386531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:340.61, Y:-65.12, Z:-11.24 [[ 9.69921847e-01 2.41748720e-01 2.84458816e-02 3.40609187e+02] [-2.41654351e-01 9.70338836e-01 -6.76150347e-03 -6.51233301e+01] [-2.92367284e-02 -3.15941122e-04 9.99572466e-01 -1.12395639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194012739 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:340.64, Y:-65.13, Z:-11.24 [[ 9.69993606e-01 2.41438498e-01 2.86331344e-02 3.40636629e+02] [-2.41342795e-01 9.70416073e-01 -6.80438928e-03 -6.51303864e+01] [-2.94288954e-02 -3.10186589e-04 9.99566828e-01 -1.12401838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:340.66, Y:-65.14, Z:-11.24 [[ 9.70117982e-01 2.40943049e-01 2.85928065e-02 3.40663937e+02] [-2.40847463e-01 9.70539211e-01 -6.79265232e-03 -6.51377339e+01] [-2.93870822e-02 -2.96830762e-04 9.99568062e-01 -1.12412305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254012739 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:340.69, Y:-65.15, Z:-11.24 [[ 9.70616028e-01 2.38989857e-01 2.80780188e-02 3.40691473e+02] [-2.38896916e-01 9.71022035e-01 -6.66862974e-03 -6.51474396e+01] [-2.88581098e-02 -2.35073162e-04 9.99583490e-01 -1.12425641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:340.72, Y:-65.16, Z:-11.24 [[ 9.70842940e-01 2.37974297e-01 2.88482181e-02 3.40717686e+02] [-2.37875781e-01 9.71271429e-01 -6.85009981e-03 -6.51556231e+01] [-2.96495977e-02 -2.11921363e-04 9.99560332e-01 -1.12434996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314012739 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:340.75, Y:-65.17, Z:-11.24 [[ 9.71200502e-01 2.36268382e-01 3.07706967e-02 3.40745372e+02] [-2.36155508e-01 9.71687821e-01 -7.30440030e-03 -6.51657206e+01] [-3.16253101e-02 -1.72632290e-04 9.99499780e-01 -1.12424417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:340.77, Y:-65.17, Z:-11.24 [[ 9.71229976e-01 2.36038135e-01 3.15964092e-02 3.40771976e+02] [-2.35919051e-01 9.71743778e-01 -7.49878962e-03 -6.51733678e+01] [-3.24736144e-02 -1.71145615e-04 9.99472578e-01 -1.12430064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:340.80, Y:-65.18, Z:-11.24 [[ 9.71173900e-01 2.36218464e-01 3.19701847e-02 3.40799383e+02] [-2.36096709e-01 9.71699956e-01 -7.58550812e-03 -6.51811416e+01] [-3.28572642e-02 -1.81207891e-04 9.99460038e-01 -1.12439314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:340.83, Y:-65.19, Z:-11.25 [[ 9.70890286e-01 2.37489420e-01 3.11581114e-02 3.40826371e+02] [-2.37374475e-01 9.71390100e-01 -7.39130425e-03 -6.51907006e+01] [-3.20220375e-02 -2.19994840e-04 9.99487139e-01 -1.12459657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434012739 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:340.85, Y:-65.20, Z:-11.25 [[ 9.70902047e-01 2.37588449e-01 3.00157394e-02 3.40853975e+02] [-2.37481852e-01 9.71365885e-01 -7.11951662e-03 -6.51995710e+01] [-3.08477802e-02 -2.15840125e-04 9.99524071e-01 -1.12475210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:340.88, Y:-65.21, Z:-11.25 [[ 9.71214481e-01 2.36460506e-01 2.87899544e-02 3.40879632e+02] [-2.36361983e-01 9.71641085e-01 -6.82744759e-03 -6.52107364e+01] [-2.95879243e-02 -1.73934750e-04 9.99562166e-01 -1.12483766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494012739 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:340.91, Y:-65.22, Z:-11.25 [[ 9.71576091e-01 2.35001491e-01 2.85341614e-02 3.40907489e+02] [-2.34904134e-01 9.71995001e-01 -6.76503687e-03 -6.52192845e+01] [-2.93248559e-02 -1.30044365e-04 9.99569925e-01 -1.12492485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:340.94, Y:-65.23, Z:-11.25 [[ 9.71867946e-01 2.33782670e-01 2.86069631e-02 3.40935473e+02] [-2.33684328e-01 9.72288874e-01 -6.78090380e-03 -6.52274998e+01] [-2.93994898e-02 -9.48559149e-05 9.99567737e-01 -1.12506461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55401273900003 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:340.96, Y:-65.24, Z:-11.25 [[ 9.72085498e-01 2.32752244e-01 2.96002892e-02 3.40963376e+02] [-2.32646521e-01 9.72536060e-01 -7.01482102e-03 -6.52384662e+01] [-3.04200640e-02 -6.73985258e-05 9.99537200e-01 -1.12517501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:340.99, Y:-65.25, Z:-11.25 [[ 9.71443182e-01 2.35309284e-01 3.04579382e-02 3.40991130e+02] [-2.35198624e-01 9.71920531e-01 -7.21731133e-03 -6.52486874e+01] [-3.13009958e-02 -1.52457259e-04 9.99509992e-01 -1.12511483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61401273900003 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:341.02, Y:-65.26, Z:-11.25 [[ 9.70935933e-01 2.37364161e-01 3.06866227e-02 3.41019715e+02] [-2.37252883e-01 9.71420715e-01 -7.27071246e-03 -6.52561208e+01] [-3.15354275e-02 -2.21093727e-04 9.99502610e-01 -1.12518278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:341.05, Y:-65.26, Z:-11.25 [[ 9.70469250e-01 2.39211512e-01 3.11012377e-02 3.41048489e+02] [-2.39098140e-01 9.70967441e-01 -7.36938641e-03 -6.52627015e+01] [-3.19611313e-02 -2.84485208e-04 9.99489072e-01 -1.12533249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.674012739 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:341.08, Y:-65.27, Z:-11.26 [[ 9.69581722e-01 2.42934560e-01 2.99012546e-02 3.41076698e+02] [-2.42831559e-01 9.70042600e-01 -7.08435028e-03 -6.52691725e+01] [-3.07265243e-02 -3.92111726e-04 9.99527752e-01 -1.12551994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:341.10, Y:-65.28, Z:-11.26 [[ 9.69066798e-01 2.45019703e-01 2.95784839e-02 3.41103516e+02] [-2.44919917e-01 9.69517993e-01 -7.00682828e-03 -6.52751950e+01] [-3.03936833e-02 -4.54275164e-04 9.99537902e-01 -1.12558744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734012739 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:341.13, Y:-65.28, Z:-11.26 [[ 9.67661206e-01 2.50473907e-01 2.99100789e-02 3.41132402e+02] [-2.50374527e-01 9.68123143e-01 -7.08354266e-03 -6.52796761e+01] [-3.07308822e-02 -6.34252414e-04 9.99527494e-01 -1.12560885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:341.16, Y:-65.28, Z:-11.26 [[ 9.66863677e-01 2.53561791e-01 2.96824549e-02 3.41159509e+02] [-2.53465415e-01 9.67318917e-01 -7.02821796e-03 -6.52847667e+01] [-3.04944877e-02 -7.28147079e-04 9.99534670e-01 -1.12564607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794012739 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:341.19, Y:-65.29, Z:-11.26 [[ 9.66175788e-01 2.56245623e-01 2.90263379e-02 3.41188186e+02] [-2.56154722e-01 9.66611373e-01 -6.87112013e-03 -6.52891408e+01] [-2.98178827e-02 -7.96523582e-04 9.99555031e-01 -1.12581873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:341.22, Y:-65.29, Z:-11.26 [[ 9.64922920e-01 2.61114986e-01 2.72529179e-02 3.41216309e+02] [-2.61036825e-01 9.65307294e-01 -6.45014233e-03 -6.52891653e+01] [-2.79916693e-02 -8.90124998e-04 9.99607760e-01 -1.12606442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854012739 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:341.24, Y:-65.29, Z:-11.26 [[ 9.64310874e-01 2.63358334e-01 2.73299379e-02 3.41243962e+02] [-2.63280674e-01 9.64697604e-01 -6.46678125e-03 -6.52920302e+01] [-2.80682063e-02 -9.59456986e-04 9.99605550e-01 -1.12613332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters Centerline goodness : 0.990654 Centerline is valid? [True, True] Translation: X:341.27, Y:-65.29, Z:-11.26 [[ 9.63436665e-01 2.66368792e-01 2.89388958e-02 3.41272101e+02] [-2.66283139e-01 9.63870548e-01 -6.84523858e-03 -6.52911072e+01] [-2.97167073e-02 -1.11098620e-03 9.99557744e-01 -1.12609965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914012739 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:341.30, Y:-65.29, Z:-11.26 [[ 9.63271931e-01 2.66858531e-01 2.98950113e-02 3.41299981e+02] [-2.66767443e-01 9.63735008e-01 -7.06871952e-03 -6.52937090e+01] [-3.06972171e-02 -1.16591662e-03 9.99528049e-01 -1.12612118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:341.33, Y:-65.30, Z:-11.26 [[ 9.63268448e-01 2.66793530e-01 3.05795746e-02 3.41327124e+02] [-2.66698257e-01 9.63752971e-01 -7.22838670e-03 -6.52962022e+01] [-3.13996427e-02 -1.19264241e-03 9.99506198e-01 -1.12624359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974012739 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:341.36, Y:-65.30, Z:-11.26 [[ 9.63546455e-01 2.65770924e-01 3.07253343e-02 3.41355186e+02] [-2.65674330e-01 9.64035503e-01 -7.25939373e-03 -6.52950115e+01] [-3.15496489e-02 -1.16816952e-03 9.99501503e-01 -1.12638887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:341.38, Y:-65.29, Z:-11.27 [[ 9.64457153e-01 2.62570974e-01 2.96459796e-02 3.41383646e+02] [-2.62479609e-01 9.64912134e-01 -7.00204445e-03 -6.52941437e+01] [-3.04442990e-02 -1.02829326e-03 9.99535936e-01 -1.12655442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034012739 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:341.41, Y:-65.30, Z:-11.27 [[ 9.65115645e-01 2.60181370e-01 2.92821859e-02 3.41410513e+02] [-2.60091197e-01 9.65559302e-01 -6.91404248e-03 -6.52965983e+01] [-3.00725920e-02 -9.43188215e-04 9.99547272e-01 -1.12663127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:341.44, Y:-65.30, Z:-11.27 [[ 9.66000172e-01 2.56867784e-01 2.93702308e-02 3.41438194e+02] [-2.56775609e-01 9.66446185e-01 -6.93242293e-03 -6.52987710e+01] [-3.01654636e-02 -8.44837156e-04 9.99544562e-01 -1.12673674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094012739 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:341.47, Y:-65.30, Z:-11.27 [[ 9.66899178e-01 2.53482995e-01 2.91950621e-02 3.41466366e+02] [-2.53390487e-01 9.67339561e-01 -6.88731673e-03 -6.53015858e+01] [-2.99873562e-02 -7.38410107e-04 9.99550005e-01 -1.12683292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:341.50, Y:-65.30, Z:-11.27 [[ 9.68621949e-01 2.46696895e-01 3.02020201e-02 3.41495355e+02] [-2.46594659e-01 9.69092535e-01 -7.12271463e-03 -6.53022088e+01] [-3.10257038e-02 -5.48439117e-04 9.99518437e-01 -1.12689858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154012739 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:341.52, Y:-65.30, Z:-11.27 [[ 9.70039961e-01 2.40913098e-01 3.13584751e-02 3.41523231e+02] [-2.40799928e-01 9.70546617e-01 -7.39321410e-03 -6.53037664e+01] [-3.22159840e-02 -3.79405433e-04 9.99480858e-01 -1.12694133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:341.55, Y:-65.31, Z:-11.27 [[ 9.70648114e-01 2.38417328e-01 3.16135481e-02 3.41551199e+02] [-2.38301066e-01 9.71162750e-01 -7.45081801e-03 -6.53081948e+01] [-3.24783045e-02 -3.01419785e-04 9.99472395e-01 -1.12697616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214012739 meters Centerline goodness : 0.991135 Centerline is valid? [True, True] Translation: X:341.58, Y:-65.31, Z:-11.27 [[ 9.71232053e-01 2.36018601e-01 3.16783894e-02 3.41579011e+02] [-2.35900656e-01 9.71748512e-01 -7.46394585e-03 -6.53133430e+01] [-3.25450578e-02 -2.23729371e-04 9.99470244e-01 -1.12705882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:341.61, Y:-65.32, Z:-11.27 [[ 9.72254879e-01 2.31863852e-01 3.09774837e-02 3.41607023e+02] [-2.31749025e-01 9.72748244e-01 -7.29674241e-03 -6.53182404e+01] [-3.18251437e-02 -8.47082463e-05 9.99493448e-01 -1.12716326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274012739 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:341.63, Y:-65.32, Z:-11.27 [[ 9.72737249e-01 2.29872787e-01 3.06715911e-02 3.41634506e+02] [-2.29759295e-01 9.73220685e-01 -7.22254630e-03 -6.53239095e+01] [-3.15104938e-02 -2.14433383e-05 9.99503421e-01 -1.12724065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:341.66, Y:-65.33, Z:-11.27 [[ 9.73609884e-01 2.26130879e-01 3.07996535e-02 3.41660532e+02] [-2.26014632e-01 9.74096923e-01 -7.25052879e-03 -6.53302421e+01] [-3.16414161e-02 9.80141499e-05 9.99499280e-01 -1.12733290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334012739 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:341.69, Y:-65.34, Z:-11.27 [[ 9.74006239e-01 2.24367156e-01 3.11644934e-02 3.41687502e+02] [-2.24247318e-01 9.74504672e-01 -7.33383663e-03 -6.53379583e+01] [-3.20154165e-02 1.54648575e-04 9.99487363e-01 -1.12741911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters Centerline goodness : 0.991127 Centerline is valid? [True, True] Translation: X:341.71, Y:-65.35, Z:-11.28 [[ 9.74413105e-01 2.22521156e-01 3.16770446e-02 3.41714249e+02] [-2.22396441e-01 9.74927837e-01 -7.45219657e-03 -6.53457586e+01] [-3.25411040e-02 2.16656032e-04 9.99470375e-01 -1.12752715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394012739 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:341.74, Y:-65.35, Z:-11.28 [[ 9.75076838e-01 2.19682192e-01 3.10627657e-02 3.41740426e+02] [-2.19560896e-01 9.75571444e-01 -7.30549892e-03 -6.53547049e+01] [-3.19088352e-02 3.03254095e-04 9.99490737e-01 -1.12758922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters Centerline goodness : 0.991099 Centerline is valid? [True, True] Translation: X:341.77, Y:-65.36, Z:-11.28 [[ 9.75418624e-01 2.18276834e-01 3.02279903e-02 3.41767394e+02] [-2.18161355e-01 9.75886832e-01 -7.10729367e-03 -6.53621957e+01] [-3.10504553e-02 3.38007296e-04 9.99517761e-01 -1.12767309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454012739 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:341.79, Y:-65.37, Z:-11.28 [[ 9.75779057e-01 2.16849439e-01 2.88366528e-02 3.41793887e+02] [-2.16743783e-01 9.76204993e-01 -6.77821957e-03 -6.53718298e+01] [-2.96203375e-02 3.63879492e-04 9.99561155e-01 -1.12781640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:341.82, Y:-65.38, Z:-11.28 [[ 9.75750377e-01 2.17031414e-01 2.84353196e-02 3.41821405e+02] [-2.16928804e-01 9.76164557e-01 -6.68223373e-03 -6.53802330e+01] [-2.92078057e-02 3.51752218e-04 9.99573299e-01 -1.12791885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514012739 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:341.85, Y:-65.39, Z:-11.28 [[ 9.75525519e-01 2.17906795e-01 2.94379129e-02 3.41847979e+02] [-2.17797263e-01 9.75969526e-01 -6.91637090e-03 -6.53893754e+01] [-3.02376301e-02 3.35599453e-04 9.99542682e-01 -1.12801533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:341.88, Y:-65.40, Z:-11.28 [[ 9.75397619e-01 2.18394122e-01 3.00581489e-02 3.41875649e+02] [-2.18280214e-01 9.75860595e-01 -7.06022262e-03 -6.53975403e+01] [-3.08744742e-02 3.25425155e-04 9.99523217e-01 -1.12808949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574012739 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:341.90, Y:-65.41, Z:-11.28 [[ 9.75346216e-01 2.18617374e-01 3.01032063e-02 3.41902065e+02] [-2.18503276e-01 9.75810608e-01 -7.06935388e-03 -6.54051602e+01] [-3.09205116e-02 3.17418369e-04 9.99521796e-01 -1.12812123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:341.93, Y:-65.42, Z:-11.28 [[ 9.75352812e-01 2.18670936e-01 2.94942962e-02 3.41929221e+02] [-2.18561485e-01 9.75798610e-01 -6.92460279e-03 -6.54150074e+01] [-3.02947026e-02 3.07613607e-04 9.99540963e-01 -1.12827146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634012739 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:341.96, Y:-65.42, Z:-11.28 [[ 9.75437006e-01 2.18306050e-01 2.94128351e-02 3.41956339e+02] [-2.18197080e-01 9.75880304e-01 -6.90406257e-03 -6.54228221e+01] [-3.02106050e-02 3.16683390e-04 9.99543505e-01 -1.12835196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:341.98, Y:-65.43, Z:-11.28 [[ 9.75477581e-01 2.18062919e-01 2.98672373e-02 3.41982821e+02] [-2.17950498e-01 9.75934658e-01 -7.00885591e-03 -6.54328388e+01] [-3.06768435e-02 3.27402576e-04 9.99529301e-01 -1.12838610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694012739 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:342.01, Y:-65.44, Z:-11.28 [[ 9.75467413e-01 2.18061444e-01 3.02081554e-02 3.42009758e+02] [-2.17946486e-01 9.75934987e-01 -7.08741559e-03 -6.54407439e+01] [-3.10266878e-02 3.29781638e-04 9.99518502e-01 -1.12844688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:342.04, Y:-65.45, Z:-11.28 [[ 9.75382568e-01 2.18354652e-01 3.08235721e-02 3.42037373e+02] [-2.18235166e-01 9.75869428e-01 -7.22993801e-03 -6.54480549e+01] [-3.16584723e-02 3.25168132e-04 9.99498692e-01 -1.12842926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754012739 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:342.07, Y:-65.45, Z:-11.29 [[ 9.74972303e-01 2.20157321e-01 3.09800379e-02 3.42065041e+02] [-2.20037575e-01 9.75464342e-01 -7.26517315e-03 -6.54534031e+01] [-3.18194034e-02 2.66570192e-04 9.99493599e-01 -1.12859848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:342.09, Y:-65.46, Z:-11.29 [[ 9.74793989e-01 2.21044474e-01 3.02658051e-02 3.42092223e+02] [-2.20930668e-01 9.75263701e-01 -7.09594973e-03 -6.54599944e+01] [-3.10856616e-02 2.30444588e-04 9.99516697e-01 -1.12879010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814012739 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:342.12, Y:-65.47, Z:-11.29 [[ 9.74611233e-01 2.22004340e-01 2.91035641e-02 3.42120604e+02] [-2.21899586e-01 9.75045659e-01 -6.82181417e-03 -6.54672134e+01] [-2.98917762e-02 1.90547891e-04 9.99553123e-01 -1.12891143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:342.15, Y:-65.47, Z:-11.29 [[ 9.74651561e-01 2.21758829e-01 2.96202192e-02 3.42148453e+02] [-2.21650250e-01 9.75101524e-01 -6.94152737e-03 -6.54731492e+01] [-3.04220659e-02 2.00241479e-04 9.99537122e-01 -1.12900521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874012739 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:342.18, Y:-65.48, Z:-11.29 [[ 9.74706712e-01 2.21466906e-01 2.99872556e-02 3.42175429e+02] [-2.21355529e-01 9.75167865e-01 -7.02599101e-03 -6.54792187e+01] [-3.07986325e-02 2.10435775e-04 9.99525587e-01 -1.12907757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:342.20, Y:-65.49, Z:-11.29 [[ 9.75058851e-01 2.19729898e-01 3.12891182e-02 3.42202170e+02] [-2.19607811e-01 9.75560709e-01 -7.32892438e-03 -6.54858903e+01] [-3.21348181e-02 2.74797830e-04 9.99483506e-01 -1.12914271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934012739 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:342.23, Y:-65.49, Z:-11.29 [[ 9.75635270e-01 2.17042515e-01 3.20681470e-02 3.42230119e+02] [-2.16912868e-01 9.76162081e-01 -7.50988781e-03 -6.54940230e+01] [-3.29336740e-02 3.70917688e-04 9.99457471e-01 -1.12920839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:342.26, Y:-65.50, Z:-11.29 [[ 9.76019728e-01 2.15358239e-01 3.17225312e-02 3.42258457e+02] [-2.15230531e-01 9.76535023e-01 -7.42748350e-03 -6.55009229e+01] [-3.25777325e-02 4.21713207e-04 9.99469116e-01 -1.12926884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994012739 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:342.29, Y:-65.51, Z:-11.29 [[ 9.76401407e-01 2.13700707e-01 3.11817184e-02 3.42285120e+02] [-2.13576518e-01 9.76899068e-01 -7.29940875e-03 -6.55077580e+01] [-3.20212805e-02 4.67470123e-04 9.99487078e-01 -1.12940332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:342.31, Y:-65.52, Z:-11.30 [[ 9.77308730e-01 2.09691269e-01 2.99535909e-02 3.42313936e+02] [-2.09574843e-01 9.77767479e-01 -7.01016100e-03 -6.55183357e+01] [-3.07576166e-02 5.73572424e-04 9.99526708e-01 -1.12963926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05401273900003 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:342.34, Y:-65.53, Z:-11.30 [[ 9.77728560e-01 2.07745160e-01 2.98129552e-02 3.42344045e+02] [-2.07628922e-01 9.78182779e-01 -6.97721429e-03 -6.55287061e+01] [-3.06120019e-02 6.31789920e-04 9.99531143e-01 -1.12971452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters Centerline goodness : 0.990985 Centerline is valid? [True, True] Translation: X:342.37, Y:-65.54, Z:-11.30 [[ 9.77726076e-01 2.07756874e-01 2.98127839e-02 3.42374213e+02] [-2.07640619e-01 9.78180291e-01 -6.97794643e-03 -6.55357718e+01] [-3.06119939e-02 6.32175285e-04 9.99531143e-01 -1.12981361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11401273900003 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:342.40, Y:-65.55, Z:-11.30 [[ 9.78505224e-01 2.03986693e-01 3.02812762e-02 3.42402824e+02] [-2.03864940e-01 9.78973364e-01 -7.08786285e-03 -6.55502147e+01] [-3.10903926e-02 7.62220254e-04 9.99516286e-01 -1.12991695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:342.43, Y:-65.56, Z:-11.30 [[ 9.78805466e-01 2.02473503e-01 3.07301322e-02 3.42434146e+02] [-2.02347208e-01 9.79287392e-01 -7.19800313e-03 -6.55619758e+01] [-3.15510359e-02 8.27288338e-04 9.99501800e-01 -1.12998102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.174012739 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:342.46, Y:-65.57, Z:-11.30 [[ 9.78977386e-01 2.01590392e-01 3.10578597e-02 3.42464223e+02] [-2.01460740e-01 9.79469527e-01 -7.28117971e-03 -6.55740264e+01] [-3.18880430e-02 8.71170903e-04 9.99491067e-01 -1.12999240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:342.49, Y:-65.59, Z:-11.30 [[ 9.79063836e-01 2.01091028e-01 3.15658601e-02 3.42494160e+02] [-2.00956641e-01 9.79572138e-01 -7.40638129e-03 -6.55908432e+01] [-3.24103939e-02 9.07950864e-04 9.99474233e-01 -1.13002851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234012739 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:342.52, Y:-65.60, Z:-11.30 [[ 9.78940865e-01 2.01658703e-01 3.17576685e-02 3.42524857e+02] [-2.01522773e-01 9.79455439e-01 -7.45760026e-03 -6.56013921e+01] [-3.26091111e-02 9.00656255e-04 9.99467776e-01 -1.13010688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:342.56, Y:-65.61, Z:-11.30 [[ 9.78054249e-01 2.05904158e-01 3.18333587e-02 3.42555230e+02] [-2.05769635e-01 9.78571862e-01 -7.48112478e-03 -6.56128970e+01] [-3.26916238e-02 7.66607281e-04 9.99465192e-01 -1.13023383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294012739 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:342.59, Y:-65.62, Z:-11.30 [[ 9.77370476e-01 2.09240618e-01 3.10695346e-02 3.42586348e+02] [-2.09114045e-01 9.77863973e-01 -7.30520136e-03 -6.56227567e+01] [-3.19103234e-02 6.42812096e-04 9.99490529e-01 -1.13038187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:342.62, Y:-65.63, Z:-11.31 [[ 9.76126015e-01 2.15362394e-01 2.82319409e-02 3.42616692e+02] [-2.15260300e-01 9.76534113e-01 -6.64304031e-03 -6.56326952e+01] [-2.90001144e-02 4.07228396e-04 9.99579325e-01 -1.13055976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354012739 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:342.65, Y:-65.64, Z:-11.31 [[ 9.75585701e-01 2.17800903e-01 2.82012005e-02 3.42649313e+02] [-2.17699889e-01 9.75993162e-01 -6.64131339e-03 -6.56401912e+01] [-2.89706629e-02 3.39772165e-04 9.99580205e-01 -1.13062754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:342.68, Y:-65.65, Z:-11.30 [[ 9.75134615e-01 2.19715596e-01 2.89402797e-02 3.42680283e+02] [-2.19609876e-01 9.75563924e-01 -6.82151383e-03 -6.56473481e+01] [-2.97318858e-02 2.96323008e-04 9.99557866e-01 -1.13043466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414012739 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:342.71, Y:-65.65, Z:-11.31 [[ 9.74471286e-01 2.22301322e-01 3.14298307e-02 3.42711207e+02] [-2.22177759e-01 9.74977981e-01 -7.41487025e-03 -6.56548709e+01] [-3.22917284e-02 2.42568812e-04 9.99478457e-01 -1.13075659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:342.74, Y:-65.66, Z:-11.31 [[ 9.74349319e-01 2.22799114e-01 3.16853146e-02 3.42742370e+02] [-2.22673611e-01 9.74864350e-01 -7.48084216e-03 -6.56623828e+01] [-3.25556086e-02 2.33470056e-04 9.99469898e-01 -1.13086484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474012739 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:342.77, Y:-65.67, Z:-11.31 [[ 9.74476615e-01 2.22476082e-01 2.99953159e-02 3.42774028e+02] [-2.22363293e-01 9.74938120e-01 -7.08723577e-03 -6.56688207e+01] [-3.08203173e-02 2.36488307e-04 9.99524913e-01 -1.13107524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:342.81, Y:-65.68, Z:-11.31 [[ 9.74675888e-01 2.21707571e-01 2.92004539e-02 3.42805026e+02] [-2.21600189e-01 9.75113166e-01 -6.90435550e-03 -6.56767624e+01] [-3.00044949e-02 2.58682733e-04 9.99549730e-01 -1.13118671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534012739 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:342.84, Y:-65.69, Z:-11.31 [[ 9.74897065e-01 2.20764110e-01 2.89641358e-02 3.42836040e+02] [-2.20657894e-01 9.75327188e-01 -6.85350686e-03 -6.56857312e+01] [-2.97625175e-02 2.90298509e-04 9.99556956e-01 -1.13127452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:342.87, Y:-65.70, Z:-11.31 [[ 9.75348851e-01 2.18777315e-01 2.88289088e-02 3.42866511e+02] [-2.18671072e-01 9.75774749e-01 -6.82650508e-03 -6.56965729e+01] [-2.96240057e-02 3.54175497e-04 9.99561050e-01 -1.13128700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594012739 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:342.90, Y:-65.71, Z:-11.31 [[ 9.75577634e-01 2.17834097e-01 2.82238678e-02 3.42897297e+02] [-2.17731718e-01 9.75985739e-01 -6.68856015e-03 -6.57072169e+01] [-2.90030889e-02 3.79978450e-04 9.99579250e-01 -1.13141521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:342.93, Y:-65.72, Z:-11.32 [[ 9.75496223e-01 2.18119827e-01 2.88246550e-02 3.42929044e+02] [-2.18013065e-01 9.75921920e-01 -6.83440997e-03 -6.57170952e+01] [-2.96213330e-02 3.82789717e-04 9.99561119e-01 -1.13151162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654012739 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:342.96, Y:-65.73, Z:-11.32 [[ 9.75234735e-01 2.19147363e-01 2.98604378e-02 3.42960873e+02] [-2.19033083e-01 9.75691701e-01 -7.08607343e-03 -6.57270660e+01] [-3.06874757e-02 3.70161181e-04 9.99528960e-01 -1.13155961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:342.99, Y:-65.74, Z:-11.32 [[ 9.74505017e-01 2.22197522e-01 3.11164344e-02 3.42991426e+02] [-2.22074772e-01 9.75001629e-01 -7.39050641e-03 -6.57368120e+01] [-3.19807264e-02 2.91910521e-04 9.99488443e-01 -1.13155984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714012739 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:343.02, Y:-65.75, Z:-11.32 [[ 9.73646086e-01 2.26202870e-01 2.90785129e-02 3.43022358e+02] [-2.26097311e-01 9.74080201e-01 -6.91145988e-03 -6.57455027e+01] [-2.98881958e-02 1.54742275e-04 9.99553236e-01 -1.13167438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:343.05, Y:-65.75, Z:-11.32 [[ 9.73184017e-01 2.28343594e-01 2.77862023e-02 3.43052261e+02] [-2.28247954e-01 9.73580605e-01 -6.60883402e-03 -6.57533550e+01] [-2.85611926e-02 8.94678260e-05 9.99592042e-01 -1.13181829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774012739 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:343.08, Y:-65.76, Z:-11.32 [[ 9.72920669e-01 2.29537192e-01 2.71670545e-02 3.43082012e+02] [-2.29446099e-01 9.73299889e-01 -6.46634690e-03 -6.57608156e+01] [-2.79259582e-02 5.78678800e-05 9.99609993e-01 -1.13198371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters Centerline goodness : 0.990071 Centerline is valid? [True, True] Translation: X:343.11, Y:-65.77, Z:-11.32 [[ 9.72804740e-01 2.29834244e-01 2.87603444e-02 3.43111670e+02] [-2.29732281e-01 9.73229787e-01 -6.84555662e-03 -6.57675353e+01] [-2.95637672e-02 5.22104001e-05 9.99562895e-01 -1.13196381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834012739 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:343.14, Y:-65.77, Z:-11.32 [[ 9.72973668e-01 2.28925901e-01 3.02518384e-02 3.43142538e+02] [-2.28812635e-01 9.73443848e-01 -7.20093207e-03 -6.57743850e+01] [-3.10969459e-02 8.43144222e-05 9.99516369e-01 -1.13200151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:343.17, Y:-65.78, Z:-11.32 [[ 9.73678181e-01 2.25733590e-01 3.15459430e-02 3.43173429e+02] [-2.25608719e-01 9.74189052e-01 -7.50981925e-03 -6.57821948e+01] [-3.24269307e-02 1.95107359e-04 9.99474090e-01 -1.13202105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894012739 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:343.20, Y:-65.79, Z:-11.32 [[ 9.73995664e-01 2.24387675e-01 3.13467421e-02 3.43204536e+02] [-2.24263512e-01 9.74499929e-01 -7.46758788e-03 -6.57905987e+01] [-3.22230326e-02 2.43467731e-04 9.99480674e-01 -1.13213564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:343.24, Y:-65.80, Z:-11.32 [[ 9.74456185e-01 2.22516682e-01 3.03557225e-02 3.43236314e+02] [-2.22399178e-01 9.74928836e-01 -7.23672737e-03 -6.57973627e+01] [-3.12049617e-02 3.00786028e-04 9.99512961e-01 -1.13226409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954012739 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:343.27, Y:-65.80, Z:-11.32 [[ 9.74541096e-01 2.22144662e-01 3.03545826e-02 3.43267526e+02] [-2.22026807e-01 9.75013665e-01 -7.24217913e-03 -6.58041395e+01] [-3.12049442e-02 3.18270129e-04 9.99512956e-01 -1.13236281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:343.30, Y:-65.81, Z:-11.32 [[ 9.74627021e-01 2.21755202e-01 3.04433843e-02 3.43299356e+02] [-2.21636310e-01 9.75102311e-01 -7.26837338e-03 -6.58107234e+01] [-3.12972140e-02 3.36593751e-04 9.99510066e-01 -1.13247191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014012739 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:343.33, Y:-65.82, Z:-11.33 [[ 9.74440519e-01 2.22609204e-01 3.01797394e-02 3.43331096e+02] [-2.22492590e-01 9.74907711e-01 -7.21129052e-03 -6.58182222e+01] [-3.10277603e-02 3.12205288e-04 9.99518474e-01 -1.13256291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:343.36, Y:-65.83, Z:-11.33 [[ 9.74143445e-01 2.23982383e-01 2.96047456e-02 3.43363457e+02] [-2.23870629e-01 9.74593156e-01 -7.07966166e-03 -6.58254043e+01] [-3.04383019e-02 2.68972991e-04 9.99536611e-01 -1.13261233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074012739 meters Centerline goodness : 0.989805 Centerline is valid? [True, True] Translation: X:343.40, Y:-65.83, Z:-11.33 [[ 9.73459086e-01 2.27110415e-01 2.82536384e-02 3.43395462e+02] [-2.27009790e-01 9.73869001e-01 -6.76195151e-03 -6.58301108e+01] [-2.90510523e-02 1.68630591e-04 9.99577915e-01 -1.13275947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters Centerline goodness : 0.989661 Centerline is valid? [True, True] Translation: X:343.43, Y:-65.84, Z:-11.33 [[ 9.73207616e-01 2.28249544e-01 2.77323204e-02 3.43425910e+02] [-2.28152913e-01 9.73602653e-01 -6.64240205e-03 -6.58358327e+01] [-2.85163860e-02 1.37226565e-04 9.99593316e-01 -1.13291477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134012739 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:343.46, Y:-65.84, Z:-11.33 [[ 9.72879774e-01 2.29618349e-01 2.79349247e-02 3.43456568e+02] [-2.29520843e-01 9.73280743e-01 -6.69166767e-03 -6.58399850e+01] [-2.87250539e-02 9.85406700e-05 9.99587346e-01 -1.13301364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:343.49, Y:-65.85, Z:-11.33 [[ 9.72723673e-01 2.30248476e-01 2.81832394e-02 3.43485796e+02] [-2.30149481e-01 9.73131868e-01 -6.75157426e-03 -6.58452964e+01] [-2.89805481e-02 8.10581975e-05 9.99579972e-01 -1.13311298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194012739 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:343.52, Y:-65.85, Z:-11.33 [[ 9.72538754e-01 2.30875904e-01 2.94055838e-02 3.43515633e+02] [-2.30768431e-01 9.72983203e-01 -7.04404170e-03 -6.58492527e+01] [-3.02374386e-02 6.47231066e-05 9.99542742e-01 -1.13320548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters Centerline goodness : 0.990184 Centerline is valid? [True, True] Translation: X:343.55, Y:-65.86, Z:-11.33 [[ 9.72621083e-01 2.30534323e-01 2.93624801e-02 3.43545582e+02] [-2.30427032e-01 9.73064191e-01 -7.03295883e-03 -6.58551724e+01] [-3.01929164e-02 7.44948839e-05 9.99544087e-01 -1.13326906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254012739 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:343.57, Y:-65.86, Z:-11.33 [[ 9.72714467e-01 2.30168036e-01 2.91417494e-02 3.43573278e+02] [-2.30062186e-01 9.73150897e-01 -6.98015939e-03 -6.58607658e+01] [-2.99659291e-02 8.52874624e-05 9.99550917e-01 -1.13339912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:343.60, Y:-65.87, Z:-11.34 [[ 9.72896000e-01 2.29530182e-01 2.80939383e-02 3.43602572e+02] [-2.29431572e-01 9.73301539e-01 -6.72816811e-03 -6.58663869e+01] [-2.88881910e-02 1.00171427e-04 9.99582644e-01 -1.13354016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314012739 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:343.63, Y:-65.87, Z:-11.34 [[ 9.72893136e-01 2.29557714e-01 2.79678796e-02 3.43632099e+02] [-2.29460020e-01 9.73295046e-01 -6.69723535e-03 -6.58721629e+01] [-2.87584007e-02 9.81840940e-05 9.99586387e-01 -1.13361459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:343.66, Y:-65.88, Z:-11.34 [[ 9.72776266e-01 2.30065628e-01 2.78593312e-02 3.43660994e+02] [-2.29968896e-01 9.73175113e-01 -6.67136165e-03 -6.58750002e+01] [-2.86468588e-02 8.29626409e-05 9.99589591e-01 -1.13366304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374012739 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:343.69, Y:-65.88, Z:-11.34 [[ 9.72667428e-01 2.30570424e-01 2.74837040e-02 3.43689750e+02] [-2.30476512e-01 9.73055638e-01 -6.58044658e-03 -6.58802256e+01] [-2.82604295e-02 6.62378059e-05 9.99600592e-01 -1.13370111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters Centerline goodness : 0.989972 Centerline is valid? [True, True] Translation: X:343.72, Y:-65.89, Z:-11.34 [[ 9.72597999e-01 2.30800227e-01 2.80069096e-02 3.43717994e+02] [-2.30702838e-01 9.73001157e-01 -6.70436004e-03 -6.58858354e+01] [-2.87981233e-02 5.93736237e-05 9.99585246e-01 -1.13381309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434012739 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:343.75, Y:-65.89, Z:-11.34 [[ 9.72712921e-01 2.30165934e-01 2.92098763e-02 3.43746893e+02] [-2.30059757e-01 9.73151394e-01 -6.99082868e-03 -6.58926607e+01] [-3.00346824e-02 8.00523385e-05 9.99548854e-01 -1.13385425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:343.78, Y:-65.90, Z:-11.34 [[ 9.72880592e-01 2.29311966e-01 3.03212160e-02 3.43776877e+02] [-2.29197164e-01 9.73352973e-01 -7.25600639e-03 -6.58997515e+01] [-3.11771348e-02 1.09691065e-04 9.99513869e-01 -1.13397499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494012739 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:343.81, Y:-65.91, Z:-11.34 [[ 9.73036982e-01 2.28543757e-01 3.10931361e-02 3.43806892e+02] [-2.28422642e-01 9.73533632e-01 -7.44073061e-03 -6.59085700e+01] [-3.19707462e-02 1.37729764e-04 9.99488796e-01 -1.13406031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:343.84, Y:-65.92, Z:-11.34 [[ 9.72947840e-01 2.28887701e-01 3.13515854e-02 3.43837110e+02] [-2.28764715e-01 9.73452826e-01 -7.50342241e-03 -6.59183093e+01] [-3.22367305e-02 1.28302136e-04 9.99480253e-01 -1.13407302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55401273900003 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:343.87, Y:-65.93, Z:-11.34 [[ 9.72800928e-01 2.29512426e-01 3.13432906e-02 3.43867554e+02] [-2.29389663e-01 9.73305725e-01 -7.50656993e-03 -6.59258891e+01] [-3.22294552e-02 1.12571320e-04 9.99480490e-01 -1.13413527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:343.90, Y:-65.93, Z:-11.34 [[ 9.72568203e-01 2.30538491e-01 3.10337646e-02 3.43896565e+02] [-2.30418639e-01 9.73063203e-01 -7.43321695e-03 -6.59329315e+01] [-3.19114570e-02 7.85526357e-05 9.99490697e-01 -1.13423033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61401273900003 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:343.92, Y:-65.94, Z:-11.34 [[ 9.71769866e-01 2.34027766e-01 2.99054052e-02 3.43924770e+02] [-2.33918112e-01 9.72229913e-01 -7.16331291e-03 -6.59403831e+01] [-3.07513436e-02 -3.43243098e-05 9.99527065e-01 -1.13444352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:343.95, Y:-65.95, Z:-11.35 [[ 9.71344676e-01 2.35815204e-01 2.96767564e-02 3.43952130e+02] [-2.35708040e-01 9.71797912e-01 -7.10903619e-03 -6.59480050e+01] [-3.05162288e-02 -8.97256426e-05 9.99534267e-01 -1.13460036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.674012739 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:343.98, Y:-65.95, Z:-11.35 [[ 9.70730350e-01 2.38335829e-01 2.96415287e-02 3.43979875e+02] [-2.38230136e-01 9.71182786e-01 -7.09920569e-03 -6.59549047e+01] [-3.04793375e-02 -1.70090978e-04 9.99535383e-01 -1.13467207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:344.01, Y:-65.96, Z:-11.35 [[ 9.70514489e-01 2.39236357e-01 2.94549112e-02 3.44009021e+02] [-2.39132449e-01 9.70961341e-01 -7.05309686e-03 -6.59610679e+01] [-3.02869372e-02 -1.98492335e-04 9.99541226e-01 -1.13481558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734012739 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:344.04, Y:-65.97, Z:-11.35 [[ 9.70402021e-01 2.39757489e-01 2.89182198e-02 3.44036926e+02] [-2.39657584e-01 9.70832788e-01 -6.92390920e-03 -6.59667919e+01] [-2.97348150e-02 -2.11495214e-04 9.99557800e-01 -1.13496007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:344.06, Y:-65.97, Z:-11.35 [[ 9.70513951e-01 2.39372712e-01 2.83438957e-02 3.44064068e+02] [-2.39276600e-01 9.70927735e-01 -6.78545868e-03 -6.59729018e+01] [-2.91441281e-02 -1.96648675e-04 9.99575200e-01 -1.13509313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794012739 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:344.09, Y:-65.98, Z:-11.35 [[ 9.70736025e-01 2.38468896e-01 2.83576441e-02 3.44093160e+02] [-2.38372363e-01 9.71150120e-01 -6.78674953e-03 -6.59800429e+01] [-2.91579581e-02 -1.71536376e-04 9.99574802e-01 -1.13517139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:344.12, Y:-65.99, Z:-11.35 [[ 9.71223225e-01 2.36407233e-01 2.89321164e-02 3.44120915e+02] [-2.36305856e-01 9.71654058e-01 -6.92350958e-03 -6.59862853e+01] [-2.97487760e-02 -1.12555218e-04 9.99557401e-01 -1.13528325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854012739 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:344.15, Y:-65.99, Z:-11.35 [[ 9.71477492e-01 2.35271243e-01 2.96466513e-02 3.44149468e+02] [-2.35164291e-01 9.71929748e-01 -7.09370127e-03 -6.59925602e+01] [-3.04834062e-02 -8.04625950e-05 9.99535270e-01 -1.13540371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:344.18, Y:-66.00, Z:-11.35 [[ 9.71933397e-01 2.33252463e-01 3.06391818e-02 3.44177751e+02] [-2.33137272e-01 9.72416211e-01 -7.32969483e-03 -6.59999232e+01] [-3.15037064e-02 -1.91600527e-05 9.99503635e-01 -1.13547972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914012739 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:344.21, Y:-66.01, Z:-11.36 [[ 9.72129299e-01 2.32495327e-01 3.01753002e-02 3.44207230e+02] [-2.32383278e-01 9.72597513e-01 -7.21726991e-03 -6.60074790e+01] [-3.10264035e-02 3.88435872e-06 9.99518565e-01 -1.13559282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:344.24, Y:-66.02, Z:-11.36 [[ 9.72317745e-01 2.31652337e-01 3.05842745e-02 3.44235299e+02] [-2.31591298e-01 9.72797215e-01 -5.57214059e-03 -6.60160140e+01] [-3.10430964e-02 -1.66516065e-03 9.99516660e-01 -1.13570345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974012739 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:344.26, Y:-66.02, Z:-11.36 [[ 9.72320050e-01 2.31692187e-01 3.02068156e-02 3.44264859e+02] [-2.31579457e-01 9.72789150e-01 -7.22672423e-03 -6.60219766e+01] [-3.10592380e-02 3.14108897e-05 9.99517545e-01 -1.13581366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:344.29, Y:-66.03, Z:-11.36 [[ 9.72837521e-01 2.29724666e-01 2.85260434e-02 3.44293190e+02] [-2.29571782e-01 9.73254019e-01 -8.56801980e-03 -6.60304646e+01] [-2.97313719e-02 1.78651652e-03 9.99556329e-01 -1.13590520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034012739 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:344.32, Y:-66.04, Z:-11.36 [[ 9.73039890e-01 2.28798672e-01 2.90609602e-02 3.44322661e+02] [-2.28693132e-01 9.73473756e-01 -6.94959793e-03 -6.60400409e+01] [-2.98801408e-02 1.16193993e-04 9.99553482e-01 -1.13598098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:344.35, Y:-66.05, Z:-11.36 [[ 9.73116308e-01 2.28370133e-01 2.98619179e-02 3.44351720e+02] [-2.28258492e-01 9.73574376e-01 -7.14113785e-03 -6.60493924e+01] [-3.07036207e-02 1.32921338e-04 9.99528524e-01 -1.13592613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094012739 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:344.38, Y:-66.06, Z:-11.36 [[ 9.72936745e-01 2.29086061e-01 3.02269155e-02 3.44382639e+02] [-2.28972024e-01 9.73406166e-01 -7.22826690e-03 -6.60577026e+01] [-3.10789612e-02 1.11528448e-04 9.99516926e-01 -1.13603899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:344.41, Y:-66.07, Z:-11.36 [[ 9.72616775e-01 2.30413723e-01 3.04323083e-02 3.44412427e+02] [-2.30298610e-01 9.73092755e-01 -7.28284709e-03 -6.60653362e+01] [-3.12915266e-02 7.49009608e-05 9.99510297e-01 -1.13606248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154012739 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:344.44, Y:-66.07, Z:-11.36 [[ 9.72190356e-01 2.32039370e-01 3.16803041e-02 3.44441089e+02] [-2.31915308e-01 9.72706395e-01 -7.58681941e-03 -6.60719910e+01] [-3.25760752e-02 2.86851655e-05 9.99469258e-01 -1.13619716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:344.47, Y:-66.08, Z:-11.36 [[ 9.72137039e-01 2.32235346e-01 3.18797992e-02 3.44470904e+02] [-2.32109847e-01 9.72659624e-01 -7.63384558e-03 -6.60799992e+01] [-3.27810423e-02 2.15287153e-05 9.99462557e-01 -1.13631486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:344.50, Y:-66.09, Z:-11.36 [[ 9.72214546e-01 2.32034072e-01 3.09687863e-02 3.44499946e+02] [-2.31915542e-01 9.72707658e-01 -7.41569546e-03 -6.60908204e+01] [-3.18442696e-02 2.75041166e-05 9.99492842e-01 -1.13643483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:344.53, Y:-66.10, Z:-11.37 [[ 9.72206776e-01 2.32073924e-01 3.09140612e-02 3.44529489e+02] [-2.31955822e-01 9.72698151e-01 -7.40296042e-03 -6.61002190e+01] [-3.17880843e-02 2.65117977e-05 9.99494631e-01 -1.13657651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274012739 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:344.56, Y:-66.11, Z:-11.37 [[ 9.72128700e-01 2.32373802e-01 3.11160151e-02 3.44557832e+02] [-2.32254305e-01 9.72626555e-01 -7.45132228e-03 -6.61113491e+01] [-3.19957546e-02 1.68158035e-05 9.99488005e-01 -1.13664047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:344.59, Y:-66.12, Z:-11.37 [[ 9.71908010e-01 2.33269020e-01 3.13110876e-02 3.44586974e+02] [-2.33148471e-01 9.72412240e-01 -7.49840550e-03 -6.61199844e+01] [-3.21964305e-02 -1.23718301e-05 9.99481560e-01 -1.13670934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334012739 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:344.61, Y:-66.13, Z:-11.37 [[ 9.70970633e-01 2.37073108e-01 3.18177907e-02 3.44614856e+02] [-2.36950665e-01 9.71491802e-01 -7.61974289e-03 -6.61293338e+01] [-3.27171590e-02 -1.40700093e-04 9.99464641e-01 -1.13676777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:344.64, Y:-66.14, Z:-11.37 [[ 9.70285767e-01 2.39875820e-01 3.17036495e-02 3.44642073e+02] [-2.39755762e-01 9.70803552e-01 -7.59202887e-03 -6.61371996e+01] [-3.25991597e-02 -2.34695073e-04 9.99468479e-01 -1.13688088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394012739 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:344.67, Y:-66.14, Z:-11.37 [[ 9.69532792e-01 2.42964738e-01 3.12137843e-02 3.44670911e+02] [-2.42849995e-01 9.70035063e-01 -7.47366490e-03 -6.61447574e+01] [-3.20943023e-02 -3.34304178e-04 9.99484789e-01 -1.13692392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:344.70, Y:-66.15, Z:-11.37 [[ 9.68214075e-01 2.48286239e-01 3.02563848e-02 3.44702975e+02] [-2.48181049e-01 9.68686584e-01 -7.24356710e-03 -6.61522693e+01] [-3.11074321e-02 -4.95737718e-04 9.99515924e-01 -1.13711121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454012739 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:344.73, Y:-66.16, Z:-11.37 [[ 9.67628596e-01 2.50533106e-01 3.04641421e-02 3.44733557e+02] [-2.50427380e-01 9.68107867e-01 -7.29961844e-03 -6.61592404e+01] [-3.13213717e-02 -5.65735752e-04 9.99509205e-01 -1.13721617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:344.76, Y:-66.17, Z:-11.37 [[ 9.66693833e-01 2.54046256e-01 3.10408129e-02 3.44764316e+02] [-2.53938130e-01 9.67191826e-01 -7.44303244e-03 -6.61653516e+01] [-3.19132950e-02 -6.87312418e-04 9.99490405e-01 -1.13720609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514012739 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:344.80, Y:-66.17, Z:-11.37 [[ 9.66186631e-01 2.55990172e-01 3.08614078e-02 3.44795086e+02] [-2.55884258e-01 9.66679096e-01 -7.40078890e-03 -6.61708357e+01] [-3.17276070e-02 -7.46405121e-04 9.99496274e-01 -1.13732317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:344.82, Y:-66.18, Z:-11.37 [[ 9.65646853e-01 2.58090420e-01 3.02570604e-02 3.44824565e+02] [-2.57989620e-01 9.66120436e-01 -7.25664690e-03 -6.61754599e+01] [-3.11048355e-02 -7.98649268e-04 9.99515808e-01 -1.13741864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574012739 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:344.85, Y:-66.18, Z:-11.38 [[ 9.64479506e-01 2.62519546e-01 2.93729580e-02 3.44853652e+02] [-2.62426610e-01 9.64926242e-01 -7.04431354e-03 -6.61761891e+01] [-3.01920080e-02 -9.14149748e-04 9.99543699e-01 -1.13750199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:344.88, Y:-66.18, Z:-11.38 [[ 9.64020226e-01 2.64193836e-01 2.94384173e-02 3.44882706e+02] [-2.64101308e-01 9.64469116e-01 -7.05856919e-03 -6.61796917e+01] [-3.02572748e-02 -9.70121041e-04 9.99541673e-01 -1.13762111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634012739 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:344.91, Y:-66.18, Z:-11.38 [[ 9.63515914e-01 2.65970157e-01 2.99492898e-02 3.44910654e+02] [-2.65875291e-01 9.63980697e-01 -7.17958582e-03 -6.61805001e+01] [-3.07800928e-02 -1.04513093e-03 9.99525634e-01 -1.13776275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:344.94, Y:-66.18, Z:-11.38 [[ 9.63560825e-01 2.65760312e-01 3.03643543e-02 3.44939469e+02] [-2.65662752e-01 9.64038560e-01 -7.27720749e-03 -6.61844799e+01] [-3.12064014e-02 -1.05464589e-03 9.99512405e-01 -1.13780470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694012739 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:344.97, Y:-66.18, Z:-11.38 [[ 9.64205423e-01 2.63363002e-01 3.07868854e-02 3.44968293e+02] [-2.63261534e-01 9.64696297e-01 -7.37694784e-03 -6.61849189e+01] [-3.16428094e-02 -9.92109569e-04 9.99498749e-01 -1.13776585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:345.00, Y:-66.19, Z:-11.38 [[ 9.64676802e-01 2.61608248e-01 3.09805140e-02 3.44996516e+02] [-2.61504657e-01 9.65173682e-01 -7.42144221e-03 -6.61889123e+01] [-3.18430872e-02 -9.42255543e-04 9.99492436e-01 -1.13786395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754012739 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:345.03, Y:-66.19, Z:-11.38 [[ 9.65633202e-01 2.58034201e-01 3.11587780e-02 3.45025909e+02] [-2.57927602e-01 9.66135426e-01 -7.46263504e-03 -6.61906617e+01] [-3.20292143e-02 -8.30540714e-04 9.99486588e-01 -1.13796619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:345.05, Y:-66.19, Z:-11.38 [[ 9.66040952e-01 2.56493807e-01 3.12378866e-02 3.45054049e+02] [-2.56385911e-01 9.66545557e-01 -7.48001777e-03 -6.61944664e+01] [-3.21114188e-02 -7.82950538e-04 9.99483989e-01 -1.13804616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814012739 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:345.08, Y:-66.19, Z:-11.38 [[ 9.66500541e-01 2.55296664e-01 2.64635159e-02 3.45083930e+02] [-2.54905383e-01 9.66811420e-01 -1.72894409e-02 -6.61919283e+01] [-2.99991659e-02 9.96456137e-03 9.99500254e-01 -1.13806846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:345.11, Y:-66.21, Z:-11.38 [[ 9.67439728e-01 2.50752386e-01 3.44036889e-02 3.45110193e+02] [-2.50986527e-01 9.67987103e-01 2.59453410e-03 -6.62071627e+01] [-3.26517416e-02 -1.11449178e-02 9.99404650e-01 -1.13819770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874012739 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:345.14, Y:-66.21, Z:-11.38 [[ 9.68095355e-01 2.48412008e-01 3.29068085e-02 3.45138453e+02] [-2.48287796e-01 9.68654311e-01 -7.87376374e-03 -6.62065143e+01] [-3.38312594e-02 -5.47804865e-04 9.99427409e-01 -1.13839249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:345.17, Y:-66.21, Z:-11.38 [[ 9.69645068e-01 2.42303458e-01 3.28249305e-02 3.45166907e+02] [-2.42176426e-01 9.70200454e-01 -7.85222512e-03 -6.62129496e+01] [-3.37493838e-02 -3.35552969e-04 9.99430271e-01 -1.13843061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934012739 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:345.20, Y:-66.22, Z:-11.39 [[ 9.70381774e-01 2.39468435e-01 3.18446274e-02 3.45195291e+02] [-2.39347399e-01 9.70904122e-01 -7.61626504e-03 -6.62196837e+01] [-3.27419351e-02 -2.31243969e-04 9.99463812e-01 -1.13863423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:345.22, Y:-66.23, Z:-11.39 [[ 9.71009778e-01 2.37055583e-01 3.07353618e-02 3.45223659e+02] [-2.36941659e-01 9.71496078e-01 -7.34987241e-03 -6.62263549e+01] [-3.16016117e-02 -1.45689640e-04 9.99500534e-01 -1.13880194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994012739 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:345.25, Y:-66.23, Z:-11.39 [[ 9.71769747e-01 2.34192488e-01 2.85908769e-02 3.45249887e+02] [-2.34092708e-01 9.72190247e-01 -6.83578919e-03 -6.62343118e+01] [-2.93966622e-02 -5.01026817e-05 9.99567823e-01 -1.13895752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:345.28, Y:-66.24, Z:-11.39 [[ 9.72000548e-01 2.33257675e-01 2.83864661e-02 3.45278030e+02] [-2.33158977e-01 9.72414961e-01 -6.78488860e-03 -6.62420911e+01] [-2.91860517e-02 -2.36439721e-05 9.99573996e-01 -1.13908865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05401273900003 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:345.31, Y:-66.25, Z:-11.39 [[ 9.72226923e-01 2.32228689e-01 2.90628090e-02 3.45305783e+02] [-2.32124815e-01 9.72661213e-01 -6.94508963e-03 -6.62506233e+01] [-2.98811161e-02 6.00395688e-06 9.99553460e-01 -1.13911653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:345.33, Y:-66.26, Z:-11.39 [[ 9.72267044e-01 2.32040438e-01 2.92237967e-02 3.45332371e+02] [-2.31935368e-01 9.72706140e-01 -6.98212615e-03 -6.62586432e+01] [-3.00463021e-02 1.04590925e-05 9.99548508e-01 -1.13921998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11401273900003 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:345.36, Y:-66.27, Z:-11.39 [[ 9.72432618e-01 2.31337662e-01 2.92863230e-02 3.45358949e+02] [-2.31231878e-01 9.72873520e-01 -6.99525055e-03 -6.62669505e+01] [-3.01101530e-02 3.04783654e-05 9.99546586e-01 -1.13932405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:345.39, Y:-66.28, Z:-11.39 [[ 9.73006376e-01 2.28953291e-01 2.89652116e-02 3.45385518e+02] [-2.28848807e-01 9.73437404e-01 -6.91687866e-03 -6.62782264e+01] [-2.97794625e-02 1.01512905e-04 9.99556488e-01 -1.13948955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.174012739 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:345.41, Y:-66.29, Z:-11.40 [[ 9.73425969e-01 2.26975331e-01 3.03987230e-02 3.45413128e+02] [-2.26859329e-01 9.73900493e-01 -7.25771569e-03 -6.62915318e+01] [-3.12526537e-02 1.68615044e-04 9.99511502e-01 -1.13952641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:345.44, Y:-66.30, Z:-11.40 [[ 9.73229511e-01 2.27664131e-01 3.15176351e-02 3.45442223e+02] [-2.27539816e-01 9.73739709e-01 -7.52407781e-03 -6.63015638e+01] [-3.24029354e-02 1.51137688e-04 9.99474876e-01 -1.13951312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234012739 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:345.47, Y:-66.31, Z:-11.39 [[ 9.72763480e-01 2.29592278e-01 3.19154766e-02 3.45471077e+02] [-2.29465840e-01 9.73286894e-01 -7.61904173e-03 -6.63099651e+01] [-3.28121883e-02 8.80138813e-05 9.99461531e-01 -1.13949849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:345.50, Y:-66.32, Z:-11.40 [[ 9.71200495e-01 2.36268456e-01 3.07703508e-02 3.45499488e+02] [-2.36154287e-01 9.71687810e-01 -7.34531372e-03 -6.63158048e+01] [-3.16346407e-02 -1.32777929e-04 9.99499491e-01 -1.13958985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294012739 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:345.53, Y:-66.32, Z:-11.40 [[ 9.70213121e-01 2.40375898e-01 3.00986343e-02 3.45527166e+02] [-2.40268667e-01 9.70679844e-01 -7.18391314e-03 -6.63216342e+01] [-3.09429772e-02 -2.61831956e-04 9.99521117e-01 -1.13969133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:345.55, Y:-66.33, Z:-11.40 [[ 9.67985507e-01 2.49121134e-01 3.07037298e-02 3.45554477e+02] [-2.49013994e-01 9.68472175e-01 -7.32645965e-03 -6.63265781e+01] [-3.15608839e-02 -5.53751637e-04 9.99501678e-01 -1.13976462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354012739 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:345.58, Y:-66.33, Z:-11.40 [[ 9.66912958e-01 2.53210439e-01 3.10452030e-02 3.45582905e+02] [-2.53103063e-01 9.67410972e-01 -7.40612890e-03 -6.63316414e+01] [-3.19087792e-02 -6.96553995e-04 9.99490543e-01 -1.13983307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:345.61, Y:-66.34, Z:-11.40 [[ 9.66022536e-01 2.56590640e-01 3.10113311e-02 3.45610679e+02] [-2.56485286e-01 9.66519834e-01 -7.39651177e-03 -6.63359367e+01] [-3.18709423e-02 -8.08753085e-04 9.99491665e-01 -1.13996990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414012739 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:345.64, Y:-66.34, Z:-11.40 [[ 9.64899256e-01 2.61038436e-01 2.87812673e-02 3.45639074e+02] [-2.60949714e-01 9.65327999e-01 -6.86301825e-03 -6.63367335e+01] [-2.95748747e-02 -8.88342263e-04 9.99562173e-01 -1.14014390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:345.67, Y:-66.34, Z:-11.40 [[ 9.64577510e-01 2.62282722e-01 2.82489098e-02 3.45667302e+02] [-2.62197844e-01 9.64990644e-01 -6.73405222e-03 -6.63396976e+01] [-2.90261592e-02 -9.11287924e-04 9.99578237e-01 -1.14027606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474012739 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:345.70, Y:-66.34, Z:-11.40 [[ 9.63960700e-01 2.64523192e-01 2.84121475e-02 3.45695823e+02] [-2.64438362e-01 9.64378820e-01 -6.77089331e-03 -6.63375691e+01] [-2.91911316e-02 -9.86386674e-04 9.99573361e-01 -1.14032877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:345.72, Y:-66.34, Z:-11.40 [[ 9.63649228e-01 2.65636014e-01 2.85949962e-02 3.45723940e+02] [-2.65550650e-01 9.64072844e-01 -6.81197814e-03 -6.63393482e+01] [-2.93771661e-02 -1.02906236e-03 9.99567868e-01 -1.14043324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534012739 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:345.75, Y:-66.34, Z:-11.41 [[ 9.63423157e-01 2.66445078e-01 2.86852038e-02 3.45752776e+02] [-2.66359594e-01 9.63849521e-01 -6.83138566e-03 -6.63352566e+01] [-2.94684091e-02 -1.05906411e-03 9.99565151e-01 -1.14060550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:345.78, Y:-66.34, Z:-11.41 [[ 9.63535384e-01 2.66035379e-01 2.87182953e-02 3.45781199e+02] [-2.65949589e-01 9.63962693e-01 -6.83679182e-03 -6.63368878e+01] [-2.95021938e-02 -1.05012800e-03 9.99564164e-01 -1.14068469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594012739 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:345.81, Y:-66.34, Z:-11.41 [[ 9.63777772e-01 2.65133640e-01 2.89233189e-02 3.45808600e+02] [-2.65046277e-01 9.64211122e-01 -6.88351747e-03 -6.63386664e+01] [-2.97132378e-02 -1.03183686e-03 9.99557932e-01 -1.14076509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:345.84, Y:-66.34, Z:-11.41 [[ 9.64679678e-01 2.61830263e-01 2.89487745e-02 3.45837435e+02] [-2.61741332e-01 9.65113487e-01 -6.88712444e-03 -6.63361581e+01] [-2.97421103e-02 -9.33221822e-04 9.99557170e-01 -1.14097506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:345.87, Y:-66.33, Z:-11.41 [[ 9.65929994e-01 2.57313260e-01 2.77332456e-02 3.45866901e+02] [-2.57229834e-01 9.66327742e-01 -6.59602856e-03 -6.63339191e+01] [-2.84966502e-02 -7.62516345e-04 9.99593597e-01 -1.14114374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:345.89, Y:-66.34, Z:-11.41 [[ 9.66649501e-01 2.54597535e-01 2.77279081e-02 3.45893954e+02] [-2.54513080e-01 9.67046859e-01 -6.59277725e-03 -6.63364626e+01] [-2.84926913e-02 -6.84210472e-04 9.99593767e-01 -1.14123468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714012739 meters Centerline goodness : 0.990374 Centerline is valid? [True, True] Translation: X:345.92, Y:-66.34, Z:-11.41 [[ 9.67354725e-01 2.51845070e-01 2.82647597e-02 3.45922080e+02] [-2.51756211e-01 9.67767369e-01 -6.71794349e-03 -6.63403824e+01] [-2.90455931e-02 -6.17194417e-04 9.99577897e-01 -1.14126062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:345.95, Y:-66.34, Z:-11.41 [[ 9.68546819e-01 2.46905063e-01 3.09022602e-02 3.45949004e+02] [-2.46796403e-01 9.69039537e-01 -7.34242532e-03 -6.63418635e+01] [-3.17583939e-02 -5.15083971e-04 9.99495442e-01 -1.14118234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774012739 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:345.98, Y:-66.35, Z:-11.41 [[ 9.69021455e-01 2.44917613e-01 3.18242586e-02 3.45976693e+02] [-2.44801436e-01 9.69543782e-01 -7.55729431e-03 -6.63464645e+01] [-3.27059265e-02 -4.67443873e-04 9.99464909e-01 -1.14131367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:346.00, Y:-66.35, Z:-11.41 [[ 9.70089519e-01 2.40562814e-01 3.24939756e-02 3.46003062e+02] [-2.40439330e-01 9.70633517e-01 -7.71391180e-03 -6.63506225e+01] [-3.33954221e-02 -3.29644748e-04 9.99442163e-01 -1.14148702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834012739 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:346.03, Y:-66.36, Z:-11.42 [[ 9.70643898e-01 2.38329252e-01 3.23974060e-02 3.46030842e+02] [-2.38205347e-01 9.71184382e-01 -7.68828825e-03 -6.63567334e+01] [-3.32961987e-02 -2.54645264e-04 9.99445495e-01 -1.14152890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:346.06, Y:-66.36, Z:-11.42 [[ 9.71221166e-01 2.35932144e-01 3.26415349e-02 3.46057745e+02] [-2.35805090e-01 9.71769516e-01 -7.74386173e-03 -6.63628199e+01] [-3.35470745e-02 -1.76037643e-04 9.99437123e-01 -1.14158093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894012739 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:346.09, Y:-66.37, Z:-11.42 [[ 9.71247721e-01 2.35822731e-01 3.26420772e-02 3.46085487e+02] [-2.35695691e-01 9.71796074e-01 -7.74157514e-03 -6.63692334e+01] [-3.35470819e-02 -1.74609726e-04 9.99437123e-01 -1.14167173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:346.11, Y:-66.38, Z:-11.42 [[ 9.72464846e-01 2.30821540e-01 3.21487049e-02 3.46112409e+02] [-2.30695700e-01 9.72996103e-01 -7.62084980e-03 -6.63757509e+01] [-3.30396209e-02 -5.55944813e-06 9.99454043e-01 -1.14165899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954012739 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:346.14, Y:-66.38, Z:-11.42 [[ 9.73099903e-01 2.28177843e-01 3.18033301e-02 3.46139796e+02] [-2.28053353e-01 9.73619467e-01 -7.53673825e-03 -6.63823778e+01] [-3.26840580e-02 8.11431728e-05 9.99465730e-01 -1.14178500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:346.17, Y:-66.39, Z:-11.42 [[ 9.74140143e-01 2.23832742e-01 3.08201969e-02 3.46167213e+02] [-2.23713727e-01 9.74627547e-01 -7.30152799e-03 -6.63890685e+01] [-3.16725339e-02 2.17810422e-04 9.99498276e-01 -1.14190382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014012739 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:346.19, Y:-66.39, Z:-11.42 [[ 9.74477594e-01 2.22402756e-01 3.05030036e-02 3.46193204e+02] [-2.22285548e-01 9.74954843e-01 -7.22415348e-03 -6.63949018e+01] [-3.13457227e-02 2.59398823e-04 9.99508568e-01 -1.14198006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:346.22, Y:-66.40, Z:-11.42 [[ 9.74700527e-01 2.21450982e-01 3.03042000e-02 3.46219943e+02] [-2.21334940e-01 9.75171463e-01 -7.17378430e-03 -6.64009076e+01] [-3.11404326e-02 2.84913060e-04 9.99514979e-01 -1.14206635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074012739 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:346.25, Y:-66.41, Z:-11.42 [[ 9.75056101e-01 2.19828433e-01 3.06766885e-02 3.46247231e+02] [-2.19708830e-01 9.75538490e-01 -7.25837250e-03 -6.64073953e+01] [-3.15218870e-02 3.37381075e-04 9.99503005e-01 -1.14210338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:346.27, Y:-66.41, Z:-11.42 [[ 9.75217989e-01 2.19038158e-01 3.11794571e-02 3.46274216e+02] [-2.18914268e-01 9.75716225e-01 -7.37510527e-03 -6.64135561e+01] [-3.20377317e-02 3.66707291e-04 9.99486593e-01 -1.14215869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134012739 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:346.30, Y:-66.42, Z:-11.42 [[ 9.75587631e-01 2.17360257e-01 3.13575149e-02 3.46301579e+02] [-2.17234156e-01 9.76091359e-01 -7.41490962e-03 -6.64203474e+01] [-3.22195060e-02 4.21970821e-04 9.99480728e-01 -1.14231080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:346.33, Y:-66.43, Z:-11.42 [[ 9.75868018e-01 2.16204225e-01 3.06160973e-02 3.46327921e+02] [-2.16083506e-01 9.76348059e-01 -7.23778434e-03 -6.64268593e+01] [-3.14568068e-02 4.47488594e-04 9.99505012e-01 -1.14247256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194012739 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:346.35, Y:-66.43, Z:-11.43 [[ 9.76284169e-01 2.14587738e-01 2.86587477e-02 3.46354310e+02] [-2.14481354e-01 9.76704606e-01 -6.77217925e-03 -6.64347773e+01] [-2.94443575e-02 4.64804395e-04 9.99566313e-01 -1.14266915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:346.38, Y:-66.44, Z:-11.43 [[ 9.76484985e-01 2.13697931e-01 2.84652307e-02 3.46381092e+02] [-2.13592655e-01 9.76899666e-01 -6.72457238e-03 -6.64423633e+01] [-2.92447016e-02 4.86479750e-04 9.99572164e-01 -1.14274826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254012739 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:346.41, Y:-66.45, Z:-11.43 [[ 9.76650501e-01 2.12916413e-01 2.86426216e-02 3.46406909e+02] [-2.12809544e-01 9.77070284e-01 -6.76447888e-03 -6.64499165e+01] [-2.94261230e-02 5.11108453e-04 9.99566827e-01 -1.14287265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:346.43, Y:-66.46, Z:-11.43 [[ 9.76897358e-01 2.11783163e-01 2.86259157e-02 3.46433684e+02] [-2.11676022e-01 9.77316529e-01 -6.75750546e-03 -6.64589242e+01] [-2.94077064e-02 5.41969292e-04 9.99567353e-01 -1.14292118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314012739 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:346.46, Y:-66.47, Z:-11.43 [[ 9.76909599e-01 2.11755035e-01 2.84155116e-02 3.46460662e+02] [-2.11649509e-01 9.77322627e-01 -6.70585148e-03 -6.64675164e+01] [-2.91911203e-02 5.36881604e-04 9.99573704e-01 -1.14306831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:346.49, Y:-66.48, Z:-11.43 [[ 9.76844627e-01 2.12036781e-01 2.85478070e-02 3.46487538e+02] [-2.11930451e-01 9.77261543e-01 -6.73499276e-03 -6.64796924e+01] [-2.93267401e-02 5.28891867e-04 9.99569739e-01 -1.14321531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374012739 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:346.51, Y:-66.49, Z:-11.43 [[ 9.76755807e-01 2.12438638e-01 2.85992712e-02 3.46514054e+02] [-2.12332137e-01 9.77174272e-01 -6.74574692e-03 -6.64895452e+01] [-2.93795293e-02 5.16403105e-04 9.99568195e-01 -1.14326671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:346.54, Y:-66.50, Z:-11.43 [[ 9.76500273e-01 2.13579112e-01 2.88301894e-02 3.46540454e+02] [-2.13471434e-01 9.76925652e-01 -6.79839566e-03 -6.65023153e+01] [-2.96169469e-02 4.84213342e-04 9.99561205e-01 -1.14330407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434012739 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:346.57, Y:-66.51, Z:-11.43 [[ 9.76277711e-01 2.14620554e-01 2.86330031e-02 3.46566794e+02] [-2.14514834e-01 9.76697403e-01 -6.75050220e-03 -6.65107039e+01] [-2.94145763e-02 4.48160939e-04 9.99567197e-01 -1.14345757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:346.59, Y:-66.52, Z:-11.44 [[ 9.75744703e-01 2.17212180e-01 2.72239593e-02 3.46593100e+02] [-2.17117664e-01 9.76124350e-01 -6.41669596e-03 -6.65207508e+01] [-2.79677541e-02 3.50254655e-04 9.99608764e-01 -1.14358525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494012739 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:346.62, Y:-66.53, Z:-11.44 [[ 9.75417968e-01 2.18685339e-01 2.71387056e-02 3.46619070e+02] [-2.18592025e-01 9.75795383e-01 -6.39512131e-03 -6.65284728e+01] [-2.78803429e-02 3.05611627e-04 9.99611221e-01 -1.14365890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:346.65, Y:-66.54, Z:-11.44 [[ 9.75022956e-01 2.20339227e-01 2.79438929e-02 3.46646792e+02] [-2.20241057e-01 9.75423270e-01 -6.58184338e-03 -6.65361921e+01] [-2.87073616e-02 2.63055882e-04 9.99587824e-01 -1.14368169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55401273900003 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:346.67, Y:-66.54, Z:-11.44 [[ 9.74299946e-01 2.23277287e-01 2.97803513e-02 3.46673385e+02] [-2.23167206e-01 9.74754953e-01 -7.01283074e-03 -6.65430296e+01] [-3.05943507e-02 1.86602820e-04 9.99531866e-01 -1.14371570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:346.70, Y:-66.55, Z:-11.44 [[ 9.74067089e-01 2.24170637e-01 3.06729689e-02 3.46700867e+02] [-2.24054348e-01 9.74549896e-01 -7.22147978e-03 -6.65501196e+01] [-3.15111824e-02 1.61793735e-04 9.99503386e-01 -1.14378890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61401273900003 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:346.73, Y:-66.56, Z:-11.44 [[ 9.73865964e-01 2.24793239e-01 3.24512479e-02 3.46728042e+02] [-2.24663474e-01 9.74406475e-01 -7.63844066e-03 -6.65581234e+01] [-3.33377759e-02 1.48207290e-04 9.99444131e-01 -1.14384892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:346.76, Y:-66.56, Z:-11.44 [[ 9.73966865e-01 2.24236018e-01 3.32679214e-02 3.46755510e+02] [-2.24099383e-01 9.74534853e-01 -7.82858785e-03 -6.65645784e+01] [-3.41762002e-02 1.69464505e-04 9.99415809e-01 -1.14390847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.674012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:346.78, Y:-66.57, Z:-11.44 [[ 9.74141478e-01 2.23372140e-01 3.39598099e-02 3.46783373e+02] [-2.23229306e-01 9.74733218e-01 -7.98938534e-03 -6.65709782e+01] [-3.48863609e-02 2.01966827e-04 9.99391265e-01 -1.14400100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:346.81, Y:-66.58, Z:-11.44 [[ 9.74538355e-01 2.21697363e-01 3.35450890e-02 3.46810692e+02] [-2.21557061e-01 9.75115487e-01 -7.89023372e-03 -6.65785669e+01] [-3.44595798e-02 2.57184087e-04 9.99406059e-01 -1.14415844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734012739 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:346.84, Y:-66.59, Z:-11.44 [[ 9.75041255e-01 2.19702800e-01 3.20192280e-02 3.46837958e+02] [-2.19573948e-01 9.75566801e-01 -7.52984325e-03 -6.65881870e+01] [-3.28912235e-02 3.11319489e-04 9.99458889e-01 -1.14429781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:346.87, Y:-66.60, Z:-11.44 [[ 9.75384275e-01 2.18193740e-01 3.18905597e-02 3.46866661e+02] [-2.18065153e-01 9.75905407e-01 -7.49843230e-03 -6.65963721e+01] [-3.27582806e-02 3.59633171e-04 9.99463239e-01 -1.14447079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794012739 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:346.89, Y:-66.60, Z:-11.45 [[ 9.75704186e-01 2.16776702e-01 3.17679656e-02 3.46894100e+02] [-2.16648378e-01 9.76221131e-01 -7.46880416e-03 -6.66045846e+01] [-3.26316221e-02 4.04865277e-04 9.99467365e-01 -1.14457556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:346.92, Y:-66.61, Z:-11.45 [[ 9.76141545e-01 2.14893674e-01 3.11190299e-02 3.46921987e+02] [-2.14769612e-01 9.76637343e-01 -7.31534257e-03 -6.66146299e+01] [-3.19640275e-02 4.57387838e-04 9.99488915e-01 -1.14468391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:346.95, Y:-66.62, Z:-11.45 [[ 9.76156040e-01 2.14877071e-01 3.07771062e-02 3.46950896e+02] [-2.14755699e-01 9.76640998e-01 -7.23539090e-03 -6.66228914e+01] [-3.16129033e-02 4.53311559e-04 9.99500084e-01 -1.14473493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:346.98, Y:-66.63, Z:-11.45 [[ 9.75878199e-01 2.16255616e-01 2.99207241e-02 3.46977706e+02] [-2.16141575e-01 9.76336700e-01 -7.03336264e-03 -6.66319322e+01] [-3.07337052e-02 3.96592843e-04 9.99527529e-01 -1.14488802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914012739 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:347.01, Y:-66.64, Z:-11.45 [[ 9.75576100e-01 2.17643264e-01 2.97099773e-02 3.47005430e+02] [-2.17531500e-01 9.76028323e-01 -6.98275031e-03 -6.66397521e+01] [-3.05175279e-02 3.49348391e-04 9.99534171e-01 -1.14500216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:347.03, Y:-66.65, Z:-11.45 [[ 9.75200246e-01 2.19329721e-01 2.96471613e-02 3.47034306e+02] [-2.19219252e-01 9.75650750e-01 -6.96655123e-03 -6.66479563e+01] [-3.04532469e-02 2.94553954e-04 9.99536149e-01 -1.14504789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974012739 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:347.06, Y:-66.66, Z:-11.45 [[ 9.74379297e-01 2.22841338e-01 3.04421488e-02 3.47062167e+02] [-2.22726599e-01 9.74854708e-01 -7.15259725e-03 -6.66558233e+01] [-3.12705664e-02 1.89066422e-04 9.99510938e-01 -1.14504745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:347.09, Y:-66.66, Z:-11.45 [[ 9.74112415e-01 2.23999916e-01 3.04801792e-02 3.47091219e+02] [-2.23885493e-01 9.74589152e-01 -7.16040648e-03 -6.66635126e+01] [-3.13095824e-02 1.50970922e-04 9.99509723e-01 -1.14515880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034012739 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:347.12, Y:-66.67, Z:-11.45 [[ 9.73994140e-01 2.24606338e-01 2.97893930e-02 3.47118298e+02] [-2.24497349e-01 9.74449576e-01 -6.99742987e-03 -6.66727894e+01] [-3.05999285e-02 1.27815940e-04 9.99531704e-01 -1.14533020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:347.15, Y:-66.68, Z:-11.45 [[ 9.74126681e-01 2.24033417e-01 2.97697429e-02 3.47147515e+02] [-2.23924338e-01 9.74581452e-01 -6.99168271e-03 -6.66807825e+01] [-3.05794098e-02 1.44614709e-04 9.99532330e-01 -1.14542903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094012739 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:347.18, Y:-66.69, Z:-11.46 [[ 9.74235132e-01 2.23546903e-01 2.98779147e-02 3.47175863e+02] [-2.23436801e-01 9.74693160e-01 -7.01710219e-03 -6.66882241e+01] [-3.06904506e-02 1.60481815e-04 9.99528924e-01 -1.14556997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:347.20, Y:-66.70, Z:-11.46 [[ 9.74339492e-01 2.23048658e-01 3.01968481e-02 3.47203830e+02] [-2.22935965e-01 9.74807296e-01 -7.09163437e-03 -6.66967855e+01] [-3.10178873e-02 1.77695988e-04 9.99518814e-01 -1.14557941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154012739 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:347.23, Y:-66.71, Z:-11.46 [[ 9.74334966e-01 2.23019476e-01 3.05562881e-02 3.47233232e+02] [-2.22904092e-01 9.74813972e-01 -7.17529202e-03 -6.67051205e+01] [-3.13869265e-02 1.80016241e-04 9.99507293e-01 -1.14566103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:347.26, Y:-66.71, Z:-11.46 [[ 9.74270503e-01 2.23044270e-01 3.23765522e-02 3.47260908e+02] [-2.22914739e-01 9.74808298e-01 -7.60271363e-03 -6.67141947e+01] [-3.32566735e-02 1.89888933e-04 9.99446826e-01 -1.14569365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214012739 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:347.29, Y:-66.72, Z:-11.46 [[ 9.74292816e-01 2.22884176e-01 3.28047672e-02 3.47290711e+02] [-2.22751118e-01 9.74844913e-01 -7.70287978e-03 -6.67225287e+01] [-3.36964104e-02 1.97561886e-04 9.99432095e-01 -1.14574249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:347.32, Y:-66.73, Z:-11.46 [[ 9.74414129e-01 2.22390169e-01 3.25533237e-02 3.47320117e+02] [-2.22258866e-01 9.74957726e-01 -7.64387540e-03 -6.67310520e+01] [-3.34380372e-02 2.13035364e-04 9.99440770e-01 -1.14586593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274012739 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:347.35, Y:-66.74, Z:-11.46 [[ 9.74655637e-01 2.21577148e-01 3.08213785e-02 3.47349619e+02] [-2.21459020e-01 9.75142818e-01 -7.23790331e-03 -6.67410631e+01] [-3.16589998e-02 2.28791003e-04 9.99498702e-01 -1.14607712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:347.38, Y:-66.75, Z:-11.46 [[ 9.74670978e-01 2.21484930e-01 3.09985431e-02 3.47378106e+02] [-2.21365369e-01 9.75163766e-01 -7.28026548e-03 -6.67510296e+01] [-3.18411251e-02 2.33859560e-04 9.99492915e-01 -1.14615321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334012739 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:347.41, Y:-66.76, Z:-11.46 [[ 9.74685789e-01 2.21319847e-01 3.17039058e-02 3.47407028e+02] [-2.21194682e-01 9.75201243e-01 -7.44630791e-03 -6.67598423e+01] [-3.25657041e-02 2.45075138e-04 9.99469567e-01 -1.14622411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:347.44, Y:-66.77, Z:-11.46 [[ 9.74719647e-01 2.21185116e-01 3.16030867e-02 3.47437226e+02] [-2.21060674e-01 9.75231810e-01 -7.42264216e-03 -6.67696160e+01] [-3.24621134e-02 2.48795494e-04 9.99472936e-01 -1.14633936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394012739 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:347.47, Y:-66.78, Z:-11.47 [[ 9.74871740e-01 2.20741188e-01 2.99736346e-02 3.47466243e+02] [-2.20629024e-01 9.75332387e-01 -7.04046919e-03 -6.67817719e+01] [-3.07883781e-02 2.50500691e-04 9.99525894e-01 -1.14661423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:347.50, Y:-66.79, Z:-11.47 [[ 9.74902111e-01 2.20715726e-01 2.91623497e-02 3.47496364e+02] [-2.20609405e-01 9.75338150e-01 -6.85450098e-03 -6.67921432e+01] [-2.99560484e-02 2.48978867e-04 9.99551186e-01 -1.14680139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454012739 meters Centerline goodness : 0.990732 Centerline is valid? [True, True] Translation: X:347.52, Y:-66.81, Z:-11.47 [[ 9.74810875e-01 2.21077706e-01 2.94687314e-02 3.47524940e+02] [-2.20969288e-01 9.75256166e-01 -6.92701700e-03 -6.68057072e+01] [-3.02709710e-02 2.40846908e-04 9.99541700e-01 -1.14692958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:347.56, Y:-66.82, Z:-11.47 [[ 9.74661309e-01 2.21637992e-01 3.01982392e-02 3.47555141e+02] [-2.21524258e-01 9.75128989e-01 -7.10333255e-03 -6.68159663e+01] [-3.10215468e-02 2.33700874e-04 9.99518689e-01 -1.14692956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514012739 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:347.59, Y:-66.83, Z:-11.47 [[ 9.74396244e-01 2.22659476e-01 3.12204538e-02 3.47586586e+02] [-2.22538408e-01 9.74896258e-01 -7.34456637e-03 -6.68258166e+01] [-3.20720409e-02 2.08767804e-04 9.99485538e-01 -1.14697575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:347.62, Y:-66.84, Z:-11.47 [[ 9.73565477e-01 2.26225498e-01 3.15005694e-02 3.47617584e+02] [-2.26103912e-01 9.74074953e-01 -7.41661933e-03 -6.68358271e+01] [-3.23617441e-02 9.81625536e-05 9.99476217e-01 -1.14690902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574012739 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:347.65, Y:-66.84, Z:-11.47 [[ 9.73052096e-01 2.28455263e-01 3.12699710e-02 3.47647442e+02] [-2.28336423e-01 9.73554411e-01 -7.36790783e-03 -6.68437277e+01] [-3.21262556e-02 2.92848151e-05 9.99483818e-01 -1.14702722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:347.68, Y:-66.85, Z:-11.47 [[ 9.72123546e-01 2.32325869e-01 3.16307181e-02 3.47678815e+02] [-2.32206290e-01 9.72638001e-01 -7.45373124e-03 -6.68518940e+01] [-3.24969330e-02 -9.89040529e-05 9.99471830e-01 -1.14711758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634012739 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:347.71, Y:-66.86, Z:-11.47 [[ 9.71620195e-01 2.34347434e-01 3.21788191e-02 3.47710169e+02] [-2.34224597e-01 9.72152896e-01 -7.58846271e-03 -6.68597760e+01] [-3.30610690e-02 -1.63967319e-04 9.99453320e-01 -1.14715949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:347.74, Y:-66.87, Z:-11.47 [[ 9.70933462e-01 2.37120500e-01 3.25895946e-02 3.47739591e+02] [-2.36995873e-01 9.71480212e-01 -7.69110853e-03 -6.68673770e+01] [-3.34838658e-02 -2.56044800e-04 9.99439225e-01 -1.14724630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694012739 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:347.77, Y:-66.87, Z:-11.47 [[ 9.70769187e-01 2.37891564e-01 3.18557725e-02 3.47770553e+02] [-2.37772844e-01 9.71291680e-01 -7.51972906e-03 -6.68747816e+01] [-3.27301269e-02 -2.74516360e-04 9.99464188e-01 -1.14738797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:347.80, Y:-66.88, Z:-11.48 [[ 9.70692962e-01 2.38333290e-01 3.08612460e-02 3.47799736e+02] [-2.38221934e-01 9.71183385e-01 -7.28996557e-03 -6.68815934e+01] [-3.17093709e-02 -2.75507433e-04 9.99497093e-01 -1.14752813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754012739 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:347.83, Y:-66.89, Z:-11.48 [[ 9.70594897e-01 2.38844545e-01 2.99804703e-02 3.47829685e+02] [-2.38739690e-01 9.71057775e-01 -7.08220978e-03 -6.68884983e+01] [-3.08043160e-02 -2.83571517e-04 9.99525394e-01 -1.14760528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:347.86, Y:-66.90, Z:-11.48 [[ 9.70592237e-01 2.38855406e-01 2.99800843e-02 3.47859838e+02] [-2.38750505e-01 9.71055104e-01 -7.08384354e-03 -6.68956284e+01] [-3.08043282e-02 -2.82236712e-04 9.99525394e-01 -1.14770410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814012739 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:347.89, Y:-66.90, Z:-11.48 [[ 9.70578358e-01 2.38913159e-01 2.99692253e-02 3.47890650e+02] [-2.38808351e-01 9.71040896e-01 -7.08161782e-03 -6.69033291e+01] [-3.07932351e-02 -2.83636282e-04 9.99525736e-01 -1.14780882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:347.92, Y:-66.91, Z:-11.48 [[ 9.70812824e-01 2.37927977e-01 3.02115739e-02 3.47920898e+02] [-2.37820968e-01 9.71282767e-01 -7.13959987e-03 -6.69117022e+01] [-3.10426916e-02 -2.53730632e-04 9.99518027e-01 -1.14787675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874012739 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:347.95, Y:-66.92, Z:-11.48 [[ 9.71071749e-01 2.36894852e-01 3.00081355e-02 3.47950122e+02] [-2.36788764e-01 9.71535270e-01 -7.09223275e-03 -6.69190782e+01] [-3.08340755e-02 -2.18522465e-04 9.99524493e-01 -1.14804085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:347.98, Y:-66.93, Z:-11.48 [[ 9.71769414e-01 2.34009615e-01 3.00617044e-02 3.47980895e+02] [-2.33901761e-01 9.72234274e-01 -7.10509765e-03 -6.69279194e+01] [-3.08896805e-02 -1.26968996e-04 9.99522792e-01 -1.14814777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934012739 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:348.01, Y:-66.94, Z:-11.48 [[ 9.71950605e-01 2.33186699e-01 3.05938535e-02 3.48010663e+02] [-2.33074422e-01 9.72431979e-01 -7.23603442e-03 -6.69362325e+01] [-3.14377885e-02 -9.75766649e-05 9.99505706e-01 -1.14822174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:348.04, Y:-66.95, Z:-11.48 [[ 9.72119170e-01 2.32408578e-01 3.11540098e-02 3.48042782e+02] [-2.32291595e-01 9.72618244e-01 -7.37338353e-03 -6.69452318e+01] [-3.20145958e-02 -6.90071541e-05 9.99487399e-01 -1.14833609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994012739 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:348.07, Y:-66.95, Z:-11.48 [[ 9.71912824e-01 2.33292214e-01 3.09871957e-02 3.48073866e+02] [-2.33176742e-01 9.72406671e-01 -7.33979659e-03 -6.69532234e+01] [-3.18444732e-02 -9.18509102e-05 9.99492832e-01 -1.14844691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:348.11, Y:-66.96, Z:-11.49 [[ 9.71621950e-01 2.34525262e-01 3.08007804e-02 3.48105785e+02] [-2.34411622e-01 9.72110017e-01 -7.30110242e-03 -6.69616206e+01] [-3.16540401e-02 -1.26149502e-04 9.99498877e-01 -1.14862600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05401273900003 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:348.14, Y:-66.97, Z:-11.49 [[ 9.70866234e-01 2.37648557e-01 3.06907045e-02 3.48136419e+02] [-2.37537090e-01 9.71351180e-01 -7.28122290e-03 -6.69699540e+01] [-3.15418241e-02 -2.21087177e-04 9.99502408e-01 -1.14861475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:348.17, Y:-66.98, Z:-11.49 [[ 9.70533618e-01 2.39012996e-01 3.06150851e-02 3.48166143e+02] [-2.38902635e-01 9.71016333e-01 -7.26717390e-03 -6.69762903e+01] [-3.14646967e-02 -2.60987914e-04 9.99504830e-01 -1.14863578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11401273900003 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:348.19, Y:-66.98, Z:-11.49 [[ 9.69885576e-01 2.41646691e-01 3.04769753e-02 3.48194841e+02] [-2.41538622e-01 9.70364240e-01 -7.23439652e-03 -6.69828913e+01] [-3.13219349e-02 -3.44829757e-04 9.99509288e-01 -1.14888346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:348.22, Y:-66.99, Z:-11.49 [[ 9.69709125e-01 2.42400630e-01 3.01022831e-02 3.48224659e+02] [-2.42295576e-01 9.70176170e-01 -7.14510552e-03 -6.69908064e+01] [-3.09364959e-02 -3.64976014e-04 9.99521285e-01 -1.14903958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.174012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:348.26, Y:-67.00, Z:-11.49 [[ 9.69618277e-01 2.42775038e-01 3.00112999e-02 3.48256433e+02] [-2.42670804e-01 9.70082543e-01 -7.12331108e-03 -6.69991955e+01] [-3.08428003e-02 -3.75973670e-04 9.99524177e-01 -1.14913640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:348.29, Y:-67.01, Z:-11.49 [[ 9.69543234e-01 2.43087691e-01 2.99047123e-02 3.48287280e+02] [-2.42984160e-01 9.70004243e-01 -7.10401675e-03 -6.70065989e+01] [-3.07345969e-02 -3.78720023e-04 9.99527509e-01 -1.14923935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234012739 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:348.32, Y:-67.01, Z:-11.49 [[ 9.69458974e-01 2.43457489e-01 2.96268415e-02 3.48318269e+02] [-2.43355937e-01 9.69911493e-01 -7.04156730e-03 -6.70142225e+01] [-3.04497364e-02 -3.83357182e-04 9.99536226e-01 -1.14933482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:348.35, Y:-67.02, Z:-11.49 [[ 9.69125221e-01 2.44934971e-01 2.83401784e-02 3.48348581e+02] [-2.44842536e-01 9.69539424e-01 -6.74073478e-03 -6.70235173e+01] [-2.91279619e-02 -4.06265080e-04 9.99575608e-01 -1.14947048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294012739 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:348.38, Y:-67.03, Z:-11.50 [[ 9.68964166e-01 2.45630196e-01 2.78253823e-02 3.48378462e+02] [-2.45541230e-01 9.69363521e-01 -6.62337748e-03 -6.70313581e+01] [-2.85998120e-02 -4.14463163e-04 9.99590856e-01 -1.14952772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:348.41, Y:-67.04, Z:-11.50 [[ 9.68556936e-01 2.47169171e-01 2.83701063e-02 3.48408545e+02] [-2.47077325e-01 9.68972230e-01 -6.75377486e-03 -6.70375616e+01] [-2.91591701e-02 -4.68194507e-04 9.99574671e-01 -1.14958177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354012739 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:348.44, Y:-67.04, Z:-11.50 [[ 9.68225279e-01 2.48432098e-01 2.86583714e-02 3.48439297e+02] [-2.48338919e-01 9.68649179e-01 -6.82272068e-03 -6.70446549e+01] [-2.94548907e-02 -5.11058340e-04 9.99565980e-01 -1.14969320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:348.47, Y:-67.05, Z:-11.50 [[ 9.67855294e-01 2.49855890e-01 2.87778570e-02 3.48468799e+02] [-2.49762540e-01 9.68282875e-01 -6.85188452e-03 -6.70524096e+01] [-2.95770898e-02 -5.55997944e-04 9.99562348e-01 -1.14975903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414012739 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:348.50, Y:-67.06, Z:-11.50 [[ 9.67249896e-01 2.52067730e-01 2.98244475e-02 3.48497999e+02] [-2.51968504e-01 9.67709379e-01 -7.10145518e-03 -6.70593636e+01] [-3.06514453e-02 -6.45939635e-04 9.99529925e-01 -1.14977613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:348.53, Y:-67.06, Z:-11.50 [[ 9.66912421e-01 2.53296064e-01 3.03557749e-02 3.48526749e+02] [-2.53193875e-01 9.67388556e-01 -7.22797638e-03 -6.70645245e+01] [-3.11966472e-02 -6.97076140e-04 9.99513023e-01 -1.14979108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474012739 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:348.56, Y:-67.07, Z:-11.50 [[ 9.66472077e-01 2.54963293e-01 3.04211151e-02 3.48555855e+02] [-2.54861499e-01 9.66950440e-01 -7.24318376e-03 -6.70680096e+01] [-3.12624566e-02 -7.52836151e-04 9.99510926e-01 -1.15001773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:348.58, Y:-67.07, Z:-11.50 [[ 9.66328089e-01 2.55550076e-01 3.00696257e-02 3.48584168e+02] [-2.55450926e-01 9.66795519e-01 -7.15881545e-03 -6.70743530e+01] [-3.09006152e-02 -7.63549281e-04 9.99522170e-01 -1.15015939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534012739 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:348.61, Y:-67.08, Z:-11.50 [[ 9.66139565e-01 2.56290966e-01 2.98208468e-02 3.48613699e+02] [-2.56193834e-01 9.66599364e-01 -7.09854981e-03 -6.70796379e+01] [-3.06441057e-02 -7.81727258e-04 9.99530053e-01 -1.15028471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:348.64, Y:-67.08, Z:-11.50 [[ 9.66105416e-01 2.56370002e-01 3.02447966e-02 3.48641567e+02] [-2.56270149e-01 9.66578392e-01 -7.19877088e-03 -6.70846945e+01] [-3.10795158e-02 -7.96067004e-04 9.99516598e-01 -1.15036183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594012739 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:348.67, Y:-67.09, Z:-11.50 [[ 9.66082857e-01 2.56391242e-01 3.07805713e-02 3.48671846e+02] [-2.56287865e-01 9.66572745e-01 -7.32521144e-03 -6.70902126e+01] [-3.16297814e-02 -8.11925692e-04 9.99499324e-01 -1.15038675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:348.70, Y:-67.08, Z:-11.50 [[ 9.66110041e-01 2.57098890e-01 2.30553477e-02 3.48702427e+02] [-2.56568808e-01 9.66237086e-01 -2.36292353e-02 -6.70828107e+01] [-2.83519821e-02 1.69131584e-02 9.99454907e-01 -1.15041656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654012739 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:348.73, Y:-67.11, Z:-11.50 [[ 9.66017898e-01 2.56021355e-01 3.55314931e-02 3.48726358e+02] [-2.56535669e-01 9.66475710e-01 1.06842337e-02 -6.71091728e+01] [-3.16049330e-02 -1.94362563e-02 9.99311443e-01 -1.15049996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:348.76, Y:-67.10, Z:-11.51 [[ 9.65948161e-01 2.56866633e-01 3.10432577e-02 3.48757699e+02] [-2.56761744e-01 9.66446499e-01 -7.38722779e-03 -6.71004200e+01] [-3.18991800e-02 -8.35041886e-04 9.99490743e-01 -1.15082462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714012739 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:348.79, Y:-67.11, Z:-11.51 [[ 9.65889946e-01 2.57012021e-01 3.16454429e-02 3.48785208e+02] [-2.56903148e-01 9.66407826e-01 -7.52907757e-03 -6.71050977e+01] [-3.25174671e-02 -8.57553572e-04 9.99470799e-01 -1.15090487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:348.81, Y:-67.11, Z:-11.51 [[ 9.65826731e-01 2.57203439e-01 3.20174312e-02 3.48813438e+02] [-2.57092163e-01 9.66356882e-01 -7.61554177e-03 -6.71106632e+01] [-3.28990086e-02 -8.76136821e-04 9.99458297e-01 -1.15091733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774012739 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:348.84, Y:-67.11, Z:-11.51 [[ 9.65968991e-01 2.56763835e-01 3.12448784e-02 3.48841536e+02] [-2.56657679e-01 9.66473810e-01 -7.43042731e-03 -6.71146644e+01] [-3.21052217e-02 -8.41675592e-04 9.99484140e-01 -1.15111583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:348.87, Y:-67.12, Z:-11.51 [[ 9.66198775e-01 2.56016724e-01 3.02549975e-02 3.48869914e+02] [-2.55916874e-01 9.66672028e-01 -7.19337052e-03 -6.71196221e+01] [-3.10882830e-02 -7.92538597e-04 9.99516328e-01 -1.15131439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834012739 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:348.90, Y:-67.12, Z:-11.51 [[ 9.66879091e-01 2.53506122e-01 2.96558689e-02 3.48898853e+02] [-2.53409048e-01 9.67333530e-01 -7.04956581e-03 -6.71245169e+01] [-3.04742244e-02 -6.98987748e-04 9.99535309e-01 -1.15148888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:348.93, Y:-67.13, Z:-11.52 [[ 9.67242123e-01 2.52038208e-01 3.03218818e-02 3.48927131e+02] [-2.51936048e-01 9.67717053e-01 -7.20644549e-03 -6.71306655e+01] [-3.11593017e-02 -6.68797447e-04 9.99514207e-01 -1.15154111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894012739 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:348.96, Y:-67.14, Z:-11.52 [[ 9.67477441e-01 2.51049295e-01 3.10105141e-02 3.48955478e+02] [-2.50941981e-01 9.67974083e-01 -7.36863689e-03 -6.71366044e+01] [-3.18672651e-02 -6.52849885e-04 9.99491897e-01 -1.15151986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:348.98, Y:-67.14, Z:-11.52 [[ 9.67625504e-01 2.50266986e-01 3.26698604e-02 3.48983198e+02] [-2.50147486e-01 9.68176635e-01 -7.76133124e-03 -6.71403922e+01] [-3.35726005e-02 -6.62221395e-04 9.99436062e-01 -1.15151026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954012739 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:349.01, Y:-67.14, Z:-11.52 [[ 9.67637376e-01 2.50261394e-01 3.23595797e-02 3.49010992e+02] [-2.50144212e-01 9.68178084e-01 -7.68577899e-03 -6.71440018e+01] [-3.32532896e-02 -6.57514537e-04 9.99446740e-01 -1.15165824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:349.04, Y:-67.15, Z:-11.52 [[ 9.67762770e-01 2.49790574e-01 3.22473362e-02 3.49037927e+02] [-2.49674010e-01 9.68299674e-01 -7.65705798e-03 -6.71489292e+01] [-3.31377460e-02 -6.41106098e-04 9.99450588e-01 -1.15189297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:349.07, Y:-67.15, Z:-11.52 [[ 9.68023525e-01 2.48747932e-01 3.24795550e-02 3.49066715e+02] [-2.48629158e-01 9.68568063e-01 -7.71036135e-03 -6.71538866e+01] [-3.33765961e-02 -6.11553234e-04 9.99442659e-01 -1.15198682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:349.10, Y:-67.16, Z:-11.52 [[ 9.68732440e-01 2.45958908e-01 3.25833617e-02 3.49095591e+02] [-2.45837845e-01 9.69280118e-01 -7.73352665e-03 -6.71584903e+01] [-3.34845345e-02 -5.18505275e-04 9.99439101e-01 -1.15205059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074012739 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:349.12, Y:-67.16, Z:-11.52 [[ 9.69202703e-01 2.44099670e-01 3.25802458e-02 3.49124360e+02] [-2.43977630e-01 9.69750042e-01 -7.73125585e-03 -6.71648175e+01] [-3.34818917e-02 -4.55697100e-04 9.99439220e-01 -1.15215451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:349.15, Y:-67.17, Z:-11.52 [[ 9.70273247e-01 2.39971508e-01 3.13608259e-02 3.49152369e+02] [-2.39856301e-01 9.70779884e-01 -7.44115355e-03 -6.71712683e+01] [-3.22301238e-02 -3.02139483e-04 9.99480429e-01 -1.15230812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134012739 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:349.18, Y:-67.18, Z:-11.52 [[ 9.70752524e-01 2.38084354e-01 3.09091723e-02 3.49180362e+02] [-2.37971508e-01 9.71244451e-01 -7.33327299e-03 -6.71777715e+01] [-3.17662996e-02 -2.36709073e-04 9.99495296e-01 -1.15241438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:349.21, Y:-67.18, Z:-11.52 [[ 9.71257748e-01 2.36028239e-01 3.08067739e-02 3.49209051e+02] [-2.35915152e-01 9.71746182e-01 -7.30749765e-03 -6.71847641e+01] [-3.16611407e-02 -1.70321043e-04 9.99498646e-01 -1.15249055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194012739 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:349.24, Y:-67.19, Z:-11.53 [[ 9.71321984e-01 2.35766981e-01 3.07820392e-02 3.49236890e+02] [-2.35653968e-01 9.71809603e-01 -7.30088828e-03 -6.71911171e+01] [-3.16355896e-02 -1.62396385e-04 9.99499456e-01 -1.15259468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:349.27, Y:-67.20, Z:-11.53 [[ 9.71222499e-01 2.36152018e-01 3.09690515e-02 3.49265492e+02] [-2.36037860e-01 9.71716107e-01 -7.34408845e-03 -6.71980547e+01] [-3.18274475e-02 -1.77124715e-04 9.99493363e-01 -1.15268950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254012739 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:349.29, Y:-67.20, Z:-11.53 [[ 9.70716299e-01 2.38113916e-01 3.18061401e-02 3.49293168e+02] [-2.37994581e-01 9.71237201e-01 -7.54179877e-03 -6.72044050e+01] [-3.26871137e-02 -2.48741985e-04 9.99465603e-01 -1.15266726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:349.32, Y:-67.21, Z:-11.53 [[ 9.70401554e-01 2.39267637e-01 3.27386890e-02 3.49321803e+02] [-2.39141897e-01 9.70953608e-01 -7.76168440e-03 -6.72104938e+01] [-3.36448681e-02 -2.97241592e-04 9.99433807e-01 -1.15278775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314012739 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:349.35, Y:-67.22, Z:-11.53 [[ 9.69866273e-01 2.41374650e-01 3.31314272e-02 3.49350578e+02] [-2.41247157e-01 9.70431933e-01 -7.85318241e-03 -6.72156493e+01] [-3.40473541e-02 -3.76325870e-04 9.99420150e-01 -1.15288199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:349.38, Y:-67.22, Z:-11.53 [[ 9.69709366e-01 2.42046933e-01 3.28180920e-02 3.49377548e+02] [-2.41922279e-01 9.70264461e-01 -7.77733707e-03 -6.72213293e+01] [-3.37247089e-02 -3.97670995e-04 9.99431081e-01 -1.15301651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374012739 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:349.41, Y:-67.23, Z:-11.53 [[ 9.69631437e-01 2.42406457e-01 3.24651391e-02 3.49406044e+02] [-2.42284736e-01 9.70174697e-01 -7.69177287e-03 -6.72268797e+01] [-3.33613919e-02 -4.07622849e-04 9.99443271e-01 -1.15312593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:349.43, Y:-67.23, Z:-11.53 [[ 9.69565486e-01 2.42677648e-01 3.24087736e-02 3.49433542e+02] [-2.42556552e-01 9.70106894e-01 -7.67687154e-03 -6.72308618e+01] [-3.33029798e-02 -4.17730697e-04 9.99445215e-01 -1.15325863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:349.46, Y:-67.23, Z:-11.53 [[ 9.69842282e-01 2.41620191e-01 3.20254812e-02 3.49462064e+02] [-2.41501429e-01 9.70370826e-01 -7.58420007e-03 -6.72348005e+01] [-3.29090885e-02 -3.78721565e-04 9.99458278e-01 -1.15324187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:349.49, Y:-67.24, Z:-11.53 [[ 9.70020508e-01 2.40997287e-01 3.13132923e-02 3.49490563e+02] [-2.40883469e-01 9.70525726e-01 -7.41415585e-03 -6.72396509e+01] [-3.21771472e-02 -3.50971248e-04 9.99482120e-01 -1.15337973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494012739 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:349.52, Y:-67.24, Z:-11.54 [[ 9.70241920e-01 2.40200404e-01 3.05676602e-02 3.49518604e+02] [-2.40091592e-01 9.70723269e-01 -7.23622038e-03 -6.72441646e+01] [-3.14108821e-02 -3.18153824e-04 9.99506506e-01 -1.15354295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:349.55, Y:-67.25, Z:-11.54 [[ 9.70419443e-01 2.39591438e-01 2.96992855e-02 3.49545998e+02] [-2.39488479e-01 9.70873760e-01 -7.02924190e-03 -6.72485265e+01] [-3.05184031e-02 -2.91323700e-04 9.99534163e-01 -1.15364924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55401273900003 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:349.57, Y:-67.25, Z:-11.54 [[ 9.70384370e-01 2.39698576e-01 2.99794437e-02 3.49573754e+02] [-2.39593775e-01 9.70847312e-01 -7.09365854e-03 -6.72512127e+01] [-3.08058022e-02 -2.99312721e-04 9.99525344e-01 -1.15377842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:349.60, Y:-67.25, Z:-11.54 [[ 9.69863942e-01 2.41630275e-01 3.12848970e-02 3.49601387e+02] [-2.41517210e-01 9.70368315e-01 -7.40066781e-03 -6.72530438e+01] [-3.21460982e-02 -3.78200196e-04 9.99483109e-01 -1.15378516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61401273900003 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:349.63, Y:-67.26, Z:-11.54 [[ 9.69521967e-01 2.43041297e-01 3.09529385e-02 3.49629326e+02] [-2.42931417e-01 9.70015850e-01 -7.31965265e-03 -6.72562427e+01] [-3.18038188e-02 -4.22877193e-04 9.99494041e-01 -1.15382650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:349.66, Y:-67.26, Z:-11.54 [[ 9.69079769e-01 2.44885681e-01 3.02556484e-02 3.49657708e+02] [-2.44781655e-01 9.69551844e-01 -7.15282230e-03 -6.72596478e+01] [-3.10860434e-02 -4.74372304e-04 9.99516600e-01 -1.15391109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.674012739 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:349.69, Y:-67.27, Z:-11.54 [[ 9.69092992e-01 2.44833292e-01 3.02561159e-02 3.49685457e+02] [-2.44729303e-01 9.69565075e-01 -7.15084406e-03 -6.72660692e+01] [-3.10860380e-02 -4.74725286e-04 9.99516600e-01 -1.15400453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:349.71, Y:-67.27, Z:-11.54 [[ 9.68389714e-01 2.47727730e-01 2.91947516e-02 3.49712666e+02] [-2.47632269e-01 9.68829536e-01 -6.89845688e-03 -6.72668126e+01] [-2.99936767e-02 -5.49167922e-04 9.99549938e-01 -1.15415475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734012739 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:349.74, Y:-67.27, Z:-11.54 [[ 9.68274973e-01 2.48116203e-01 2.96972414e-02 3.49740291e+02] [-2.48017685e-01 9.68730108e-01 -7.01476012e-03 -6.72702405e+01] [-3.05090875e-02 -5.73224396e-04 9.99534325e-01 -1.15430112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:349.77, Y:-67.27, Z:-11.54 [[ 9.68609544e-01 2.46586734e-01 3.14727520e-02 3.49769039e+02] [-2.46475347e-01 9.69120565e-01 -7.43189826e-03 -6.72721302e+01] [-3.23334987e-02 -5.58649867e-04 9.99476980e-01 -1.15442828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794012739 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:349.80, Y:-67.28, Z:-11.55 [[ 9.69205684e-01 2.44205814e-01 3.16837761e-02 3.49796674e+02] [-2.44091730e-01 9.69723304e-01 -7.47943804e-03 -6.72774624e+01] [-3.25510183e-02 -4.84633857e-04 9.99469958e-01 -1.15452362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:349.82, Y:-67.28, Z:-11.55 [[ 9.69980486e-01 2.41148045e-01 3.13923226e-02 3.49824078e+02] [-2.41034520e-01 9.70488267e-01 -7.40840475e-03 -6.72836003e+01] [-3.22524031e-02 -3.80625376e-04 9.99479683e-01 -1.15463631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854012739 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:349.85, Y:-67.29, Z:-11.55 [[ 9.71775358e-01 2.33843313e-01 3.11441462e-02 3.49850766e+02] [-2.33727892e-01 9.72274285e-01 -7.34755660e-03 -6.72895250e+01] [-3.19988295e-02 -1.39081194e-04 9.99487897e-01 -1.15475267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:349.88, Y:-67.30, Z:-11.55 [[ 9.72475104e-01 2.30892710e-01 3.13165887e-02 3.49878232e+02] [-2.30774538e-01 9.72979216e-01 -7.38632841e-03 -6.72960037e+01] [-3.21758393e-02 -4.40508115e-05 9.99482223e-01 -1.15486500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914012739 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:349.90, Y:-67.30, Z:-11.55 [[ 9.73121437e-01 2.28141965e-01 3.13992616e-02 3.49904520e+02] [-2.28021810e-01 9.73627877e-01 -7.40353663e-03 -6.73038851e+01] [-3.22602538e-02 4.48237369e-05 9.99479502e-01 -1.15488696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:349.93, Y:-67.31, Z:-11.55 [[ 9.73128685e-01 2.28167173e-01 3.09887810e-02 3.49931165e+02] [-2.28050211e-01 9.73621970e-01 -7.30491712e-03 -6.73102162e+01] [-3.18381003e-02 4.16263399e-05 9.99493038e-01 -1.15491339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:349.96, Y:-67.32, Z:-11.55 [[ 9.72882308e-01 2.29221484e-01 3.09439369e-02 3.49958613e+02] [-2.29105451e-01 9.73374292e-01 -7.29251708e-03 -6.73159850e+01] [-3.17916342e-02 5.33622902e-06 9.99494518e-01 -1.15499652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:349.99, Y:-67.32, Z:-11.55 [[ 9.72232387e-01 2.32066637e-01 3.01539523e-02 3.49985901e+02] [-2.31957888e-01 9.72699886e-01 -7.10423052e-03 -6.73210720e+01] [-3.09794008e-02 -8.74840748e-05 9.99520019e-01 -1.15503536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034012739 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:350.01, Y:-67.33, Z:-11.55 [[ 9.72033731e-01 2.32939393e-01 2.98272508e-02 3.50012772e+02] [-2.32833451e-01 9.72491247e-01 -7.02554369e-03 -6.73272039e+01] [-3.06432662e-02 -1.15716287e-04 9.99530378e-01 -1.15516861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:350.04, Y:-67.33, Z:-11.55 [[ 9.71743600e-01 2.34110368e-01 3.01116625e-02 3.50039131e+02] [-2.34003024e-01 9.72210014e-01 -7.09039464e-03 -6.73325341e+01] [-3.09347947e-02 -1.56174465e-04 9.99521393e-01 -1.15526834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094012739 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:350.07, Y:-67.34, Z:-11.55 [[ 9.71739602e-01 2.34001473e-01 3.10718097e-02 3.50066088e+02] [-2.33887201e-01 9.72236229e-01 -7.31382708e-03 -6.73384236e+01] [-3.19205854e-02 -1.60163179e-04 9.99490395e-01 -1.15533838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:350.09, Y:-67.34, Z:-11.55 [[ 9.71705433e-01 2.34067670e-01 3.16366337e-02 3.50093080e+02] [-2.33949313e-01 9.72220293e-01 -7.44452018e-03 -6.73446512e+01] [-3.25002987e-02 -1.67488017e-04 9.99471712e-01 -1.15541339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154012739 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:350.12, Y:-67.35, Z:-11.55 [[ 9.71507305e-01 2.35093351e-01 3.00777757e-02 3.50120564e+02] [-2.34986929e-01 9.71972777e-01 -7.07564069e-03 -6.73494910e+01] [-3.08982152e-02 -1.93847523e-04 9.99522517e-01 -1.15549771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:350.15, Y:-67.35, Z:-11.56 [[ 9.71295717e-01 2.36065100e-01 2.92899175e-02 3.50148262e+02] [-2.35964672e-01 9.71737218e-01 -6.88863959e-03 -6.73540909e+01] [-3.00882703e-02 -2.20479646e-04 9.99547221e-01 -1.15559076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214012739 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:350.18, Y:-67.36, Z:-11.56 [[ 9.70722740e-01 2.38383816e-01 2.95045570e-02 3.50176251e+02] [-2.38283040e-01 9.71170978e-01 -6.93717949e-03 -6.73551004e+01] [-3.03076808e-02 -2.96357658e-04 9.99540573e-01 -1.15562847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:350.20, Y:-67.36, Z:-11.56 [[ 9.70490381e-01 2.39254043e-01 3.00985556e-02 3.50204507e+02] [-2.39149704e-01 9.70956946e-01 -7.07301953e-03 -6.73591249e+01] [-3.09166501e-02 -3.33763225e-04 9.99521910e-01 -1.15566058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274012739 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:350.23, Y:-67.36, Z:-11.56 [[ 9.70333841e-01 2.39770811e-01 3.10192664e-02 3.50231988e+02] [-2.39660323e-01 9.70829453e-01 -7.28720445e-03 -6.73637929e+01] [-3.18616764e-02 -3.63066313e-04 9.99492222e-01 -1.15574846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:350.26, Y:-67.37, Z:-11.56 [[ 9.70408536e-01 2.39298956e-01 3.22998968e-02 3.50260138e+02] [-2.39178969e-01 9.70945867e-01 -7.58576150e-03 -6.73681391e+01] [-3.31767161e-02 -3.64168286e-04 9.99449435e-01 -1.15580311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334012739 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:350.29, Y:-67.37, Z:-11.56 [[ 9.70588421e-01 2.38481586e-01 3.29340361e-02 3.50287618e+02] [-2.38356447e-01 9.71146958e-01 -7.73241224e-03 -6.73733120e+01] [-3.38278269e-02 -3.45050032e-04 9.99427616e-01 -1.15586952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:350.31, Y:-67.38, Z:-11.56 [[ 9.71186419e-01 2.35908450e-01 3.38251725e-02 3.50314238e+02] [-2.35774966e-01 9.71775248e-01 -7.93925846e-03 -6.73773444e+01] [-3.47434036e-02 -2.64628919e-04 9.99396231e-01 -1.15587013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:350.34, Y:-67.38, Z:-11.56 [[ 9.71568687e-01 2.34314220e-01 3.39283501e-02 3.50341790e+02] [-2.34179042e-01 9.72160893e-01 -7.96080287e-03 -6.73827819e+01] [-3.48491445e-02 -2.10841751e-04 9.99392562e-01 -1.15597537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:350.37, Y:-67.39, Z:-11.56 [[ 9.71932672e-01 2.32795398e-01 3.39585503e-02 3.50369549e+02] [-2.32659140e-01 9.72525721e-01 -7.96537909e-03 -6.73885599e+01] [-3.48798672e-02 -1.58954921e-04 9.99391500e-01 -1.15607119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454012739 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:350.40, Y:-67.39, Z:-11.56 [[ 9.72600714e-01 2.30082807e-01 3.33129704e-02 3.50396653e+02] [-2.29950172e-01 9.73171053e-01 -7.81154506e-03 -6.73935185e+01] [-3.42165207e-02 -6.28089880e-05 9.99414441e-01 -1.15626235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:350.42, Y:-67.40, Z:-11.56 [[ 9.73335842e-01 2.27167679e-01 3.18148435e-02 3.50422891e+02] [-2.27045223e-01 9.73855659e-01 -7.45802801e-03 -6.74026754e+01] [-3.26772883e-02 3.57577246e-05 9.99465954e-01 -1.15642780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514012739 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:350.45, Y:-67.41, Z:-11.57 [[ 9.73783700e-01 2.25343476e-01 3.10744939e-02 3.50449697e+02] [-2.25225785e-01 9.74279379e-01 -7.28264550e-03 -6.74113416e+01] [-3.19163352e-02 9.29442235e-05 9.99490540e-01 -1.15651809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:350.48, Y:-67.42, Z:-11.57 [[ 9.74209609e-01 2.23563804e-01 3.05755310e-02 3.50476506e+02] [-2.23449056e-01 9.74689286e-01 -7.16347041e-03 -6.74194446e+01] [-3.14031352e-02 1.46648159e-04 9.99506789e-01 -1.15664002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574012739 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:350.50, Y:-67.43, Z:-11.57 [[ 9.74882477e-01 2.20549567e-01 3.10168255e-02 3.50504247e+02] [-2.20430018e-01 9.75375737e-01 -7.26491982e-03 -6.74287931e+01] [-3.18553340e-02 2.45403624e-04 9.99492460e-01 -1.15658530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:350.53, Y:-67.44, Z:-11.57 [[ 9.75161548e-01 2.19208943e-01 3.17394799e-02 3.50530561e+02] [-2.19083098e-01 9.75677894e-01 -7.43257617e-03 -6.74373952e+01] [-3.25967961e-02 2.94378878e-04 9.99468540e-01 -1.15672033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634012739 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:350.56, Y:-67.45, Z:-11.57 [[ 9.75865765e-01 2.16095462e-01 3.14445688e-02 3.50555720e+02] [-2.15970391e-01 9.76372161e-01 -7.36159951e-03 -6.74503441e+01] [-3.22924098e-02 3.92837103e-04 9.99478387e-01 -1.15678947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:350.58, Y:-67.46, Z:-11.57 [[ 9.76175010e-01 2.14721552e-01 3.12570823e-02 3.50582846e+02] [-2.14597325e-01 9.76675211e-01 -7.31581193e-03 -6.74603669e+01] [-3.20988799e-02 4.33826547e-04 9.99484604e-01 -1.15690067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694012739 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:350.61, Y:-67.47, Z:-11.57 [[ 9.76401223e-01 2.13685804e-01 3.12894345e-02 3.50609101e+02] [-2.13560835e-01 9.76902328e-01 -7.32191307e-03 -6.74699756e+01] [-3.21313103e-02 4.66927123e-04 9.99483547e-01 -1.15700166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:350.64, Y:-67.48, Z:-11.57 [[ 9.76596125e-01 2.12744263e-01 3.16209824e-02 3.50636406e+02] [-2.12616199e-01 9.77107787e-01 -7.39761564e-03 -6.74845795e+01] [-3.24709084e-02 5.01349688e-04 9.99472555e-01 -1.15699816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754012739 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:350.66, Y:-67.50, Z:-11.57 [[ 9.76603511e-01 2.12697109e-01 3.17099633e-02 3.50663828e+02] [-2.12568323e-01 9.77118051e-01 -7.41766215e-03 -6.74957398e+01] [-3.25620929e-02 5.03581170e-04 9.99469588e-01 -1.15707443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:350.69, Y:-67.51, Z:-11.57 [[ 9.76721027e-01 2.12386722e-01 3.01316283e-02 3.50691840e+02] [-2.12270317e-01 9.77185572e-01 -7.04769357e-03 -6.75106917e+01] [-3.09410290e-02 4.87580224e-04 9.99521093e-01 -1.15718674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:350.72, Y:-67.52, Z:-11.57 [[ 9.76773146e-01 2.12228811e-01 2.95491516e-02 3.50720883e+02] [-2.12116780e-01 9.77219882e-01 -6.91183441e-03 -6.75217869e+01] [-3.03429088e-02 4.83423342e-04 9.99539431e-01 -1.15733452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:350.75, Y:-67.53, Z:-11.57 [[ 9.76726930e-01 2.12445494e-01 2.95197704e-02 3.50750612e+02] [-2.12333787e-01 9.77172802e-01 -6.90490363e-03 -6.75332684e+01] [-3.03128325e-02 4.76160673e-04 9.99540347e-01 -1.15740679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874012739 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:350.78, Y:-67.55, Z:-11.57 [[ 9.76305538e-01 2.14117595e-01 3.13233331e-02 3.50778019e+02] [-2.13992651e-01 9.76807787e-01 -7.32758248e-03 -6.75500601e+01] [-3.21658400e-02 4.50996280e-04 9.99482444e-01 -1.15743116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:350.81, Y:-67.57, Z:-11.58 [[ 9.75222368e-01 2.18317111e-01 3.57627155e-02 3.50805138e+02] [-2.18365102e-01 9.75863664e-01 -2.60617243e-03 -6.75683753e+01] [-3.54685066e-02 -5.26773139e-03 9.99356911e-01 -1.15750551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934012739 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:350.84, Y:-67.57, Z:-11.58 [[ 9.74417336e-01 2.22490825e-01 3.17598404e-02 3.50836743e+02] [-2.22172928e-01 9.74917175e-01 -1.32549011e-02 -6.75718210e+01] [-3.39123077e-02 5.85962870e-03 9.99407635e-01 -1.15759227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:350.87, Y:-67.58, Z:-11.58 [[ 9.73415123e-01 2.26717927e-01 3.25880231e-02 3.50867163e+02] [-2.26589536e-01 9.73960461e-01 -7.62903959e-03 -6.75845907e+01] [-3.34690861e-02 4.21174772e-05 9.99439752e-01 -1.15767204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994012739 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:350.90, Y:-67.59, Z:-11.58 [[ 9.71415061e-01 2.35330574e-01 3.11817310e-02 3.50897050e+02] [-2.35217259e-01 9.71915359e-01 -7.30591443e-03 -6.75932525e+01] [-3.20253083e-02 -2.37405974e-04 9.99487030e-01 -1.15772750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:350.93, Y:-67.60, Z:-11.58 [[ 9.70595441e-01 2.38716820e-01 3.09640167e-02 3.50927488e+02] [-2.38606637e-01 9.71089163e-01 -7.26011106e-03 -6.76007264e+01] [-3.18019317e-02 -3.41589214e-04 9.99494132e-01 -1.15787113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05401273900003 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:350.96, Y:-67.61, Z:-11.58 [[ 9.69557642e-01 2.42824139e-01 3.15343577e-02 3.50956458e+02] [-2.42712003e-01 9.70070205e-01 -7.39464391e-03 -6.76085041e+01] [-3.23861388e-02 -4.84233592e-04 9.99475314e-01 -1.15793086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:350.99, Y:-67.62, Z:-11.58 [[ 9.69375468e-01 2.43481555e-01 3.20614087e-02 3.50985461e+02] [-2.43366010e-01 9.69905391e-01 -7.51783674e-03 -6.76158292e+01] [-3.29269878e-02 -5.15050616e-04 9.99457627e-01 -1.15804314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11401273900003 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:351.01, Y:-67.62, Z:-11.58 [[ 9.69346111e-01 2.43606065e-01 3.20031681e-02 3.51013984e+02] [-2.43491021e-01 9.69874124e-01 -7.50379224e-03 -6.76225744e+01] [-3.28670139e-02 -5.18712254e-04 9.99459599e-01 -1.15806775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:351.04, Y:-67.63, Z:-11.58 [[ 9.69564794e-01 2.42891865e-01 3.07839736e-02 3.51044258e+02] [-2.42785084e-01 9.70053254e-01 -7.21719864e-03 -6.76261459e+01] [-3.16150925e-02 -4.76347898e-04 9.99500005e-01 -1.15829116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.174012739 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:351.08, Y:-67.63, Z:-11.58 [[ 9.69668618e-01 2.42521113e-01 3.04348544e-02 3.51075028e+02] [-2.42416558e-01 9.70146020e-01 -7.13534882e-03 -6.76304133e+01] [-3.12567256e-02 -4.58988799e-04 9.99511284e-01 -1.15844918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:351.10, Y:-67.63, Z:-11.59 [[ 9.69527335e-01 2.43135455e-01 3.00315967e-02 3.51103707e+02] [-2.43033946e-01 9.69992231e-01 -7.04087662e-03 -6.76325394e+01] [-3.08423022e-02 -4.72375082e-04 9.99524151e-01 -1.15856309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234012739 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:351.13, Y:-67.64, Z:-11.59 [[ 9.69516158e-01 2.43190729e-01 2.99447580e-02 3.51132409e+02] [-2.43089867e-01 9.69978373e-01 -7.01940061e-03 -6.76380702e+01] [-3.07528208e-02 -4.73844930e-04 9.99526908e-01 -1.15864549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:351.16, Y:-67.64, Z:-11.59 [[ 9.69613184e-01 2.42812900e-01 2.98691859e-02 3.51160898e+02] [-2.42712389e-01 9.70073030e-01 -7.00098389e-03 -6.76434147e+01] [-3.06752208e-02 -4.61375167e-04 9.99529298e-01 -1.15869786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294012739 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:351.19, Y:-67.65, Z:-11.59 [[ 9.70235020e-01 2.40371812e-01 2.94176362e-02 3.51188876e+02] [-2.40273225e-01 9.70680817e-01 -6.89414979e-03 -6.76476876e+01] [-3.02122944e-02 -3.79324745e-04 9.99543432e-01 -1.15877775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:351.22, Y:-67.65, Z:-11.59 [[ 9.70719731e-01 2.38413234e-01 2.93655169e-02 3.51217851e+02] [-2.38314155e-01 9.71163749e-01 -6.88009894e-03 -6.76548906e+01] [-3.01590321e-02 -3.19570544e-04 9.99545062e-01 -1.15884220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354012739 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:351.25, Y:-67.66, Z:-11.59 [[ 9.71725107e-01 2.34128899e-01 3.05609905e-02 3.51245285e+02] [-2.34019490e-01 9.72205544e-01 -7.15943166e-03 -6.76633283e+01] [-3.13877943e-02 -1.94867923e-04 9.99507263e-01 -1.15891815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:351.27, Y:-67.67, Z:-11.59 [[ 9.72083582e-01 2.32526662e-01 3.13825024e-02 3.51274409e+02] [-2.32410494e-01 9.72590011e-01 -7.35071032e-03 -6.76702176e+01] [-3.22315445e-02 -1.48118067e-04 9.99480418e-01 -1.15901753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414012739 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:351.30, Y:-67.68, Z:-11.59 [[ 9.72260805e-01 2.31666572e-01 3.22416765e-02 3.51303759e+02] [-2.31543508e-01 9.72795243e-01 -7.55116230e-03 -6.76767474e+01] [-3.31139014e-02 -1.23651733e-04 9.99451577e-01 -1.15909390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:351.33, Y:-67.68, Z:-11.59 [[ 9.72049650e-01 2.32593659e-01 3.19322367e-02 3.51332406e+02] [-2.32473446e-01 9.72573990e-01 -7.47869019e-03 -6.76834887e+01] [-3.27959587e-02 -1.53738925e-04 9.99462056e-01 -1.15912352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474012739 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:351.36, Y:-67.69, Z:-11.59 [[ 9.71714110e-01 2.34086149e-01 3.12308055e-02 3.51362274e+02] [-2.33971943e-01 9.72215838e-01 -7.31402744e-03 -6.76902240e+01] [-3.20751962e-02 -1.99988582e-04 9.99485439e-01 -1.15922420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:351.39, Y:-67.70, Z:-11.59 [[ 9.71085851e-01 2.36888400e-01 2.95999395e-02 3.51392878e+02] [-2.36787115e-01 9.71536828e-01 -6.93203049e-03 -6.76967608e+01] [-3.03995490e-02 -2.77287565e-04 9.99537788e-01 -1.15931698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534012739 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:351.42, Y:-67.70, Z:-11.59 [[ 9.70784267e-01 2.38155998e-01 2.93194196e-02 3.51421936e+02] [-2.38057176e-01 9.71226865e-01 -6.86717606e-03 -6.77031833e+01] [-3.01112672e-02 -3.13151773e-04 9.99546504e-01 -1.15936629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:351.45, Y:-67.71, Z:-11.59 [[ 9.70119886e-01 2.40702500e-01 3.04912107e-02 3.51450205e+02] [-2.40596887e-01 9.70598856e-01 -7.14128177e-03 -6.77076266e+01] [-3.13136586e-02 -4.08190934e-04 9.99509524e-01 -1.15937655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594012739 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:351.48, Y:-67.71, Z:-11.59 [[ 9.70128090e-01 2.40669390e-01 3.04915403e-02 3.51478769e+02] [-2.40563806e-01 9.70607067e-01 -7.13987413e-03 -6.77142289e+01] [-3.13136537e-02 -4.08568537e-04 9.99509524e-01 -1.15947280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:351.51, Y:-67.72, Z:-11.59 [[ 9.69738463e-01 2.42319477e-01 2.98091442e-02 3.51506676e+02] [-2.42116806e-01 9.70192596e-01 -1.02848887e-02 -6.77174251e+01] [-3.14128398e-02 2.75635743e-03 9.99502694e-01 -1.15948387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654012739 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:351.53, Y:-67.72, Z:-11.60 [[ 9.69509293e-01 2.42843662e-01 3.28433698e-02 3.51534594e+02] [-2.42834344e-01 9.70058095e-01 -4.33289716e-03 -6.77236594e+01] [-3.29121934e-02 -3.77471412e-03 9.99451119e-01 -1.15965573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:351.56, Y:-67.73, Z:-11.60 [[ 9.69521650e-01 2.42992744e-01 3.13415948e-02 3.51562760e+02] [-2.42882540e-01 9.70027976e-01 -7.33463457e-03 -6.77265163e+01] [-3.21844868e-02 -5.01239131e-04 9.99481820e-01 -1.15979268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714012739 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:351.59, Y:-67.73, Z:-11.60 [[ 9.69886151e-01 2.41848142e-01 2.88154562e-02 3.51590453e+02] [-2.41754538e-01 9.70314018e-01 -6.74167568e-03 -6.77313812e+01] [-2.95905029e-02 -4.27609431e-04 9.99562014e-01 -1.16001983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:351.62, Y:-67.74, Z:-11.60 [[ 9.70150729e-01 2.40877072e-01 2.80321039e-02 3.51618617e+02] [-2.40788130e-01 9.70555555e-01 -6.55676620e-03 -6.77381601e+01] [-2.87860888e-02 -3.88746378e-04 9.99585519e-01 -1.16013069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:351.65, Y:-67.75, Z:-11.60 [[ 9.70463155e-01 2.39547579e-01 2.86045792e-02 3.51646003e+02] [-2.39454429e-01 9.70884560e-01 -6.68931614e-03 -6.77454871e+01] [-2.93741538e-02 -3.57758344e-04 9.99568422e-01 -1.16027209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:351.67, Y:-67.75, Z:-11.60 [[ 9.71083254e-01 2.36757611e-01 3.07107213e-02 3.51673759e+02] [-2.36648892e-01 9.71568704e-01 -7.18019260e-03 -6.77539064e+01] [-3.15375410e-02 -2.95093375e-04 9.99502524e-01 -1.16017968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834012739 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:351.70, Y:-67.76, Z:-11.60 [[ 9.71274932e-01 2.35849758e-01 3.16211754e-02 3.51701815e+02] [-2.35734055e-01 9.71789492e-01 -7.39185376e-03 -6.77604359e+01] [-3.24724928e-02 -2.74665619e-04 9.99472592e-01 -1.16021338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:351.73, Y:-67.77, Z:-11.60 [[ 9.71277069e-01 2.35831001e-01 3.16953209e-02 3.51730117e+02] [-2.35714792e-01 9.71794043e-01 -7.40770217e-03 -6.77674443e+01] [-3.25482899e-02 -2.76124744e-04 9.99470126e-01 -1.16031548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894012739 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:351.76, Y:-67.77, Z:-11.60 [[ 9.71211589e-01 2.36171310e-01 3.11634778e-02 3.51757908e+02] [-2.36059168e-01 9.71711393e-01 -7.28266390e-03 -6.77746417e+01] [-3.20018627e-02 -2.83417054e-04 9.99487769e-01 -1.16047905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:351.79, Y:-67.78, Z:-11.61 [[ 9.71014959e-01 2.37109336e-01 3.01515004e-02 3.51786633e+02] [-2.37004837e-01 9.71482923e-01 -7.04539677e-03 -6.77829195e+01] [-3.09621971e-02 -3.04865771e-04 9.99520510e-01 -1.16060750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954012739 meters Centerline goodness : 0.992205 Centerline is valid? [True, True] Translation: X:351.81, Y:-67.79, Z:-11.61 [[ 9.70552023e-01 2.39180449e-01 2.86615440e-02 3.51813145e+02] [-2.39086943e-01 9.70975071e-01 -6.69670746e-03 -6.77905406e+01] [-2.94313662e-02 -3.53097948e-04 9.99566741e-01 -1.16064663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:351.84, Y:-67.80, Z:-11.61 [[ 9.70288814e-01 2.40221696e-01 2.88644233e-02 3.51840777e+02] [-2.40127374e-01 9.70717974e-01 -6.74232104e-03 -6.77968810e+01] [-2.96388663e-02 -3.89139470e-04 9.99560597e-01 -1.16069588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014012739 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:351.87, Y:-67.80, Z:-11.61 [[ 9.69623727e-01 2.42627503e-01 3.10116741e-02 3.51868815e+02] [-2.42519902e-01 9.70119398e-01 -7.24229428e-03 -6.78041329e+01] [-3.18422064e-02 -4.98647796e-04 9.99492784e-01 -1.16060750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:351.90, Y:-67.81, Z:-11.61 [[ 9.69325017e-01 2.43723643e-01 3.17458210e-02 3.51896282e+02] [-2.43611524e-01 9.69844567e-01 -7.41219441e-03 -6.78110228e+01] [-3.25950390e-02 -5.48822359e-04 9.99468490e-01 -1.16071144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074012739 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:351.92, Y:-67.82, Z:-11.61 [[ 9.68943499e-01 2.45278145e-01 3.14185705e-02 3.51923263e+02] [-2.45169190e-01 9.69452565e-01 -7.33429950e-03 -6.78163515e+01] [-3.22577572e-02 -5.96343680e-04 9.99479405e-01 -1.16076237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:351.95, Y:-67.82, Z:-11.61 [[ 9.68726071e-01 2.46112854e-01 3.15952820e-02 3.51952334e+02] [-2.46003175e-01 9.69240975e-01 -7.37365173e-03 -6.78220221e+01] [-3.24381924e-02 -6.29491033e-04 9.99473545e-01 -1.16088525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134012739 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:351.98, Y:-67.83, Z:-11.61 [[ 9.68565143e-01 2.46698075e-01 3.19628612e-02 3.51981127e+02] [-2.46586174e-01 9.69092167e-01 -7.45863964e-03 -6.78277760e+01] [-3.28149905e-02 -6.57421275e-04 9.99461227e-01 -1.16095209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:352.01, Y:-67.83, Z:-11.61 [[ 9.68277576e-01 2.47701473e-01 3.29016063e-02 3.52009474e+02] [-2.47583509e-01 9.68836143e-01 -7.67684612e-03 -6.78317552e+01] [-3.37778314e-02 -7.12577170e-04 9.99429112e-01 -1.16097520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194012739 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:352.04, Y:-67.84, Z:-11.61 [[ 9.68243137e-01 2.47831858e-01 3.29332229e-02 3.52038457e+02] [-2.47713775e-01 9.68802794e-01 -7.68326130e-03 -6.78363661e+01] [-3.38099553e-02 -7.18747932e-04 9.99428022e-01 -1.16111451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:352.07, Y:-67.84, Z:-11.61 [[ 9.68537235e-01 2.46895627e-01 3.12757590e-02 3.52065792e+02] [-2.46788690e-01 9.69041858e-01 -7.29514745e-03 -6.78396384e+01] [-3.21086596e-02 -6.52881666e-04 9.99484171e-01 -1.16129863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254012739 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:352.09, Y:-67.85, Z:-11.61 [[ 9.68902955e-01 2.45518040e-01 3.07888828e-02 3.52094377e+02] [-2.45413770e-01 9.69391837e-01 -7.17974332e-03 -6.78450070e+01] [-3.16092481e-02 -5.99541282e-04 9.99500123e-01 -1.16142955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:352.12, Y:-67.85, Z:-11.62 [[ 9.69846459e-01 2.41656838e-01 3.16199149e-02 3.52121645e+02] [-2.41544862e-01 9.70361651e-01 -7.37193059e-03 -6.78495256e+01] [-3.24642303e-02 -4.87987202e-04 9.99472779e-01 -1.16150927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314012739 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:352.15, Y:-67.86, Z:-11.62 [[ 9.70351610e-01 2.39555598e-01 3.21071363e-02 3.52149871e+02] [-2.39439059e-01 9.70882554e-01 -7.48351696e-03 -6.78557537e+01] [-3.29649768e-02 -4.26059762e-04 9.99456417e-01 -1.16156248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:352.18, Y:-67.86, Z:-11.62 [[ 9.70857139e-01 2.37497974e-01 3.21111828e-02 3.52178374e+02] [-2.37380329e-01 9.71387968e-01 -7.48295961e-03 -6.78625379e+01] [-3.29696044e-02 -3.57678393e-04 9.99456291e-01 -1.16166466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:352.21, Y:-67.87, Z:-11.62 [[ 9.71527746e-01 2.34838794e-01 3.13780288e-02 3.52206943e+02] [-2.34725121e-01 9.72034296e-01 -7.31065664e-03 -6.78704619e+01] [-3.22173459e-02 -2.62705827e-04 9.99480852e-01 -1.16177006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:352.23, Y:-67.88, Z:-11.62 [[ 9.71709648e-01 2.34108619e-01 3.12011887e-02 3.52234654e+02] [-2.33995859e-01 9.72210419e-01 -7.26908970e-03 -6.78771518e+01] [-3.20358773e-02 -2.37504368e-04 9.99486691e-01 -1.16192513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434012739 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:352.26, Y:-67.88, Z:-11.62 [[ 9.71775994e-01 2.33911640e-01 3.06065733e-02 3.52262730e+02] [-2.33803076e-01 9.72257833e-01 -7.12944259e-03 -6.78831931e+01] [-3.14251402e-02 -2.27689822e-04 9.99506082e-01 -1.16198302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:352.29, Y:-67.89, Z:-11.62 [[ 9.71675453e-01 2.34432642e-01 2.98018600e-02 3.52290586e+02] [-2.34329990e-01 9.72132336e-01 -6.94095849e-03 -6.78890497e+01] [-3.05985391e-02 -2.39110573e-04 9.99531726e-01 -1.16205512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494012739 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:352.32, Y:-67.90, Z:-11.62 [[ 9.71549939e-01 2.35012161e-01 2.93257668e-02 3.52318318e+02] [-2.34913069e-01 9.71992397e-01 -6.82868656e-03 -6.78953075e+01] [-3.01092467e-02 -2.54595851e-04 9.99546581e-01 -1.16219061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:352.34, Y:-67.90, Z:-11.62 [[ 9.71463786e-01 2.35417126e-01 2.89290356e-02 3.52344827e+02] [-2.35320916e-01 9.71894391e-01 -6.73497177e-03 -6.79021030e+01] [-2.97014951e-02 -2.64825984e-04 9.99558778e-01 -1.16230133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55401273900003 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:352.37, Y:-67.91, Z:-11.62 [[ 9.71547326e-01 2.35082303e-01 2.88462045e-02 3.52372516e+02] [-2.34986549e-01 9.71975435e-01 -6.71389836e-03 -6.79088711e+01] [-2.96161208e-02 -2.55600030e-04 9.99561314e-01 -1.16233124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:352.40, Y:-67.92, Z:-11.62 [[ 9.71730967e-01 2.34162877e-01 3.01110524e-02 3.52399723e+02] [-2.34058144e-01 9.72197351e-01 -7.00681696e-03 -6.79150759e+01] [-3.09146218e-02 -2.38996022e-04 9.99522000e-01 -1.16240380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61401273900003 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:352.43, Y:-67.92, Z:-11.62 [[ 9.71732791e-01 2.34079703e-01 3.06932324e-02 3.52427761e+02] [-2.33970897e-01 9.72217380e-01 -7.14043063e-03 -6.79213243e+01] [-3.15119239e-02 -2.42732540e-04 9.99503347e-01 -1.16248455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:352.45, Y:-67.93, Z:-11.63 [[ 9.71454024e-01 2.35038259e-01 3.21573557e-02 3.52454431e+02] [-2.34928377e-01 9.71985962e-01 -7.20739883e-03 -6.79271998e+01] [-3.29505128e-02 -5.53018776e-04 9.99456831e-01 -1.16251252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.674012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:352.48, Y:-67.93, Z:-11.63 [[ 9.71307950e-01 2.35602015e-01 3.24431362e-02 3.52483842e+02] [-2.35473935e-01 9.71849619e-01 -7.76814649e-03 -6.79329292e+01] [-3.33600405e-02 -9.42505121e-05 9.99443395e-01 -1.16253891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:352.51, Y:-67.94, Z:-11.63 [[ 9.70937416e-01 2.37133080e-01 3.23795717e-02 3.52511507e+02] [-2.37013755e-01 9.71477108e-01 -7.53056567e-03 -6.79380164e+01] [-3.32417589e-02 -3.62695873e-04 9.99447274e-01 -1.16263765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734012739 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:352.54, Y:-67.94, Z:-11.63 [[ 9.70810869e-01 2.37753378e-01 3.16162443e-02 3.52538769e+02] [-2.37640004e-01 9.71325481e-01 -7.35114650e-03 -6.79442231e+01] [-3.24574236e-02 -3.76711494e-04 9.99473048e-01 -1.16279284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:352.57, Y:-67.95, Z:-11.63 [[ 9.70695886e-01 2.38290516e-01 3.10986580e-02 3.52566037e+02] [-2.38181158e-01 9.71193842e-01 -7.22895848e-03 -6.79506733e+01] [-3.19254174e-02 -3.89994130e-04 9.99490178e-01 -1.16284528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794012739 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:352.60, Y:-67.96, Z:-11.63 [[ 9.70368567e-01 2.39371020e-01 3.29599594e-02 3.52595070e+02] [-2.39248867e-01 9.70928066e-01 -7.65962356e-03 -6.79588007e+01] [-3.38352416e-02 -4.52975029e-04 9.99427322e-01 -1.16286012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:352.62, Y:-67.97, Z:-11.63 [[ 9.70344469e-01 2.39362539e-01 3.37222085e-02 3.52623169e+02] [-2.39234695e-01 9.70930152e-01 -7.83588358e-03 -6.79651754e+01] [-3.46175260e-02 -4.64015974e-04 9.99400526e-01 -1.16293583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854012739 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:352.65, Y:-67.97, Z:-11.63 [[ 9.70586623e-01 2.38460854e-01 3.31365070e-02 3.52650677e+02] [-2.38336921e-01 9.71152017e-01 -7.69881239e-03 -6.79715707e+01] [-3.40164510e-02 -4.25288729e-04 9.99421183e-01 -1.16306293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:352.68, Y:-67.98, Z:-11.63 [[ 9.70632374e-01 2.38385632e-01 3.23277691e-02 3.52678776e+02] [-2.38267696e-01 9.71170489e-01 -7.50905906e-03 -6.79787029e+01] [-3.31858271e-02 -4.14127230e-04 9.99449113e-01 -1.16315621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914012739 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:352.71, Y:-67.99, Z:-11.63 [[ 9.70576290e-01 2.38682257e-01 3.18189456e-02 3.52706287e+02] [-2.38568214e-01 9.71097629e-01 -7.38937235e-03 -6.79854584e+01] [-3.26630147e-02 -4.19039410e-04 9.99466334e-01 -1.16328273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:352.74, Y:-67.99, Z:-11.63 [[ 9.70263806e-01 2.40021064e-01 3.12735684e-02 3.52735047e+02] [-2.39911639e-01 9.70767572e-01 -7.26125545e-03 -6.79912135e+01] [-3.21022203e-02 -4.57559702e-04 9.99484486e-01 -1.16337149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974012739 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:352.76, Y:-68.00, Z:-11.63 [[ 9.70060660e-01 2.40860063e-01 3.11246847e-02 3.52762637e+02] [-2.40752158e-01 9.70559733e-01 -7.22516189e-03 -6.79970282e+01] [-3.19486187e-02 -4.84489706e-04 9.99489395e-01 -1.16347097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:352.79, Y:-68.00, Z:-11.64 [[ 9.69877350e-01 2.41696639e-01 3.03423889e-02 3.52791139e+02] [-2.41594558e-01 9.70351732e-01 -7.04172468e-03 -6.80034238e+01] [-3.11447508e-02 -5.00946770e-04 9.99514759e-01 -1.16357723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034012739 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:352.82, Y:-68.01, Z:-11.64 [[ 9.70116667e-01 2.40790499e-01 2.98929322e-02 3.52817914e+02] [-2.40691034e-01 9.70577003e-01 -6.93599726e-03 -6.80091462e+01] [-3.06835148e-02 -4.66234219e-04 9.99529041e-01 -1.16369582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:352.84, Y:-68.01, Z:-11.64 [[ 9.70790585e-01 2.37962685e-01 3.06496602e-02 3.52844674e+02] [-2.37856770e-01 9.71274220e-01 -7.10965931e-03 -6.80147514e+01] [-3.14610584e-02 -3.88238856e-04 9.99504903e-01 -1.16381902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094012739 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:352.87, Y:-68.02, Z:-11.64 [[ 9.71231814e-01 2.36099975e-01 3.10735424e-02 3.52872115e+02] [-2.35990217e-01 9.71728712e-01 -7.20607026e-03 -6.80220123e+01] [-3.18964063e-02 -3.34287300e-04 9.99491124e-01 -1.16393524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:352.90, Y:-68.03, Z:-11.64 [[ 9.71654866e-01 2.34373409e-01 3.09180495e-02 3.52899860e+02] [-2.34263920e-01 9.72146608e-01 -7.16852032e-03 -6.80296728e+01] [-3.17369875e-02 -2.77655818e-04 9.99496216e-01 -1.16407470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154012739 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:352.93, Y:-68.04, Z:-11.64 [[ 9.72244205e-01 2.32099881e-01 2.95101699e-02 3.52928134e+02] [-2.31999134e-01 9.72691938e-01 -6.84067829e-03 -6.80376189e+01] [-3.02920250e-02 -1.95524042e-04 9.99541072e-01 -1.16419115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:352.96, Y:-68.04, Z:-11.64 [[ 9.72241450e-01 2.32133386e-01 2.93369186e-02 3.52955395e+02] [-2.32033852e-01 9.72683943e-01 -6.79990772e-03 -6.80436911e+01] [-3.01140353e-02 -1.96006113e-04 9.99546450e-01 -1.16427980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:352.98, Y:-68.05, Z:-11.64 [[ 9.71858170e-01 2.33724859e-01 2.94004840e-02 3.52983013e+02] [-2.33625674e-01 9.72302746e-01 -6.81286753e-03 -6.80491310e+01] [-3.01785078e-02 -2.47566915e-04 9.99544494e-01 -1.16440360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:353.01, Y:-68.06, Z:-11.64 [[ 9.71613815e-01 2.34703919e-01 2.96759875e-02 3.53010827e+02] [-2.34603378e-01 9.72066865e-01 -6.87489745e-03 -6.80555384e+01] [-3.04606095e-02 -2.82341575e-04 9.99535928e-01 -1.16445900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274012739 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:353.04, Y:-68.06, Z:-11.65 [[ 9.71365968e-01 2.35676837e-01 3.00763197e-02 3.53039340e+02] [-2.35574075e-01 9.71831429e-01 -6.96619703e-03 -6.80622302e+01] [-3.08708840e-02 -3.18474465e-04 9.99523330e-01 -1.16451265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:353.07, Y:-68.07, Z:-11.65 [[ 9.70939790e-01 2.37367011e-01 3.05422175e-02 3.53066987e+02] [-2.37261922e-01 9.71419970e-01 -7.07266025e-03 -6.80677673e+01] [-3.13481363e-02 -3.79377970e-04 9.99508454e-01 -1.16451549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:353.10, Y:-68.07, Z:-11.65 [[ 9.70855688e-01 2.37696847e-01 3.06503263e-02 3.53095491e+02] [-2.37591234e-01 9.71339310e-01 -7.09587095e-03 -6.80737363e+01] [-3.14585329e-02 -3.93182176e-04 9.99504981e-01 -1.16466972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:353.12, Y:-68.08, Z:-11.65 [[ 9.70877008e-01 2.37660922e-01 3.02509926e-02 3.53122672e+02] [-2.37558069e-01 9.71348102e-01 -7.00202956e-03 -6.80793148e+01] [-3.10483530e-02 -3.88257868e-04 9.99517808e-01 -1.16478180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:353.15, Y:-68.09, Z:-11.65 [[ 9.70941175e-01 2.37455569e-01 2.98008110e-02 3.53150667e+02] [-2.37355713e-01 9.71398327e-01 -6.89604299e-03 -6.80854011e+01] [-3.05859618e-02 -3.77740668e-04 9.99532069e-01 -1.16484090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:353.18, Y:-68.09, Z:-11.65 [[ 9.70997138e-01 2.37221587e-01 2.98408650e-02 3.53179134e+02] [-2.37121395e-01 9.71455496e-01 -6.90391789e-03 -6.80909595e+01] [-3.06268307e-02 -3.72223025e-04 9.99530819e-01 -1.16495512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454012739 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:353.21, Y:-68.09, Z:-11.65 [[ 9.70740314e-01 2.38189657e-01 3.04783417e-02 3.53206577e+02] [-2.38085660e-01 9.71218573e-01 -7.04993922e-03 -6.80949719e+01] [-3.12803541e-02 -4.12795892e-04 9.99510565e-01 -1.16499900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:353.23, Y:-68.10, Z:-11.65 [[ 9.70753210e-01 2.38137044e-01 3.04787388e-02 3.53234357e+02] [-2.38033075e-01 9.71231475e-01 -7.04822209e-03 -6.81012590e+01] [-3.12803532e-02 -4.12863685e-04 9.99510565e-01 -1.16509256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514012739 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:353.26, Y:-68.11, Z:-11.65 [[ 9.70686087e-01 2.38402565e-01 3.05407370e-02 3.53262350e+02] [-2.38298358e-01 9.71166328e-01 -7.06083025e-03 -6.81062672e+01] [-3.13434555e-02 -4.23957794e-04 9.99508583e-01 -1.16518667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:353.29, Y:-68.11, Z:-11.65 [[ 9.70723797e-01 2.38248112e-01 3.05474593e-02 3.53289794e+02] [-2.38143850e-01 9.71204232e-01 -7.06025266e-03 -6.81107284e+01] [-3.13499136e-02 -4.21134287e-04 9.99508382e-01 -1.16529820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574012739 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:353.32, Y:-68.12, Z:-11.65 [[ 9.70861764e-01 2.37698777e-01 3.04421846e-02 3.53317797e+02] [-2.37595016e-01 9.71338833e-01 -7.03420308e-03 -6.81157198e+01] [-3.12416976e-02 -4.03672521e-04 9.99511778e-01 -1.16543919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:353.35, Y:-68.11, Z:-11.65 [[ 9.71298508e-01 2.36957253e-01 2.07477497e-02 3.53349449e+02] [-2.36465028e-01 9.71352024e-01 -2.36545322e-02 -6.81099461e+01] [-2.57584816e-02 1.80694946e-02 9.99504874e-01 -1.16531326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634012739 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:353.37, Y:-68.14, Z:-11.66 [[ 9.71437739e-01 2.34809028e-01 3.42555157e-02 3.53370262e+02] [-2.35295319e-01 9.71863081e-01 1.08749407e-02 -6.81372756e+01] [-3.07381368e-02 -1.86244903e-02 9.99353939e-01 -1.16556893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:353.40, Y:-68.13, Z:-11.66 [[ 9.71587239e-01 2.34751236e-01 3.01677642e-02 3.53400525e+02] [-2.34648112e-01 9.72055430e-01 -6.96444623e-03 -6.81323140e+01] [-3.09596514e-02 -3.12241832e-04 9.99520586e-01 -1.16574008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:353.43, Y:-68.14, Z:-11.66 [[ 9.71816925e-01 2.33842838e-01 2.98226779e-02 3.53428159e+02] [-2.33741694e-01 9.72274369e-01 -6.88278830e-03 -6.81369024e+01] [-3.06053161e-02 -2.81993083e-04 9.99531508e-01 -1.16582065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:353.46, Y:-68.14, Z:-11.66 [[ 9.71921894e-01 2.33434935e-01 2.95966866e-02 3.53456284e+02] [-2.33335192e-01 9.72372387e-01 -6.82858989e-03 -6.81429868e+01] [-3.03730322e-02 -2.69092518e-04 9.99538597e-01 -1.16592553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:353.48, Y:-68.15, Z:-11.66 [[ 9.71879835e-01 2.33576429e-01 2.98603107e-02 3.53484284e+02] [-2.33475013e-01 9.72338406e-01 -6.88790045e-03 -6.81502354e+01] [-3.06431781e-02 -2.77424894e-04 9.99530349e-01 -1.16606941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:353.51, Y:-68.16, Z:-11.66 [[ 9.71320282e-01 2.35795785e-01 3.06146554e-02 3.53511920e+02] [-2.35690331e-01 9.71802562e-01 -7.06030941e-03 -6.81553111e+01] [-3.14161917e-02 -3.57756530e-04 9.99506326e-01 -1.16608270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814012739 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:353.54, Y:-68.16, Z:-11.66 [[ 9.70843987e-01 2.37708616e-01 3.09284040e-02 3.53540232e+02] [-2.37602023e-01 9.71336416e-01 -7.13065703e-03 -6.81598513e+01] [-3.17369037e-02 -4.25895830e-04 9.99496167e-01 -1.16612478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:353.57, Y:-68.16, Z:-11.66 [[ 9.70064092e-01 2.40866725e-01 3.09657563e-02 3.53567968e+02] [-2.40761529e-01 9.70558055e-01 -7.13774420e-03 -6.81626992e+01] [-3.17733093e-02 -5.31293504e-04 9.99494960e-01 -1.16625505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874012739 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:353.60, Y:-68.17, Z:-11.66 [[ 9.69955456e-01 2.41321729e-01 3.08258880e-02 3.53595979e+02] [-2.41217772e-01 9.70445014e-01 -7.10360033e-03 -6.81678066e+01] [-3.16290825e-02 -5.45576134e-04 9.99499527e-01 -1.16631197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:353.62, Y:-68.17, Z:-11.66 [[ 9.70058537e-01 2.40915600e-01 3.07588922e-02 3.53622942e+02] [-2.40811938e-01 9.70545924e-01 -7.08663663e-03 -6.81726867e+01] [-3.15601987e-02 -5.32656072e-04 9.99501711e-01 -1.16643896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934012739 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:353.65, Y:-68.18, Z:-11.67 [[ 9.70305614e-01 2.39912139e-01 3.08087798e-02 3.53651482e+02] [-2.39807696e-01 9.70794475e-01 -7.09618616e-03 -6.81776344e+01] [-3.16114544e-02 -5.02713224e-04 9.99500107e-01 -1.16656211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:353.68, Y:-68.18, Z:-11.67 [[ 9.70976312e-01 2.37146646e-01 3.10880837e-02 3.53678839e+02] [-2.37038932e-01 9.71473774e-01 -7.15899024e-03 -6.81808621e+01] [-3.18989885e-02 -4.17876217e-04 9.99491010e-01 -1.16662562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994012739 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:353.71, Y:-68.19, Z:-11.67 [[ 9.71317848e-01 2.35691626e-01 3.14816862e-02 3.53707053e+02] [-2.35580465e-01 9.71827822e-01 -7.24768280e-03 -6.81858948e+01] [-3.23029966e-02 -3.76666615e-04 9.99478051e-01 -1.16667264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:353.73, Y:-68.19, Z:-11.67 [[ 9.71932667e-01 2.33092801e-01 3.18533781e-02 3.53734469e+02] [-2.32977655e-01 9.72454451e-01 -7.33166515e-03 -6.81889048e+01] [-3.26849177e-02 -2.95240463e-04 9.99465662e-01 -1.16670045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05401273900003 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:353.76, Y:-68.19, Z:-11.67 [[ 9.72219804e-01 2.31904581e-01 3.17634795e-02 3.53762881e+02] [-2.31789514e-01 9.72738505e-01 -7.30902348e-03 -6.81937601e+01] [-3.25925555e-02 -2.56464086e-04 9.99468689e-01 -1.16682271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:353.79, Y:-68.20, Z:-11.67 [[ 9.72430039e-01 2.31114547e-01 3.10787059e-02 3.53790123e+02] [-2.31004034e-01 9.72926521e-01 -7.14994737e-03 -6.81990143e+01] [-3.18897541e-02 -2.26482833e-04 9.99491367e-01 -1.16697568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11401273900003 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:353.82, Y:-68.20, Z:-11.67 [[ 9.72811344e-01 2.29709374e-01 2.95244344e-02 3.53818234e+02] [-2.29609046e-01 9.73259253e-01 -6.79060736e-03 -6.82049078e+01] [-3.02947951e-02 -1.73097346e-04 9.99540992e-01 -1.16721767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:353.85, Y:-68.21, Z:-11.67 [[ 9.73121017e-01 2.28395341e-01 2.95136225e-02 3.53846713e+02] [-2.28294527e-01 9.73568462e-01 -6.78665560e-03 -6.82105744e+01] [-3.02835726e-02 -1.33561293e-04 9.99541339e-01 -1.16729548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.174012739 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:353.87, Y:-68.22, Z:-11.67 [[ 9.73504511e-01 2.26653638e-01 3.02835877e-02 3.53874346e+02] [-2.26546698e-01 9.73975421e-01 -6.96218648e-03 -6.82157803e+01] [-3.10734750e-02 -8.29268731e-05 9.99517100e-01 -1.16732493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:353.90, Y:-68.22, Z:-11.67 [[ 9.74517880e-01 2.22062635e-01 3.16715447e-02 3.53901430e+02] [-2.21943306e-01 9.75032400e-01 -7.27922863e-03 -6.82209441e+01] [-3.24972269e-02 6.44511281e-05 9.99471824e-01 -1.16737707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:353.93, Y:-68.23, Z:-11.68 [[ 9.75172767e-01 2.19136081e-01 3.18975376e-02 3.53929025e+02] [-2.19013544e-01 9.75694292e-01 -7.32910215e-03 -6.82280540e+01] [-3.27283161e-02 1.61148071e-04 9.99464272e-01 -1.16752738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:353.96, Y:-68.24, Z:-11.68 [[ 9.76422043e-01 2.13521841e-01 3.17555984e-02 3.53955657e+02] [-2.13397470e-01 9.76938229e-01 -7.29495591e-03 -6.82360191e+01] [-3.25808905e-02 3.46391397e-04 9.99469042e-01 -1.16768735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294012739 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:353.98, Y:-68.24, Z:-11.68 [[ 9.76950012e-01 2.11111390e-01 3.16331414e-02 3.53983702e+02] [-2.10986775e-01 9.77461918e-01 -7.26492324e-03 -6.82435169e+01] [-3.24538992e-02 4.23292343e-04 9.99473144e-01 -1.16775000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:354.01, Y:-68.25, Z:-11.68 [[ 9.77450134e-01 2.08787820e-01 3.16050784e-02 3.54011950e+02] [-2.08662261e-01 9.77960836e-01 -7.25694545e-03 -6.82509902e+01] [-3.24236908e-02 4.98515185e-04 9.99474090e-01 -1.16782117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354012739 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:354.04, Y:-68.26, Z:-11.68 [[ 9.78121842e-01 2.05666889e-01 3.12856621e-02 3.54040333e+02] [-2.05542284e-01 9.78621876e-01 -7.18283490e-03 -6.82599656e+01] [-3.20941046e-02 5.95161279e-04 9.99484674e-01 -1.16794667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:354.07, Y:-68.27, Z:-11.68 [[ 9.78313293e-01 2.04932065e-01 3.00989840e-02 3.54067602e+02] [-2.04816398e-01 9.78776018e-01 -6.91006720e-03 -6.82681472e+01] [-3.08762580e-02 5.95445121e-04 9.99523037e-01 -1.16810359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:354.09, Y:-68.28, Z:-11.68 [[ 9.78478838e-01 2.04478453e-01 2.77078700e-02 3.54094657e+02] [-2.04380276e-01 9.78870905e-01 -6.36043292e-03 -6.82776883e+01] [-2.84229992e-02 5.60606916e-04 9.99595828e-01 -1.16822726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:354.12, Y:-68.29, Z:-11.68 [[ 9.78443304e-01 2.04592060e-01 2.81209836e-02 3.54123008e+02] [-2.04491009e-01 9.78847164e-01 -6.45420570e-03 -6.82855269e+01] [-2.88466243e-02 5.64586038e-04 9.99583690e-01 -1.16836189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:354.15, Y:-68.29, Z:-11.68 [[ 9.78287973e-01 2.05161188e-01 2.93517969e-02 3.54151796e+02] [-2.05051374e-01 9.78728032e-01 -6.73597427e-03 -6.82938038e+01] [-3.01093869e-02 5.71096352e-04 9.99546446e-01 -1.16837807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:354.18, Y:-68.30, Z:-11.68 [[ 9.77826558e-01 2.07044010e-01 3.14324885e-02 3.54179887e+02] [-2.06919068e-01 9.78331476e-01 -7.21265367e-03 -6.83028548e+01] [-3.22447296e-02 5.48743074e-04 9.99479853e-01 -1.16833528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534012739 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:354.21, Y:-68.31, Z:-11.68 [[ 9.77514377e-01 2.08523052e-01 3.13652455e-02 3.54209247e+02] [-2.08399431e-01 9.78017325e-01 -7.19643424e-03 -6.83106331e+01] [-3.21763760e-02 4.98118624e-04 9.99482082e-01 -1.16842957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:354.24, Y:-68.32, Z:-11.69 [[ 9.76855510e-01 2.11708396e-01 3.05428931e-02 3.54237452e+02] [-2.11592716e-01 9.77332803e-01 -7.00816770e-03 -6.83190680e+01] [-3.13342593e-02 3.83313539e-04 9.99508888e-01 -1.16861493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594012739 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:354.27, Y:-68.33, Z:-11.69 [[ 9.76562713e-01 2.13088337e-01 3.03088961e-02 3.54265850e+02] [-2.12975110e-01 9.77032880e-01 -6.95376030e-03 -6.83264601e+01] [-3.10945532e-02 3.35742557e-04 9.99516391e-01 -1.16876070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:354.29, Y:-68.33, Z:-11.69 [[ 9.76400486e-01 2.13858746e-01 3.01086097e-02 3.54294725e+02] [-2.13747399e-01 9.76864546e-01 -6.90709047e-03 -6.83342246e+01] [-3.08891750e-02 3.08449502e-04 9.99522768e-01 -1.16890881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654012739 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:354.32, Y:-68.34, Z:-11.69 [[ 9.76429464e-01 2.13768465e-01 2.98084886e-02 3.54322330e+02] [-2.13659306e-01 9.76884307e-01 -6.83755640e-03 -6.83440708e+01] [-3.05810986e-02 3.07530542e-04 9.99532242e-01 -1.16896827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:354.35, Y:-68.35, Z:-11.69 [[ 9.76554567e-01 2.13133159e-01 3.02561381e-02 3.54350531e+02] [-2.13020427e-01 9.77023104e-01 -6.93910776e-03 -6.83532235e+01] [-3.10398999e-02 3.31241934e-04 9.99518091e-01 -1.16906270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714012739 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:354.38, Y:-68.37, Z:-11.69 [[ 9.76905166e-01 2.11307301e-01 3.17099566e-02 3.54378394e+02] [-2.11182534e-01 9.77419592e-01 -7.27174510e-03 -6.83651096e+01] [-3.25305056e-02 4.07216361e-04 9.99470660e-01 -1.16903998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:354.41, Y:-68.38, Z:-11.69 [[ 9.77022956e-01 2.10649963e-01 3.24458958e-02 3.54407752e+02] [-2.10518986e-01 9.77561456e-01 -7.44013731e-03 -6.83751912e+01] [-3.32851218e-02 4.38707854e-04 9.99445801e-01 -1.16911790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774012739 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:354.44, Y:-68.39, Z:-11.69 [[ 9.77094752e-01 2.10222240e-01 3.30523186e-02 3.54438006e+02] [-2.10086048e-01 9.77653515e-01 -7.57998739e-03 -6.83855229e+01] [-3.39071974e-02 4.62534899e-04 9.99424879e-01 -1.16926098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:354.47, Y:-68.40, Z:-11.69 [[ 9.76986023e-01 2.10937754e-01 3.16792647e-02 3.54466940e+02] [-2.10813000e-01 9.77499405e-01 -7.26577204e-03 -6.83979229e+01] [-3.24990880e-02 4.20156892e-04 9.99471677e-01 -1.16942587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834012739 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:354.50, Y:-68.41, Z:-11.70 [[ 9.76635409e-01 2.12689379e-01 3.07653528e-02 3.54497070e+02] [-2.12572441e-01 9.77119799e-01 -7.06087521e-03 -6.84075403e+01] [-3.15632085e-02 3.56034601e-04 9.99501694e-01 -1.16957961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:354.53, Y:-68.42, Z:-11.70 [[ 9.76026928e-01 2.15532843e-01 3.02825023e-02 3.54525988e+02] [-2.15420893e-01 9.76496557e-01 -6.95076978e-03 -6.84169843e+01] [-3.10688784e-02 2.60654789e-04 9.99517212e-01 -1.16968857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894012739 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:354.55, Y:-68.43, Z:-11.70 [[ 9.74367550e-01 2.23209732e-01 2.80230939e-02 3.54554007e+02] [-2.23117025e-01 9.74770442e-01 -6.43255603e-03 -6.84276455e+01] [-2.87518927e-02 1.52445228e-05 9.99586579e-01 -1.16970965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:354.58, Y:-68.43, Z:-11.70 [[ 9.73290403e-01 2.27935466e-01 2.74082910e-02 3.54581313e+02] [-2.27848658e-01 9.73676234e-01 -6.29133233e-03 -6.84348721e+01] [-2.81208193e-02 -1.21648934e-04 9.99604524e-01 -1.16982372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954012739 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:354.61, Y:-68.44, Z:-11.70 [[ 9.70708013e-01 2.38652480e-01 2.77659508e-02 3.54609843e+02] [-2.38567809e-01 9.71104938e-01 -6.37176121e-03 -6.84401095e+01] [-2.84842885e-02 -4.38942379e-04 9.99594144e-01 -1.16987674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:354.64, Y:-68.44, Z:-11.70 [[ 9.69407851e-01 2.43815758e-01 2.83247949e-02 3.54637605e+02] [-2.43729881e-01 9.69821381e-01 -6.49872222e-03 -6.84447240e+01] [-2.90544826e-02 -6.03686550e-04 9.99577647e-01 -1.16999798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014012739 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:354.66, Y:-68.45, Z:-11.70 [[ 9.68138553e-01 2.48721977e-01 2.90709396e-02 3.54664700e+02] [-2.48633770e-01 9.68574613e-01 -6.66834173e-03 -6.84489281e+01] [-2.98159373e-02 -7.72138594e-04 9.99555108e-01 -1.17009581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:354.69, Y:-68.45, Z:-11.70 [[ 9.65849210e-01 2.57271356e-01 3.07693464e-02 3.54693652e+02] [-2.57176964e-01 9.66338575e-01 -7.05469416e-03 -6.84498648e+01] [-3.15485771e-02 -1.09939630e-03 9.99501615e-01 -1.17014013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074012739 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:354.72, Y:-68.45, Z:-11.70 [[ 9.64811016e-01 2.61082984e-01 3.12310704e-02 3.54721394e+02] [-2.60987777e-01 9.65315559e-01 -7.15905524e-03 -6.84520173e+01] [-3.20169457e-02 -1.24379228e-03 9.99486552e-01 -1.17022272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:354.75, Y:-68.45, Z:-11.70 [[ 9.63965377e-01 2.64260994e-01 3.06084836e-02 3.54749706e+02] [-2.64171197e-01 9.64450296e-01 -7.01458230e-03 -6.84533633e+01] [-3.13740416e-02 -1.32406530e-03 9.99506837e-01 -1.17036964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:354.78, Y:-68.45, Z:-11.71 [[ 9.63140961e-01 2.67438782e-01 2.89134405e-02 3.54778109e+02] [-2.67360141e-01 9.63573907e-01 -6.62422477e-03 -6.84490314e+01] [-2.96318114e-02 -1.35023931e-03 9.99559969e-01 -1.17056896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:354.81, Y:-68.45, Z:-11.71 [[ 9.63287220e-01 2.66829622e-01 2.96594661e-02 3.54805604e+02] [-2.66746658e-01 9.63742746e-01 -6.79260845e-03 -6.84506445e+01] [-3.03965645e-02 -1.36833056e-03 9.99536981e-01 -1.17059363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:354.83, Y:-68.45, Z:-11.71 [[ 9.64283301e-01 2.62789699e-01 3.31555298e-02 3.54833703e+02] [-2.62683739e-01 9.64852134e-01 -7.59023152e-03 -6.84486013e+01] [-3.39848183e-02 -1.39028504e-03 9.99421382e-01 -1.17053160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:354.86, Y:-68.45, Z:-11.71 [[ 9.64888973e-01 2.60468809e-01 3.38418397e-02 3.54860585e+02] [-2.60357090e-01 9.65481335e-01 -7.74450861e-03 -6.84500963e+01] [-3.46908675e-02 -1.33837197e-03 9.99397195e-01 -1.17066916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254012739 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:354.89, Y:-68.45, Z:-11.71 [[ 9.65489836e-01 2.58349309e-01 3.29395176e-02 3.54888706e+02] [-2.58242325e-01 9.66050785e-01 -7.53541922e-03 -6.84518771e+01] [-3.37680171e-02 -1.23100694e-03 9.99428940e-01 -1.17075346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:354.92, Y:-68.45, Z:-11.71 [[ 9.66365700e-01 2.55393643e-01 3.01897508e-02 3.54917769e+02] [-2.55302396e-01 9.66836602e-01 -6.90444146e-03 -6.84502024e+01] [-3.09519066e-02 -1.03530032e-03 9.99520339e-01 -1.17097325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:354.94, Y:-68.45, Z:-11.71 [[ 9.66647287e-01 2.54413426e-01 2.94419916e-02 3.54944499e+02] [-2.54326240e-01 9.67095056e-01 -6.73176226e-03 -6.84529492e+01] [-3.01858552e-02 -9.80631300e-04 9.99543822e-01 -1.17106604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:354.97, Y:-68.45, Z:-11.71 [[ 9.67103085e-01 2.52603337e-01 3.00528902e-02 3.54973581e+02] [-2.52511702e-01 9.67569460e-01 -6.86882498e-03 -6.84534986e+01] [-3.08133469e-02 -9.45844642e-04 9.99524709e-01 -1.17112309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374012739 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:355.00, Y:-68.46, Z:-11.71 [[ 9.67417658e-01 2.51333278e-01 3.05721959e-02 3.55000998e+02] [-2.51237886e-01 9.67900166e-01 -6.98522806e-03 -6.84571382e+01] [-3.13464537e-02 -9.23260898e-04 9.99508153e-01 -1.17120175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:355.03, Y:-68.46, Z:-11.71 [[ 9.67447434e-01 2.51218577e-01 3.05726765e-02 3.55028791e+02] [-2.51123195e-01 9.67929944e-01 -6.98312369e-03 -6.84633321e+01] [-3.13464995e-02 -9.21703114e-04 9.99508153e-01 -1.17129534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434012739 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:355.06, Y:-68.47, Z:-11.71 [[ 9.67823537e-01 2.49722592e-01 3.09229487e-02 3.55055582e+02] [-2.49624372e-01 9.68317014e-01 -7.05922160e-03 -6.84676619e+01] [-3.17060645e-02 -8.87040850e-04 9.99496843e-01 -1.17132263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:355.08, Y:-68.47, Z:-11.71 [[ 9.68701831e-01 2.46298647e-01 3.08826703e-02 3.55081919e+02] [-2.46199062e-01 9.69193671e-01 -7.04628096e-03 -6.84715477e+01] [-3.16667780e-02 -7.77539170e-04 9.99498179e-01 -1.17147358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494012739 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:355.11, Y:-68.48, Z:-11.72 [[ 9.69073052e-01 2.44879682e-01 3.05182195e-02 3.55109355e+02] [-2.44781810e-01 9.69553204e-01 -6.96059155e-03 -6.84763545e+01] [-3.12935449e-02 -7.24983305e-04 9.99509974e-01 -1.17159275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:355.14, Y:-68.48, Z:-11.72 [[ 9.69405454e-01 2.43608335e-01 3.01337752e-02 3.55136209e+02] [-2.43512367e-01 9.69873456e-01 -6.87072519e-03 -6.84806963e+01] [-3.08997146e-02 -6.77428429e-04 9.99522260e-01 -1.17164184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55401273900003 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:355.16, Y:-68.48, Z:-11.72 [[ 9.69633049e-01 2.42615981e-01 3.08096679e-02 3.55164331e+02] [-2.42515245e-01 9.70122181e-01 -7.02209670e-03 -6.84834687e+01] [-3.15928151e-02 -6.62957121e-04 9.99500603e-01 -1.17176713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:355.19, Y:-68.49, Z:-11.72 [[ 9.69747867e-01 2.42188934e-01 3.05547790e-02 3.55191843e+02] [-2.42089717e-01 9.70228892e-01 -6.96176210e-03 -6.84876480e+01] [-3.13311912e-02 -6.45843851e-04 9.99508849e-01 -1.17183236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61401273900003 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:355.22, Y:-68.49, Z:-11.72 [[ 9.69997824e-01 2.41322737e-01 2.94543310e-02 3.55218359e+02] [-2.41230202e-01 9.70444733e-01 -6.70895689e-03 -6.84905874e+01] [-3.02028242e-02 -5.97600620e-04 9.99543612e-01 -1.17203491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:355.25, Y:-68.49, Z:-11.72 [[ 9.70273993e-01 2.40236428e-01 2.92375895e-02 3.55245320e+02] [-2.40144832e-01 9.70714244e-01 -6.65709249e-03 -6.84946026e+01] [-2.99806207e-02 -5.62052304e-04 9.99550322e-01 -1.17209703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.674012739 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:355.27, Y:-68.50, Z:-11.72 [[ 9.70441817e-01 2.39494336e-01 2.97513539e-02 3.55273275e+02] [-2.39399224e-01 9.70897605e-01 -6.77144185e-03 -6.84991099e+01] [-3.05072402e-02 -5.51160687e-04 9.99534394e-01 -1.17216649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:355.30, Y:-68.50, Z:-11.72 [[ 9.70653495e-01 2.38535156e-01 3.05413250e-02 3.55300478e+02] [-2.38434522e-01 9.71133714e-01 -6.94894884e-03 -6.85039014e+01] [-3.13172790e-02 -5.37084751e-04 9.99509349e-01 -1.17222930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:355.33, Y:-68.51, Z:-11.72 [[ 9.71169211e-01 2.36156957e-01 3.25615727e-02 3.55326974e+02] [-2.36041316e-01 9.71714798e-01 -7.40602498e-03 -6.85088587e+01] [-3.33895463e-02 -4.93373022e-04 9.99442292e-01 -1.17228642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:355.35, Y:-68.51, Z:-11.72 [[ 9.71613734e-01 2.34264661e-01 3.29669648e-02 3.55354638e+02] [-2.34145130e-01 9.72172761e-01 -7.49535222e-03 -6.85137211e+01] [-3.38054814e-02 -4.36467105e-04 9.99428336e-01 -1.17239877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794012739 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:355.38, Y:-68.52, Z:-11.73 [[ 9.72566836e-01 2.30552923e-01 3.09693179e-02 3.55381859e+02] [-2.30445627e-01 9.73059744e-01 -7.03904664e-03 -6.85167217e+01] [-3.17578693e-02 -2.90800553e-04 9.99495549e-01 -1.17254475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:355.41, Y:-68.52, Z:-11.73 [[ 9.73051287e-01 2.28676847e-01 2.96326416e-02 3.55408760e+02] [-2.28577818e-01 9.73502363e-01 -6.73279891e-03 -6.85225172e+01] [-3.03870819e-02 -2.22005923e-04 9.99538181e-01 -1.17266729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854012739 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:355.43, Y:-68.53, Z:-11.73 [[ 9.73539370e-01 2.26708797e-01 2.87091798e-02 3.55434916e+02] [-2.26615048e-01 9.73962575e-01 -6.52099235e-03 -6.85292038e+01] [-2.94400330e-02 -1.57489379e-04 9.99566536e-01 -1.17277873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:355.46, Y:-68.54, Z:-11.73 [[ 9.74366562e-01 2.23024869e-01 2.94908481e-02 3.55460958e+02] [-2.22924334e-01 9.74812754e-01 -6.69596608e-03 -6.85371080e+01] [-3.02414219e-02 -4.99022190e-05 9.99542622e-01 -1.17280862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914012739 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:355.49, Y:-68.54, Z:-11.73 [[ 9.74821374e-01 2.20955059e-01 3.00358230e-02 3.55488111e+02] [-2.20849870e-01 9.75283990e-01 -6.81712209e-03 -6.85438902e+01] [-3.07997350e-02 1.20686933e-05 9.99525576e-01 -1.17294443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:355.51, Y:-68.55, Z:-11.73 [[ 9.75532071e-01 2.17820504e-01 2.98564266e-02 3.55513184e+02] [-2.17715164e-01 9.75988840e-01 -6.77429856e-03 -6.85534428e+01] [-3.06151203e-02 1.08348708e-04 9.99531241e-01 -1.17309448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974012739 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:355.54, Y:-68.56, Z:-11.73 [[ 9.75802796e-01 2.16577989e-01 3.00479207e-02 3.55538528e+02] [-2.16470782e-01 9.76265309e-01 -6.81522886e-03 -6.85626038e+01] [-3.08107712e-02 1.45822480e-04 9.99525225e-01 -1.17312182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:355.56, Y:-68.58, Z:-11.73 [[ 9.75952922e-01 2.15759892e-01 3.10413315e-02 3.55564858e+02] [-2.15645146e-01 9.76446434e-01 -7.03791329e-03 -6.85753744e+01] [-3.18286968e-02 1.74759568e-04 9.99493323e-01 -1.17302550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034012739 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:355.59, Y:-68.58, Z:-11.73 [[ 9.76040119e-01 2.15416592e-01 3.06818769e-02 3.55591252e+02] [-2.15304387e-01 9.76522226e-01 -6.95429869e-03 -6.85840957e+01] [-3.14596060e-02 1.81731842e-04 9.99505008e-01 -1.17312475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:355.62, Y:-68.59, Z:-11.73 [[ 9.76087070e-01 2.15260293e-01 3.02826281e-02 3.55618818e+02] [-2.15150981e-01 9.76556692e-01 -6.86168060e-03 -6.85932421e+01] [-3.10497505e-02 1.82260583e-04 9.99517824e-01 -1.17328180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:355.64, Y:-68.60, Z:-11.73 [[ 9.76081549e-01 2.15276103e-01 3.03481177e-02 3.55644911e+02] [-2.15166370e-01 9.76553207e-01 -6.87507111e-03 -6.86023011e+01] [-3.11165902e-02 1.80735745e-04 9.99515745e-01 -1.17340743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:355.67, Y:-68.62, Z:-11.73 [[ 9.75881757e-01 2.15863150e-01 3.25253164e-02 3.55671429e+02] [-2.15737498e-01 9.76423612e-01 -7.36619975e-03 -6.86151401e+01] [-3.33485781e-02 1.71609567e-04 9.99443767e-01 -1.17341561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154012739 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:355.70, Y:-68.62, Z:-11.73 [[ 9.75788417e-01 2.16239039e-01 3.28274866e-02 3.55697591e+02] [-2.16111308e-01 9.76340439e-01 -7.43301431e-03 -6.86235905e+01] [-3.36581106e-02 1.58658209e-04 9.99433393e-01 -1.17345934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:355.73, Y:-68.63, Z:-11.74 [[ 9.75450985e-01 2.18027092e-01 3.09768048e-02 3.55725605e+02] [-2.17914323e-01 9.75942713e-01 -7.01204916e-03 -6.86346856e+01] [-3.17604036e-02 8.96208153e-05 9.99495507e-01 -1.17357183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:355.75, Y:-68.64, Z:-11.74 [[ 9.75154646e-01 2.19524533e-01 2.97051341e-02 3.55752033e+02] [-2.19421548e-01 9.75606979e-01 -6.72355958e-03 -6.86430699e+01] [-3.04565224e-02 3.85638661e-05 9.99536092e-01 -1.17364086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:355.78, Y:-68.65, Z:-11.74 [[ 9.74806877e-01 2.21052647e-01 2.97872306e-02 3.55780252e+02] [-2.20949863e-01 9.75261876e-01 -6.74023020e-03 -6.86508903e+01] [-3.05402961e-02 -1.10617719e-05 9.99533536e-01 -1.17379970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:355.81, Y:-68.66, Z:-11.74 [[ 9.74103169e-01 2.23817297e-01 3.20754386e-02 3.55807853e+02] [-2.23699662e-01 9.74631113e-01 -7.25637216e-03 -6.86585254e+01] [-3.28858220e-02 -1.06809667e-04 9.99459109e-01 -1.17385476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:355.84, Y:-68.67, Z:-11.74 [[ 9.73984495e-01 2.24075115e-01 3.38311517e-02 3.55835993e+02] [-2.23944462e-01 9.74571869e-01 -7.65181161e-03 -6.86662473e+01] [-3.46854693e-02 -1.23553202e-04 9.99398270e-01 -1.17388958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334012739 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:355.86, Y:-68.68, Z:-11.74 [[ 9.74339465e-01 2.22436185e-01 3.44202014e-02 3.55863679e+02] [-2.22299979e-01 9.74947249e-01 -7.78333735e-03 -6.86756401e+01] [-3.52891766e-02 -6.79972910e-05 9.99377141e-01 -1.17398970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:355.89, Y:-68.68, Z:-11.74 [[ 9.74780177e-01 2.20724908e-01 3.29260022e-02 3.55891788e+02] [-2.20599337e-01 9.75336104e-01 -7.44429300e-03 -6.86829389e+01] [-3.37570595e-02 -6.90499890e-06 9.99430068e-01 -1.17415440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394012739 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:355.92, Y:-68.69, Z:-11.74 [[ 9.75203792e-01 2.19112065e-01 3.11041336e-02 3.55920399e+02] [-2.18999223e-01 9.75699698e-01 -7.03130896e-03 -6.86907787e+01] [-3.18889384e-02 4.51780633e-05 9.99491417e-01 -1.17438598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:355.95, Y:-68.70, Z:-11.74 [[ 9.75850910e-01 2.16362284e-01 3.00393788e-02 3.55948162e+02] [-2.16255755e-01 9.76313139e-01 -6.78991783e-03 -6.87016512e+01] [-3.07969223e-02 1.29758949e-04 9.99525654e-01 -1.17446889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454012739 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:355.98, Y:-68.71, Z:-11.74 [[ 9.75895219e-01 2.16078363e-01 3.06376072e-02 3.55975467e+02] [-2.15967432e-01 9.76376014e-01 -6.92438166e-03 -6.87095438e+01] [-3.14100338e-02 1.40745611e-04 9.99506573e-01 -1.17448416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:356.00, Y:-68.72, Z:-11.75 [[ 9.75783830e-01 2.16412594e-01 3.18041931e-02 3.56004479e+02] [-2.16293269e-01 9.76301988e-01 -7.18681701e-03 -6.87166366e+01] [-3.26058147e-02 1.33746908e-04 9.99468280e-01 -1.17452738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:356.03, Y:-68.72, Z:-11.75 [[ 9.75154407e-01 2.19258064e-01 3.16193498e-02 3.56032361e+02] [-2.19141642e-01 9.75666900e-01 -7.14428270e-03 -6.87235014e+01] [-3.24163946e-02 3.76625348e-05 9.99474450e-01 -1.17460389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:356.06, Y:-68.73, Z:-11.75 [[ 9.74755262e-01 2.21124764e-01 3.09195408e-02 3.56061490e+02] [-2.21014413e-01 9.75245527e-01 -6.98504189e-03 -6.87307108e+01] [-3.16987096e-02 -2.49578420e-05 9.99497469e-01 -1.17477247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574012739 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:356.09, Y:-68.74, Z:-11.75 [[ 9.73763016e-01 2.25531255e-01 3.03519732e-02 3.56088387e+02] [-2.25427078e-01 9.74235919e-01 -6.85615314e-03 -6.87374539e+01] [-3.11162593e-02 -1.65888276e-04 9.99515758e-01 -1.17490511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:356.12, Y:-68.74, Z:-11.75 [[ 9.73236325e-01 2.27706455e-01 3.09972041e-02 3.56116106e+02] [-2.27598965e-01 9.73729794e-01 -6.99994871e-03 -6.87433061e+01] [-3.17768346e-02 -2.42327215e-04 9.99494959e-01 -1.17497915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634012739 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:356.14, Y:-68.75, Z:-11.75 [[ 9.72784435e-01 2.29529017e-01 3.17312649e-02 3.56144199e+02] [-2.29417394e-01 9.73301769e-01 -7.16415688e-03 -6.87489685e+01] [-3.25284781e-02 -3.10523807e-04 9.99470761e-01 -1.17507345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:356.17, Y:-68.75, Z:-11.75 [[ 9.72087525e-01 2.32579121e-01 3.08673855e-02 3.56171153e+02] [-2.32475077e-01 9.72577396e-01 -6.96764995e-03 -6.87543845e+01] [-3.16414513e-02 -4.02732243e-04 9.99499203e-01 -1.17511852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694012739 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:356.20, Y:-68.76, Z:-11.75 [[ 9.71932759e-01 2.33388007e-01 2.96099740e-02 3.56199384e+02] [-2.33292698e-01 9.72383601e-01 -6.68204764e-03 -6.87598673e+01] [-3.03517629e-02 -4.13289727e-04 9.99539194e-01 -1.17525974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:356.23, Y:-68.77, Z:-11.75 [[ 9.71825315e-01 2.33886209e-01 2.92027137e-02 3.56227754e+02] [-2.33793770e-01 9.72263885e-01 -6.58878291e-03 -6.87654533e+01] [-2.99337694e-02 -4.24266500e-04 9.99551794e-01 -1.17542150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754012739 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:356.25, Y:-68.77, Z:-11.76 [[ 9.71785011e-01 2.33887490e-01 3.05046785e-02 3.56254604e+02] [-2.33786668e-01 9.72263567e-01 -6.88111119e-03 -6.87698736e+01] [-3.12679934e-02 -4.44626420e-04 9.99510938e-01 -1.17550411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:356.28, Y:-68.78, Z:-11.76 [[ 9.71750892e-01 2.33891393e-01 3.15439540e-02 3.56283282e+02] [-2.33783692e-01 9.72262620e-01 -7.11221027e-03 -6.87755220e+01] [-3.23324922e-02 -4.63165376e-04 9.99477061e-01 -1.17558622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814012739 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:356.31, Y:-68.78, Z:-11.76 [[ 9.71684609e-01 2.34189899e-01 3.13705558e-02 3.56310516e+02] [-2.34083582e-01 9.72190757e-01 -7.07165839e-03 -6.87804752e+01] [-3.21542754e-02 -4.71910459e-04 9.99482806e-01 -1.17563960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:356.34, Y:-68.79, Z:-11.76 [[ 9.71763348e-01 2.33900131e-01 3.10921768e-02 3.56338576e+02] [-2.33795602e-01 9.72260519e-01 -7.00710297e-03 -6.87857663e+01] [-3.18686582e-02 -4.59968335e-04 9.99491959e-01 -1.17568999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874012739 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:356.37, Y:-68.79, Z:-11.76 [[ 9.71884005e-01 2.33406699e-01 3.10289118e-02 3.56366374e+02] [-2.33302390e-01 9.72379101e-01 -6.99139271e-03 -6.87910028e+01] [-3.18037032e-02 -4.44296533e-04 9.99494036e-01 -1.17577502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters Centerline goodness : 0.995723 Centerline is valid? [True, True] Translation: X:356.39, Y:-68.79, Z:-11.76 [[ 9.72221871e-01 2.31988382e-01 3.10809183e-02 3.56394090e+02] [-2.31883056e-01 9.72718474e-01 -7.00128115e-03 -6.87948674e+01] [-3.18571993e-02 -4.00339662e-04 9.99492350e-01 -1.17592347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934012739 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:356.42, Y:-68.80, Z:-11.76 [[ 9.72332849e-01 2.31645491e-01 3.01528882e-02 3.56421770e+02] [-2.31546248e-01 9.72800197e-01 -6.79059621e-03 -6.87993615e+01] [-3.09057466e-02 -3.79068376e-04 9.99522231e-01 -1.17603000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:356.45, Y:-68.80, Z:-11.76 [[ 9.72469248e-01 2.31122469e-01 2.97651717e-02 3.56449175e+02] [-2.31025579e-01 9.72924599e-01 -6.70126925e-03 -6.88023565e+01] [-3.05080816e-02 -3.59737762e-04 9.99534455e-01 -1.17616952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994012739 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:356.48, Y:-68.81, Z:-11.76 [[ 9.72433810e-01 2.31254597e-01 2.98964320e-02 3.56477574e+02] [-2.31156976e-01 9.72893199e-01 -6.72873953e-03 -6.88081856e+01] [-3.06420873e-02 -3.67514998e-04 9.99530353e-01 -1.17620427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:356.51, Y:-68.81, Z:-11.76 [[ 9.72514419e-01 2.30864334e-01 3.02880170e-02 3.56505691e+02] [-2.30763997e-01 9.72985883e-01 -6.81535586e-03 -6.88135745e+01] [-3.10432356e-02 -3.61352019e-04 9.99517977e-01 -1.17633871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05401273900003 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:356.53, Y:-68.82, Z:-11.76 [[ 9.72563032e-01 2.30607962e-01 3.06776178e-02 3.56533602e+02] [-2.30504947e-01 9.73046679e-01 -6.90148890e-03 -6.88153711e+01] [-3.14422924e-02 -3.59209708e-04 9.99505504e-01 -1.17640744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:356.56, Y:-68.82, Z:-11.76 [[ 9.72598469e-01 2.30432647e-01 3.08709080e-02 3.56561179e+02] [-2.30328302e-01 9.73088211e-01 -6.94303832e-03 -6.88183496e+01] [-3.16400193e-02 -3.57655394e-04 9.99499265e-01 -1.17645130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11401273900003 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:356.59, Y:-68.82, Z:-11.76 [[ 9.72454890e-01 2.31297046e-01 2.88645773e-02 3.56591208e+02] [-2.31041859e-01 9.72870678e-01 -1.19291068e-02 -6.88172839e+01] [-3.08406681e-02 4.93159264e-03 9.99512147e-01 -1.17645245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:356.62, Y:-68.83, Z:-11.77 [[ 9.72338901e-01 2.31325272e-01 3.23369884e-02 3.56617389e+02] [-2.31380851e-01 9.72861060e-01 -2.06411274e-03 -6.88269986e+01] [-3.19368782e-02 -5.47514277e-03 9.99474891e-01 -1.17657813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.174012739 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:356.65, Y:-68.83, Z:-11.77 [[ 9.72268653e-01 2.31743040e-01 3.14456737e-02 3.56646958e+02] [-2.31635658e-01 9.72776949e-01 -7.06608693e-03 -6.88274620e+01] [-3.22271430e-02 -4.13804503e-04 9.99480485e-01 -1.17667608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:356.67, Y:-68.83, Z:-11.77 [[ 9.72214625e-01 2.31778260e-01 3.28262425e-02 3.56674982e+02] [-2.31661319e-01 9.72768549e-01 -7.37454379e-03 -6.88279826e+01] [-3.36415952e-02 -4.34931314e-04 9.99433867e-01 -1.17680949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234012739 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:356.70, Y:-68.83, Z:-11.77 [[ 9.72278881e-01 2.31525419e-01 3.27071400e-02 3.56702883e+02] [-2.31409253e-01 9.72828761e-01 -7.34570183e-03 -6.88318163e+01] [-3.35191632e-02 -4.26664081e-04 9.99437984e-01 -1.17689895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:356.73, Y:-68.84, Z:-11.77 [[ 9.72253643e-01 2.31734992e-01 3.19647898e-02 3.56730156e+02] [-2.31624227e-01 9.72778861e-01 -7.17672865e-03 -6.88355263e+01] [-3.27577710e-02 -4.26219168e-04 9.99463229e-01 -1.17703846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:356.76, Y:-68.84, Z:-11.77 [[ 9.72279548e-01 2.31626200e-01 3.19653601e-02 3.56757976e+02] [-2.31515460e-01 9.72804771e-01 -7.17418748e-03 -6.88415994e+01] [-3.27577846e-02 -4.25159300e-04 9.99463229e-01 -1.17713150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:356.79, Y:-68.84, Z:-11.77 [[ 9.72421456e-01 2.31257101e-01 3.02764707e-02 3.56786584e+02] [-2.31157684e-01 9.72892593e-01 -6.79171253e-03 -6.88407783e+01] [-3.10263858e-02 -3.94231858e-04 9.99518488e-01 -1.17731947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354012739 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:356.81, Y:-68.84, Z:-11.77 [[ 9.72577328e-01 2.30634580e-01 3.00171721e-02 3.56814451e+02] [-2.30536632e-01 9.73040365e-01 -6.73130931e-03 -6.88422747e+01] [-3.07603928e-02 -3.73338918e-04 9.99526717e-01 -1.17744765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:356.84, Y:-68.84, Z:-11.77 [[ 9.72865591e-01 2.29333965e-01 3.06345272e-02 3.56842406e+02] [-2.29231373e-01 9.73347736e-01 -6.86743258e-03 -6.88416005e+01] [-3.13929832e-02 -3.41305872e-04 9.99507061e-01 -1.17748245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:356.87, Y:-68.84, Z:-11.78 [[ 9.73029992e-01 2.28515960e-01 3.15133575e-02 3.56870700e+02] [-2.28407058e-01 9.73540112e-01 -7.06162946e-03 -6.88444201e+01] [-3.22932126e-02 -3.26696017e-04 9.99478385e-01 -1.17756517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:356.90, Y:-68.85, Z:-11.78 [[ 9.73138241e-01 2.28043271e-01 3.15947733e-02 3.56898779e+02] [-2.27933628e-01 9.73650948e-01 -7.07764715e-03 -6.88468927e+01] [-3.23762908e-02 -3.13982229e-04 9.99475701e-01 -1.17766813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:356.93, Y:-68.85, Z:-11.78 [[ 9.73444478e-01 2.26875408e-01 3.05515644e-02 3.56926492e+02] [-2.26772378e-01 9.73923753e-01 -6.84186504e-03 -6.88462387e+01] [-3.13071452e-02 -2.68075176e-04 9.99509775e-01 -1.17786709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:356.95, Y:-68.85, Z:-11.78 [[ 9.73846676e-01 2.25154709e-01 3.04632426e-02 3.56954570e+02] [-2.25051558e-01 9.74323001e-01 -6.81806322e-03 -6.88496972e+01] [-3.12161570e-02 -2.16051996e-04 9.99512634e-01 -1.17793978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534012739 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:356.98, Y:-68.85, Z:-11.78 [[ 9.75039079e-01 2.19765084e-01 3.16559990e-02 3.56982961e+02] [-2.19650929e-01 9.75552821e-01 -7.08265417e-03 -6.88506547e+01] [-3.24386192e-02 -4.74049752e-05 9.99473728e-01 -1.17789836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:357.01, Y:-68.86, Z:-11.78 [[ 9.75658596e-01 2.16958883e-01 3.19240781e-02 3.57010869e+02] [-2.16841359e-01 9.76180742e-01 -7.14028871e-03 -6.88552132e+01] [-3.27128193e-02 4.40235751e-05 9.99464792e-01 -1.17801174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:357.04, Y:-68.86, Z:-11.78 [[ 9.76308423e-01 2.14060891e-01 3.16196001e-02 3.57038032e+02] [-2.13944151e-01 9.76820309e-01 -7.06992606e-03 -6.88605107e+01] [-3.24000622e-02 1.37599845e-04 9.99474971e-01 -1.17814109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:357.06, Y:-68.87, Z:-11.78 [[ 9.77812025e-01 2.07237955e-01 3.05953104e-02 3.57064386e+02] [-2.07125381e-01 9.78290503e-01 -6.83879027e-03 -6.88664851e+01] [-3.13483585e-02 3.49986028e-04 9.99508458e-01 -1.17828524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654012739 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:357.09, Y:-68.87, Z:-11.78 [[ 9.78486307e-01 2.04002926e-01 3.07791068e-02 3.57092046e+02] [-2.03887476e-01 9.78970173e-01 -6.87727108e-03 -6.88723762e+01] [-3.15348109e-02 4.53841192e-04 9.99502551e-01 -1.17840200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:357.12, Y:-68.88, Z:-11.78 [[ 9.79278092e-01 1.99936405e-01 3.22467396e-02 3.57119130e+02] [-1.99807551e-01 9.79808686e-01 -7.20287343e-03 -6.88798515e+01] [-3.30357522e-02 6.10474090e-04 9.99453984e-01 -1.17839302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714012739 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:357.14, Y:-68.89, Z:-11.78 [[ 9.79458725e-01 1.98879409e-01 3.32804179e-02 3.57144780e+02] [-1.98741635e-01 9.80023744e-01 -7.43123194e-03 -6.88868828e+01] [-3.40935188e-02 6.64380296e-04 9.99418426e-01 -1.17844225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:357.17, Y:-68.89, Z:-11.79 [[ 9.79502088e-01 1.98623557e-01 3.35312183e-02 3.57171746e+02] [-1.98483646e-01 9.80075623e-01 -7.48438980e-03 -6.88942554e+01] [-3.43497057e-02 6.75576983e-04 9.99409646e-01 -1.17850702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774012739 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:357.20, Y:-68.90, Z:-11.79 [[ 9.79489305e-01 1.98846901e-01 3.25670420e-02 3.57199057e+02] [-1.98715120e-01 9.80030353e-01 -7.26696337e-03 -6.89023619e+01] [-3.33617028e-02 6.46349238e-04 9.99443134e-01 -1.17855207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:357.23, Y:-68.91, Z:-11.79 [[ 9.79305291e-01 1.99858405e-01 3.19024368e-02 3.57225232e+02] [-1.99732558e-01 9.79824607e-01 -7.11646577e-03 -6.89093898e+01] [-3.26810781e-02 5.97237265e-04 9.99465652e-01 -1.17864334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:357.25, Y:-68.92, Z:-11.79 [[ 9.78677117e-01 2.02957693e-01 3.16113121e-02 3.57250975e+02] [-2.02835830e-01 9.79187387e-01 -7.04896725e-03 -6.89185110e+01] [-3.23840402e-02 4.86756218e-04 9.99475381e-01 -1.17881569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:357.28, Y:-68.93, Z:-11.79 [[ 9.78400850e-01 2.04300287e-01 3.15145922e-02 3.57278103e+02] [-2.04179935e-01 9.78908167e-01 -7.02523575e-03 -6.89250559e+01] [-3.22851494e-02 4.38849223e-04 9.99478602e-01 -1.17892008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894012739 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:357.30, Y:-68.93, Z:-11.79 [[ 9.78195805e-01 2.05351593e-01 3.10433732e-02 3.57304794e+02] [-2.05235409e-01 9.78688187e-01 -6.91811047e-03 -6.89311262e+01] [-3.18024277e-02 3.96067220e-04 9.99494096e-01 -1.17903021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:357.33, Y:-68.94, Z:-11.79 [[ 9.77719434e-01 2.07732332e-01 3.01991220e-02 3.57331135e+02] [-2.07623612e-01 9.78185659e-01 -6.72693908e-03 -6.89383361e+01] [-3.09377508e-02 3.07008268e-04 9.99521266e-01 -1.17917396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954012739 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:357.36, Y:-68.95, Z:-11.79 [[ 9.77424293e-01 2.08873350e-01 3.18382679e-02 3.57360115e+02] [-2.08815641e-01 9.77941389e-01 -5.16402736e-03 -6.89465044e+01] [-3.22145877e-02 -1.60088252e-03 9.99479693e-01 -1.17925847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:357.39, Y:-68.95, Z:-11.79 [[ 9.76886632e-01 2.11444346e-01 3.13655233e-02 3.57385845e+02] [-2.11264796e-01 9.77387704e-01 -8.97002539e-03 -6.89500143e+01] [-3.25529379e-02 2.13626703e-03 9.99467730e-01 -1.17927245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014012739 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:357.41, Y:-68.96, Z:-11.79 [[ 9.75933150e-01 2.15608772e-01 3.26702405e-02 3.57412695e+02] [-2.15486227e-01 9.76479828e-01 -7.26852789e-03 -6.89562975e+01] [-3.34689892e-02 5.36104641e-05 9.99439755e-01 -1.17935751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:357.44, Y:-68.96, Z:-11.79 [[ 9.75588241e-01 2.17325993e-01 3.15752443e-02 3.57440016e+02] [-2.17212483e-01 9.76099079e-01 -7.02314397e-03 -6.89621541e+01] [-3.23468786e-02 -6.84053705e-06 9.99476703e-01 -1.17945041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074012739 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:357.47, Y:-68.97, Z:-11.80 [[ 9.74943660e-01 2.20483765e-01 2.95257318e-02 3.57466225e+02] [-2.20386019e-01 9.75390639e-01 -6.56538525e-03 -6.89683110e+01] [-3.02466832e-02 -1.06177759e-04 9.99542459e-01 -1.17965614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:357.49, Y:-68.97, Z:-11.80 [[ 9.74530434e-01 2.22294949e-01 2.95869523e-02 3.57493898e+02] [-2.22197706e-01 9.74979450e-01 -6.57657357e-03 -6.89739491e+01] [-3.03086095e-02 -1.65081823e-04 9.99540575e-01 -1.17970869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134012739 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:357.52, Y:-68.98, Z:-11.80 [[ 9.74025554e-01 2.24727918e-01 2.77773692e-02 3.57522584e+02] [-2.24511950e-01 9.74412547e-01 -1.07038985e-02 -6.89758648e+01] [-2.94720819e-02 4.18951934e-03 9.99556824e-01 -1.17963109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:357.55, Y:-68.98, Z:-11.80 [[ 9.73249445e-01 2.27626662e-01 3.11708419e-02 3.57551049e+02] [-2.27656650e-01 9.73737916e-01 -2.63077004e-03 -6.89817599e+01] [-3.09510641e-02 -4.53585397e-03 9.99510609e-01 -1.17969537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194012739 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:357.58, Y:-68.98, Z:-11.80 [[ 9.72984406e-01 2.28827742e-01 3.06465247e-02 3.57579081e+02] [-2.28726820e-01 9.73466853e-01 -6.80642575e-03 -6.89835433e+01] [-3.13908750e-02 -3.87136001e-04 9.99507110e-01 -1.17978077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:357.61, Y:-68.99, Z:-11.80 [[ 9.72866570e-01 2.29360984e-01 3.04002578e-02 3.57606097e+02] [-2.29262007e-01 9.73341346e-01 -6.74948641e-03 -6.89862071e+01] [-3.11378967e-02 -4.03274431e-04 9.99515017e-01 -1.17988838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254012739 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:357.63, Y:-68.99, Z:-11.80 [[ 9.72982066e-01 2.28917170e-01 3.00471159e-02 3.57633490e+02] [-2.28820349e-01 9.73445828e-01 -6.66847753e-03 -6.89900364e+01] [-3.07757686e-02 -3.87082498e-04 9.99526239e-01 -1.18000800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:357.66, Y:-68.99, Z:-11.80 [[ 9.73151002e-01 2.28267185e-01 2.95164390e-02 3.57661501e+02] [-2.28173515e-01 9.73598460e-01 -6.54873134e-03 -6.89933553e+01] [-3.02320200e-02 -3.61965165e-04 9.99542842e-01 -1.18014940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314012739 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:357.69, Y:-68.99, Z:-11.80 [[ 9.73346948e-01 2.27508000e-01 2.89107178e-02 3.57688542e+02] [-2.27417857e-01 9.73776154e-01 -6.41244244e-03 -6.89938012e+01] [-2.96114495e-02 -3.33282202e-04 9.99561429e-01 -1.18026027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:357.72, Y:-69.00, Z:-11.80 [[ 9.73421835e-01 2.27148365e-01 2.92156110e-02 3.57716247e+02] [-2.27056271e-01 9.73860109e-01 -6.47600448e-03 -6.89960885e+01] [-2.99229319e-02 -3.29703516e-04 9.99552154e-01 -1.18026550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374012739 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:357.74, Y:-68.99, Z:-11.80 [[ 9.73470011e-01 2.26740171e-01 3.07413725e-02 3.57744886e+02] [-2.26638074e-01 9.73955226e-01 -6.81183759e-03 -6.89943190e+01] [-3.14852376e-02 -3.36045847e-04 9.99504161e-01 -1.18030058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:357.77, Y:-69.00, Z:-11.80 [[ 9.73711151e-01 2.25654377e-01 3.10917458e-02 3.57773318e+02] [-2.25549460e-01 9.74207374e-01 -6.88717865e-03 -6.89970772e+01] [-3.18439301e-02 -3.06603826e-04 9.99492806e-01 -1.18039858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434012739 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:357.80, Y:-69.00, Z:-11.80 [[ 9.74100065e-01 2.24010521e-01 3.07952726e-02 3.57800194e+02] [-2.23906844e-01 9.74586693e-01 -6.81930039e-03 -6.90004483e+01] [-3.15402580e-02 -2.52591337e-04 9.99502450e-01 -1.18048246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:357.83, Y:-69.00, Z:-11.81 [[ 9.75330951e-01 2.19033508e-01 2.74564964e-02 3.57829635e+02] [-2.18781596e-01 9.75701255e-01 -1.19027335e-02 -6.90001057e+01] [-2.93964355e-02 5.60212829e-03 9.99552133e-01 -1.18053863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494012739 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:357.86, Y:-69.01, Z:-11.81 [[ 9.76023809e-01 2.15556790e-01 3.02124870e-02 3.57855468e+02] [-2.15517205e-01 9.76489212e-01 -4.59929286e-03 -6.90086423e+01] [-3.04935764e-02 -2.02229144e-03 9.99532917e-01 -1.18066751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:357.88, Y:-69.01, Z:-11.81 [[ 9.77449524e-01 2.08648069e-01 3.25332267e-02 3.57883550e+02] [-2.08645621e-01 9.77985020e-01 -3.50789021e-03 -6.90128776e+01] [-3.25489229e-02 -3.35912966e-03 9.99464499e-01 -1.18074218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55401273900003 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:357.91, Y:-69.02, Z:-11.81 [[ 9.78216797e-01 2.04927179e-01 3.31171991e-02 3.57912768e+02] [-2.04873062e-01 9.78775494e-01 -5.05567992e-03 -6.90173505e+01] [-3.34503491e-02 -1.83927097e-03 9.99438688e-01 -1.18086948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:357.94, Y:-69.02, Z:-11.81 [[ 9.78736870e-01 2.02700086e-01 3.14136128e-02 3.57939366e+02] [-2.02506758e-01 9.79237163e-01 -9.25163395e-03 -6.90199498e+01] [-3.26366841e-02 2.69344637e-03 9.99463652e-01 -1.18087710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61401273900003 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:357.97, Y:-69.03, Z:-11.81 [[ 9.79671508e-01 1.98228623e-01 3.08082652e-02 3.57965717e+02] [-1.98112652e-01 9.80155650e-01 -6.80288158e-03 -6.90268908e+01] [-3.15454211e-02 5.61082141e-04 9.99502162e-01 -1.18103490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:357.99, Y:-69.03, Z:-11.81 [[ 9.80406923e-01 1.94658835e-01 3.01695602e-02 3.57991630e+02] [-1.94546009e-01 9.80870788e-01 -6.65939963e-03 -6.90347528e+01] [-3.08887513e-02 6.59553980e-04 9.99522611e-01 -1.18114628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.674012739 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:358.02, Y:-69.04, Z:-11.81 [[ 9.80759070e-01 1.92909863e-01 2.99571559e-02 3.58018975e+02] [-1.92797880e-01 9.81216227e-01 -6.61005746e-03 -6.90425621e+01] [-3.06695927e-02 7.07197650e-04 9.99529327e-01 -1.18124945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:358.05, Y:-69.05, Z:-11.81 [[ 9.81046855e-01 1.91527498e-01 2.93987323e-02 3.58046099e+02] [-1.91419093e-01 9.81486973e-01 -6.48481692e-03 -6.90500827e+01] [-3.00964935e-02 7.34430586e-04 9.99546728e-01 -1.18132037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734012739 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:358.07, Y:-69.06, Z:-11.81 [[ 9.81472255e-01 1.89321786e-01 2.94868431e-02 3.58072818e+02] [-1.89211797e-01 9.81914771e-01 -6.50219708e-03 -6.90592840e+01] [-3.01845743e-02 8.02467464e-04 9.99544020e-01 -1.18140182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters Centerline goodness : 0.990988 Centerline is valid? [True, True] Translation: X:358.10, Y:-69.07, Z:-11.81 [[ 9.81577765e-01 1.88679257e-01 3.00870209e-02 3.58098853e+02] [-1.88564507e-01 9.82038409e-01 -6.63243010e-03 -6.90674147e+01] [-3.07980121e-02 8.36901657e-04 9.99525278e-01 -1.18145725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794012739 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:358.13, Y:-69.08, Z:-11.82 [[ 9.81602399e-01 1.88544329e-01 3.01291581e-02 3.58125495e+02] [-1.88429269e-01 9.82064321e-01 -6.63927815e-03 -6.90773911e+01] [-3.08405694e-02 8.39916119e-04 9.99523964e-01 -1.18155332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:358.15, Y:-69.08, Z:-11.82 [[ 9.81567434e-01 1.88796441e-01 2.96862855e-02 3.58151141e+02] [-1.88684916e-01 9.82015904e-01 -6.53968916e-03 -6.90846058e+01] [-3.03870745e-02 8.17791631e-04 9.99537872e-01 -1.18168771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854012739 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:358.18, Y:-69.09, Z:-11.82 [[ 9.81480590e-01 1.89268831e-01 2.95492861e-02 3.58178085e+02] [-1.89158619e-01 9.81924984e-01 -6.50712902e-03 -6.90924322e+01] [-3.02467790e-02 7.97118701e-04 9.99542144e-01 -1.18181509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:358.20, Y:-69.10, Z:-11.82 [[ 9.81118965e-01 1.91049669e-01 3.00932054e-02 3.58203580e+02] [-1.90936263e-01 9.81580081e-01 -6.62477737e-03 -6.91030421e+01] [-3.08045525e-02 7.53810519e-04 9.99525143e-01 -1.18182339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914012739 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:358.23, Y:-69.11, Z:-11.82 [[ 9.80985346e-01 1.91626428e-01 3.07743994e-02 3.58229620e+02] [-1.91508192e-01 9.81467651e-01 -6.77219004e-03 -6.91105758e+01] [-3.15018080e-02 7.49869601e-04 9.99503414e-01 -1.18175104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:358.26, Y:-69.12, Z:-11.82 [[ 9.80883273e-01 1.91833096e-01 3.26813128e-02 3.58256189e+02] [-1.91699988e-01 9.81427249e-01 -7.18808313e-03 -6.91197107e+01] [-3.34532431e-02 7.85663239e-04 9.99439975e-01 -1.18180187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974012739 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:358.28, Y:-69.13, Z:-11.82 [[ 9.80917595e-01 1.91686257e-01 3.25123292e-02 3.58282560e+02] [-1.91554519e-01 9.81455941e-01 -7.14859353e-03 -6.91286544e+01] [-3.32797058e-02 7.84297591e-04 9.99445769e-01 -1.18191539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:358.31, Y:-69.14, Z:-11.82 [[ 9.80959297e-01 1.91573800e-01 3.19113843e-02 3.58310089e+02] [-1.91446890e-01 9.81477908e-01 -7.01459402e-03 -6.91390886e+01] [-3.26641311e-02 7.71695951e-04 9.99466087e-01 -1.18209191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034012739 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:358.34, Y:-69.15, Z:-11.82 [[ 9.80759380e-01 1.92778617e-01 3.07805771e-02 3.58335979e+02] [-1.92661182e-01 9.81242024e-01 -6.76459359e-03 -6.91513750e+01] [-3.15072647e-02 7.04216235e-04 9.99503275e-01 -1.18217790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:358.36, Y:-69.16, Z:-11.82 [[ 9.80413671e-01 1.94505519e-01 3.09295377e-02 3.58362340e+02] [-1.94387851e-01 9.80901208e-01 -6.79584557e-03 -6.91588383e+01] [-3.16606503e-02 6.50413540e-04 9.99498464e-01 -1.18226007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094012739 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:358.39, Y:-69.17, Z:-11.82 [[ 9.79244298e-01 2.00289742e-01 3.10584070e-02 3.58390015e+02] [-2.00174054e-01 9.79736599e-01 -6.82229351e-03 -6.91685757e+01] [-3.17954935e-02 4.63604769e-04 9.99494288e-01 -1.18235698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:358.42, Y:-69.18, Z:-11.82 [[ 9.78596868e-01 2.03457819e-01 3.08721031e-02 3.58417124e+02] [-2.03345138e-01 9.79083647e-01 -6.77984842e-03 -6.91767863e+01] [-3.16057845e-02 3.57046352e-04 9.99500349e-01 -1.18244178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154012739 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:358.44, Y:-69.18, Z:-11.82 [[ 9.77282784e-01 2.09838828e-01 2.97661945e-02 3.58444285e+02] [-2.09737087e-01 9.77735980e-01 -6.53519096e-03 -6.91840019e+01] [-3.04748161e-02 1.43654700e-04 9.99535525e-01 -1.18247444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:358.47, Y:-69.19, Z:-11.83 [[ 9.76577704e-01 2.13184019e-01 2.91300974e-02 3.58470419e+02] [-2.13088116e-01 9.77012064e-01 -6.39390930e-03 -6.91896259e+01] [-2.98235359e-02 3.68716860e-05 9.99555179e-01 -1.18256723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214012739 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:358.50, Y:-69.20, Z:-11.83 [[ 9.76589469e-01 2.13130044e-01 2.91306151e-02 3.58498264e+02] [-2.13034187e-01 9.77023840e-01 -6.39155010e-03 -6.91956003e+01] [-2.98235367e-02 3.61036270e-05 9.99555179e-01 -1.18265922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:358.53, Y:-69.20, Z:-11.83 [[ 9.75918418e-01 2.16185851e-01 2.91018804e-02 3.58525898e+02] [-2.16091590e-01 9.76352229e-01 -6.38359405e-03 -6.92020173e+01] [-2.97937285e-02 -5.88045956e-05 9.99556067e-01 -1.18278169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274012739 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:358.55, Y:-69.21, Z:-11.83 [[ 9.75368155e-01 2.18628370e-01 2.93018506e-02 3.58553240e+02] [-2.18533973e-01 9.75808187e-01 -6.42537298e-03 -6.92084519e+01] [-2.99977545e-02 -1.36345637e-04 9.99549957e-01 -1.18288603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:358.58, Y:-69.21, Z:-11.83 [[ 9.74729367e-01 2.21443463e-01 2.94185834e-02 3.58581211e+02] [-2.21349657e-01 9.75173185e-01 -6.44886662e-03 -6.92139553e+01] [-3.01162731e-02 -2.25893662e-04 9.99546377e-01 -1.18288561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334012739 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:358.61, Y:-69.22, Z:-11.83 [[ 9.74715719e-01 2.21474546e-01 2.96360112e-02 3.58608542e+02] [-2.21379427e-01 9.75166125e-01 -6.49438317e-03 -6.92178577e+01] [-3.03383748e-02 -2.30625833e-04 9.99539659e-01 -1.18295189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:358.64, Y:-69.22, Z:-11.83 [[ 9.74918266e-01 2.20583922e-01 2.96160056e-02 3.58635452e+02] [-2.20488584e-01 9.75367977e-01 -6.48792345e-03 -6.92233440e+01] [-3.03176351e-02 -2.04796038e-04 9.99540294e-01 -1.18304762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394012739 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:358.66, Y:-69.23, Z:-11.83 [[ 9.75092583e-01 2.19803710e-01 2.96779826e-02 3.58661561e+02] [-2.19707719e-01 9.75544102e-01 -6.49795708e-03 -6.92292751e+01] [-3.03804559e-02 -1.84372094e-04 9.99538390e-01 -1.18316946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:358.69, Y:-69.24, Z:-11.83 [[ 9.75320274e-01 2.18779546e-01 2.97636182e-02 3.58688955e+02] [-2.18682599e-01 9.75774301e-01 -6.51419098e-03 -6.92353367e+01] [-3.04677455e-02 -1.55362854e-04 9.99535738e-01 -1.18321648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454012739 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:358.71, Y:-69.24, Z:-11.83 [[ 9.75712032e-01 2.17007543e-01 2.98957605e-02 3.58714900e+02] [-2.16908968e-01 9.76169922e-01 -6.54094889e-03 -6.92409935e+01] [-3.06027775e-02 -1.02576028e-04 9.99531620e-01 -1.18320489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:358.74, Y:-69.25, Z:-11.83 [[ 9.75842581e-01 2.16285500e-01 3.08518892e-02 3.58742691e+02] [-2.16180278e-01 9.76330157e-01 -6.74628507e-03 -6.92471573e+01] [-3.15807535e-02 -8.62577352e-05 9.99501200e-01 -1.18329364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514012739 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:358.77, Y:-69.25, Z:-11.83 [[ 9.75864299e-01 2.16145092e-01 3.11475270e-02 3.58770355e+02] [-2.16037843e-01 9.76361251e-01 -6.80870090e-03 -6.92528436e+01] [-3.18829057e-02 -8.46764142e-05 9.99491607e-01 -1.18343123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:358.80, Y:-69.26, Z:-11.84 [[ 9.75878901e-01 2.16079830e-01 3.11428621e-02 3.58797173e+02] [-2.15972652e-01 9.76375696e-01 -6.80539923e-03 -6.92582170e+01] [-3.18776432e-02 -8.47610127e-05 9.99491775e-01 -1.18351267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574012739 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:358.82, Y:-69.26, Z:-11.84 [[ 9.75868815e-01 2.16148592e-01 3.09813291e-02 3.58823595e+02] [-2.16042641e-01 9.76360476e-01 -6.76748973e-03 -6.92630432e+01] [-3.17117286e-02 -8.91059958e-05 9.99497053e-01 -1.18360294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:358.85, Y:-69.27, Z:-11.84 [[ 9.75927558e-01 2.15929987e-01 3.06535920e-02 3.58850595e+02] [-2.15826268e-01 9.76408845e-01 -6.69244043e-03 -6.92689793e+01] [-3.13755369e-02 -8.45133033e-05 9.99507663e-01 -1.18371759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634012739 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:358.88, Y:-69.28, Z:-11.84 [[ 9.76116040e-01 2.15200216e-01 2.97715132e-02 3.58876609e+02] [-2.15102104e-01 9.76569948e-01 -6.49783136e-03 -6.92757730e+01] [-3.04722998e-02 -6.12776928e-05 9.99535610e-01 -1.18382680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:358.90, Y:-69.28, Z:-11.84 [[ 9.76319318e-01 2.14288784e-01 2.96800589e-02 3.58904055e+02] [-2.14190915e-01 9.76770350e-01 -6.47581025e-03 -6.92820207e+01] [-3.03782950e-02 -3.47403384e-05 9.99538472e-01 -1.18388685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694012739 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:358.93, Y:-69.29, Z:-11.84 [[ 9.76560099e-01 2.13217158e-01 2.94757067e-02 3.58929875e+02] [-2.13120205e-01 9.77004833e-01 -6.42921309e-03 -6.92879752e+01] [-3.01687265e-02 -3.35567334e-06 9.99544820e-01 -1.18394888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:358.96, Y:-69.30, Z:-11.84 [[ 9.76799040e-01 2.12163579e-01 2.91590769e-02 3.58955421e+02] [-2.12068327e-01 9.77234166e-01 -6.35685116e-03 -6.92952776e+01] [-2.98439385e-02 2.56494609e-05 9.99554570e-01 -1.18408154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754012739 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:358.98, Y:-69.30, Z:-11.84 [[ 9.76843475e-01 2.11972847e-01 2.90574930e-02 3.58982557e+02] [-2.11878272e-01 9.77275555e-01 -6.33140794e-03 -6.93023919e+01] [-2.97392642e-02 2.81431342e-05 9.99557690e-01 -1.18418276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:359.01, Y:-69.31, Z:-11.84 [[ 9.76918383e-01 2.11557762e-01 2.95598898e-02 3.59008395e+02] [-2.11459761e-01 9.77365495e-01 -6.43877620e-03 -6.93087923e+01] [-3.02529894e-02 3.94316015e-05 9.99542273e-01 -1.18427109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814012739 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:359.04, Y:-69.32, Z:-11.84 [[ 9.77067499e-01 2.10702250e-01 3.07191117e-02 3.59035334e+02] [-2.10596069e-01 9.77550284e-01 -6.68864846e-03 -6.93161453e+01] [-3.14387897e-02 6.59368439e-05 9.99505677e-01 -1.18429241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:359.06, Y:-69.32, Z:-11.84 [[ 9.77135369e-01 2.10426274e-01 3.04508522e-02 3.59061783e+02] [-2.10321875e-01 9.77609727e-01 -6.62803407e-03 -6.93232074e+01] [-3.11637618e-02 7.20061953e-05 9.99514289e-01 -1.18433937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874012739 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:359.09, Y:-69.33, Z:-11.85 [[ 9.77342309e-01 2.09640458e-01 2.92042855e-02 3.59087110e+02] [-2.09544131e-01 9.77778538e-01 -6.35507224e-03 -6.93314889e+01] [-2.98876038e-02 9.14943478e-05 9.99553262e-01 -1.18450675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:359.11, Y:-69.34, Z:-11.85 [[ 9.77473761e-01 2.09140672e-01 2.83765046e-02 3.59114116e+02] [-2.09049585e-01 9.77885560e-01 -6.17268929e-03 -6.93377483e+01] [-2.90399345e-02 1.01545320e-04 9.99578247e-01 -1.18457298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934012739 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:359.14, Y:-69.34, Z:-11.85 [[ 9.77297938e-01 2.09906351e-01 2.87761220e-02 3.59141534e+02] [-2.09813073e-01 9.77721493e-01 -6.25750995e-03 -6.93447721e+01] [-2.94485241e-02 7.78449563e-05 9.99566295e-01 -1.18469638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:359.17, Y:-69.35, Z:-11.85 [[ 9.77096932e-01 2.10815052e-01 2.89585844e-02 3.59168605e+02] [-2.10721050e-01 9.77525965e-01 -6.29504356e-03 -6.93514239e+01] [-2.96348581e-02 4.86844438e-05 9.99560790e-01 -1.18470447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994012739 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:359.20, Y:-69.36, Z:-11.85 [[ 9.76852773e-01 2.11864077e-01 2.95342557e-02 3.59195940e+02] [-2.11766846e-01 9.77299142e-01 -6.41796896e-03 -6.93579800e+01] [-3.02235398e-02 1.50346077e-05 9.99543164e-01 -1.18480279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:359.22, Y:-69.36, Z:-11.85 [[ 9.76835802e-01 2.11912567e-01 2.97469171e-02 3.59221823e+02] [-2.11814020e-01 9.77288629e-01 -6.46198048e-03 -6.93636611e+01] [-3.04406987e-02 1.14797978e-05 9.99536574e-01 -1.18488720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05401273900003 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:359.25, Y:-69.37, Z:-11.85 [[ 9.76812942e-01 2.12002492e-01 2.98566567e-02 3.59248507e+02] [-2.11903337e-01 9.77269125e-01 -6.48324561e-03 -6.93696648e+01] [-3.05524530e-02 6.19303107e-06 9.99533165e-01 -1.18497142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:359.27, Y:-69.38, Z:-11.85 [[ 9.76585572e-01 2.13092361e-01 2.95341452e-02 3.59274567e+02] [-2.12995906e-01 9.77032059e-01 -6.41084716e-03 -6.93773615e+01] [-3.02219093e-02 -2.99111808e-05 9.99543213e-01 -1.18510474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11401273900003 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:359.30, Y:-69.38, Z:-11.85 [[ 9.76519662e-01 2.13490048e-01 2.88331156e-02 3.59301266e+02] [-2.13398359e-01 9.76945238e-01 -6.25642979e-03 -6.93841358e+01] [-2.95040604e-02 -4.34128496e-05 9.99564660e-01 -1.18518344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:359.33, Y:-69.39, Z:-11.85 [[ 9.76556958e-01 2.13380330e-01 2.83785537e-02 3.59327941e+02] [-2.13291513e-01 9.76969208e-01 -6.15607776e-03 -6.93908418e+01] [-2.90385591e-02 -4.11440861e-05 9.99578291e-01 -1.18532578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.174012739 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:359.36, Y:-69.40, Z:-11.85 [[ 9.76744307e-01 2.12449804e-01 2.89074203e-02 3.59355274e+02] [-2.12357292e-01 9.77171981e-01 -6.26898187e-03 -6.93980237e+01] [-2.95793652e-02 -1.55091376e-05 9.99562435e-01 -1.18540268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:359.38, Y:-69.41, Z:-11.85 [[ 9.77046101e-01 2.10914012e-01 2.99365449e-02 3.59382517e+02] [-2.10814130e-01 9.77504618e-01 -6.49028883e-03 -6.94058193e+01] [-3.06320037e-02 3.02647275e-05 9.99530730e-01 -1.18542733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234012739 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:359.41, Y:-69.42, Z:-11.85 [[ 9.77669095e-01 2.07680950e-01 3.21210724e-02 3.59409332e+02] [-2.07564278e-01 9.78196608e-01 -6.96183865e-03 -6.94168390e+01] [-3.28665653e-02 1.39187296e-04 9.99459739e-01 -1.18548999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:359.44, Y:-69.43, Z:-11.86 [[ 9.77935445e-01 2.06486354e-01 3.17120099e-02 3.59436991e+02] [-2.06372054e-01 9.78449465e-01 -6.87170333e-03 -6.94252780e+01] [-3.24475120e-02 1.75609633e-04 9.99473425e-01 -1.18555305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294012739 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:359.46, Y:-69.44, Z:-11.86 [[ 9.78164120e-01 2.05763752e-01 2.92614579e-02 3.59463723e+02] [-2.05666154e-01 9.78601678e-01 -6.33941656e-03 -6.94353725e+01] [-2.99397339e-02 1.82898306e-04 9.99551689e-01 -1.18571493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:359.49, Y:-69.44, Z:-11.86 [[ 9.78125857e-01 2.06015336e-01 2.87661044e-02 3.59490405e+02] [-2.05921174e-01 9.78548748e-01 -6.23039564e-03 -6.94426267e+01] [-2.94325925e-02 1.70561082e-04 9.99566753e-01 -1.18579509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354012739 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:359.52, Y:-69.45, Z:-11.86 [[ 9.77673523e-01 2.08145820e-01 2.88062578e-02 3.59518335e+02] [-2.08052371e-01 9.78097800e-01 -6.23736111e-03 -6.94506076e+01] [-2.94736180e-02 1.04892594e-04 9.99565553e-01 -1.18579922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:359.55, Y:-69.46, Z:-11.86 [[ 9.77432085e-01 2.09279343e-01 2.87867121e-02 3.59546200e+02] [-2.09186551e-01 9.77855895e-01 -6.23179318e-03 -6.94571790e+01] [-2.94534417e-02 6.93615748e-05 9.99566151e-01 -1.18590290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414012739 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:359.57, Y:-69.46, Z:-11.86 [[ 9.77328306e-01 2.09865762e-01 2.80311187e-02 3.59574515e+02] [-2.09778056e-01 9.77730208e-01 -6.06693108e-03 -6.94639700e+01] [-2.86801126e-02 4.90699002e-05 9.99588640e-01 -1.18605174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:359.60, Y:-69.47, Z:-11.86 [[ 9.77287696e-01 2.10039041e-01 2.81489095e-02 3.59600984e+02] [-2.09950705e-01 9.77692999e-01 -6.09112433e-03 -6.94731297e+01] [-2.88003657e-02 4.28974543e-05 9.99585183e-01 -1.18614364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474012739 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:359.63, Y:-69.48, Z:-11.86 [[ 9.77316334e-01 2.09747562e-01 2.93043255e-02 3.59629263e+02] [-2.09651749e-01 9.77755571e-01 -6.33931162e-03 -6.94805950e+01] [-2.99821227e-02 5.18097059e-05 9.99550434e-01 -1.18612500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:359.66, Y:-69.49, Z:-11.86 [[ 9.77400911e-01 2.09028422e-01 3.15369369e-02 3.59656357e+02] [-2.08917126e-01 9.77909563e-01 -6.82069775e-03 -6.94882318e+01] [-3.22659919e-02 7.79499799e-05 9.99479314e-01 -1.18612389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534012739 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:359.68, Y:-69.49, Z:-11.86 [[ 9.77358340e-01 2.09167255e-01 3.19332693e-02 3.59684846e+02] [-2.09053279e-01 9.77879877e-01 -6.90454476e-03 -6.94944801e+01] [-3.26711061e-02 7.24597701e-05 9.99466154e-01 -1.18628034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:359.71, Y:-69.50, Z:-11.86 [[ 9.77152225e-01 2.10148503e-01 3.17983681e-02 3.59712765e+02] [-2.10036032e-01 9.77669476e-01 -6.87459801e-03 -6.95004544e+01] [-3.25329804e-02 3.87256779e-05 9.99470662e-01 -1.18636658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594012739 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:359.74, Y:-69.51, Z:-11.86 [[ 9.76352587e-01 2.13930080e-01 3.11375529e-02 3.59740816e+02] [-2.13824193e-01 9.76848972e-01 -6.73062350e-03 -6.95059746e+01] [-3.18565694e-02 -8.65004607e-05 9.99492447e-01 -1.18642857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:359.77, Y:-69.51, Z:-11.87 [[ 9.75880554e-01 2.16104022e-01 3.09224271e-02 3.59768304e+02] [-2.16000730e-01 9.76370333e-01 -6.68266838e-03 -6.95112204e+01] [-3.16358919e-02 -1.57780697e-04 9.99499447e-01 -1.18657000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654012739 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:359.80, Y:-69.52, Z:-11.87 [[ 9.75056649e-01 2.19922253e-01 2.99788850e-02 3.59796365e+02] [-2.19827024e-01 9.75517364e-01 -6.47705591e-03 -6.95160924e+01] [-3.06693716e-02 -2.74672651e-04 9.99529546e-01 -1.18661258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:359.82, Y:-69.52, Z:-11.87 [[ 9.74816356e-01 2.20986033e-01 2.99707345e-02 3.59824172e+02] [-2.20891422e-01 9.75276923e-01 -6.47322888e-03 -6.95217434e+01] [-3.06602589e-02 -3.10068753e-04 9.99529816e-01 -1.18678532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714012739 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:359.85, Y:-69.53, Z:-11.87 [[ 9.74608680e-01 2.21922504e-01 2.98047433e-02 3.59852475e+02] [-2.21829420e-01 9.75064248e-01 -6.43593247e-03 -6.95272858e+01] [-3.04898179e-02 -3.39053266e-04 9.99535020e-01 -1.18683988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:359.88, Y:-69.53, Z:-11.87 [[ 9.74379773e-01 2.22816014e-01 3.06118064e-02 3.59880153e+02] [-2.22718309e-01 9.74860442e-01 -6.60865204e-03 -6.95318208e+01] [-3.13147526e-02 -3.78472884e-04 9.99509501e-01 -1.18685585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774012739 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:359.91, Y:-69.54, Z:-11.87 [[ 9.74372842e-01 2.22789290e-01 3.10241484e-02 3.59908405e+02] [-2.22688983e-01 9.74866547e-01 -6.69571765e-03 -6.95371246e+01] [-3.17361386e-02 -3.84610630e-04 9.99496208e-01 -1.18692170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:359.94, Y:-69.54, Z:-11.87 [[ 9.74150579e-01 2.23654409e-01 3.17703372e-02 3.59936768e+02] [-2.23549729e-01 9.74668418e-01 -6.85517300e-03 -6.95418682e+01] [-3.24987340e-02 -4.24279507e-04 9.99471687e-01 -1.18701242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834012739 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:359.96, Y:-69.55, Z:-11.87 [[ 9.73919750e-01 2.24687562e-01 3.15566190e-02 3.59964218e+02] [-2.24584877e-01 9.74430752e-01 -6.80753526e-03 -6.95468655e+01] [-3.22793084e-02 -4.57146344e-04 9.99478783e-01 -1.18714273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:359.99, Y:-69.55, Z:-11.87 [[ 9.73662706e-01 2.25875048e-01 3.10064232e-02 3.59991422e+02] [-2.25776573e-01 9.74156159e-01 -6.68701552e-03 -6.95511789e+01] [-3.17155281e-02 -4.89626337e-04 9.99496816e-01 -1.18727321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894012739 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:360.02, Y:-69.55, Z:-11.87 [[ 9.73231537e-01 2.27887804e-01 2.97913617e-02 3.60017900e+02] [-2.27797900e-01 9.73687251e-01 -6.42296628e-03 -6.95541696e+01] [-3.04711847e-02 -5.35376288e-04 9.99535502e-01 -1.18733617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:360.04, Y:-69.56, Z:-11.87 [[ 9.73209664e-01 2.27995065e-01 2.96850297e-02 3.60044938e+02] [-2.27905945e-01 9.73662138e-01 -6.39694667e-03 -6.95591126e+01] [-3.03616617e-02 -5.39824438e-04 9.99538833e-01 -1.18743795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954012739 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:360.07, Y:-69.56, Z:-11.87 [[ 9.73568270e-01 2.26246883e-01 3.12597418e-02 3.60073518e+02] [-2.26147242e-01 9.74069856e-01 -6.73355914e-03 -6.95646568e+01] [-3.19726190e-02 -5.13724895e-04 9.99488613e-01 -1.18748943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:360.10, Y:-69.57, Z:-11.87 [[ 9.73904760e-01 2.24653891e-01 3.22513176e-02 3.60100984e+02] [-2.24547008e-01 9.74438506e-01 -6.94548701e-03 -6.95702573e+01] [-3.29872564e-02 -4.77694030e-04 9.99455658e-01 -1.18749090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014012739 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:360.13, Y:-69.58, Z:-11.88 [[ 9.74255196e-01 2.23075918e-01 3.26182177e-02 3.60128406e+02] [-2.22965774e-01 9.74800979e-01 -7.02246230e-03 -6.95761223e+01] [-3.33628128e-02 -4.31075765e-04 9.99443213e-01 -1.18756805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:360.16, Y:-69.58, Z:-11.88 [[ 9.74638833e-01 2.21529810e-01 3.16810341e-02 3.60155909e+02] [-2.21425147e-01 9.75153530e-01 -6.81889219e-03 -6.95816414e+01] [-3.24044601e-02 -3.69020494e-04 9.99474769e-01 -1.18768386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074012739 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:360.18, Y:-69.59, Z:-11.88 [[ 9.74744271e-01 2.21122687e-01 3.12787890e-02 3.60183729e+02] [-2.21020525e-01 9.75245934e-01 -6.73014634e-03 -6.95870306e+01] [-3.19926998e-02 -3.53082772e-04 9.99488040e-01 -1.18782021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:360.21, Y:-69.59, Z:-11.88 [[ 9.74756656e-01 2.21068021e-01 3.12792433e-02 3.60211600e+02] [-2.20965899e-01 9.75258327e-01 -6.72803419e-03 -6.95928916e+01] [-3.19926957e-02 -3.53449988e-04 9.99488040e-01 -1.18791220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134012739 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:360.24, Y:-69.60, Z:-11.88 [[ 9.74952222e-01 2.20336221e-01 3.03334004e-02 3.60239079e+02] [-2.20239882e-01 9.75423932e-01 -6.52286443e-03 -6.95974459e+01] [-3.10251479e-02 -3.21143364e-04 9.99518553e-01 -1.18803304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:360.27, Y:-69.60, Z:-11.88 [[ 9.75045184e-01 2.19940676e-01 3.02156972e-02 3.60266363e+02] [-2.19844947e-01 9.75513200e-01 -6.49581567e-03 -6.96030586e+01] [-3.09045056e-02 -3.09054590e-04 9.99522294e-01 -1.18807855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194012739 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:360.29, Y:-69.61, Z:-11.88 [[ 9.75324210e-01 2.18581148e-01 3.10639283e-02 3.60293405e+02] [-2.18479352e-01 9.75818736e-01 -6.67587178e-03 -6.96088421e+01] [-3.17719830e-02 -2.75687549e-04 9.99495105e-01 -1.18810486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:360.32, Y:-69.62, Z:-11.88 [[ 9.75551592e-01 2.17520636e-01 3.13666256e-02 3.60321900e+02] [-2.17416358e-01 9.76055691e-01 -6.73903759e-03 -6.96153709e+01] [-3.20814532e-02 -2.45338645e-04 9.99485228e-01 -1.18820596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254012739 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:360.35, Y:-69.62, Z:-11.88 [[ 9.75733086e-01 2.16672978e-01 3.15874354e-02 3.60349046e+02] [-2.16566832e-01 9.76244217e-01 -6.78493472e-03 -6.96224369e+01] [-3.23071631e-02 -2.20505515e-04 9.99477963e-01 -1.18828426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters Centerline goodness : 0.991640 Centerline is valid? [True, True] Translation: X:360.38, Y:-69.63, Z:-11.88 [[ 9.76032188e-01 2.15198225e-01 3.24174573e-02 3.60375943e+02] [-2.15085679e-01 9.76570372e-01 -6.96121589e-03 -6.96307439e+01] [-3.31559696e-02 -1.78160023e-04 9.99450174e-01 -1.18834392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314012739 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:360.40, Y:-69.64, Z:-11.88 [[ 9.76107635e-01 2.14753664e-01 3.30869797e-02 3.60403102e+02] [-2.14636231e-01 9.76668232e-01 -7.10300376e-03 -6.96376621e+01] [-3.38403981e-02 -1.68368424e-04 9.99427236e-01 -1.18846462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:360.43, Y:-69.65, Z:-11.89 [[ 9.76029398e-01 2.14996028e-01 3.38130427e-02 3.60430874e+02] [-2.14873595e-01 9.76614906e-01 -7.25695142e-03 -6.96463288e+01] [-3.45825372e-02 -1.82532112e-04 9.99401828e-01 -1.18852409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374012739 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:360.46, Y:-69.65, Z:-11.89 [[ 9.75899011e-01 2.15634833e-01 3.35072973e-02 3.60458400e+02] [-2.15515036e-01 9.76474053e-01 -7.18976978e-03 -6.96534603e+01] [-3.42693712e-02 -2.04837137e-04 9.99412612e-01 -1.18859946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:360.49, Y:-69.66, Z:-11.89 [[ 9.75682981e-01 2.16653734e-01 3.32246950e-02 3.60485080e+02] [-2.16536592e-01 9.76248484e-01 -7.12755870e-03 -6.96604845e+01] [-3.39797703e-02 -2.40124513e-04 9.99422492e-01 -1.18870026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434012739 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:360.51, Y:-69.67, Z:-11.89 [[ 9.75153780e-01 2.19182856e-01 3.21555599e-02 3.60512730e+02] [-2.19074568e-01 9.75683747e-01 -6.89638313e-03 -6.96681257e+01] [-3.28852261e-02 -3.19431312e-04 9.99459084e-01 -1.18882086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:360.54, Y:-69.67, Z:-11.89 [[ 9.74741336e-01 2.21079511e-01 3.16729789e-02 3.60539801e+02] [-2.20975499e-01 9.75255713e-01 -6.79137698e-03 -6.96748549e+01] [-3.23906879e-02 -3.79116434e-04 9.99475212e-01 -1.18891297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494012739 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:360.57, Y:-69.68, Z:-11.89 [[ 9.73922063e-01 2.24639493e-01 3.18263053e-02 3.60567301e+02] [-2.24536436e-01 9.74441813e-01 -6.82222007e-03 -6.96800832e+01] [-3.25454227e-02 -5.01854516e-04 9.99470131e-01 -1.18908726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:360.60, Y:-69.69, Z:-11.89 [[ 9.73504572e-01 2.26410905e-01 3.20460578e-02 3.60595342e+02] [-2.26307445e-01 9.74031714e-01 -6.86728767e-03 -6.96851264e+01] [-3.27687054e-02 -5.66925502e-04 9.99462801e-01 -1.18915279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55401273900003 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:360.62, Y:-69.69, Z:-11.89 [[ 9.73018772e-01 2.28304348e-01 3.33405770e-02 3.60622950e+02] [-2.28193526e-01 9.73589591e-01 -7.14301945e-03 -6.96894856e+01] [-3.40908211e-02 -6.57811806e-04 9.99418523e-01 -1.18922467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:360.65, Y:-69.69, Z:-11.89 [[ 9.73001860e-01 2.28305775e-01 3.38208989e-02 3.60650319e+02] [-2.28191808e-01 9.73589249e-01 -7.24386998e-03 -6.96946681e+01] [-3.45814809e-02 -6.69353109e-04 9.99401658e-01 -1.18935062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61401273900003 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:360.68, Y:-69.70, Z:-11.89 [[ 9.73425386e-01 2.26580342e-01 3.32320163e-02 3.60678023e+02] [-2.26469383e-01 9.73992294e-01 -7.11544613e-03 -6.96999263e+01] [-3.39799480e-02 -5.99678346e-04 9.99422335e-01 -1.18948821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:360.71, Y:-69.71, Z:-11.90 [[ 9.73687313e-01 2.25443027e-01 3.32935019e-02 3.60705789e+02] [-2.25331060e-01 9.74256190e-01 -7.12663201e-03 -6.97060836e+01] [-3.40430498e-02 -5.62948909e-04 9.99420209e-01 -1.18960042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.674012739 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:360.73, Y:-69.71, Z:-11.90 [[ 9.73945121e-01 2.24259538e-01 3.37425672e-02 3.60732967e+02] [-2.24143901e-01 9.74529311e-01 -7.22038950e-03 -6.97116252e+01] [-3.45023620e-02 -5.30927518e-04 9.99404475e-01 -1.18967331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:360.76, Y:-69.72, Z:-11.90 [[ 9.74177180e-01 2.23204857e-01 3.40354854e-02 3.60760924e+02] [-2.23086641e-01 9.74771430e-01 -7.28072334e-03 -6.97162754e+01] [-3.48019116e-02 -5.00147578e-04 9.99394105e-01 -1.18969494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734012739 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:360.79, Y:-69.72, Z:-11.90 [[ 9.74338014e-01 2.22513796e-01 3.39565186e-02 3.60788744e+02] [-2.22395777e-01 9.74929425e-01 -7.26185572e-03 -6.97214722e+01] [-3.47210723e-02 -4.76284277e-04 9.99396928e-01 -1.18981725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:360.82, Y:-69.73, Z:-11.90 [[ 9.74289152e-01 2.22722643e-01 3.39892935e-02 3.60816032e+02] [-2.22604604e-01 9.74881730e-01 -7.26654755e-03 -6.97271111e+01] [-3.47539660e-02 -4.86454764e-04 9.99395780e-01 -1.18993123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794012739 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:360.84, Y:-69.73, Z:-11.90 [[ 9.74173374e-01 2.23095142e-01 3.48539062e-02 3.60843940e+02] [-2.22971332e-01 9.74796539e-01 -7.44931382e-03 -6.97323093e+01] [-3.56373729e-02 -5.14498715e-04 9.99364655e-01 -1.18999423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:360.87, Y:-69.74, Z:-11.90 [[ 9.74052840e-01 2.23539457e-01 3.53719608e-02 3.60871485e+02] [-2.23412318e-01 9.74694731e-01 -7.55762789e-03 -6.97367883e+01] [-3.61662918e-02 -5.41002844e-04 9.99345639e-01 -1.19010685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854012739 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:360.90, Y:-69.74, Z:-11.90 [[ 9.73879217e-01 2.24391517e-01 3.47522383e-02 3.60898833e+02] [-2.24269407e-01 9.74498911e-01 -7.42324023e-03 -6.97414666e+01] [-3.55317305e-02 -5.64524505e-04 9.99368389e-01 -1.19028034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:360.93, Y:-69.75, Z:-11.90 [[ 9.74083480e-01 2.23651621e-01 3.37835335e-02 3.60926637e+02] [-2.23535858e-01 9.74669009e-01 -7.21409285e-03 -6.97472881e+01] [-3.45412067e-02 -5.24702475e-04 9.99403137e-01 -1.19041047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:360.95, Y:-69.75, Z:-11.91 [[ 9.74777046e-01 2.20763392e-01 3.27602570e-02 3.60953261e+02] [-2.20652978e-01 9.75327307e-01 -6.99343553e-03 -6.97526568e+01] [-3.34958678e-02 -4.11607839e-04 9.99438771e-01 -1.19055451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:360.98, Y:-69.76, Z:-11.91 [[ 9.75195069e-01 2.18917941e-01 3.27034031e-02 3.60981127e+02] [-2.18806946e-01 9.75743210e-01 -6.97910784e-03 -6.97584603e+01] [-3.34379754e-02 -3.49740186e-04 9.99440733e-01 -1.19069290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974012739 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:361.01, Y:-69.77, Z:-11.91 [[ 9.75967072e-01 2.15332243e-01 3.34708582e-02 3.61009168e+02] [-2.15213944e-01 9.76540818e-01 -7.14062384e-03 -6.97659730e+01] [-3.42232658e-02 -2.34381633e-04 9.99414185e-01 -1.19084523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:361.04, Y:-69.77, Z:-11.91 [[ 9.76280891e-01 2.13887039e-01 3.35850563e-02 3.61035738e+02] [-2.13767132e-01 9.76858383e-01 -7.16334180e-03 -6.97728957e+01] [-3.43399897e-02 -1.85947452e-04 9.99410191e-01 -1.19095385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:361.06, Y:-69.78, Z:-11.91 [[ 9.76623104e-01 2.12309751e-01 3.36434625e-02 3.61063142e+02] [-2.12188560e-01 9.77202411e-01 -7.17378243e-03 -6.97797841e+01] [-3.43995366e-02 -1.32676186e-04 9.99408152e-01 -1.19099981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:361.09, Y:-69.79, Z:-11.91 [[ 9.77234169e-01 2.09495728e-01 3.35398150e-02 3.61089886e+02] [-2.09373693e-01 9.77809561e-01 -7.14969368e-03 -6.97890488e+01] [-3.42933820e-02 -3.54299627e-05 9.99411808e-01 -1.19110757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094012739 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:361.12, Y:-69.80, Z:-11.91 [[ 9.77489023e-01 2.08277785e-01 3.36982725e-02 3.61118936e+02] [-2.08153931e-01 9.78069713e-01 -7.18167980e-03 -6.97970071e+01] [-3.44550441e-02 5.58527422e-06 9.99406249e-01 -1.19122026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:361.15, Y:-69.81, Z:-11.91 [[ 9.77547320e-01 2.07967690e-01 3.39216314e-02 3.61146010e+02] [-2.07842032e-01 9.78135696e-01 -7.22841983e-03 -6.98058137e+01] [-3.46832363e-02 1.57816265e-05 9.99398355e-01 -1.19128128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154012739 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:361.17, Y:-69.81, Z:-11.91 [[ 9.77368814e-01 2.08673623e-01 3.47205959e-02 3.61173799e+02] [-2.08542465e-01 9.77985337e-01 -7.39738443e-03 -6.98135592e+01] [-3.54998727e-02 -1.07457981e-05 9.99369681e-01 -1.19137989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:361.20, Y:-69.82, Z:-11.91 [[ 9.76878647e-01 2.10699068e-01 3.62493083e-02 3.61202224e+02] [-2.10557543e-01 9.77550968e-01 -7.72181222e-03 -6.98249194e+01] [-3.70625251e-02 -8.92918117e-05 9.99312945e-01 -1.19139631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214012739 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:361.23, Y:-69.83, Z:-11.91 [[ 9.76711333e-01 2.11469214e-01 3.62731687e-02 3.61232604e+02] [-2.11328057e-01 9.77384652e-01 -7.72626724e-03 -6.98338783e+01] [-3.70867060e-02 -1.19205486e-04 9.99312044e-01 -1.19144761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:361.26, Y:-69.84, Z:-11.92 [[ 9.76540201e-01 2.12277417e-01 3.61598536e-02 3.61262747e+02] [-2.12137660e-01 9.77209433e-01 -7.70304051e-03 -6.98428687e+01] [-3.69709316e-02 -1.48538020e-04 9.99316330e-01 -1.19163030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274012739 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:361.29, Y:-69.85, Z:-11.92 [[ 9.76210554e-01 2.13904475e-01 3.54658999e-02 3.61292226e+02] [-2.13771055e-01 9.76854561e-01 -7.55663664e-03 -6.98544563e+01] [-3.62614245e-02 -2.04714384e-04 9.99342317e-01 -1.19185960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:361.32, Y:-69.86, Z:-11.92 [[ 9.76020037e-01 2.14744799e-01 3.56308556e-02 3.61322994e+02] [-2.14610477e-01 9.76670168e-01 -7.59771493e-03 -6.98634826e+01] [-3.64311635e-02 -2.31232902e-04 9.99336138e-01 -1.19192954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334012739 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:361.35, Y:-69.87, Z:-11.92 [[ 9.75220623e-01 2.18253828e-01 3.61939546e-02 3.61352427e+02] [-2.18117427e-01 9.75891969e-01 -7.72351307e-03 -6.98722225e+01] [-3.70070759e-02 -3.62403012e-04 9.99314938e-01 -1.19197146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:361.38, Y:-69.88, Z:-11.92 [[ 9.74621673e-01 2.20870757e-01 3.64513834e-02 3.61381739e+02] [-2.20734222e-01 9.75302975e-01 -7.77884599e-03 -6.98794791e+01] [-3.72692622e-02 -4.64635850e-04 9.99305152e-01 -1.19200116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394012739 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:361.41, Y:-69.89, Z:-11.92 [[ 9.74033601e-01 2.23374714e-01 3.69090918e-02 3.61411962e+02] [-2.23236518e-01 9.74732484e-01 -7.87665279e-03 -6.98870620e+01] [-3.77359358e-02 -5.67332639e-04 9.99287585e-01 -1.19217881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:361.44, Y:-69.89, Z:-11.92 [[ 9.73158441e-01 2.27107992e-01 3.72103356e-02 3.61441427e+02] [-2.26970226e-01 9.73869317e-01 -7.94171733e-03 -6.98934149e+01] [-3.80416316e-02 -7.17089033e-04 9.99275898e-01 -1.19228818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454012739 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:361.47, Y:-69.90, Z:-11.92 [[ 9.73006545e-01 2.27826425e-01 3.67883687e-02 3.61471032e+02] [-2.27692277e-01 9.73701483e-01 -7.85172086e-03 -6.98992490e+01] [-3.76097186e-02 -7.36651643e-04 9.99292233e-01 -1.19244566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:361.50, Y:-69.91, Z:-11.93 [[ 9.72934358e-01 2.28162470e-01 3.66145230e-02 3.61500490e+02] [-2.28029811e-01 9.73622787e-01 -7.81499640e-03 -6.99062871e+01] [-3.74318228e-02 -7.45724228e-04 9.99298906e-01 -1.19265125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514012739 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:361.53, Y:-69.91, Z:-11.93 [[ 9.72922271e-01 2.28213906e-01 3.66151398e-02 3.61530873e+02] [-2.28081274e-01 9.73610730e-01 -7.81525312e-03 -6.99123564e+01] [-3.74324424e-02 -7.47593929e-04 9.99298881e-01 -1.19277726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:361.56, Y:-69.92, Z:-11.93 [[ 9.72837567e-01 2.28637178e-01 3.62230387e-02 3.61560774e+02] [-2.28507635e-01 9.73511413e-01 -7.73239355e-03 -6.99176022e+01] [-3.70314543e-02 -7.54877985e-04 9.99313815e-01 -1.19285598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574012739 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:361.59, Y:-69.92, Z:-11.93 [[ 9.72601332e-01 2.29697811e-01 3.58547724e-02 3.61590745e+02] [-2.29571598e-01 9.73261679e-01 -7.65406076e-03 -6.99192262e+01] [-3.66541970e-02 -7.86887717e-04 9.99327699e-01 -1.19297073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:361.62, Y:-69.92, Z:-11.93 [[ 9.72193698e-01 2.31268813e-01 3.67987611e-02 3.61621111e+02] [-2.31137024e-01 9.72889501e-01 -7.85465743e-03 -6.99200623e+01] [-3.76176656e-02 -8.69307672e-04 9.99291827e-01 -1.19304912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634012739 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:361.65, Y:-69.92, Z:-11.93 [[ 9.72014679e-01 2.32023909e-01 3.67745824e-02 3.61649499e+02] [-2.31892870e-01 9.72709668e-01 -7.84853660e-03 -6.99228028e+01] [-3.75920400e-02 -8.98870667e-04 9.99292765e-01 -1.19311982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:361.68, Y:-69.93, Z:-11.93 [[ 9.71814667e-01 2.32872371e-01 3.66975795e-02 3.61678858e+02] [-2.32742532e-01 9.72506860e-01 -7.83082946e-03 -6.99261304e+01] [-3.75122316e-02 -9.30972651e-04 9.99295735e-01 -1.19325939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694012739 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:361.71, Y:-69.93, Z:-11.93 [[ 9.71820542e-01 2.32804905e-01 3.69690575e-02 3.61707213e+02] [-2.32673130e-01 9.72523007e-01 -7.88763729e-03 -6.99255133e+01] [-3.77895396e-02 -9.36338377e-04 9.99285282e-01 -1.19339412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:361.73, Y:-69.93, Z:-11.93 [[ 9.72065997e-01 2.31784942e-01 3.69247568e-02 3.61734857e+02] [-2.31652834e-01 9.72766639e-01 -7.87591015e-03 -6.99280201e+01] [-3.77446890e-02 -8.97820098e-04 9.99287012e-01 -1.19349001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754012739 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:361.76, Y:-69.93, Z:-11.94 [[ 9.72852102e-01 2.28512840e-01 3.66151518e-02 3.61764574e+02] [-2.28380702e-01 9.73540597e-01 -7.80772942e-03 -6.99277856e+01] [-3.74305032e-02 -7.66428096e-04 9.99298939e-01 -1.19359247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:361.79, Y:-69.93, Z:-11.94 [[ 9.73437455e-01 2.25959182e-01 3.69048589e-02 3.61792165e+02] [-2.25823178e-01 9.74136537e-01 -7.86766432e-03 -6.99305841e+01] [-3.77281425e-02 -6.75293394e-04 9.99287812e-01 -1.19365679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814012739 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:361.82, Y:-69.93, Z:-11.94 [[ 9.73984208e-01 2.23477263e-01 3.75855735e-02 3.61820945e+02] [-2.23334431e-01 9.74708963e-01 -8.01057782e-03 -6.99336268e+01] [-3.84251774e-02 -5.91976394e-04 9.99261305e-01 -1.19370409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:361.85, Y:-69.93, Z:-11.94 [[ 9.74861107e-01 2.19175783e-01 4.00973617e-02 3.61849510e+02] [-2.19009665e-01 9.75685283e-01 -8.54374198e-03 -6.99329778e+01] [-4.09949870e-02 -4.52747995e-04 9.99159250e-01 -1.19374270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874012739 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:361.88, Y:-69.94, Z:-11.94 [[ 9.75194741e-01 2.17365619e-01 4.18019792e-02 3.61878363e+02] [-2.17183515e-01 9.76090176e-01 -8.90446165e-03 -6.99367419e+01] [-4.27380251e-02 -3.95116615e-04 9.99086235e-01 -1.19381629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:361.91, Y:-69.94, Z:-11.94 [[ 9.75774234e-01 2.14307663e-01 4.40098933e-02 3.61905812e+02] [-2.14102797e-01 9.76766169e-01 -9.37247021e-03 -6.99401248e+01] [-4.49959671e-02 -2.77226342e-04 9.98987130e-01 -1.19388499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934012739 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:361.93, Y:-69.94, Z:-11.94 [[ 9.76077707e-01 2.12919056e-01 4.40202882e-02 3.61934719e+02] [-2.12712793e-01 9.77069818e-01 -9.37223579e-03 -6.99447055e+01] [-4.50064225e-02 -2.15647999e-04 9.98986674e-01 -1.19402077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:361.96, Y:-69.95, Z:-11.94 [[ 9.76391110e-01 2.11519398e-01 4.38171665e-02 3.61963710e+02] [-2.11313705e-01 9.77373788e-01 -9.32721745e-03 -6.99492712e+01] [-4.47986374e-02 -1.52155603e-04 9.98996025e-01 -1.19420262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994012739 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:361.99, Y:-69.95, Z:-11.94 [[ 9.76962478e-01 2.08858654e-01 4.38449443e-02 3.61991710e+02] [-2.08650075e-01 9.77945838e-01 -9.33191882e-03 -6.99537253e+01] [-4.48270328e-02 -3.13163664e-05 9.98994763e-01 -1.19435567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:362.02, Y:-69.96, Z:-11.94 [[ 9.76969319e-01 2.08826585e-01 4.38452627e-02 3.62020400e+02] [-2.08618041e-01 9.77952686e-01 -9.33042265e-03 -6.99597435e+01] [-4.48270327e-02 -3.13761234e-05 9.98994763e-01 -1.19445036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05401273900003 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:362.05, Y:-69.96, Z:-11.95 [[ 9.77716524e-01 2.05196286e-01 4.43269990e-02 3.62049270e+02] [-2.04979463e-01 9.78720831e-01 -9.43153678e-03 -6.99647116e+01] [-4.53190737e-02 1.35244902e-04 9.98972554e-01 -1.19459421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:362.08, Y:-69.97, Z:-11.95 [[ 9.78059272e-01 2.03671701e-01 4.37938229e-02 3.62078198e+02] [-2.03458585e-01 9.79039221e-01 -9.31704474e-03 -6.99703597e+01] [-4.47734886e-02 2.02392775e-04 9.98997144e-01 -1.19468615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11401273900003 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:362.11, Y:-69.98, Z:-11.95 [[ 9.78412675e-01 2.02142306e-01 4.29781980e-02 3.62107000e+02] [-2.01935621e-01 9.79356124e-01 -9.14263359e-03 -6.99759004e+01] [-4.39390744e-02 2.66439492e-04 9.99034177e-01 -1.19483567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:362.14, Y:-69.98, Z:-11.95 [[ 9.79145061e-01 1.98834126e-01 4.17125892e-02 3.62137140e+02] [-1.98636454e-01 9.80033075e-01 -8.87303564e-03 -6.99815890e+01] [-4.26439794e-02 4.02348215e-04 9.99090251e-01 -1.19502951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.174012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:362.17, Y:-69.99, Z:-11.95 [[ 9.79426825e-01 1.97504490e-01 4.14134105e-02 3.62165656e+02] [-1.97308468e-01 9.80301876e-01 -8.80912806e-03 -6.99874554e+01] [-4.23374863e-02 4.56679757e-04 9.99103262e-01 -1.19515492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:362.20, Y:-69.99, Z:-11.95 [[ 9.79981732e-01 1.94778616e-01 4.11958132e-02 3.62195733e+02] [-1.94582277e-01 9.80847065e-01 -8.76199092e-03 -6.99939154e+01] [-4.21134410e-02 5.70615913e-04 9.99112673e-01 -1.19538680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234012739 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:362.23, Y:-70.00, Z:-11.96 [[ 9.80181848e-01 1.93948367e-01 4.03432369e-02 3.62225460e+02] [-1.93759367e-01 9.81011559e-01 -8.58075928e-03 -7.00005725e+01] [-4.12414060e-02 5.93824458e-04 9.99149035e-01 -1.19554495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:362.26, Y:-70.01, Z:-11.96 [[ 9.80221697e-01 1.93877031e-01 3.97129942e-02 3.62255241e+02] [-1.93693819e-01 9.81025663e-01 -8.44707893e-03 -7.00073767e+01] [-4.05971610e-02 5.87848534e-04 9.99175423e-01 -1.19572222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294012739 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:362.28, Y:-70.01, Z:-11.96 [[ 9.80096261e-01 1.94632809e-01 3.91074104e-02 3.62284807e+02] [-1.94455746e-01 9.80876021e-01 -8.31826936e-03 -7.00136752e+01] [-3.99785293e-02 5.48044017e-04 9.99200389e-01 -1.19578559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:362.31, Y:-70.02, Z:-11.96 [[ 9.79948076e-01 1.95362853e-01 3.91806490e-02 3.62314014e+02] [-1.95185713e-01 9.80730894e-01 -8.33375228e-03 -7.00197537e+01] [-4.00537785e-02 5.19141613e-04 9.99197391e-01 -1.19585497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354012739 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:362.34, Y:-70.03, Z:-11.96 [[ 9.79578193e-01 1.96911283e-01 4.06510706e-02 3.62342159e+02] [-1.96721954e-01 9.80421197e-01 -8.64577588e-03 -7.00262650e+01] [-4.15576221e-02 4.72255486e-04 9.99135997e-01 -1.19590576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:362.37, Y:-70.03, Z:-11.96 [[ 9.79524604e-01 1.97124722e-01 4.09071497e-02 3.62371463e+02] [-1.96933242e-01 9.80378309e-01 -8.69887414e-03 -7.00331666e+01] [-4.18192453e-02 4.64783646e-04 9.99125085e-01 -1.19602464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414012739 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:362.40, Y:-70.04, Z:-11.96 [[ 9.79595067e-01 1.96893745e-01 4.03281235e-02 3.62400041e+02] [-1.96707493e-01 9.80424722e-01 -8.57479029e-03 -7.00399998e+01] [-4.12270118e-02 4.66978190e-04 9.99149696e-01 -1.19621258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:362.43, Y:-70.05, Z:-11.96 [[ 9.79950312e-01 1.95607419e-01 3.78830346e-02 3.62429512e+02] [-1.95442143e-01 9.80682160e-01 -8.05419027e-03 -7.00472112e+01] [-3.87266756e-02 4.88764808e-04 9.99249721e-01 -1.19647099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:362.46, Y:-70.05, Z:-11.97 [[ 9.80009812e-01 1.95403937e-01 3.73907618e-02 3.62458515e+02] [-1.95242784e-01 9.80722724e-01 -7.94945924e-03 -7.00533530e+01] [-3.82233254e-02 4.90271611e-04 9.99269101e-01 -1.19657748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:362.49, Y:-70.06, Z:-11.97 [[ 9.79597259e-01 1.97018567e-01 3.96597455e-02 3.62486502e+02] [-1.96838604e-01 9.80399653e-01 -8.43116500e-03 -7.00587195e+01] [-4.05434967e-02 4.52577191e-04 9.99177672e-01 -1.19655107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:362.52, Y:-70.06, Z:-11.97 [[ 9.79179546e-01 1.98841485e-01 4.08592694e-02 3.62515199e+02] [-1.98652109e-01 9.80031588e-01 -8.68479579e-03 -7.00643477e+01] [-4.17702724e-02 3.87194338e-04 9.99127166e-01 -1.19659649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:362.54, Y:-70.07, Z:-11.97 [[ 9.78788413e-01 2.00660907e-01 4.13333093e-02 3.62543527e+02] [-2.00468778e-01 9.79660708e-01 -8.78442623e-03 -7.00695914e+01] [-4.22553100e-02 3.12056610e-04 9.99106797e-01 -1.19670392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594012739 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:362.57, Y:-70.07, Z:-11.97 [[ 9.78154833e-01 2.03762663e-01 4.11570189e-02 3.62573081e+02] [-2.03574970e-01 9.79020299e-01 -8.74558572e-03 -7.00733850e+01] [-4.20755808e-02 1.75998028e-04 9.99114415e-01 -1.19692172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:362.60, Y:-70.08, Z:-11.97 [[ 9.77730710e-01 2.05928224e-01 4.04502778e-02 3.62601559e+02] [-2.05748817e-01 9.78567095e-01 -8.59443795e-03 -7.00778127e+01] [-4.13531482e-02 8.04491121e-05 9.99144589e-01 -1.19708686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654012739 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:362.63, Y:-70.08, Z:-11.97 [[ 9.77650770e-01 2.06362316e-01 4.01692287e-02 3.62629738e+02] [-2.06185808e-01 9.78475647e-01 -8.53355376e-03 -7.00831955e+01] [-4.10656159e-02 6.05105358e-05 9.99156450e-01 -1.19723338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:362.66, Y:-70.09, Z:-11.97 [[ 9.77667092e-01 2.06414917e-01 3.94960569e-02 3.62658055e+02] [-2.06244397e-01 9.78464552e-01 -8.38867607e-03 -7.00884801e+01] [-4.03770395e-02 5.54921192e-05 9.99184513e-01 -1.19730889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:362.69, Y:-70.09, Z:-11.97 [[ 9.77779988e-01 2.06046797e-01 3.86136203e-02 3.62686400e+02] [-2.05883601e-01 9.78542136e-01 -8.19938464e-03 -7.00934477e+01] [-3.94745115e-02 6.72830032e-05 9.99220575e-01 -1.19748067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:362.71, Y:-70.10, Z:-11.98 [[ 9.77997759e-01 2.05054816e-01 3.83784631e-02 3.62713935e+02] [-2.04892917e-01 9.78750485e-01 -8.14746310e-03 -7.00991029e+01] [-3.92336160e-02 1.04725383e-04 9.99230060e-01 -1.19759432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774012739 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:362.74, Y:-70.11, Z:-11.98 [[ 9.78527625e-01 2.02506275e-01 3.84043792e-02 3.62742494e+02] [-2.02342282e-01 9.79280944e-01 -8.15072133e-03 -7.01058307e+01] [-3.92592489e-02 2.04876255e-04 9.99229038e-01 -1.19774623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:362.77, Y:-70.11, Z:-11.98 [[ 9.78824474e-01 2.01059681e-01 3.84402748e-02 3.62770186e+02] [-2.00894306e-01 9.79578959e-01 -8.15731186e-03 -7.01119756e+01] [-3.92953909e-02 2.62144163e-04 9.99227603e-01 -1.19783832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834012739 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:362.80, Y:-70.12, Z:-11.98 [[ 9.79144458e-01 1.99424268e-01 3.88083873e-02 3.62797464e+02] [-1.99254488e-01 9.79913186e-01 -8.23384492e-03 -7.01184117e+01] [-3.96708789e-02 3.29378301e-04 9.99212747e-01 -1.19792260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:362.83, Y:-70.13, Z:-11.98 [[ 9.79761657e-01 1.96169898e-01 3.98053579e-02 3.62826485e+02] [-1.95988668e-01 9.80569808e-01 -8.44351472e-03 -7.01279769e+01] [-4.06882955e-02 4.71232908e-04 9.99171777e-01 -1.19797108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894012739 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:362.86, Y:-70.14, Z:-11.98 [[ 9.80029795e-01 1.94779759e-01 4.00305785e-02 3.62856034e+02] [-1.94595308e-01 9.80846860e-01 -8.49139360e-03 -7.01363774e+01] [-4.09178188e-02 5.32055979e-04 9.99162374e-01 -1.19811546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:362.89, Y:-70.15, Z:-11.98 [[ 9.80507997e-01 1.92389188e-01 3.98806818e-02 3.62885995e+02] [-1.92204115e-01 9.81318502e-01 -8.46019444e-03 -7.01470560e+01] [-4.07633009e-02 6.30057152e-04 9.99168633e-01 -1.19832938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954012739 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:362.92, Y:-70.16, Z:-11.98 [[ 9.80624553e-01 1.91804471e-01 3.98312828e-02 3.62916343e+02] [-1.91619284e-01 9.81432940e-01 -8.45191740e-03 -7.01557541e+01] [-4.07128486e-02 6.55715810e-04 9.99170673e-01 -1.19847043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:362.95, Y:-70.17, Z:-11.99 [[ 9.80517395e-01 1.92495847e-01 3.91278362e-02 3.62947184e+02] [-1.92317432e-01 9.81297591e-01 -8.30927894e-03 -7.01674268e+01] [-3.99955531e-02 6.22427570e-04 9.99199664e-01 -1.19860608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014012739 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:362.98, Y:-70.18, Z:-11.99 [[ 9.80324421e-01 1.93640643e-01 3.83057546e-02 3.62977103e+02] [-1.93470269e-01 9.81072361e-01 -8.14114216e-03 -7.01760000e+01] [-3.91571731e-02 5.69935812e-04 9.99232901e-01 -1.19870405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:363.01, Y:-70.18, Z:-11.99 [[ 9.80046806e-01 1.95042875e-01 3.82953561e-02 3.63007764e+02] [-1.94873447e-01 9.80794580e-01 -8.14444973e-03 -7.01842241e+01] [-3.91483946e-02 5.19193889e-04 9.99233273e-01 -1.19879489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074012739 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:363.04, Y:-70.19, Z:-11.99 [[ 9.79345162e-01 1.98189694e-01 4.00486996e-02 3.63037562e+02] [-1.98006981e-01 9.80163596e-01 -8.51824437e-03 -7.01920738e+01] [-4.09425057e-02 4.12379320e-04 9.99161419e-01 -1.19875916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:363.07, Y:-70.20, Z:-11.99 [[ 9.79033769e-01 1.99550734e-01 4.08947895e-02 3.63067951e+02] [-1.99361371e-01 9.79887428e-01 -8.69892845e-03 -7.01994056e+01] [-4.18081677e-02 3.63703407e-04 9.99125590e-01 -1.19890844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134012739 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:363.10, Y:-70.21, Z:-11.99 [[ 9.78450883e-01 2.02500630e-01 4.03405995e-02 3.63097919e+02] [-2.02318816e-01 9.79282104e-01 -8.58237677e-03 -7.02068288e+01] [-4.12427638e-02 2.35771805e-04 9.99149127e-01 -1.19903736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:363.13, Y:-70.21, Z:-11.99 [[ 9.78106960e-01 2.04341171e-01 3.93885920e-02 3.63128584e+02] [-2.04169295e-01 9.78899720e-01 -8.38076793e-03 -7.02131755e+01] [-4.02700177e-02 1.55346370e-04 9.99188822e-01 -1.19922756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194012739 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:363.16, Y:-70.22, Z:-11.99 [[ 9.77738870e-01 2.06190686e-01 3.88857714e-02 3.63158403e+02] [-2.06024604e-01 9.78511827e-01 -8.27453169e-03 -7.02191869e+01] [-3.97563186e-02 7.89056193e-05 9.99209402e-01 -1.19939621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:363.19, Y:-70.22, Z:-11.99 [[ 9.77055338e-01 2.09322061e-01 3.93337231e-02 3.63186716e+02] [-2.09154675e-01 9.77846753e-01 -8.36957119e-03 -7.02234922e+01] [-4.02142893e-02 -4.92978580e-05 9.99191077e-01 -1.19949346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254012739 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:363.22, Y:-70.22, Z:-12.00 [[ 9.76418339e-01 2.12173632e-01 3.98695022e-02 3.63216472e+02] [-2.12004090e-01 9.77231969e-01 -8.48202698e-03 -7.02245086e+01] [-4.07614146e-02 -1.70490862e-04 9.99168894e-01 -1.19952780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:363.25, Y:-70.23, Z:-12.00 [[ 9.76208849e-01 2.13198961e-01 3.95283007e-02 3.63245904e+02] [-2.13033217e-01 9.77008781e-01 -8.40776499e-03 -7.02268556e+01] [-4.04120237e-02 -2.13106505e-04 9.99183078e-01 -1.19969451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314012739 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:363.27, Y:-70.23, Z:-12.00 [[ 9.76062344e-01 2.13977708e-01 3.89338173e-02 3.63274117e+02] [-2.13817581e-01 9.76838514e-01 -8.28012041e-03 -7.02290246e+01] [-3.98038134e-02 -2.42820901e-04 9.99207485e-01 -1.19984141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:363.30, Y:-70.23, Z:-12.00 [[ 9.75824909e-01 2.15119517e-01 3.85919780e-02 3.63303694e+02] [-2.14963171e-01 9.76587687e-01 -8.20520571e-03 -7.02297226e+01] [-3.94535504e-02 -2.89009840e-04 9.99221364e-01 -1.20008086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374012739 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:363.33, Y:-70.23, Z:-12.00 [[ 9.75965189e-01 2.14515204e-01 3.84080251e-02 3.63332345e+02] [-2.14359949e-01 9.76720614e-01 -8.16426940e-03 -7.02325606e+01] [-3.92652697e-02 -2.65099564e-04 9.99228787e-01 -1.20017954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:363.36, Y:-70.23, Z:-12.00 [[ 9.76568049e-01 2.11824033e-01 3.80187421e-02 3.63361034e+02] [-2.11669948e-01 9.77307809e-01 -8.07952983e-03 -7.02309281e+01] [-3.88674521e-02 -1.57214490e-04 9.99244363e-01 -1.20034516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434012739 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:363.39, Y:-70.23, Z:-12.01 [[ 9.77057509e-01 2.09519776e-01 3.82110941e-02 3.63389853e+02] [-2.09362455e-01 9.77804407e-01 -8.11809551e-03 -7.02328058e+01] [-3.90638778e-02 -6.81222900e-05 9.99236713e-01 -1.20053858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:363.42, Y:-70.24, Z:-12.01 [[ 9.77598319e-01 2.06962584e-01 3.83146984e-02 3.63418217e+02] [-2.06802515e-01 9.78348858e-01 -8.13830204e-03 -7.02360195e+01] [-3.91694654e-02 3.24143998e-05 9.99232581e-01 -1.20064345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:363.45, Y:-70.24, Z:-12.01 [[ 9.78813850e-01 2.01157680e-01 3.81973086e-02 3.63445959e+02] [-2.00994240e-01 9.79558839e-01 -8.11149120e-03 -7.02374640e+01] [-3.90482000e-02 2.62200913e-04 9.99237294e-01 -1.20078348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:363.47, Y:-70.24, Z:-12.01 [[ 9.79428900e-01 1.98145972e-01 3.81733315e-02 3.63474798e+02] [-1.97980534e-01 9.80172449e-01 -8.10424122e-03 -7.02412019e+01] [-3.90222706e-02 3.79951500e-04 9.99238269e-01 -1.20089995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55401273900003 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:363.50, Y:-70.24, Z:-12.01 [[ 9.80476025e-01 1.93059481e-01 3.73470289e-02 3.63504441e+02] [-1.92897504e-01 9.81186890e-01 -7.92710745e-03 -7.02426440e+01] [-3.81748184e-02 5.68190154e-04 9.99270914e-01 -1.20099492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:363.53, Y:-70.25, Z:-12.01 [[ 9.80868116e-01 1.91190141e-01 3.66615369e-02 3.63531664e+02] [-1.91032820e-01 9.81552819e-01 -7.77980178e-03 -7.02471282e+01] [-3.74726563e-02 6.27402735e-04 9.99297456e-01 -1.20114133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61401273900003 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:363.56, Y:-70.25, Z:-12.01 [[ 9.81238662e-01 1.89395961e-01 3.60535466e-02 3.63560238e+02] [-1.89242683e-01 9.81900557e-01 -7.64869729e-03 -7.02523333e+01] [-3.68496299e-02 6.82327595e-04 9.99320589e-01 -1.20123609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:363.59, Y:-70.26, Z:-12.01 [[ 9.81608745e-01 1.87368269e-01 3.65705337e-02 3.63588361e+02] [-1.87209224e-01 9.82289439e-01 -7.75653214e-03 -7.02553914e+01] [-3.73761771e-02 7.67538545e-04 9.99300972e-01 -1.20125105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.674012739 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:363.62, Y:-70.26, Z:-12.01 [[ 9.81359976e-01 1.88410985e-01 3.78668478e-02 3.63617255e+02] [-1.88241323e-01 9.82089984e-01 -8.02922008e-03 -7.02575624e+01] [-3.87014452e-02 7.51449693e-04 9.99250536e-01 -1.20132440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:363.65, Y:-70.26, Z:-12.01 [[ 9.81099962e-01 1.89618095e-01 3.85725533e-02 3.63645442e+02] [-1.89443050e-01 9.81857661e-01 -8.17705172e-03 -7.02617488e+01] [-3.94232739e-02 7.15203006e-04 9.99222345e-01 -1.20138902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734012739 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:363.67, Y:-70.27, Z:-12.01 [[ 9.80708492e-01 1.91605314e-01 3.87073233e-02 3.63672821e+02] [-1.91430653e-01 9.81471853e-01 -8.20403251e-03 -7.02656698e+01] [-3.95620845e-02 6.35996197e-04 9.99216912e-01 -1.20146240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:363.70, Y:-70.27, Z:-12.02 [[ 9.79950058e-01 1.95662247e-01 3.76054363e-02 3.63701676e+02] [-1.95500458e-01 9.80671238e-01 -7.96833220e-03 -7.02661733e+01] [-3.84376715e-02 4.56687568e-04 9.99260895e-01 -1.20152552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794012739 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:363.73, Y:-70.27, Z:-12.02 [[ 9.79650011e-01 1.97248364e-01 3.71340759e-02 3.63730926e+02] [-1.97091812e-01 9.80353473e-01 -7.86668966e-03 -7.02693797e+01] [-3.79562120e-02 3.87780289e-04 9.99279328e-01 -1.20167418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:363.76, Y:-70.27, Z:-12.02 [[ 9.79468082e-01 1.98119596e-01 3.72948117e-02 3.63759080e+02] [-1.97962391e-01 9.80177790e-01 -7.89879452e-03 -7.02721280e+01] [-3.81204521e-02 3.53647012e-04 9.99273089e-01 -1.20179482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854012739 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:363.79, Y:-70.27, Z:-12.02 [[ 9.79340650e-01 1.98560239e-01 3.82847658e-02 3.63786975e+02] [-1.98395022e-01 9.80088626e-01 -8.10562612e-03 -7.02730817e+01] [-3.91319185e-02 3.42662182e-04 9.99233994e-01 -1.20186782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:363.81, Y:-70.28, Z:-12.02 [[ 9.79420851e-01 1.98088804e-01 3.86732817e-02 3.63813641e+02] [-1.97919968e-01 9.80184011e-01 -8.18484411e-03 -7.02757656e+01] [-3.95282583e-02 3.62192310e-04 9.99218387e-01 -1.20194933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914012739 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:363.84, Y:-70.28, Z:-12.02 [[ 9.79443235e-01 1.97977934e-01 3.86741159e-02 3.63841524e+02] [-1.97809167e-01 9.80206410e-01 -8.18090040e-03 -7.02815062e+01] [-3.95282541e-02 3.62632878e-04 9.99218387e-01 -1.20204130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:363.87, Y:-70.28, Z:-12.02 [[ 9.79869126e-01 1.95892256e-01 3.85060956e-02 3.63870359e+02] [-1.95723510e-01 9.80625326e-01 -8.14111972e-03 -7.02826924e+01] [-3.93548349e-02 4.40683674e-04 9.99225201e-01 -1.20205640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974012739 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:363.90, Y:-70.29, Z:-12.02 [[ 9.80276017e-01 1.93928032e-01 3.80900241e-02 3.63899099e+02] [-1.93761536e-01 9.81015625e-01 -8.05046464e-03 -7.02876563e+01] [-3.89281196e-02 5.11295823e-04 9.99241883e-01 -1.20223662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:363.93, Y:-70.29, Z:-12.02 [[ 9.80800591e-01 1.91391452e-01 3.74100517e-02 3.63926657e+02] [-1.91229080e-01 9.81513603e-01 -7.90480681e-03 -7.02928964e+01] [-3.82313871e-02 5.99149428e-04 9.99268734e-01 -1.20237268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034012739 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:363.95, Y:-70.30, Z:-12.03 [[ 9.81847231e-01 1.85947683e-01 3.74095583e-02 3.63954472e+02] [-1.85781449e-01 9.82559314e-01 -7.90242605e-03 -7.02985252e+01] [-3.82265477e-02 8.08973177e-04 9.99268771e-01 -1.20262463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:363.98, Y:-70.30, Z:-12.03 [[ 9.82332933e-01 1.83390451e-01 3.72820486e-02 3.63981422e+02] [-1.83223580e-01 9.83039738e-01 -7.87359918e-03 -7.03047785e+01] [-3.80936782e-02 9.03545347e-04 9.99273764e-01 -1.20271323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094012739 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:364.01, Y:-70.31, Z:-12.03 [[ 9.83184278e-01 1.78897815e-01 3.66639780e-02 3.64009139e+02] [-1.78733390e-01 9.83867091e-01 -7.74094665e-03 -7.03128154e+01] [-3.74573198e-02 1.05769996e-03 9.99297669e-01 -1.20281206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:364.04, Y:-70.32, Z:-12.03 [[ 9.83490110e-01 1.77297790e-01 3.62311649e-02 3.64036791e+02] [-1.77136202e-01 9.84156632e-01 -7.64789905e-03 -7.03189875e+01] [-3.70130968e-02 1.10378212e-03 9.99314171e-01 -1.20288940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154012739 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:364.06, Y:-70.32, Z:-12.03 [[ 9.83699732e-01 1.76218686e-01 3.58024118e-02 3.64064635e+02] [-1.76060249e-01 9.84350395e-01 -7.55573332e-03 -7.03249053e+01] [-3.65735796e-02 1.12919130e-03 9.99330325e-01 -1.20302915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:364.09, Y:-70.33, Z:-12.03 [[ 9.83753178e-01 1.76313739e-01 3.38105033e-02 3.64091672e+02] [-1.76172558e-01 9.84333449e-01 -7.13376890e-03 -7.03326888e+01] [-3.45385908e-02 1.06138497e-03 9.99402801e-01 -1.20325462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214012739 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:364.12, Y:-70.34, Z:-12.03 [[ 9.83598752e-01 1.77516794e-01 3.19575113e-02 3.64118432e+02] [-1.77391363e-01 9.84117302e-01 -6.74096216e-03 -7.03425679e+01] [-3.26465738e-02 9.61415457e-04 9.99466496e-01 -1.20343869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:364.14, Y:-70.35, Z:-12.04 [[ 9.83570065e-01 1.77693736e-01 3.18569101e-02 3.64144917e+02] [-1.77569249e-01 9.84085379e-01 -6.71782613e-03 -7.03507089e+01] [-3.25436350e-02 9.50645086e-04 9.99469864e-01 -1.20354289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.274012739 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:364.17, Y:-70.36, Z:-12.04 [[ 9.83510737e-01 1.77985319e-01 3.20601877e-02 3.64172541e+02] [-1.77859458e-01 9.84032689e-01 -6.75870503e-03 -7.03598811e+01] [-3.27512229e-02 9.45051376e-04 9.99463088e-01 -1.20365605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:364.20, Y:-70.37, Z:-12.04 [[ 9.83247652e-01 1.79385842e-01 3.23229710e-02 3.64199439e+02] [-1.79258716e-01 9.83778380e-01 -6.81255530e-03 -7.03711279e+01] [-3.30207160e-02 9.04254727e-04 9.99454258e-01 -1.20365512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.334012739 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:364.23, Y:-70.38, Z:-12.04 [[ 9.82859195e-01 1.81495605e-01 3.23596578e-02 3.64226510e+02] [-1.81369384e-01 9.83391403e-01 -6.81871435e-03 -7.03786428e+01] [-3.30597760e-02 8.32784904e-04 9.99453029e-01 -1.20372982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:364.25, Y:-70.39, Z:-12.04 [[ 9.81643801e-01 1.87967457e-01 3.23060782e-02 3.64253841e+02] [-1.87845215e-01 9.82175066e-01 -6.80549637e-03 -7.03871031e+01] [-3.30094363e-02 6.12031134e-04 9.99454853e-01 -1.20381957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.394012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:364.28, Y:-70.39, Z:-12.04 [[ 9.80924536e-01 1.91634491e-01 3.26079281e-02 3.64280545e+02] [-1.91512030e-01 9.81466240e-01 -6.86746296e-03 -7.03942410e+01] [-3.33196233e-02 4.91652399e-04 9.99444626e-01 -1.20392729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:364.31, Y:-70.40, Z:-12.04 [[ 9.80209354e-01 1.95105558e-01 3.35178063e-02 3.64308907e+02] [-1.94978263e-01 9.80782175e-01 -7.05704386e-03 -7.04016631e+01] [-3.42505355e-02 3.82136750e-04 9.99413205e-01 -1.20402992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.454012739 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:364.34, Y:-70.41, Z:-12.04 [[ 9.79013067e-01 2.00656305e-01 3.56435367e-02 3.64336077e+02] [-2.00516074e-01 9.79661680e-01 -7.50308367e-03 -7.04106525e+01] [-3.64241481e-02 1.98514897e-04 9.99336401e-01 -1.20410515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:364.36, Y:-70.42, Z:-12.04 [[ 9.78578308e-01 2.02742850e-01 3.57747411e-02 3.64362606e+02] [-2.02603070e-01 9.79232007e-01 -7.52817678e-03 -7.04201933e+01] [-3.65580556e-02 1.18838104e-04 9.99331524e-01 -1.20418433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.514012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:364.39, Y:-70.43, Z:-12.04 [[ 9.78705915e-01 2.02246458e-01 3.50870610e-02 3.64390069e+02] [-2.02111743e-01 9.79334648e-01 -7.38179376e-03 -7.04281012e+01] [-3.58549162e-02 1.33098154e-04 9.99356997e-01 -1.20431160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:364.42, Y:-70.44, Z:-12.04 [[ 9.78896783e-01 2.01540309e-01 3.38022467e-02 3.64418233e+02] [-2.01414916e-01 9.79480209e-01 -7.10990374e-03 -7.04360448e+01] [-3.45415639e-02 1.51585210e-04 9.99403251e-01 -1.20440879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.574012739 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:364.45, Y:-70.44, Z:-12.05 [[ 9.78977024e-01 2.01357164e-01 3.25465592e-02 3.64445116e+02] [-2.01240866e-01 9.79517876e-01 -6.84425896e-03 -7.04435620e+01] [-3.32580771e-02 1.50674521e-04 9.99446786e-01 -1.20457794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:364.47, Y:-70.45, Z:-12.05 [[ 9.78907989e-01 2.01811826e-01 3.17983634e-02 3.64472876e+02] [-2.01701116e-01 9.79424305e-01 -6.68506176e-03 -7.04516305e+01] [-3.24932145e-02 1.30294993e-04 9.99471948e-01 -1.20463943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.634012739 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:364.50, Y:-70.46, Z:-12.05 [[ 9.78351148e-01 2.04256840e-01 3.32892480e-02 3.64498830e+02] [-2.04136962e-01 9.78917331e-01 -6.99714888e-03 -7.04583310e+01] [-3.40166374e-02 5.01026810e-05 9.99421265e-01 -1.20473972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:364.53, Y:-70.47, Z:-12.05 [[ 9.77877815e-01 2.06405586e-01 3.39369098e-02 3.64525893e+02] [-2.06282390e-01 9.78466521e-01 -7.13038181e-03 -7.04654038e+01] [-3.46778807e-02 -2.79446710e-05 9.99398541e-01 -1.20478955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.694012739 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:364.55, Y:-70.47, Z:-12.05 [[ 9.77322631e-01 2.08951917e-01 3.43448942e-02 3.64552547e+02] [-2.08827402e-01 9.77925908e-01 -7.21351972e-03 -7.04718565e+01] [-3.50940406e-02 -1.22218939e-04 9.99384007e-01 -1.20492277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:364.58, Y:-70.48, Z:-12.05 [[ 9.76137467e-01 2.14302570e-01 3.50721138e-02 3.64580372e+02] [-2.14176301e-01 9.76767272e-01 -7.36267363e-03 -7.04754085e+01] [-3.58351328e-02 -3.24634015e-04 9.99357663e-01 -1.20495160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.754012739 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:364.61, Y:-70.48, Z:-12.05 [[ 9.75549302e-01 2.17023161e-01 3.47060091e-02 3.64607661e+02] [-2.16901327e-01 9.76166363e-01 -7.28321901e-03 -7.04788361e+01] [-3.54594659e-02 -4.22640200e-04 9.99371026e-01 -1.20503874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:364.64, Y:-70.48, Z:-12.05 [[ 9.74986688e-01 2.19677536e-01 3.38044257e-02 3.64635048e+02] [-2.19563643e-01 9.75572407e-01 -7.09119095e-03 -7.04825360e+01] [-3.45364403e-02 -5.08406076e-04 9.99403310e-01 -1.20529105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.814012739 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:364.66, Y:-70.48, Z:-12.06 [[ 9.74119434e-01 2.24076587e-01 2.96818424e-02 3.64662460e+02] [-2.23990879e-01 9.74571363e-01 -6.22455201e-03 -7.04831714e+01] [-3.03218500e-02 -5.85004892e-04 9.99540016e-01 -1.20560751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:364.69, Y:-70.49, Z:-12.06 [[ 9.73804459e-01 2.25626827e-01 2.82384708e-02 3.64690912e+02] [-2.25550004e-01 9.74213615e-01 -5.91843265e-03 -7.04851532e+01] [-2.88456599e-02 -6.05791076e-04 9.99583694e-01 -1.20577829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.874012739 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:364.72, Y:-70.48, Z:-12.06 [[ 9.73320812e-01 2.27794152e-01 2.75030979e-02 3.64718726e+02] [-2.27722190e-01 9.73709092e-01 -5.76264727e-03 -7.04826365e+01] [-2.80927138e-02 -6.54161155e-04 9.99605108e-01 -1.20595370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:364.75, Y:-70.48, Z:-12.06 [[ 9.73342548e-01 2.27626502e-01 2.81151121e-02 3.64746508e+02] [-2.27551344e-01 9.73748289e-01 -5.88695431e-03 -7.04846494e+01] [-2.87170692e-02 -6.67608435e-04 9.99587357e-01 -1.20608397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.934012739 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:364.77, Y:-70.49, Z:-12.06 [[ 9.73604096e-01 2.26471404e-01 2.83860409e-02 3.64774416e+02] [-2.26394361e-01 9.74017603e-01 -5.94154685e-03 -7.04869083e+01] [-2.89940940e-02 -6.41725259e-04 9.99579377e-01 -1.20617634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:364.80, Y:-70.49, Z:-12.06 [[ 9.74588986e-01 2.22226553e-01 2.81365974e-02 3.64802391e+02] [-2.22149149e-01 9.74994921e-01 -5.88725447e-03 -7.04862493e+01] [-2.87413439e-02 -5.12867817e-04 9.99586751e-01 -1.20629569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.994012739 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:364.83, Y:-70.49, Z:-12.06 [[ 9.75149272e-01 2.19746954e-01 2.81988029e-02 3.64830413e+02] [-2.19668244e-01 9.75556805e-01 -5.89770831e-03 -7.04896135e+01] [-2.88055375e-02 -4.43235559e-04 9.99584936e-01 -1.20638355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:364.86, Y:-70.49, Z:-12.06 [[ 9.76368306e-01 2.14068312e-01 2.96595565e-02 3.64859025e+02] [-2.13978680e-01 9.76818649e-01 -6.20093763e-03 -7.04909938e+01] [-3.02994321e-02 -2.92113795e-04 9.99540824e-01 -1.20644869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05401273900003 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:364.89, Y:-70.49, Z:-12.07 [[ 9.77036175e-01 2.10736967e-01 3.14681358e-02 3.64885457e+02] [-2.10634418e-01 9.77542781e-01 -6.57664058e-03 -7.04939922e+01] [-3.21473903e-02 -2.02656727e-04 9.99483119e-01 -1.20652712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:364.91, Y:-70.50, Z:-12.07 [[ 9.77664562e-01 2.07632858e-01 3.25668756e-02 3.64912706e+02] [-2.07521392e-01 9.78206821e-01 -6.80345351e-03 -7.04971951e+01] [-3.32697604e-02 -1.06827957e-04 9.99446403e-01 -1.20652908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11401273900003 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:364.94, Y:-70.50, Z:-12.07 [[ 9.78517949e-01 2.03729224e-01 3.15757387e-02 3.64940974e+02] [-2.03622489e-01 9.79027274e-01 -6.59385829e-03 -7.04996646e+01] [-3.22568710e-02 2.26781725e-05 9.99479611e-01 -1.20655794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:364.97, Y:-70.50, Z:-12.07 [[ 9.78725632e-01 2.02885635e-01 3.05541482e-02 3.64968233e+02] [-2.02785353e-01 9.79202439e-01 -6.37837393e-03 -7.05033659e+01] [-3.12127769e-02 4.67443103e-05 9.99512761e-01 -1.20669687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.174012739 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:365.00, Y:-70.51, Z:-12.07 [[ 9.78954089e-01 2.01851811e-01 3.00788546e-02 3.64996024e+02] [-2.01754216e-01 9.79416071e-01 -6.27662062e-03 -7.05060924e+01] [-3.07266609e-02 7.59876977e-05 9.99527822e-01 -1.20682204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:365.02, Y:-70.51, Z:-12.07 [[ 9.79077695e-01 2.01196952e-01 3.04409981e-02 3.65023096e+02] [-2.01096745e-01 9.79550804e-01 -6.34993990e-03 -7.05099851e+01] [-3.10960928e-02 9.54988702e-05 9.99516395e-01 -1.20685738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.234012739 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:365.05, Y:-70.51, Z:-12.07 [[ 9.79220181e-01 2.00486633e-01 3.05441808e-02 3.65050994e+02] [-2.00385481e-01 9.79696431e-01 -6.36883794e-03 -7.05135047e+01] [-3.12008918e-02 1.15884268e-04 9.99513127e-01 -1.20694010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:365.08, Y:-70.51, Z:-12.07 [[ 9.79519420e-01 1.99343461e-01 2.83529564e-02 3.65078255e+02] [-1.99255880e-01 9.79929674e-01 -5.91010006e-03 -7.05149009e+01] [-2.89620431e-02 1.39564507e-04 9.99580502e-01 -1.20708132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.294012739 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:365.11, Y:-70.52, Z:-12.07 [[ 9.79577351e-01 1.99185649e-01 2.74461535e-02 3.65106071e+02] [-1.99103582e-01 9.79961764e-01 -5.71884317e-03 -7.05195603e+01] [-2.80352925e-02 1.37421753e-04 9.99606924e-01 -1.20727805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:365.13, Y:-70.52, Z:-12.07 [[ 9.79921800e-01 1.97276442e-01 2.89010691e-02 3.65132189e+02] [-1.97184674e-01 9.80347880e-01 -6.01989182e-03 -7.05242701e+01] [-2.95206847e-02 2.00175339e-04 9.99564150e-01 -1.20724609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.354012739 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:365.16, Y:-70.53, Z:-12.07 [[ 9.80174647e-01 1.95771314e-01 3.05164645e-02 3.65158515e+02] [-1.95668405e-01 9.80649544e-01 -6.35197932e-03 -7.05290412e+01] [-3.11694923e-02 2.54941163e-04 9.99514081e-01 -1.20725288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:365.19, Y:-70.53, Z:-12.07 [[ 9.80397573e-01 1.94483741e-01 3.15701394e-02 3.65185809e+02] [-1.94373019e-01 9.80905695e-01 -6.56862252e-03 -7.05348707e+01] [-3.22448198e-02 3.03478249e-04 9.99479955e-01 -1.20735764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.414012739 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:365.21, Y:-70.54, Z:-12.08 [[ 9.80463406e-01 1.94303857e-01 3.06189660e-02 3.65212344e+02] [-1.94199690e-01 9.80941345e-01 -6.36851088e-03 -7.05408465e+01] [-3.12728360e-02 2.97898157e-04 9.99510841e-01 -1.20754045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:365.24, Y:-70.55, Z:-12.08 [[ 9.80588779e-01 1.93898640e-01 2.91369838e-02 3.65239384e+02] [-1.93804209e-01 9.81021524e-01 -6.05784154e-03 -7.05463429e+01] [-2.97586155e-02 2.93381347e-04 9.99557071e-01 -1.20773259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.474012739 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:365.27, Y:-70.55, Z:-12.08 [[ 9.80658323e-01 1.93852176e-01 2.70293696e-02 3.65265850e+02] [-1.93770945e-01 9.81030713e-01 -5.61791348e-03 -7.05514228e+01] [-2.76056865e-02 2.71747140e-04 9.99618853e-01 -1.20788282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:365.29, Y:-70.56, Z:-12.08 [[ 9.80612903e-01 1.94092736e-01 2.69507744e-02 3.65291834e+02] [-1.94012129e-01 9.80983150e-01 -5.59932306e-03 -7.05570596e+01] [-2.75250435e-02 2.61991325e-04 9.99621080e-01 -1.20794257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.534012739 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:365.32, Y:-70.56, Z:-12.08 [[ 9.80615575e-01 1.93836108e-01 2.86471325e-02 3.65318700e+02] [-1.93744998e-01 9.81033885e-01 -5.94917084e-03 -7.05639828e+01] [-2.92569718e-02 2.83610931e-04 9.99571883e-01 -1.20786518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:365.35, Y:-70.57, Z:-12.08 [[ 9.80678791e-01 1.93441222e-01 2.91479554e-02 3.65345316e+02] [-1.93346786e-01 9.81111821e-01 -6.05110066e-03 -7.05702368e+01] [-2.97679359e-02 2.98522585e-04 9.99556792e-01 -1.20795411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.594012739 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:365.37, Y:-70.58, Z:-12.08 [[ 9.80759061e-01 1.93111320e-01 2.86300977e-02 3.65372447e+02] [-1.93020139e-01 9.81176807e-01 -5.94124328e-03 -7.05768320e+01] [-2.92385092e-02 3.00742737e-04 9.99572418e-01 -1.20811550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:365.40, Y:-70.59, Z:-12.08 [[ 9.80755457e-01 1.93241632e-01 2.78640655e-02 3.65397723e+02] [-1.93155372e-01 9.81151155e-01 -5.78038824e-03 -7.05875605e+01] [-2.84558718e-02 2.87053361e-04 9.99595008e-01 -1.20837066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.654012739 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:365.42, Y:-70.60, Z:-12.08 [[ 9.80554961e-01 1.94199255e-01 2.82598228e-02 3.65424155e+02] [-1.94110995e-01 9.80962069e-01 -5.86006447e-03 -7.06002163e+01] [-2.88598344e-02 2.60572973e-04 9.99583434e-01 -1.20847071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:365.45, Y:-70.61, Z:-12.08 [[ 9.80386538e-01 1.95042643e-01 2.82949493e-02 3.65450035e+02] [-1.94954572e-01 9.80794735e-01 -5.86534674e-03 -7.06074742e+01] [-2.88955300e-02 2.34077264e-04 9.99582410e-01 -1.20849679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.714012739 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:365.48, Y:-70.61, Z:-12.09 [[ 9.80159728e-01 1.96234488e-01 2.79093755e-02 3.65477637e+02] [-1.96149351e-01 9.80556979e-01 -5.78308293e-03 -7.06145523e+01] [-2.85015732e-02 1.93939101e-04 9.99593729e-01 -1.20853678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:365.50, Y:-70.62, Z:-12.09 [[ 9.79525709e-01 1.99622032e-01 2.60850572e-02 3.65503300e+02] [-1.99548902e-01 9.79872970e-01 -5.40361299e-03 -7.06234334e+01] [-2.66387227e-02 8.77333270e-05 9.99645122e-01 -1.20867640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.774012739 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:365.53, Y:-70.63, Z:-12.09 [[ 9.79124020e-01 2.01638397e-01 2.56536782e-02 3.65530017e+02] [-2.01568444e-01 9.79460033e-01 -5.31096314e-03 -7.06315135e+01] [-2.61976466e-02 2.91195950e-05 9.99656782e-01 -1.20881783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:365.56, Y:-70.64, Z:-12.09 [[ 9.78437020e-01 2.04801343e-01 2.67844665e-02 3.65556809e+02] [-2.04726325e-01 9.78803559e-01 -5.54303787e-03 -7.06405586e+01] [-2.73519527e-02 -5.99719456e-05 9.99625864e-01 -1.20895089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.834012739 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:365.58, Y:-70.65, Z:-12.09 [[ 9.78448962e-01 2.04744229e-01 2.67848663e-02 3.65584721e+02] [-2.04669243e-01 9.78815507e-01 -5.54110507e-03 -7.06462040e+01] [-2.73519518e-02 -6.03498122e-05 9.99625864e-01 -1.20904288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:365.61, Y:-70.65, Z:-12.09 [[ 9.78103543e-01 2.06331338e-01 2.72183616e-02 3.65611242e+02] [-2.06254563e-01 9.78482175e-01 -5.62920237e-03 -7.06522591e+01] [-2.77941625e-02 -1.07968486e-04 9.99613662e-01 -1.20904638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.894012739 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:365.64, Y:-70.66, Z:-12.09 [[ 9.77829542e-01 2.07627459e-01 2.72070835e-02 3.65637653e+02] [-2.07551313e-01 9.78207962e-01 -5.62456239e-03 -7.06577636e+01] [-2.77819993e-02 -1.47002635e-04 9.99613995e-01 -1.20908221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:365.66, Y:-70.66, Z:-12.09 [[ 9.77161278e-01 2.10769405e-01 2.70572358e-02 3.65664980e+02] [-2.10695364e-01 9.77535780e-01 -5.59126790e-03 -7.06640089e+01] [-2.76278843e-02 -2.37263657e-04 9.99618249e-01 -1.20920429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.954012739 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:365.69, Y:-70.67, Z:-12.09 [[ 9.76757974e-01 2.12624644e-01 2.71038793e-02 3.65692164e+02] [-2.12551114e-01 9.77133909e-01 -5.59895827e-03 -7.06696668e+01] [-2.76745961e-02 -2.92132609e-04 9.99616942e-01 -1.20925811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:365.72, Y:-70.67, Z:-12.09 [[ 9.76054861e-01 2.15797870e-01 2.73530129e-02 3.65719442e+02] [-2.15565473e-01 9.76425008e-01 -1.12129784e-02 -7.06698121e+01] [-2.91279027e-02 5.04811688e-03 9.99562945e-01 -1.20917793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.014012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:365.75, Y:-70.68, Z:-12.09 [[ 9.76227051e-01 2.14406283e-01 3.17913753e-02 3.65747642e+02] [-2.14479075e-01 9.76727915e-01 -1.14268072e-03 -7.06808179e+01] [-3.12965217e-02 -5.70306894e-03 9.99493873e-01 -1.20939093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:365.77, Y:-70.68, Z:-12.09 [[ 9.76569721e-01 2.13013411e-01 3.06082806e-02 3.65774437e+02] [-2.12919963e-01 9.77049214e-01 -6.31846063e-03 -7.06824169e+01] [-3.12517134e-02 -3.46696638e-04 9.99511486e-01 -1.20945862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.074012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:365.80, Y:-70.69, Z:-12.10 [[ 9.78083337e-01 2.06317014e-01 2.80405926e-02 3.65800882e+02] [-2.06235895e-01 9.78485194e-01 -5.78627480e-03 -7.06889845e+01] [-2.86311116e-02 -1.23517738e-04 9.99590038e-01 -1.20969003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:365.83, Y:-70.70, Z:-12.10 [[ 9.79134643e-01 2.01352873e-01 2.74294030e-02 3.65827908e+02] [-2.01273398e-01 9.79518770e-01 -5.65677039e-03 -7.06957603e+01] [-2.80066220e-02 1.79306982e-05 9.99607737e-01 -1.20980492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.134012739 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:365.85, Y:-70.70, Z:-12.10 [[ 9.81228392e-01 1.90830094e-01 2.78337478e-02 3.65854469e+02] [-1.90744075e-01 9.81623029e-01 -5.73810960e-03 -7.07048696e+01] [-2.84172519e-02 3.21273576e-04 9.99596097e-01 -1.20985179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:365.88, Y:-70.71, Z:-12.10 [[ 9.82073638e-01 1.86281581e-01 2.88191359e-02 3.65880299e+02] [-1.86187467e-01 9.82496287e-01 -5.93907164e-03 -7.07130206e+01] [-2.94210337e-02 4.66843773e-04 9.99566999e-01 -1.20989881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.194012739 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:365.91, Y:-70.72, Z:-12.10 [[ 9.82784916e-01 1.82280303e-01 3.01280708e-02 3.65908225e+02] [-1.82175647e-01 9.83246418e-01 -6.20608324e-03 -7.07221395e+01] [-3.07545644e-02 6.10644191e-04 9.99526780e-01 -1.20997975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:365.93, Y:-70.74, Z:-12.10 [[ 9.83644500e-01 1.77474558e-01 3.07616336e-02 3.65933569e+02] [-1.77363150e-01 9.84125084e-01 -6.33507453e-03 -7.07351573e+01] [-3.13976097e-02 7.75481005e-04 9.99506673e-01 -1.21006147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.254012739 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:365.96, Y:-70.75, Z:-12.10 [[ 9.83831505e-01 1.76631272e-01 2.96135575e-02 3.65959953e+02] [-1.76527701e-01 9.84276790e-01 -6.09676879e-03 -7.07484945e+01] [-3.02248174e-02 7.70579983e-04 9.99542829e-01 -1.21024230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:365.99, Y:-70.76, Z:-12.10 [[ 9.83828327e-01 1.76755548e-01 2.89706569e-02 3.65987465e+02] [-1.76656520e-01 9.84254497e-01 -5.96307621e-03 -7.07583977e+01] [-2.95685062e-02 7.48787849e-04 9.99562476e-01 -1.21028582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.314012739 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:366.01, Y:-70.77, Z:-12.10 [[ 9.83689514e-01 1.77573283e-01 2.86822116e-02 3.66014711e+02] [-1.77476605e-01 9.84107320e-01 -5.90232477e-03 -7.07688468e+01] [-2.92744696e-02 7.15633442e-04 9.99571155e-01 -1.21045127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:366.04, Y:-70.78, Z:-12.11 [[ 9.83333176e-01 1.79736912e-01 2.73954069e-02 3.66040902e+02] [-1.79649582e-01 9.83714520e-01 -5.63659675e-03 -7.07843326e+01] [-2.79623641e-02 6.21079185e-04 9.99608784e-01 -1.21056678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.374012739 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:366.07, Y:-70.79, Z:-12.11 [[ 9.83020552e-01 1.81497397e-01 2.70053441e-02 3.66067851e+02] [-1.81413224e-01 9.83391265e-01 -5.55545315e-03 -7.07948884e+01] [-2.75651197e-02 5.61998089e-04 9.99619852e-01 -1.21068051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:366.09, Y:-70.81, Z:-12.11 [[ 9.82341070e-01 1.85264625e-01 2.61350592e-02 3.66093450e+02] [-1.85187152e-01 9.82688570e-01 -5.37530686e-03 -7.08074050e+01] [-2.66784782e-02 4.40507508e-04 9.99643969e-01 -1.21079422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.434012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:366.12, Y:-70.82, Z:-12.11 [[ 9.81912773e-01 1.87497290e-01 2.63072679e-02 3.66120617e+02] [-1.87419638e-01 9.82265046e-01 -5.40905801e-03 -7.08159809e+01] [-2.68548934e-02 3.80724509e-04 9.99639270e-01 -1.21084977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:366.15, Y:-70.82, Z:-12.11 [[ 9.81280696e-01 1.90657189e-01 2.71667400e-02 3.66148406e+02] [-1.90575615e-01 9.81656633e-01 -5.58484166e-03 -7.08245379e+01] [-2.77332007e-02 3.02979130e-04 9.99615315e-01 -1.21093175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.494012739 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:366.17, Y:-70.83, Z:-12.11 [[ 9.79776521e-01 1.98152697e-01 2.78114596e-02 3.66174982e+02] [-1.98070255e-01 9.80171159e-01 -5.71608795e-03 -7.08345502e+01] [-2.83926488e-02 9.18658595e-05 9.99596843e-01 -1.21094014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:366.20, Y:-70.84, Z:-12.11 [[ 9.79024278e-01 2.01881280e-01 2.74847748e-02 3.66202843e+02] [-2.01802277e-01 9.79410000e-01 -5.64732754e-03 -7.08402817e+01] [-2.80589530e-02 -1.76193852e-05 9.99606270e-01 -1.21102533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55401273900003 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:366.23, Y:-70.84, Z:-12.11 [[ 9.78264866e-01 2.05644834e-01 2.66093024e-02 3.66230089e+02] [-2.05572207e-01 9.78626684e-01 -5.46630983e-03 -7.08445580e+01] [-2.71646918e-02 -1.22634180e-04 9.99630964e-01 -1.21111506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:366.26, Y:-70.85, Z:-12.11 [[ 9.76869373e-01 2.12258656e-01 2.59324350e-02 3.66257949e+02] [-2.12192041e-01 9.77213474e-01 -5.32587339e-03 -7.08477528e+01] [-2.64719876e-02 -2.99973711e-04 9.99649511e-01 -1.21127207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61401273900003 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:366.29, Y:-70.85, Z:-12.11 [[ 9.76328747e-01 2.14753476e-01 2.57511760e-02 3.66285712e+02] [-2.14688702e-01 9.76668219e-01 -5.28689148e-03 -7.08522966e+01] [-2.62857336e-02 -3.66742431e-04 9.99654403e-01 -1.21133335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:366.31, Y:-70.85, Z:-12.11 [[ 9.76045513e-01 2.16033259e-01 2.57834840e-02 3.66312615e+02] [-2.15968815e-01 9.76385922e-01 -5.29179129e-03 -7.08538137e+01] [-2.63178337e-02 -4.03399322e-04 9.99653544e-01 -1.21136740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.674012739 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:366.34, Y:-70.86, Z:-12.11 [[ 9.76236902e-01 2.15172044e-01 2.57391235e-02 3.66340235e+02] [-2.15107578e-01 9.76576083e-01 -5.28055129e-03 -7.08572125e+01] [-2.62724394e-02 -3.81611478e-04 9.99654747e-01 -1.21144533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:366.37, Y:-70.86, Z:-12.12 [[ 9.76642533e-01 2.13366092e-01 2.53825330e-02 3.66367802e+02] [-2.13302834e-01 9.76972263e-01 -5.20568698e-03 -7.08609035e+01] [-2.59087478e-02 -3.30070911e-04 9.99664258e-01 -1.21158258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.734012739 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:366.40, Y:-70.87, Z:-12.12 [[ 9.78107437e-01 2.06657873e-01 2.44615073e-02 3.66395524e+02] [-2.06597065e-01 9.78413257e-01 -5.01510957e-03 -7.08656293e+01] [-2.49698749e-02 -1.48359648e-04 9.99688193e-01 -1.21189690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:366.42, Y:-70.87, Z:-12.12 [[ 9.79115055e-01 2.01869558e-01 2.41327588e-02 3.66423158e+02] [-2.01808949e-01 9.79412416e-01 -4.94643795e-03 -7.08710931e+01] [-2.46344589e-02 -2.70748281e-05 9.99696525e-01 -1.21199260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.794012739 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:366.45, Y:-70.88, Z:-12.12 [[ 9.81164674e-01 1.91818399e-01 2.28382343e-02 3.66451604e+02] [-1.91761428e-01 9.81430414e-01 -4.67951453e-03 -7.08778515e+01] [-2.33117547e-02 2.11881930e-04 9.99728222e-01 -1.21219175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:366.48, Y:-70.89, Z:-12.12 [[ 9.82031346e-01 1.87375396e-01 2.24699179e-02 3.66478312e+02] [-1.87319106e-01 9.82288330e-01 -4.60307791e-03 -7.08851555e+01] [-2.29344416e-02 3.11321863e-04 9.99736923e-01 -1.21235820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.854012739 meters Centerline goodness : 0.990673 Centerline is valid? [True, True] Translation: X:366.51, Y:-70.89, Z:-12.12 [[ 9.82732098e-01 1.83702384e-01 2.21598060e-02 3.66505667e+02] [-1.83646736e-01 9.82981832e-01 -4.53813045e-03 -7.08930409e+01] [-2.26163520e-02 3.90190429e-04 9.99744141e-01 -1.21240952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:366.53, Y:-70.90, Z:-12.13 [[ 9.83490730e-01 1.79667173e-01 2.15798774e-02 3.66534358e+02] [-1.79613456e-01 9.83727344e-01 -4.41812342e-03 -7.09025604e+01] [-2.20225072e-02 4.69147070e-04 9.99757365e-01 -1.21252663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.914012739 meters Centerline goodness : 0.990239 Centerline is valid? [True, True] Translation: X:366.56, Y:-70.91, Z:-12.13 [[ 9.83688660e-01 1.78655809e-01 2.09456696e-02 3.66563051e+02] [-1.78604985e-01 9.83911518e-01 -4.28778919e-03 -7.09090947e+01] [-2.13747240e-02 4.76848611e-04 9.99771421e-01 -1.21262802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:366.59, Y:-70.92, Z:-12.13 [[ 9.83723853e-01 1.78498902e-01 2.06282059e-02 3.66591059e+02] [-1.78449583e-01 9.83939997e-01 -4.22230659e-03 -7.09155484e+01] [-2.10505940e-02 4.72488969e-04 9.99778300e-01 -1.21274171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.974012739 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:366.62, Y:-70.92, Z:-12.13 [[ 9.83421999e-01 1.80178755e-01 2.04153809e-02 3.66619571e+02] [-1.80130814e-01 9.83633788e-01 -4.17851488e-03 -7.09222092e+01] [-2.08341381e-02 4.31804280e-04 9.99782853e-01 -1.21284088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:366.65, Y:-70.93, Z:-12.13 [[ 9.83066351e-01 1.82124697e-01 2.02767054e-02 3.66648141e+02] [-1.82077842e-01 9.83275366e-01 -4.14902359e-03 -7.09276345e+01] [-2.06932246e-02 3.86826719e-04 9.99785797e-01 -1.21292366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.034012739 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:366.68, Y:-70.93, Z:-12.13 [[ 9.82197210e-01 1.86438689e-01 2.30055663e-02 3.66676730e+02] [-1.86379574e-01 9.82466540e-01 -4.70653787e-03 -7.09339934e+01] [-2.34796799e-02 3.34980730e-04 9.99724258e-01 -1.21297178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:366.70, Y:-70.94, Z:-12.13 [[ 9.81815466e-01 1.88345294e-01 2.37579797e-02 3.66704186e+02] [-1.88282838e-01 9.82102826e-01 -4.85914433e-03 -7.09406783e+01] [-2.42479760e-02 2.97563211e-04 9.99705930e-01 -1.21303453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.094012739 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:366.73, Y:-70.95, Z:-12.13 [[ 9.81570616e-01 1.89617234e-01 2.37577552e-02 3.66732771e+02] [-1.89555175e-01 9.81858052e-01 -4.85812203e-03 -7.09476729e+01] [-2.42479269e-02 2.65184389e-04 9.99705941e-01 -1.21307408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters Centerline goodness : 0.984028 Centerline is valid? [True, True] Translation: X:366.76, Y:-70.96, Z:-12.12 [[ 9.81343949e-01 1.90967700e-01 2.22573875e-02 3.66760960e+02] [-1.90913586e-01 9.81596297e-01 -4.55104448e-03 -7.09552105e+01] [-2.27168717e-02 2.16902289e-04 9.99741915e-01 -1.21204764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.154012739 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:366.79, Y:-70.96, Z:-12.13 [[ 9.80855885e-01 1.93568853e-01 2.12798640e-02 3.66787653e+02] [-1.93520018e-01 9.81086682e-01 -4.35036052e-03 -7.09599317e+01] [-2.17194855e-02 1.48997048e-04 9.99764093e-01 -1.21325672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:366.82, Y:-70.97, Z:-12.13 [[ 9.80519205e-01 1.95151443e-01 2.23159740e-02 3.66815922e+02] [-1.95098185e-01 9.80773114e-01 -4.56045387e-03 -7.09650051e+01] [-2.27768864e-02 1.17806596e-04 9.99740566e-01 -1.21333985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.214012739 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:366.84, Y:-70.97, Z:-12.13 [[ 9.79966357e-01 1.97666026e-01 2.43737737e-02 3.66844227e+02] [-1.97603302e-01 9.80269421e-01 -4.97964903e-03 -7.09709836e+01] [-2.48771724e-02 6.35503730e-05 9.99690513e-01 -1.21337673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:366.87, Y:-70.98, Z:-12.13 [[ 9.79909354e-01 1.97884267e-01 2.48892352e-02 3.66871477e+02] [-1.97818962e-01 9.80225389e-01 -5.08378244e-03 -7.09776975e+01] [-2.54030608e-02 5.80832845e-05 9.99677288e-01 -1.21347133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.274012739 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:366.90, Y:-70.98, Z:-12.14 [[ 9.79943741e-01 1.97735518e-01 2.47169946e-02 3.66898486e+02] [-1.97671106e-01 9.80255406e-01 -5.04702200e-03 -7.09845232e+01] [-2.52269431e-02 5.99619429e-05 9.99681748e-01 -1.21351284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:366.93, Y:-70.99, Z:-12.14 [[ 9.79921040e-01 1.97754423e-01 2.54547165e-02 3.66926762e+02] [-1.97686148e-01 9.80251592e-01 -5.19637388e-03 -7.09922710e+01] [-2.59796323e-02 5.99912341e-05 9.99662471e-01 -1.21358910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.334012739 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:366.95, Y:-71.00, Z:-12.14 [[ 9.80015146e-01 1.97199949e-01 2.61245821e-02 3.66954784e+02] [-1.97127870e-01 9.80363287e-01 -5.33183408e-03 -7.09986853e+01] [-2.66630186e-02 7.53949161e-05 9.99644476e-01 -1.21364365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:366.98, Y:-71.01, Z:-12.14 [[ 9.80161202e-01 1.96463570e-01 2.61931846e-02 3.66983036e+02] [-1.96390886e-01 9.80511120e-01 -5.34446781e-03 -7.10050704e+01] [-2.67327020e-02 9.43372606e-05 9.99642613e-01 -1.21369772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.394012739 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:367.01, Y:-71.01, Z:-12.14 [[ 9.80256512e-01 1.96110014e-01 2.52593315e-02 3.67010346e+02] [-1.96042327e-01 9.80581895e-01 -5.15303000e-03 -7.10132750e+01] [-2.57794039e-02 9.93931057e-05 9.99667651e-01 -1.21368210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:367.04, Y:-71.02, Z:-12.14 [[ 9.80124113e-01 1.96862905e-01 2.45299830e-02 3.67038802e+02] [-1.96799326e-01 9.80431023e-01 -5.00346765e-03 -7.10200861e+01] [-2.50349535e-02 7.65351807e-05 9.99686574e-01 -1.21379143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.454012739 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:367.07, Y:-71.03, Z:-12.14 [[ 9.79476406e-01 2.00071792e-01 2.44386552e-02 3.67066672e+02] [-2.00009713e-01 9.79781240e-01 -4.98366476e-03 -7.10284963e+01] [-2.49416266e-02 -6.58634433e-06 9.99688909e-01 -1.21395392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters Centerline goodness : 0.989967 Centerline is valid? [True, True] Translation: X:367.09, Y:-71.03, Z:-12.14 [[ 9.79109045e-01 2.01807056e-01 2.48875341e-02 3.67094474e+02] [-2.01743267e-01 9.79425295e-01 -5.07396653e-03 -7.10342717e+01] [-2.53994427e-02 -5.29259053e-05 9.99677381e-01 -1.21399990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.514012739 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:367.12, Y:-71.04, Z:-12.14 [[ 9.78847813e-01 2.03083781e-01 2.47777604e-02 3.67121640e+02] [-2.03020989e-01 9.79161361e-01 -5.05048101e-03 -7.10401009e+01] [-2.52870964e-02 -8.67531418e-05 9.99680226e-01 -1.21410968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:367.15, Y:-71.04, Z:-12.14 [[ 9.78653820e-01 2.04068635e-01 2.43452706e-02 3.67149765e+02] [-2.04008363e-01 9.78956577e-01 -4.96063425e-03 -7.10449818e+01] [-2.48452726e-02 -1.11895145e-04 9.99691302e-01 -1.21427949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.574012739 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:367.18, Y:-71.05, Z:-12.14 [[ 9.78679544e-01 2.03987007e-01 2.39927406e-02 3.67178330e+02] [-2.03928473e-01 9.78973590e-01 -4.88764137e-03 -7.10499483e+01] [-2.44852747e-02 -1.09368321e-04 9.99700185e-01 -1.21433077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:367.21, Y:-71.06, Z:-12.14 [[ 9.78652847e-01 2.04182460e-01 2.34121494e-02 3.67207183e+02] [-2.04126808e-01 9.78932843e-01 -4.76824835e-03 -7.10550665e+01] [-2.38925146e-02 -1.12587486e-04 9.99714527e-01 -1.21434811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.634012739 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:367.23, Y:-71.06, Z:-12.14 [[ 9.78382620e-01 2.05702086e-01 2.13096338e-02 3.67234595e+02] [-2.05656359e-01 9.78614650e-01 -4.33925641e-03 -7.10593842e+01] [-2.17465139e-02 -1.37008640e-04 9.99763507e-01 -1.21444974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:367.26, Y:-71.06, Z:-12.15 [[ 9.78129022e-01 2.06943758e-01 2.09259891e-02 3.67262444e+02] [-2.06899972e-01 9.78352827e-01 -4.25994684e-03 -7.10636534e+01] [-2.13545700e-02 -1.62808918e-04 9.99771952e-01 -1.21453729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.694012739 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:367.29, Y:-71.07, Z:-12.15 [[ 9.77424163e-01 2.10175189e-01 2.16424615e-02 3.67290863e+02] [-2.10129175e-01 9.77663711e-01 -4.40440495e-03 -7.10661620e+01] [-2.20847459e-02 -2.42740777e-04 9.99756073e-01 -1.21456828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:367.32, Y:-71.07, Z:-12.15 [[ 9.77431625e-01 2.10140442e-01 2.16428445e-02 3.67319607e+02] [-2.10094461e-01 9.77671180e-01 -4.40252222e-03 -7.10719237e+01] [-2.20847332e-02 -2.43877295e-04 9.99756073e-01 -1.21466226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.754012739 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:367.34, Y:-71.08, Z:-12.15 [[ 9.76918684e-01 2.12095493e-01 2.54044497e-02 3.67344212e+02] [-2.12218894e-01 9.77219604e-01 2.23301754e-03 -7.10799615e+01] [-2.43521133e-02 -7.57278077e-03 9.99674761e-01 -1.21486087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:367.38, Y:-71.08, Z:-12.15 [[ 9.76881917e-01 2.12773205e-01 2.07191766e-02 3.67376211e+02] [-2.12572922e-01 9.77078036e-01 -1.14570964e-02 -7.10751723e+01] [-2.26820155e-02 6.78789433e-03 9.99719686e-01 -1.21489072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.814012739 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:367.40, Y:-71.08, Z:-12.15 [[ 9.76963723e-01 2.12324479e-01 2.14522688e-02 3.67402619e+02] [-2.12279889e-01 9.77199176e-01 -4.36107198e-03 -7.10830034e+01] [-2.18891017e-02 -2.93276124e-04 9.99760362e-01 -1.21506800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:367.43, Y:-71.09, Z:-12.15 [[ 9.77195374e-01 2.11383467e-01 2.01551612e-02 3.67429866e+02] [-2.11343927e-01 9.77403174e-01 -4.09640275e-03 -7.10873918e+01] [-2.05656304e-02 -2.56685101e-04 9.99788472e-01 -1.21522043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.874012739 meters Centerline goodness : 0.989028 Centerline is valid? [True, True] Translation: X:367.46, Y:-71.09, Z:-12.15 [[ 9.77717254e-01 2.09092324e-01 1.86914780e-02 3.67457211e+02] [-2.09057926e-01 9.77895885e-01 -3.79755899e-03 -7.10904037e+01] [-1.90723599e-02 -1.94662682e-04 9.99818087e-01 -1.21540544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:367.48, Y:-71.10, Z:-12.15 [[ 9.77947339e-01 2.08041901e-01 1.83730697e-02 3.67483960e+02] [-2.08008490e-01 9.78119900e-01 -3.73235453e-03 -7.10954632e+01] [-1.87475513e-02 -1.71708309e-04 9.99824234e-01 -1.21548618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.934012739 meters Centerline goodness : 0.988763 Centerline is valid? [True, True] Translation: X:367.51, Y:-71.10, Z:-12.16 [[ 9.78175186e-01 2.06986129e-01 1.81672010e-02 3.67511552e+02] [-2.06953322e-01 9.78343866e-01 -3.68825153e-03 -7.11009336e+01] [-1.85371866e-02 -1.52006470e-04 9.99828160e-01 -1.21556252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters Centerline goodness : 0.988094 Centerline is valid? [True, True] Translation: X:367.54, Y:-71.11, Z:-12.16 [[ 9.78559760e-01 2.05120375e-01 1.86125739e-02 3.67538765e+02] [-2.05085629e-01 9.78736746e-01 -3.77727038e-03 -7.11062692e+01] [-1.89916051e-02 -1.20886616e-04 9.99819636e-01 -1.21562302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.994012739 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:367.57, Y:-71.11, Z:-12.16 [[ 9.78597659e-01 2.04902283e-01 1.90177652e-02 3.67565826e+02] [-2.04865997e-01 9.78782427e-01 -3.85793843e-03 -7.11112921e+01] [-1.94047547e-02 -1.20723894e-04 9.99811703e-01 -1.21563497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:367.59, Y:-71.12, Z:-12.16 [[ 9.78303774e-01 2.06078873e-01 2.12890355e-02 3.67593219e+02] [-2.06033708e-01 9.78535371e-01 -4.31733713e-03 -7.11168422e+01] [-2.17217862e-02 -1.62591717e-04 9.99764041e-01 -1.21564887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05401273900003 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:367.62, Y:-71.12, Z:-12.16 [[ 9.78279967e-01 2.06064099e-01 2.24920716e-02 3.67620150e+02] [-2.06013724e-01 9.78538480e-01 -4.55943489e-03 -7.11226714e+01] [-2.29488934e-02 -1.73271632e-04 9.99736624e-01 -1.21574194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters Centerline goodness : 0.989179 Centerline is valid? [True, True] Translation: X:367.65, Y:-71.13, Z:-12.16 [[ 9.78380893e-01 2.05472412e-01 2.34929089e-02 3.67648729e+02] [-2.05417322e-01 9.78662894e-01 -4.76072092e-03 -7.11290077e+01] [-2.39698350e-02 -1.68052042e-04 9.99712668e-01 -1.21581399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11401273900003 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:367.68, Y:-71.13, Z:-12.16 [[ 9.78708380e-01 2.03680348e-01 2.53815276e-02 3.67676447e+02] [-2.03615473e-01 9.79037434e-01 -5.14216189e-03 -7.11338064e+01] [-2.58968230e-02 -1.35394820e-04 9.99664612e-01 -1.21568062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:367.71, Y:-71.14, Z:-12.16 [[ 9.78834038e-01 2.03010712e-01 2.58954935e-02 3.67705066e+02] [-2.02942991e-01 9.79176509e-01 -5.24463129e-03 -7.11391172e+01] [-2.64209752e-02 -1.21685284e-04 9.99650898e-01 -1.21574088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.174012739 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:367.73, Y:-71.15, Z:-12.16 [[ 9.79069119e-01 2.01877821e-01 2.58651355e-02 3.67732072e+02] [-2.01809896e-01 9.79410709e-01 -5.23726664e-03 -7.11463530e+01] [-2.63898787e-02 -9.21942688e-05 9.99651722e-01 -1.21591354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:367.76, Y:-71.15, Z:-12.16 [[ 9.79301845e-01 2.00645495e-01 2.66323314e-02 3.67760261e+02] [-2.00573073e-01 9.79663912e-01 -5.39085062e-03 -7.11539666e+01] [-2.71723838e-02 -6.24585690e-05 9.99630761e-01 -1.21601753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.234012739 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:367.79, Y:-71.16, Z:-12.16 [[ 9.79604318e-01 1.99075658e-01 2.72811956e-02 3.67787141e+02] [-1.98999090e-01 9.79984123e-01 -5.52086055e-03 -7.11613008e+01] [-2.78342075e-02 -2.06742680e-05 9.99612553e-01 -1.21606285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:367.82, Y:-71.17, Z:-12.16 [[ 9.80324598e-01 1.95546581e-01 2.69298629e-02 3.67815008e+02] [-1.95470690e-01 9.80694412e-01 -5.44798252e-03 -7.11710311e+01] [-2.74753004e-02 7.67923931e-05 9.99622480e-01 -1.21616455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.294012739 meters Centerline goodness : 0.989688 Centerline is valid? [True, True] Translation: X:367.84, Y:-71.18, Z:-12.16 [[ 9.80632156e-01 1.94171830e-01 2.56490820e-02 3.67843738e+02] [-1.94102533e-01 9.80967527e-01 -5.18828748e-03 -7.11796749e+01] [-2.61683358e-02 1.09249767e-04 9.99657544e-01 -1.21628016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters Centerline goodness : 0.988993 Centerline is valid? [True, True] Translation: X:367.87, Y:-71.19, Z:-12.16 [[ 9.80601020e-01 1.94407881e-01 2.50442608e-02 3.67870390e+02] [-1.94341904e-01 9.80920774e-01 -5.06542864e-03 -7.11912383e+01] [-2.55511950e-02 1.00015161e-04 9.99673510e-01 -1.21624053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.354012739 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:367.90, Y:-71.20, Z:-12.16 [[ 9.80205742e-01 1.96285846e-01 2.58567245e-02 3.67898061e+02] [-1.96216197e-01 9.80546717e-01 -5.22877534e-03 -7.11993736e+01] [-2.63800609e-02 5.17674563e-05 9.99651984e-01 -1.21624834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:367.93, Y:-71.21, Z:-12.16 [[ 9.79629746e-01 1.99087907e-01 2.62595775e-02 3.67926072e+02] [-1.99017102e-01 9.79981635e-01 -5.30927427e-03 -7.12065936e+01] [-2.67909160e-02 -2.49820018e-05 9.99641059e-01 -1.21628943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.414012739 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:367.95, Y:-71.21, Z:-12.16 [[ 9.77952882e-01 2.07286817e-01 2.53048486e-02 3.67953931e+02] [-2.07223828e-01 9.78280183e-01 -5.11544779e-03 -7.12133689e+01] [-2.58155969e-02 -2.41100698e-04 9.99666693e-01 -1.21641146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:367.98, Y:-71.22, Z:-12.17 [[ 9.77090313e-01 2.11375002e-01 2.48017792e-02 3.67980937e+02] [-2.11315834e-01 9.77404978e-01 -5.01270106e-03 -7.12185282e+01] [-2.53009422e-02 -3.43147012e-04 9.99679821e-01 -1.21652190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.474012739 meters Centerline goodness : 0.988958 Centerline is valid? [True, True] Translation: X:368.01, Y:-71.22, Z:-12.17 [[ 9.75904273e-01 2.16656718e-01 2.58981887e-02 3.68008838e+02] [-2.16594109e-01 9.76247721e-01 -5.23245054e-03 -7.12239052e+01] [-2.64166932e-02 -5.03024252e-04 9.99650892e-01 -1.21654344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters Centerline goodness : 0.989196 Centerline is valid? [True, True] Translation: X:368.04, Y:-71.23, Z:-12.17 [[ 9.75686686e-01 2.17520406e-01 2.68396019e-02 3.68037464e+02] [-2.17453524e-01 9.76055620e-01 -5.42133465e-03 -7.12294762e+01] [-2.73761952e-02 -5.46841980e-04 9.99625052e-01 -1.21661731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.534012739 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:368.07, Y:-71.23, Z:-12.17 [[ 9.75822742e-01 2.17003848e-01 2.60635035e-02 3.68066066e+02] [-2.16940626e-01 9.76170611e-01 -5.26338348e-03 -7.12331089e+01] [-2.65846007e-02 -5.18103484e-04 9.99646433e-01 -1.21668602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:368.09, Y:-71.24, Z:-12.17 [[ 9.76150973e-01 2.15716253e-01 2.44085238e-02 3.68093057e+02] [-2.15660427e-01 9.76455986e-01 -4.92819947e-03 -7.12378334e+01] [-2.48969419e-02 -4.53285956e-04 9.99689920e-01 -1.21686068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.594012739 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:368.12, Y:-71.24, Z:-12.17 [[ 9.76537524e-01 2.14154370e-01 2.26355711e-02 3.68120509e+02] [-2.14105972e-01 9.76799753e-01 -4.56890625e-03 -7.12430775e+01] [-2.30888715e-02 -3.84702555e-04 9.99733342e-01 -1.21696602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters Centerline goodness : 0.988545 Centerline is valid? [True, True] Translation: X:368.15, Y:-71.25, Z:-12.17 [[ 9.76927399e-01 2.12489739e-01 2.14701730e-02 3.68148880e+02] [-2.12445823e-01 9.77163243e-01 -4.33236713e-03 -7.12489402e+01] [-2.19004475e-02 -3.28840434e-04 9.99760102e-01 -1.21715539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.654012739 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:368.18, Y:-71.25, Z:-12.17 [[ 9.77656420e-01 2.09106046e-01 2.15078140e-02 3.68177543e+02] [-2.09061179e-01 9.77892937e-01 -4.33894744e-03 -7.12535218e+01] [-2.19396395e-02 -2.54449135e-04 9.99759265e-01 -1.21711073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:368.20, Y:-71.26, Z:-12.17 [[ 9.77937676e-01 2.07688825e-01 2.24333050e-02 3.68204610e+02] [-2.07639665e-01 9.78194918e-01 -4.52462241e-03 -7.12582801e+01] [-2.28838585e-02 -2.33245211e-04 9.99738103e-01 -1.21713210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.714012739 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:368.23, Y:-71.26, Z:-12.17 [[ 9.78509702e-01 2.04759336e-01 2.43388011e-02 3.68233140e+02] [-2.04700604e-01 9.78812332e-01 -4.90723827e-03 -7.12647461e+01] [-2.48279215e-02 -1.80387011e-04 9.99691723e-01 -1.21716111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:368.26, Y:-71.27, Z:-12.17 [[ 9.78918463e-01 2.02757944e-01 2.46547832e-02 3.68261381e+02] [-2.02697071e-01 9.79228880e-01 -4.96978451e-03 -7.12710999e+01] [-2.51503390e-02 -1.32438521e-04 9.99683671e-01 -1.21725032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.774012739 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:368.29, Y:-71.28, Z:-12.17 [[ 9.79500924e-01 1.99995750e-01 2.40757100e-02 3.68288405e+02] [-1.99936894e-01 9.79796763e-01 -4.85204078e-03 -7.12774141e+01] [-2.45596903e-02 -6.10442579e-05 9.99698363e-01 -1.21730565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:368.32, Y:-71.29, Z:-12.17 [[ 9.80778535e-01 1.93813906e-01 2.25750766e-02 3.68316707e+02] [-1.93760555e-01 9.81038308e-01 -4.54808140e-03 -7.12863037e+01] [-2.30284963e-02 8.65012474e-05 9.99734805e-01 -1.21749589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.834012739 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:368.35, Y:-71.29, Z:-12.18 [[ 9.81383166e-01 1.90730164e-01 2.25629488e-02 3.68345275e+02] [-1.90676067e-01 9.81642491e-01 -4.54510358e-03 -7.12947601e+01] [-2.30156376e-02 1.58273799e-04 9.99735093e-01 -1.21755328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters Centerline goodness : 0.989434 Centerline is valid? [True, True] Translation: X:368.37, Y:-71.31, Z:-12.17 [[ 9.82030789e-01 1.87033042e-01 2.51827650e-02 3.68373600e+02] [-1.86964454e-01 9.82353585e-01 -5.07208380e-03 -7.13050180e+01] [-2.56870268e-02 2.72660533e-04 9.99669997e-01 -1.21742526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.894012739 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:368.40, Y:-71.31, Z:-12.17 [[ 9.81972936e-01 1.87166091e-01 2.64198173e-02 3.68403992e+02] [-1.87090660e-01 9.82328242e-01 -5.32072755e-03 -7.13114449e+01] [-2.69487925e-02 2.81909398e-04 9.99636776e-01 -1.21738089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:368.43, Y:-71.32, Z:-12.17 [[ 9.81701290e-01 1.88586962e-01 2.64108885e-02 3.68434428e+02] [-1.88512078e-01 9.82056464e-01 -5.31957533e-03 -7.13173612e+01] [-2.69401863e-02 2.43462483e-04 9.99637018e-01 -1.21749305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.954012739 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:368.46, Y:-71.32, Z:-12.18 [[ 9.80990725e-01 1.92360741e-01 2.55840239e-02 3.68463313e+02] [-1.92291734e-01 9.81324272e-01 -5.15384641e-03 -7.13238036e+01] [-2.60976214e-02 1.36279190e-04 9.99659390e-01 -1.21762446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:368.49, Y:-71.33, Z:-12.18 [[ 9.80695922e-01 1.93819969e-01 2.58713870e-02 3.68493278e+02] [-1.93749921e-01 9.81037109e-01 -5.21134965e-03 -7.13299006e+01] [-2.63908544e-02 9.81701678e-05 9.99651696e-01 -1.21779260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.014012739 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:368.52, Y:-71.34, Z:-12.18 [[ 9.80088429e-01 1.96815543e-01 2.62738037e-02 3.68523733e+02] [-1.96744374e-01 9.80440535e-01 -5.29240963e-03 -7.13354461e+01] [-2.68015306e-02 1.78063807e-05 9.99640774e-01 -1.21788837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:368.55, Y:-71.34, Z:-12.18 [[ 9.79760259e-01 1.98432669e-01 2.63497803e-02 3.68553254e+02] [-1.98361672e-01 9.80114522e-01 -5.30771383e-03 -7.13415144e+01] [-2.68790262e-02 -2.64994138e-05 9.99638693e-01 -1.21801968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.074012739 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:368.58, Y:-71.35, Z:-12.18 [[ 9.79330469e-01 2.00744919e-01 2.47650843e-02 3.68580946e+02] [-2.00682939e-01 9.79643542e-01 -4.98874636e-03 -7.13474039e+01] [-2.52624204e-02 -8.42986103e-05 9.99680851e-01 -1.21814998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:368.61, Y:-71.35, Z:-12.18 [[ 9.79208563e-01 2.01419662e-01 2.40979254e-02 3.68610620e+02] [-2.01361204e-01 9.79505033e-01 -4.85341958e-03 -7.13520159e+01] [-2.45816134e-02 -9.98772712e-05 9.99697822e-01 -1.21827043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.134012739 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:368.64, Y:-71.36, Z:-12.18 [[ 9.79109348e-01 2.01910146e-01 2.40245004e-02 3.68638902e+02] [-2.01852204e-01 9.79404043e-01 -4.83814965e-03 -7.13552974e+01] [-2.45065644e-02 -1.12320802e-04 9.99699663e-01 -1.21833940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:368.67, Y:-71.36, Z:-12.18 [[ 9.78639695e-01 2.04042492e-01 2.51198831e-02 3.68667902e+02] [-2.03979868e-01 9.78962017e-01 -5.05788616e-03 -7.13558338e+01] [-2.56234352e-02 -1.74102278e-04 9.99671651e-01 -1.21830128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.194012739 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:368.69, Y:-71.36, Z:-12.18 [[ 9.78217996e-01 2.06179426e-01 2.40747987e-02 3.68694571e+02] [-2.06077282e-01 9.78512944e-01 -6.67630315e-03 -7.13584963e+01] [-2.49340185e-02 1.56961080e-03 9.99687867e-01 -1.21835516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters Centerline goodness : 0.988796 Centerline is valid? [True, True] Translation: X:368.72, Y:-71.36, Z:-12.19 [[ 9.77896281e-01 2.07756085e-01 2.35854485e-02 3.68723695e+02] [-2.07746491e-01 9.78178451e-01 -2.88334554e-03 -7.13634941e+01] [-2.36698100e-02 -2.08018127e-03 9.99717667e-01 -1.21861213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.254012739 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:368.75, Y:-71.37, Z:-12.19 [[ 9.77849736e-01 2.08041548e-01 2.29914661e-02 3.68751960e+02] [-2.07990226e-01 9.78119956e-01 -4.62790379e-03 -7.13672610e+01] [-2.34512080e-02 -2.56605724e-04 9.99724950e-01 -1.21876066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters Centerline goodness : 0.988940 Centerline is valid? [True, True] Translation: X:368.78, Y:-71.37, Z:-12.19 [[ 9.77973925e-01 2.07390088e-01 2.35871445e-02 3.68779684e+02] [-2.07335909e-01 9.78258294e-01 -4.74669786e-03 -7.13721726e+01] [-2.40587379e-02 -2.48315309e-04 9.99710516e-01 -1.21879987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.314012739 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:368.81, Y:-71.38, Z:-12.19 [[ 9.78520810e-01 2.04540336e-01 2.56958291e-02 3.68807936e+02] [-2.04475100e-01 9.78858117e-01 -5.16922847e-03 -7.13777556e+01] [-2.62098867e-02 -1.95959612e-04 9.99656443e-01 -1.21875617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:368.83, Y:-71.38, Z:-12.19 [[ 9.78833612e-01 2.02981935e-01 2.61360676e-02 3.68834991e+02] [-2.02913922e-01 9.79182470e-01 -5.25655460e-03 -7.13837248e+01] [-2.66589648e-02 -1.58079632e-04 9.99644574e-01 -1.21874261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.374012739 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:368.86, Y:-71.39, Z:-12.19 [[ 9.79334424e-01 2.00569590e-01 2.59985535e-02 3.68862908e+02] [-2.00501483e-01 9.79679453e-01 -5.22727022e-03 -7.13895339e+01] [-2.65186802e-02 -9.35028766e-05 9.99648314e-01 -1.21876250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters Centerline goodness : 0.989388 Centerline is valid? [True, True] Translation: X:368.89, Y:-71.39, Z:-12.19 [[ 9.79429966e-01 2.00205718e-01 2.51915281e-02 3.68891483e+02] [-2.00141685e-01 9.79753879e-01 -5.06383220e-03 -7.13948707e+01] [-2.56953056e-02 -8.22058779e-05 9.99669818e-01 -1.21887035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.434012739 meters Centerline goodness : 0.988777 Centerline is valid? [True, True] Translation: X:368.92, Y:-71.40, Z:-12.19 [[ 9.79433090e-01 2.00254252e-01 2.46790750e-02 3.68920091e+02] [-2.00192842e-01 9.79743960e-01 -4.95965896e-03 -7.14008950e+01] [-2.51723674e-02 -8.29200473e-05 9.99683122e-01 -1.21895852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:368.95, Y:-71.41, Z:-12.19 [[ 9.79225474e-01 2.01384031e-01 2.37053470e-02 3.68948569e+02] [-2.01327734e-01 9.79512358e-01 -4.76270981e-03 -7.14079585e+01] [-2.41788140e-02 -1.08777024e-04 9.99707644e-01 -1.21906488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.494012739 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:368.98, Y:-71.41, Z:-12.19 [[ 9.79215241e-01 2.01468254e-01 2.34105736e-02 3.68976846e+02] [-2.01413384e-01 9.79495038e-01 -4.70300468e-03 -7.14141007e+01] [-2.38780468e-02 -1.09948984e-04 9.99714873e-01 -1.21919777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:369.00, Y:-71.42, Z:-12.19 [[ 9.79150559e-01 2.01855727e-01 2.27694597e-02 3.69004414e+02] [-2.01803941e-01 9.79415260e-01 -4.57357181e-03 -7.14199861e+01] [-2.32239579e-02 -1.16751299e-04 9.99730281e-01 -1.21920886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55401273900003 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:369.03, Y:-71.43, Z:-12.19 [[ 9.79096861e-01 2.02066163e-01 2.32077915e-02 3.69032646e+02] [-2.02012459e-01 9.79371865e-01 -4.66010740e-03 -7.14252640e+01] [-2.36707081e-02 -1.25566503e-04 9.99719802e-01 -1.21922109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:369.06, Y:-71.43, Z:-12.19 [[ 9.79012957e-01 2.02336460e-01 2.43636316e-02 3.69060684e+02] [-2.02277386e-01 9.79316056e-01 -4.89097705e-03 -7.14304540e+01] [-2.48493186e-02 -1.39881822e-04 9.99691198e-01 -1.21928673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61401273900003 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:369.09, Y:-71.44, Z:-12.19 [[ 9.78901563e-01 2.02683313e-01 2.59076083e-02 3.69089739e+02] [-2.02616674e-01 9.79244326e-01 -5.19946545e-03 -7.14363477e+01] [-2.64237233e-02 -1.59548564e-04 9.99650820e-01 -1.21926532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:369.12, Y:-71.44, Z:-12.19 [[ 9.78909771e-01 2.02643656e-01 2.59077169e-02 3.69119308e+02] [-2.02577017e-01 9.79252533e-01 -5.19892438e-03 -7.14422289e+01] [-2.64237264e-02 -1.59030126e-04 9.99650820e-01 -1.21936205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.674012739 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:369.15, Y:-71.45, Z:-12.19 [[ 9.79078201e-01 2.01831846e-01 2.58801611e-02 3.69147667e+02] [-2.01765096e-01 9.79420179e-01 -5.19221185e-03 -7.14476605e+01] [-2.63955057e-02 -1.38131745e-04 9.99651568e-01 -1.21949044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:369.18, Y:-71.45, Z:-12.20 [[ 9.79786598e-01 1.98462161e-01 2.51195715e-02 3.69175644e+02] [-1.98398182e-01 9.80108549e-01 -5.03913980e-03 -7.14529853e+01] [-2.56199854e-02 -4.63956852e-05 9.99671753e-01 -1.21961389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.734012739 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:369.20, Y:-71.46, Z:-12.20 [[ 9.80136688e-01 1.96789571e-01 2.46157831e-02 3.69204857e+02] [-1.96727637e-01 9.80445748e-01 -4.93681158e-03 -7.14589597e+01] [-2.51059529e-02 -3.85469688e-06 9.99684796e-01 -1.21968745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:369.23, Y:-71.47, Z:-12.20 [[ 9.80392648e-01 1.95550350e-01 2.42964369e-02 3.69232368e+02] [-1.95489647e-01 9.80693663e-01 -4.87217495e-03 -7.14657288e+01] [-2.47801172e-02 2.69426287e-05 9.99692925e-01 -1.21977181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.794012739 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:369.26, Y:-71.47, Z:-12.20 [[ 9.80979573e-01 1.92727078e-01 2.31376342e-02 3.69260576e+02] [-1.92671255e-01 9.81252396e-01 -4.63929049e-03 -7.14735414e+01] [-2.35979759e-02 9.30921989e-05 9.99721525e-01 -1.21990099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:369.29, Y:-71.48, Z:-12.20 [[ 9.81278493e-01 1.91247238e-01 2.27379037e-02 3.69288794e+02] [-1.91192940e-01 9.81541888e-01 -4.55870697e-03 -7.14801968e+01] [-2.31900450e-02 1.26034449e-04 9.99731067e-01 -1.21995786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.854012739 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:369.32, Y:-71.49, Z:-12.20 [[ 9.81570802e-01 1.89576584e-01 2.40723853e-02 3.69317865e+02] [-1.89515247e-01 9.81865922e-01 -4.82522616e-03 -7.14887287e+01] [-2.45506047e-02 1.74217062e-04 9.99698573e-01 -1.21988001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:369.35, Y:-71.50, Z:-12.20 [[ 9.81655454e-01 1.88878216e-01 2.60305652e-02 3.69346348e+02] [-1.88806264e-01 9.82000497e-01 -5.21705725e-03 -7.14963481e+01] [-2.65474165e-02 2.06618935e-04 9.99647534e-01 -1.21984363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.914012739 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:369.38, Y:-71.50, Z:-12.20 [[ 9.81651984e-01 1.88688191e-01 2.74981480e-02 3.69376811e+02] [-1.88607846e-01 9.82037024e-01 -5.51030960e-03 -7.15047370e+01] [-2.80439298e-02 2.22839894e-04 9.99606667e-01 -1.21991532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:369.41, Y:-71.52, Z:-12.20 [[ 9.81727561e-01 1.88325774e-01 2.72836803e-02 3.69407824e+02] [-1.88246537e-01 9.82106587e-01 -5.46737292e-03 -7.15155293e+01] [-2.78251294e-02 2.31412353e-04 9.99612779e-01 -1.22009736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.974012739 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:369.44, Y:-71.52, Z:-12.20 [[ 9.81825387e-01 1.87943572e-01 2.63841459e-02 3.69439583e+02] [-1.87869223e-01 9.82179799e-01 -5.29131233e-03 -7.15244586e+01] [-2.69084432e-02 2.38375797e-04 9.99637874e-01 -1.22024725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:369.47, Y:-71.53, Z:-12.20 [[ 9.81852132e-01 1.87853248e-01 2.60297602e-02 3.69470326e+02] [-1.87780717e-01 9.82197077e-01 -5.22531721e-03 -7.15335211e+01] [-2.65479472e-02 2.42601810e-04 9.99647512e-01 -1.22038138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.034012739 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:369.50, Y:-71.55, Z:-12.20 [[ 9.81871341e-01 1.87556323e-01 2.74097857e-02 3.69501238e+02] [-1.87475629e-01 9.82253813e-01 -5.50775456e-03 -7.15456743e+01] [-2.79563807e-02 2.69239533e-04 9.99609108e-01 -1.22029178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:369.53, Y:-71.55, Z:-12.20 [[ 9.81800290e-01 1.87926028e-01 2.74226047e-02 3.69532406e+02] [-1.87845278e-01 9.82183149e-01 -5.51478505e-03 -7.15547764e+01] [-2.79703919e-02 2.63210754e-04 9.99608717e-01 -1.22041267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.094012739 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:369.56, Y:-71.57, Z:-12.21 [[ 9.81628266e-01 1.88996871e-01 2.61940905e-02 3.69564136e+02] [-1.88923463e-01 9.81977663e-01 -5.27198031e-03 -7.15657691e+01] [-2.67183996e-02 2.26446605e-04 9.99642974e-01 -1.22055602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:369.60, Y:-71.57, Z:-12.21 [[ 9.81374028e-01 1.90311834e-01 2.61996630e-02 3.69596558e+02] [-1.90238729e-01 9.81723672e-01 -5.27809163e-03 -7.15734105e+01] [-2.67253127e-02 1.95591453e-04 9.99642796e-01 -1.22057130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.154012739 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:369.63, Y:-71.58, Z:-12.21 [[ 9.81066528e-01 1.91810626e-01 2.67796858e-02 3.69627854e+02] [-1.91734653e-01 9.81431942e-01 -5.40052803e-03 -7.15804316e+01] [-2.73183177e-02 1.63683523e-04 9.99626772e-01 -1.22067084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:369.66, Y:-71.59, Z:-12.21 [[ 9.80463571e-01 1.94948065e-01 2.61999700e-02 3.69657251e+02] [-1.94876375e-01 9.80813563e-01 -5.28699865e-03 -7.15895000e+01] [-2.67279761e-02 7.79543892e-05 9.99642741e-01 -1.22076329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.214012739 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:369.69, Y:-71.60, Z:-12.21 [[ 9.80393298e-01 1.95410125e-01 2.53744785e-02 3.69689286e+02] [-1.95343026e-01 9.80721611e-01 -5.12085385e-03 -7.15977034e+01] [-2.58859661e-02 6.37233789e-05 9.99664900e-01 -1.22091191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:369.72, Y:-71.61, Z:-12.21 [[ 9.80409104e-01 1.95460205e-01 2.43577062e-02 3.69721402e+02] [-1.95398282e-01 9.80711631e-01 -4.92010075e-03 -7.16054725e+01] [-2.48495697e-02 6.42576216e-05 9.99691200e-01 -1.22103317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.274012739 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:369.75, Y:-71.61, Z:-12.21 [[ 9.80429766e-01 1.95394766e-01 2.40491076e-02 3.69752707e+02] [-1.95334266e-01 9.80724671e-01 -4.86250820e-03 -7.16127992e+01] [-2.45356618e-02 6.97330163e-05 9.99698953e-01 -1.22113758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters Centerline goodness : 0.988898 Centerline is valid? [True, True] Translation: X:369.78, Y:-71.62, Z:-12.21 [[ 9.80334613e-01 1.95866468e-01 2.40909469e-02 3.69784518e+02] [-1.95805792e-01 9.80630574e-01 -4.87531937e-03 -7.16202938e+01] [-2.45792306e-02 6.22973867e-05 9.99697883e-01 -1.22118724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.334012739 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:369.82, Y:-71.63, Z:-12.21 [[ 9.79999556e-01 1.97539039e-01 2.40665575e-02 3.69816553e+02] [-1.97478875e-01 9.80295021e-01 -4.87509291e-03 -7.16271490e+01] [-2.45553476e-02 2.49521918e-05 9.99698472e-01 -1.22119925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:369.85, Y:-71.63, Z:-12.21 [[ 9.79769034e-01 1.98744802e-01 2.35190158e-02 3.69848157e+02] [-1.98687581e-01 9.80051276e-01 -4.76880242e-03 -7.16330152e+01] [-2.39976162e-02 -6.11409428e-07 9.99712016e-01 -1.22131903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.394012739 meters Centerline goodness : 0.989010 Centerline is valid? [True, True] Translation: X:369.88, Y:-71.64, Z:-12.21 [[ 9.79589231e-01 1.99609646e-01 2.36839185e-02 3.69879680e+02] [-1.99551764e-01 9.79875497e-01 -4.80674527e-03 -7.16386789e+01] [-2.41667641e-02 -1.75318044e-05 9.99707941e-01 -1.22144525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:369.91, Y:-71.65, Z:-12.22 [[ 9.79371878e-01 2.00547013e-01 2.47309760e-02 3.69911388e+02] [-2.00484083e-01 9.79684079e-01 -5.02376457e-03 -7.16451942e+01] [-2.52360444e-02 -3.80333180e-05 9.99681520e-01 -1.22151785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.454012739 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:369.94, Y:-71.65, Z:-12.21 [[ 9.79154757e-01 2.01362325e-01 2.66303613e-02 3.69942129e+02] [-2.01289515e-01 9.79516825e-01 -5.41485184e-03 -7.16529282e+01] [-2.71752341e-02 -5.84345647e-05 9.99630683e-01 -1.22142473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:369.97, Y:-71.66, Z:-12.22 [[ 9.79016779e-01 2.02001727e-01 2.68597977e-02 3.69974209e+02] [-2.01927815e-01 9.79385163e-01 -5.46450580e-03 -7.16609135e+01] [-2.74099269e-02 -7.38973819e-05 9.99624275e-01 -1.22152069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.514012739 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:370.01, Y:-71.67, Z:-12.22 [[ 9.79103514e-01 2.01602533e-01 2.66969486e-02 3.70005287e+02] [-2.01529216e-01 9.79467414e-01 -5.43689146e-03 -7.16690296e+01] [-2.72448823e-02 -5.69355688e-05 9.99628788e-01 -1.22174846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:370.04, Y:-71.68, Z:-12.22 [[ 9.79279009e-01 2.00815546e-01 2.61866139e-02 3.70037568e+02] [-2.00744651e-01 9.79629070e-01 -5.33569299e-03 -7.16763425e+01] [-2.67246583e-02 -3.16905130e-05 9.99642832e-01 -1.22192547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.574012739 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:370.07, Y:-71.68, Z:-12.22 [[ 9.79436549e-01 2.00154285e-01 2.53438123e-02 3.70068613e+02] [-2.00087535e-01 9.79764391e-01 -5.16875293e-03 -7.16841428e+01] [-2.58655129e-02 -8.51540932e-06 9.99665432e-01 -1.22204151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:370.10, Y:-71.70, Z:-12.22 [[ 9.79890090e-01 1.97891371e-01 2.55815700e-02 3.70099995e+02] [-1.97822471e-01 9.80223955e-01 -5.22182762e-03 -7.16952059e+01] [-2.61090223e-02 5.62077380e-05 9.99659100e-01 -1.22212159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.634012739 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:370.13, Y:-71.70, Z:-12.22 [[ 9.79998145e-01 1.97372256e-01 2.54524795e-02 3.70131171e+02] [-1.97303738e-01 9.80328612e-01 -5.20078969e-03 -7.17032528e+01] [-2.59782855e-02 7.48949163e-05 9.99662505e-01 -1.22212220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:370.16, Y:-71.71, Z:-12.22 [[ 9.79930720e-01 1.97596672e-01 2.62933384e-02 3.70161614e+02] [-1.97523551e-01 9.80283403e-01 -5.37559478e-03 -7.17119058e+01] [-2.68371229e-02 7.41568860e-05 9.99639817e-01 -1.22214809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.694012739 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:370.19, Y:-71.72, Z:-12.22 [[ 9.79698692e-01 1.98597205e-01 2.73792405e-02 3.70194075e+02] [-1.98518168e-01 9.80081194e-01 -5.60263120e-03 -7.17204037e+01] [-2.79465456e-02 5.36137981e-05 9.99609418e-01 -1.22218773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:370.23, Y:-71.73, Z:-12.22 [[ 9.79213773e-01 2.00587097e-01 3.00865960e-02 3.70225940e+02] [-2.00492400e-01 9.79675873e-01 -6.16286401e-03 -7.17293281e+01] [-3.07113032e-02 2.62745779e-06 9.99528297e-01 -1.22216847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.754012739 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:370.26, Y:-71.74, Z:-12.22 [[ 9.78987794e-01 2.01673873e-01 3.01753061e-02 3.70258234e+02] [-2.01578957e-01 9.79452729e-01 -6.18675403e-03 -7.17362300e+01] [-3.08029925e-02 -2.59500314e-05 9.99525475e-01 -1.22231524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:370.29, Y:-71.74, Z:-12.23 [[ 9.78776206e-01 2.02908724e-01 2.87261047e-02 3.70290737e+02] [-2.02823087e-01 9.79197655e-01 -5.89478925e-03 -7.17435845e+01] [-2.93246385e-02 -5.66377938e-05 9.99569939e-01 -1.22251585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.814012739 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:370.32, Y:-71.75, Z:-12.23 [[ 9.78562833e-01 2.04182230e-01 2.69146564e-02 3.70322303e+02] [-2.04107406e-01 9.78932893e-01 -5.52784383e-03 -7.17511665e+01] [-2.74763299e-02 -8.41381848e-05 9.99622451e-01 -1.22270493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:370.35, Y:-71.76, Z:-12.23 [[ 9.78391782e-01 2.05158588e-01 2.56802228e-02 3.70353730e+02] [-2.05090695e-01 9.78728738e-01 -5.27859838e-03 -7.17584156e+01] [-2.62169219e-02 -1.02237459e-04 9.99656272e-01 -1.22279469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.874012739 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:370.39, Y:-71.76, Z:-12.23 [[ 9.78382839e-01 2.05149256e-01 2.60922055e-02 3.70386216e+02] [-2.05079041e-01 9.78730695e-01 -5.36789388e-03 -7.17644827e+01] [-2.66384618e-02 -9.91092208e-05 9.99645128e-01 -1.22287587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:370.42, Y:-71.77, Z:-12.23 [[ 9.78502047e-01 2.04507095e-01 2.66569454e-02 3.70418005e+02] [-2.04433428e-01 9.78865079e-01 -5.48922516e-03 -7.17692852e+01] [-2.72161384e-02 -7.83526626e-05 9.99629569e-01 -1.22294289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.934012739 meters Centerline goodness : 0.989366 Centerline is valid? [True, True] Translation: X:370.45, Y:-71.78, Z:-12.23 [[ 9.78656271e-01 2.03767952e-01 2.66556752e-02 3.70450463e+02] [-2.03693892e-01 9.79019213e-01 -5.49356726e-03 -7.17767490e+01] [-2.72158311e-02 -5.32841693e-05 9.99629579e-01 -1.22309026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:370.48, Y:-71.79, Z:-12.23 [[ 9.78847257e-01 2.02905342e-01 2.62196376e-02 3.70482645e+02] [-2.02833250e-01 9.79198357e-01 -5.40842772e-03 -7.17850367e+01] [-2.67716250e-02 -2.41896875e-05 9.99641576e-01 -1.22318618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.994012739 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:370.52, Y:-71.79, Z:-12.23 [[ 9.79213405e-01 2.00984676e-01 2.73178899e-02 3.70515053e+02] [-2.00905518e-01 9.79594385e-01 -5.64038615e-03 -7.17931300e+01] [-2.78940827e-02 3.48269077e-05 9.99610884e-01 -1.22325233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:370.55, Y:-71.80, Z:-12.23 [[ 9.79240947e-01 2.00749583e-01 2.80494779e-02 3.70547812e+02] [-2.00665876e-01 9.79642589e-01 -5.79687354e-03 -7.17993479e+01] [-2.86421831e-02 4.79628912e-05 9.99589727e-01 -1.22331090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05401273900003 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:370.58, Y:-71.81, Z:-12.23 [[ 9.79162004e-01 2.01112290e-01 2.82066652e-02 3.70578811e+02] [-2.01027629e-01 9.79568193e-01 -5.83504057e-03 -7.18055550e+01] [-2.88038504e-02 4.31310097e-05 9.99585082e-01 -1.22344517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:370.61, Y:-71.82, Z:-12.24 [[ 9.78624145e-01 2.03460893e-01 2.99741259e-02 3.70606329e+02] [-2.03577159e-01 9.79058539e-01 8.47337426e-04 -7.18163436e+01] [-2.91740238e-02 -6.93127225e-03 9.99550316e-01 -1.22355618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11401273900003 meters Centerline goodness : 0.989234 Centerline is valid? [True, True] Translation: X:370.64, Y:-71.81, Z:-12.24 [[ 9.78661548e-01 2.04023407e-01 2.44135864e-02 3.70641365e+02] [-2.03783717e-01 9.78942883e-01 -1.19594828e-02 -7.18142072e+01] [-2.63395211e-02 6.72919452e-03 9.99630405e-01 -1.22365395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:370.67, Y:-71.82, Z:-12.24 [[ 9.77920737e-01 2.07300513e-01 2.64107891e-02 3.70671850e+02] [-2.07228265e-01 9.78277304e-01 -5.47386032e-03 -7.18244995e+01] [-2.69718096e-02 -1.20060489e-04 9.99636187e-01 -1.22364773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.174012739 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:370.70, Y:-71.83, Z:-12.24 [[ 9.77621810e-01 2.08512909e-01 2.78919813e-02 3.70704123e+02] [-2.08432690e-01 9.78019602e-01 -5.78549260e-03 -7.18314386e+01] [-2.84852544e-02 -1.57576944e-04 9.99594200e-01 -1.22371689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:370.74, Y:-71.84, Z:-12.24 [[ 9.77366125e-01 2.09559541e-01 2.89871867e-02 3.70736069e+02] [-2.09473186e-01 9.77795870e-01 -6.01844560e-03 -7.18384707e+01] [-2.96047742e-02 -1.89813511e-04 9.99561665e-01 -1.22381572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.234012739 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:370.77, Y:-71.84, Z:-12.24 [[ 9.76949256e-01 2.11424189e-01 2.94951428e-02 3.70768103e+02] [-2.11335451e-01 9.77394369e-01 -6.12981338e-03 -7.18446870e+01] [-3.01243773e-02 -2.44852705e-04 9.99546128e-01 -1.22388483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:370.80, Y:-71.85, Z:-12.24 [[ 9.76728061e-01 2.12449247e-01 2.94552602e-02 3.70800922e+02] [-2.12361042e-01 9.77172065e-01 -6.12728450e-03 -7.18503160e+01] [-3.00845944e-02 -2.70459025e-04 9.99547320e-01 -1.22399650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.294012739 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:370.83, Y:-71.86, Z:-12.24 [[ 9.76506770e-01 2.13510125e-01 2.91196648e-02 3.70833536e+02] [-2.13424222e-01 9.76940807e-01 -6.06313389e-03 -7.18554942e+01] [-2.97427293e-02 -2.94150495e-04 9.99557544e-01 -1.22410182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:370.86, Y:-71.86, Z:-12.24 [[ 9.76231326e-01 2.14832319e-01 2.86264325e-02 3.70864908e+02] [-2.14749707e-01 9.76650895e-01 -5.96598053e-03 -7.18600062e+01] [-2.92397164e-02 -3.23340925e-04 9.99572376e-01 -1.22429134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.354012739 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:370.90, Y:-71.87, Z:-12.24 [[ 9.76120536e-01 2.15375049e-01 2.83246790e-02 3.70896201e+02] [-2.15294249e-01 9.76531351e-01 -5.90825264e-03 -7.18668983e+01] [-2.89324273e-02 -3.30973769e-04 9.99581315e-01 -1.22437225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:370.93, Y:-71.87, Z:-12.24 [[ 9.75885282e-01 2.16524198e-01 2.76620501e-02 3.70926388e+02] [-2.16447457e-01 9.76277188e-01 -5.77497709e-03 -7.18736505e+01] [-2.82562508e-02 -3.51665250e-04 9.99600651e-01 -1.22445174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.414012739 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:370.96, Y:-71.88, Z:-12.25 [[ 9.75844006e-01 2.16789602e-01 2.70322652e-02 3.70958374e+02] [-2.16716419e-01 9.76218288e-01 -5.64348364e-03 -7.18791143e+01] [-2.76128402e-02 -3.51176016e-04 9.99618631e-01 -1.22454783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:370.99, Y:-71.88, Z:-12.25 [[ 9.75693962e-01 2.17757855e-01 2.45521558e-02 3.70988662e+02] [-2.17584993e-01 9.75994779e-01 -9.53744623e-03 -7.18813822e+01] [-2.60396297e-02 3.96344804e-03 9.99653054e-01 -1.22470540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.474012739 meters Centerline goodness : 0.990576 Centerline is valid? [True, True] Translation: X:371.02, Y:-71.89, Z:-12.25 [[ 9.75823398e-01 2.16703718e-01 2.84287484e-02 3.71018232e+02] [-2.16750566e-01 9.76225927e-01 -1.46027838e-03 -7.18896941e+01] [-2.80693291e-02 -4.73697351e-03 9.99594755e-01 -1.22474695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:371.05, Y:-71.89, Z:-12.25 [[ 9.75787928e-01 2.16831523e-01 2.86707245e-02 3.71050192e+02] [-2.16748933e-01 9.76208972e-01 -5.99521038e-03 -7.18924612e+01] [-2.92885691e-02 -3.64295022e-04 9.99570931e-01 -1.22474048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.534012739 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:371.08, Y:-71.90, Z:-12.25 [[ 9.75780613e-01 2.16864455e-01 2.86705952e-02 3.71081325e+02] [-2.16781860e-01 9.76201657e-01 -5.99582889e-03 -7.18990245e+01] [-2.92885647e-02 -3.64651341e-04 9.99570931e-01 -1.22484258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:371.11, Y:-71.90, Z:-12.25 [[ 9.75502236e-01 2.18245274e-01 2.76475549e-02 3.71109851e+02] [-2.18111810e-01 9.75892686e-01 -7.79122818e-03 -7.19026454e+01] [-2.86814454e-02 1.57010226e-03 9.99587370e-01 -1.22491491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.594012739 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:371.14, Y:-71.91, Z:-12.25 [[ 9.75490536e-01 2.18327347e-01 2.74113787e-02 3.71142026e+02] [-2.18311983e-01 9.75872431e-01 -3.58849980e-03 -7.19059414e+01] [-2.75334764e-02 -2.48368483e-03 9.99617796e-01 -1.22515845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:371.17, Y:-71.91, Z:-12.25 [[ 9.75381356e-01 2.18896500e-01 2.67494582e-02 3.71171784e+02] [-2.18825254e-01 9.75748004e-01 -5.59824861e-03 -7.19077597e+01] [-2.73261675e-02 -3.93029677e-04 9.99626493e-01 -1.22532256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.654012739 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:371.20, Y:-71.91, Z:-12.25 [[ 9.75219023e-01 2.19706187e-01 2.60201617e-02 3.71199361e+02] [-2.19603394e-01 9.75565675e-01 -6.77963670e-03 -7.19105183e+01] [-2.68739047e-02 8.97514855e-04 9.99638428e-01 -1.22538713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:371.23, Y:-71.91, Z:-12.25 [[ 9.75924091e-01 2.16336461e-01 2.77615778e-02 3.71230126e+02] [-2.16298110e-01 9.76317393e-01 -4.41304979e-03 -7.19132160e+01] [-2.80588149e-02 -1.69797521e-03 9.99604832e-01 -1.22547809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.714012739 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:371.26, Y:-71.92, Z:-12.26 [[ 9.76327346e-01 2.14460279e-01 2.81372181e-02 3.71260290e+02] [-2.14379632e-01 9.76732670e-01 -5.88772969e-03 -7.19168628e+01] [-2.87452243e-02 -2.83694951e-04 9.99586730e-01 -1.22553625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:371.29, Y:-71.92, Z:-12.26 [[ 9.77017479e-01 2.11179146e-01 2.89864395e-02 3.71291303e+02] [-2.11092114e-01 9.77447355e-01 -6.06532302e-03 -7.19193963e+01] [-2.96135884e-02 -1.92882195e-04 9.99561403e-01 -1.22551805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.774012739 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:371.32, Y:-71.92, Z:-12.26 [[ 9.77237231e-01 2.10175926e-01 2.88699704e-02 3.71321060e+02] [-2.10089118e-01 9.77663569e-01 -6.04220298e-03 -7.19237394e+01] [-2.94950439e-02 -1.60600896e-04 9.99564914e-01 -1.22558714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:371.35, Y:-71.93, Z:-12.26 [[ 9.77414196e-01 2.09356778e-01 2.88310270e-02 3.71351524e+02] [-2.09269795e-01 9.77839313e-01 -6.03585761e-03 -7.19286415e+01] [-2.94557593e-02 -1.33930182e-04 9.99566076e-01 -1.22571352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.834012739 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:371.38, Y:-71.93, Z:-12.26 [[ 9.77583267e-01 2.08613115e-01 2.84872776e-02 3.71380814e+02] [-2.08527877e-01 9.77998239e-01 -5.96392707e-03 -7.19334744e+01] [-2.91046608e-02 -1.10156223e-04 9.99576364e-01 -1.22581926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:371.41, Y:-71.94, Z:-12.26 [[ 9.78143562e-01 2.05868392e-01 2.92126134e-02 3.71411872e+02] [-2.05777546e-01 9.78579687e-01 -6.11534272e-03 -7.19392449e+01] [-2.98458259e-02 -2.96167772e-05 9.99554514e-01 -1.22592155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.894012739 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:371.44, Y:-71.95, Z:-12.26 [[ 9.78540952e-01 2.03969796e-01 2.92220273e-02 3.71441913e+02] [-2.03878022e-01 9.78977181e-01 -6.11806378e-03 -7.19456535e+01] [-2.98555981e-02 2.90468330e-05 9.99554222e-01 -1.22598601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:371.47, Y:-71.95, Z:-12.26 [[ 9.79231744e-01 2.00580538e-01 2.95404839e-02 3.71472527e+02] [-2.00485199e-01 9.79677207e-01 -6.18508222e-03 -7.19524243e+01] [-3.01807459e-02 1.34199057e-04 9.99544449e-01 -1.22595671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.954012739 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:371.50, Y:-71.96, Z:-12.26 [[ 9.79443375e-01 1.99474068e-01 3.00128381e-02 3.71504705e+02] [-1.99375121e-01 9.79903090e-01 -6.28447748e-03 -7.19608009e+01] [-3.06632631e-02 1.71476614e-04 9.99529757e-01 -1.22610745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:371.54, Y:-71.97, Z:-12.26 [[ 9.79665141e-01 1.98407252e-01 2.98458267e-02 3.71535909e+02] [-1.98308725e-01 9.80119645e-01 -6.25549373e-03 -7.19691736e+01] [-3.04936164e-02 2.09601309e-04 9.99534940e-01 -1.22624233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.014012739 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:371.57, Y:-71.98, Z:-12.26 [[ 9.79932224e-01 1.97296080e-01 2.84093684e-02 3.71567384e+02] [-1.97206199e-01 9.80343919e-01 -5.95943005e-03 -7.19787775e+01] [-2.90267238e-02 2.37333989e-04 9.99578608e-01 -1.22643581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:371.60, Y:-71.99, Z:-12.26 [[ 9.79966700e-01 1.97267931e-01 2.73976539e-02 3.71598092e+02] [-1.97184173e-01 9.80349585e-01 -5.75270457e-03 -7.19862231e+01] [-2.79941027e-02 2.35075192e-04 9.99608061e-01 -1.22648767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.074012739 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:371.63, Y:-71.99, Z:-12.27 [[ 9.79927668e-01 1.97444889e-01 2.75187472e-02 3.71628326e+02] [-1.97360368e-01 9.80313960e-01 -5.78139637e-03 -7.19941175e+01] [-2.81185193e-02 2.34240189e-04 9.99604569e-01 -1.22656030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:371.66, Y:-72.01, Z:-12.27 [[ 9.79812306e-01 1.97805986e-01 2.89937532e-02 3.71660122e+02] [-1.97712174e-01 9.80241161e-01 -6.09606638e-03 -7.20051199e+01] [-2.96267087e-02 2.40582879e-04 9.99561004e-01 -1.22658030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.134012739 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:371.69, Y:-72.01, Z:-12.27 [[ 9.79827856e-01 1.97753591e-01 2.88251730e-02 3.71691366e+02] [-1.97660675e-01 9.80251731e-01 -6.06639272e-03 -7.20139923e+01] [-2.94555767e-02 2.46417412e-04 9.99566060e-01 -1.22670327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:371.72, Y:-72.02, Z:-12.27 [[ 9.79886415e-01 1.98006007e-01 2.48240914e-02 3.71722200e+02] [-1.97734390e-01 9.80169681e-01 -1.29810153e-02 -7.20209974e+01] [-2.69021408e-02 7.81134395e-03 9.99607552e-01 -1.22691087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.194012739 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:371.75, Y:-72.04, Z:-12.27 [[ 9.79870685e-01 1.97322519e-01 3.02863598e-02 3.71751404e+02] [-1.97454383e-01 9.80311081e-01 1.39698970e-03 -7.20398399e+01] [-2.94143965e-02 -7.34904373e-03 9.99540287e-01 -1.22697188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:371.78, Y:-72.04, Z:-12.27 [[ 9.79834333e-01 1.97591340e-01 2.97042571e-02 3.71784343e+02] [-1.97492226e-01 9.80284443e-01 -6.26353843e-03 -7.20444694e+01] [-3.03562420e-02 2.70870155e-04 9.99539106e-01 -1.22707215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.254012739 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:371.82, Y:-72.05, Z:-12.27 [[ 9.79817390e-01 1.97547008e-01 3.05460692e-02 3.71816655e+02] [-1.97441984e-01 9.80293373e-01 -6.44710144e-03 -7.20527244e+01] [-3.12177148e-02 2.85905608e-04 9.99512567e-01 -1.22712924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:371.85, Y:-72.06, Z:-12.27 [[ 9.79786286e-01 1.97977113e-01 2.87035939e-02 3.71847817e+02] [-1.97884409e-01 9.80206608e-01 -6.06350856e-03 -7.20642418e+01] [-2.93358884e-02 2.60948802e-04 9.99569576e-01 -1.22732147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.314012739 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:371.88, Y:-72.08, Z:-12.28 [[ 9.79705535e-01 1.98673439e-01 2.65693278e-02 3.71878661e+02] [-1.98594135e-01 9.80065719e-01 -5.61753807e-03 -7.20750009e+01] [-2.71557429e-02 2.27020484e-04 9.99631189e-01 -1.22757148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:371.91, Y:-72.09, Z:-12.28 [[ 9.79466412e-01 2.00076107e-01 2.48012088e-02 3.71909436e+02] [-2.00007354e-01 9.79780342e-01 -5.24777818e-03 -7.20870858e+01] [-2.53496919e-02 1.79598314e-04 9.99678629e-01 -1.22765869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.374012739 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:371.94, Y:-72.09, Z:-12.28 [[ 9.79002617e-01 2.02246874e-01 2.54966184e-02 3.71940801e+02] [-2.02174792e-01 9.79334562e-01 -5.40083999e-03 -7.20947196e+01] [-2.60620226e-02 1.32662964e-04 9.99660319e-01 -1.22763400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:371.97, Y:-72.10, Z:-12.28 [[ 9.77546550e-01 2.08908331e-01 2.75690520e-02 3.71971810e+02] [-2.08826594e-01 9.77935226e-01 -5.84350509e-03 -7.21019043e+01] [-2.81815040e-02 -4.48529848e-05 9.99602822e-01 -1.22753479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.434012739 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:372.00, Y:-72.11, Z:-12.28 [[ 9.76677699e-01 2.12883190e-01 2.79538860e-02 3.72003984e+02] [-2.12800634e-01 9.77077644e-01 -5.93021247e-03 -7.21095405e+01] [-2.85755597e-02 -1.56698390e-04 9.99591623e-01 -1.22761692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:372.04, Y:-72.12, Z:-12.28 [[ 9.75935565e-01 2.16246402e-01 2.80582753e-02 3.72035708e+02] [-2.16164456e-01 9.76338789e-01 -5.95793920e-03 -7.21159342e+01] [-2.86827654e-02 -2.50637046e-04 9.99588533e-01 -1.22770677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.494012739 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:372.07, Y:-72.12, Z:-12.28 [[ 9.74837561e-01 2.21293589e-01 2.68491405e-02 3.72067417e+02] [-2.21220337e-01 9.75207160e-01 -5.70589286e-03 -7.21200578e+01] [-2.74461515e-02 -3.77257232e-04 9.99623212e-01 -1.22794766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:372.10, Y:-72.13, Z:-12.28 [[ 9.74609244e-01 2.22301977e-01 2.68076855e-02 3.72097600e+02] [-2.22229205e-01 9.74977780e-01 -5.70173173e-03 -7.21255651e+01] [-2.74044040e-02 -4.00490199e-04 9.99624349e-01 -1.22809011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55401273900003 meters Centerline goodness : 0.991654 Centerline is valid? [True, True] Translation: X:372.13, Y:-72.13, Z:-12.28 [[ 9.74760557e-01 2.21394660e-01 2.87447526e-02 3.72127660e+02] [-2.21310443e-01 9.75184212e-01 -6.11889363e-03 -7.21309442e+01] [-2.93861193e-02 -3.97057774e-04 9.99568056e-01 -1.22801685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:372.16, Y:-72.14, Z:-12.28 [[ 9.74996835e-01 2.20225034e-01 2.97002724e-02 3.72159563e+02] [-2.20134535e-01 9.75449023e-01 -6.32380885e-03 -7.21364370e+01] [-3.03637627e-02 -3.72362053e-04 9.99538845e-01 -1.22808761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61401273900003 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:372.19, Y:-72.14, Z:-12.28 [[ 9.75185229e-01 2.19339120e-01 3.00685843e-02 3.72192502e+02] [-2.19245782e-01 9.75648621e-01 -6.40739474e-03 -7.21414439e+01] [-3.07417652e-02 -3.44013596e-04 9.99527301e-01 -1.22821652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:372.22, Y:-72.15, Z:-12.28 [[ 9.75341678e-01 2.18709637e-01 2.95754359e-02 3.72224225e+02] [-2.18618873e-01 9.75789935e-01 -6.30807997e-03 -7.21463461e+01] [-3.02390505e-02 -3.13215159e-04 9.99542646e-01 -1.22834106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.674012739 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:372.25, Y:-72.15, Z:-12.28 [[ 9.75506106e-01 2.18184903e-01 2.79854489e-02 3.72254963e+02] [-2.18103320e-01 9.75907409e-01 -5.97251113e-03 -7.21487617e+01] [-2.86143187e-02 -2.77498227e-04 9.99590488e-01 -1.22839139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:372.29, Y:-72.15, Z:-12.29 [[ 9.75631473e-01 2.17766313e-01 2.68525800e-02 3.72285957e+02] [-2.17691037e-01 9.76000906e-01 -5.73097514e-03 -7.21528134e+01] [-2.74561558e-02 -2.54246273e-04 9.99622976e-01 -1.22851209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.734012739 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:372.32, Y:-72.16, Z:-12.29 [[ 9.75951947e-01 2.16429492e-01 2.60014025e-02 3.72316381e+02] [-2.16358420e-01 9.76298229e-01 -5.54999226e-03 -7.21550448e+01] [-2.65863052e-02 -2.09096616e-04 9.99646500e-01 -1.22876527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:372.35, Y:-72.16, Z:-12.29 [[ 9.76180833e-01 2.15355167e-01 2.63274225e-02 3.72347025e+02] [-2.15281906e-01 9.76535775e-01 -5.61978118e-03 -7.21608365e+01] [-2.69199189e-02 -1.81895017e-04 9.99637577e-01 -1.22893431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.794012739 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:372.38, Y:-72.17, Z:-12.29 [[ 9.76523541e-01 2.13742895e-01 2.67534874e-02 3.72377015e+02] [-2.13666607e-01 9.76889940e-01 -5.71186186e-03 -7.21670327e+01] [-2.73560826e-02 -1.38559306e-04 9.99625743e-01 -1.22899130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:372.41, Y:-72.17, Z:-12.29 [[ 9.77283786e-01 2.10014802e-01 2.84637317e-02 3.72407886e+02] [-2.09926866e-01 9.77698206e-01 -6.07695603e-03 -7.21735924e+01] [-2.91051901e-02 -3.63913819e-05 9.99576354e-01 -1.22896699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.854012739 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:372.44, Y:-72.18, Z:-12.29 [[ 9.77609847e-01 2.08480327e-01 2.85471644e-02 3.72439093e+02] [-2.08391088e-01 9.78026561e-01 -6.09930000e-03 -7.21793867e+01] [-2.91914691e-02 1.37610933e-05 9.99573838e-01 -1.22906271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:372.47, Y:-72.18, Z:-12.29 [[ 9.77742867e-01 2.07775291e-01 2.91258330e-02 3.72470202e+02] [-2.07681927e-01 9.78176583e-01 -6.22818285e-03 -7.21846886e+01] [-2.97842703e-02 4.06522243e-05 9.99556349e-01 -1.22908091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.914012739 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:372.50, Y:-72.19, Z:-12.29 [[ 9.77556694e-01 2.08502861e-01 3.01573750e-02 3.72499644e+02] [-2.08403015e-01 9.78021757e-01 -6.45190537e-03 -7.21892176e+01] [-3.08398096e-02 2.22154237e-05 9.99524340e-01 -1.22911347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:372.53, Y:-72.20, Z:-12.29 [[ 9.77318563e-01 2.09651038e-01 2.99143654e-02 3.72530763e+02] [-2.09553321e-01 9.77776274e-01 -6.40029072e-03 -7.21951835e+01] [-3.05913844e-02 -1.35316939e-05 9.99531974e-01 -1.22918807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.974012739 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:372.56, Y:-72.20, Z:-12.29 [[ 9.76624402e-01 2.12957174e-01 2.92236104e-02 3.72562364e+02] [-2.12865377e-01 9.77061528e-01 -6.25318941e-03 -7.21994986e+01] [-2.98849269e-02 -1.13677462e-04 9.99553339e-01 -1.22924937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:372.59, Y:-72.20, Z:-12.29 [[ 9.76289635e-01 2.14461981e-01 2.94042186e-02 3.72592741e+02] [-2.14369704e-01 9.76732324e-01 -6.29260755e-03 -7.22045320e+01] [-3.00695758e-02 -1.59966101e-04 9.99547795e-01 -1.22929826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.034012739 meters Centerline goodness : 0.991710 Centerline is valid? [True, True] Translation: X:372.62, Y:-72.21, Z:-12.29 [[ 9.76046221e-01 2.15470330e-01 3.01050019e-02 3.72621908e+02] [-2.15374081e-01 9.76510368e-01 -6.44256079e-03 -7.22086852e+01] [-3.07860271e-02 -1.95599983e-04 9.99525979e-01 -1.22937209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:372.65, Y:-72.21, Z:-12.29 [[ 9.75646644e-01 2.17018785e-01 3.18821639e-02 3.72651887e+02] [-2.16911646e-01 9.76167393e-01 -6.82331948e-03 -7.22099175e+01] [-3.26031173e-02 -2.58463888e-04 9.99468344e-01 -1.22946349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.094012739 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:372.68, Y:-72.21, Z:-12.30 [[ 9.75546628e-01 2.17490764e-01 3.17260946e-02 3.72682413e+02] [-2.17384946e-01 9.76062341e-01 -6.78916088e-03 -7.22140878e+01] [-3.24432259e-02 -2.73632349e-04 9.99473543e-01 -1.22960512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:372.71, Y:-72.22, Z:-12.30 [[ 9.76126514e-01 2.15166604e-01 2.96708729e-02 3.72713290e+02] [-2.15072982e-01 9.76577339e-01 -6.34931552e-03 -7.22184141e+01] [-3.03420627e-02 -1.83667871e-04 9.99539557e-01 -1.22980960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.154012739 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:372.74, Y:-72.22, Z:-12.30 [[ 9.76686134e-01 2.12752100e-01 2.86485672e-02 3.72742815e+02] [-2.12663762e-01 9.77106204e-01 -6.13116120e-03 -7.22247981e+01] [-2.92971102e-02 -1.04291960e-04 9.99570742e-01 -1.22989342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:372.77, Y:-72.23, Z:-12.30 [[ 9.77247753e-01 2.10186940e-01 2.84302495e-02 3.72771385e+02] [-2.10098803e-01 9.77661214e-01 -6.08634196e-03 -7.22306687e+01] [-2.90744218e-02 -2.52973703e-05 9.99577249e-01 -1.23003903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.214012739 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:372.80, Y:-72.24, Z:-12.30 [[ 9.78032700e-01 2.06453446e-01 2.87925659e-02 3.72799401e+02] [-2.06361448e-01 9.78456421e-01 -6.16323811e-03 -7.22361754e+01] [-2.94446927e-02 8.61728204e-05 9.99566407e-01 -1.23011463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:372.83, Y:-72.24, Z:-12.30 [[ 9.78330368e-01 2.05074003e-01 2.85367272e-02 3.72828006e+02] [-2.04983077e-01 9.78746462e-01 -6.10742883e-03 -7.22420590e+01] [-2.91826957e-02 1.25536954e-04 9.99574087e-01 -1.23020615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.274012739 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:372.86, Y:-72.25, Z:-12.30 [[ 9.78479721e-01 2.04497248e-01 2.75374393e-02 3.72856738e+02] [-2.04412369e-01 9.78867129e-01 -5.89293284e-03 -7.22474675e+01] [-2.81605827e-02 1.37122064e-04 9.99603403e-01 -1.23032491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:372.89, Y:-72.25, Z:-12.31 [[ 9.78136903e-01 2.06332716e-01 2.59809556e-02 3.72885072e+02] [-2.06257823e-01 9.78481887e-01 -5.55933707e-03 -7.22512586e+01] [-2.65689676e-02 7.90173859e-05 9.99646980e-01 -1.23053933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.334012739 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:372.91, Y:-72.26, Z:-12.31 [[ 9.77663451e-01 2.08595900e-01 2.57279517e-02 3.72913918e+02] [-2.08523264e-01 9.78001917e-01 -5.50436670e-03 -7.22563390e+01] [-2.63101744e-02 1.65416862e-05 9.99653827e-01 -1.23059319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:372.94, Y:-72.26, Z:-12.31 [[ 9.76244655e-01 2.14966840e-01 2.71225229e-02 3.72942940e+02] [-2.14888607e-01 9.76621334e-01 -5.80137559e-03 -7.22604327e+01] [-2.77355379e-02 -1.64759256e-04 9.99615282e-01 -1.23071253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.394012739 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:372.97, Y:-72.27, Z:-12.31 [[ 9.75719843e-01 2.17280774e-01 2.75654492e-02 3.72971469e+02] [-2.17200926e-01 9.76109118e-01 -5.89473647e-03 -7.22653810e+01] [-2.81876992e-02 -2.35629751e-04 9.99602620e-01 -1.23076162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:373.00, Y:-72.27, Z:-12.31 [[ 9.75337929e-01 2.18956682e-01 2.78189914e-02 3.72999393e+02] [-2.18876077e-01 9.75734538e-01 -5.94762037e-03 -7.22700167e+01] [-2.84462220e-02 -2.87971993e-04 9.99595283e-01 -1.23088184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.454012739 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:373.03, Y:-72.28, Z:-12.31 [[ 9.75345158e-01 2.18924430e-01 2.78193564e-02 3.73028080e+02] [-2.18843862e-01 9.75741774e-01 -5.94591267e-03 -7.22760601e+01] [-2.84462137e-02 -2.88778253e-04 9.99595283e-01 -1.23097584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:373.06, Y:-72.28, Z:-12.31 [[ 9.75165427e-01 2.19752945e-01 2.75868286e-02 3.73056273e+02] [-2.19674074e-01 9.75555507e-01 -5.89531287e-03 -7.22808435e+01] [-2.82079949e-02 -3.11205739e-04 9.99602027e-01 -1.23114340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.514012739 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:373.08, Y:-72.28, Z:-12.31 [[ 9.75040680e-01 2.20290313e-01 2.77101101e-02 3.73083595e+02] [-2.20210988e-01 9.75434298e-01 -5.92041979e-03 -7.22838068e+01] [-2.83336029e-02 -3.29420588e-04 9.99598469e-01 -1.23126957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:373.11, Y:-72.29, Z:-12.31 [[ 9.74996158e-01 2.20416916e-01 2.82643868e-02 3.73110879e+02] [-2.20334486e-01 9.75405693e-01 -6.03719323e-03 -7.22884747e+01] [-2.88999433e-02 -3.41378948e-04 9.99582251e-01 -1.23128362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.574012739 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:373.14, Y:-72.29, Z:-12.31 [[ 9.74730541e-01 2.21444838e-01 2.93693008e-02 3.73138635e+02] [-2.21356353e-01 9.75172822e-01 -6.27148729e-03 -7.22921943e+01] [-3.00289325e-02 -3.88071136e-04 9.99548955e-01 -1.23124611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:373.17, Y:-72.30, Z:-12.31 [[ 9.74665519e-01 2.21700725e-01 2.95958471e-02 3.73167494e+02] [-2.21611051e-01 9.75114674e-01 -6.31779676e-03 -7.22964228e+01] [-3.02600049e-02 -4.01028111e-04 9.99541981e-01 -1.23124797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.634012739 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:373.20, Y:-72.30, Z:-12.31 [[ 9.74615394e-01 2.21723794e-01 3.10385831e-02 3.73196124e+02] [-2.21625222e-01 9.75109420e-01 -6.62423860e-03 -7.22969964e+01] [-3.17347661e-02 -4.22847968e-04 9.99496236e-01 -1.23141055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:373.22, Y:-72.30, Z:-12.32 [[ 9.74754132e-01 2.21057883e-01 3.14291985e-02 3.73223644e+02] [-2.20956528e-01 9.75260604e-01 -6.70573227e-03 -7.22999372e+01] [-3.21340141e-02 -4.08046334e-04 9.99483486e-01 -1.23154140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.694012739 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:373.25, Y:-72.30, Z:-12.32 [[ 9.75015913e-01 2.19939021e-01 3.11576040e-02 3.73252202e+02] [-2.19838905e-01 9.75513552e-01 -6.64571769e-03 -7.23033078e+01] [-3.18563176e-02 -3.69973043e-04 9.99492390e-01 -1.23163406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:373.28, Y:-72.31, Z:-12.32 [[ 9.76215310e-01 2.14877589e-01 2.88321088e-02 3.73280258e+02] [-2.14789692e-01 9.76640971e-01 -6.14842287e-03 -7.23051563e+01] [-2.94797770e-02 -1.90655217e-04 9.99565359e-01 -1.23186741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.754012739 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:373.31, Y:-72.31, Z:-12.32 [[ 9.76981730e-01 2.11474284e-01 2.80236858e-02 3.73307615e+02] [-2.11389894e-01 9.77383558e-01 -5.97436934e-03 -7.23099458e+01] [-2.86533152e-02 -8.70742676e-05 9.99589406e-01 -1.23194563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:373.34, Y:-72.32, Z:-12.32 [[ 9.78572031e-01 2.03971993e-01 2.81461678e-02 3.73335142e+02] [-2.03883809e-01 9.78976715e-01 -5.99862166e-03 -7.23157841e+01] [-2.87779937e-02 1.31535472e-04 9.99585819e-01 -1.23194120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.814012739 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:373.36, Y:-72.32, Z:-12.32 [[ 9.79445533e-01 1.99672423e-01 2.85897048e-02 3.73363786e+02] [-1.99579655e-01 9.79862672e-01 -6.09142441e-03 -7.23214560e+01] [-2.92302740e-02 2.60294995e-04 9.99572670e-01 -1.23206589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:373.39, Y:-72.33, Z:-12.32 [[ 9.80134847e-01 1.96097614e-01 2.96885110e-02 3.73391312e+02] [-1.95995979e-01 9.80584306e-01 -6.32414607e-03 -7.23275889e+01] [-3.03522379e-02 3.79687170e-04 9.99539193e-01 -1.23211966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.874012739 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:373.42, Y:-72.33, Z:-12.32 [[ 9.80633945e-01 1.93394557e-01 3.09129488e-02 3.73420320e+02] [-1.93283078e-01 9.81120948e-01 -6.58313295e-03 -7.23341700e+01] [-3.16024837e-02 4.80693754e-04 9.99500401e-01 -1.23211519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:373.45, Y:-72.34, Z:-12.32 [[ 9.80571001e-01 1.93810384e-01 3.02992967e-02 3.73448835e+02] [-1.93703508e-01 9.81038901e-01 -6.45174167e-03 -7.23397538e+01] [-3.09752032e-02 4.57310735e-04 9.99520049e-01 -1.23219158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.934012739 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:373.48, Y:-72.34, Z:-12.32 [[ 9.79990874e-01 1.97070137e-01 2.79508236e-02 3.73477495e+02] [-1.96980540e-01 9.80389338e-01 -5.95077634e-03 -7.23440270e+01] [-2.85754098e-02 3.25938171e-04 9.99591586e-01 -1.23232836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:373.51, Y:-72.35, Z:-12.32 [[ 9.79562137e-01 1.99324937e-01 2.69738505e-02 3.73505485e+02] [-1.99242382e-01 9.79933420e-01 -5.74162581e-03 -7.23499747e+01] [-2.75770267e-02 2.49945038e-04 9.99619650e-01 -1.23245429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.994012739 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:373.53, Y:-72.36, Z:-12.33 [[ 9.79153729e-01 2.01315408e-01 2.70200087e-02 3.73533414e+02] [-2.01233362e-01 9.79526452e-01 -5.75019199e-03 -7.23568879e+01] [-2.76244155e-02 1.92994731e-04 9.99618354e-01 -1.23261833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:373.56, Y:-72.36, Z:-12.33 [[ 9.78942832e-01 2.02137875e-01 2.84817600e-02 3.73561540e+02] [-2.02047100e-01 9.79357059e-01 -6.05981267e-03 -7.23647477e+01] [-2.91187303e-02 1.77553175e-04 9.99575944e-01 -1.23272074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05401273900003 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:373.59, Y:-72.37, Z:-12.33 [[ 9.78992771e-01 2.01813125e-01 2.90622942e-02 3.73588411e+02] [-2.01718510e-01 9.79424028e-01 -6.18191702e-03 -7.23714273e+01] [-2.97119012e-02 1.89649400e-04 9.99558486e-01 -1.23277680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:373.62, Y:-72.38, Z:-12.33 [[ 9.79207128e-01 2.00818318e-01 2.87298268e-02 3.73615294e+02] [-2.00725479e-01 9.79628479e-01 -6.10945617e-03 -7.23819586e+01] [-2.93714472e-02 2.15614803e-04 9.99568543e-01 -1.23291573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11401273900003 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:373.64, Y:-72.39, Z:-12.33 [[ 9.79303661e-01 2.00410930e-01 2.82807141e-02 3.73644060e+02] [-2.00320842e-01 9.79711901e-01 -6.01256030e-03 -7.23905636e+01] [-2.89119350e-02 2.22905854e-04 9.99581938e-01 -1.23301831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:373.67, Y:-72.40, Z:-12.33 [[ 9.79173661e-01 2.01044754e-01 2.82833637e-02 3.73673180e+02] [-2.00954933e-01 9.79582036e-01 -6.01243343e-03 -7.23983385e+01] [-2.89146432e-02 2.03534982e-04 9.99581864e-01 -1.23313282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.174012739 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:373.70, Y:-72.40, Z:-12.33 [[ 9.77908976e-01 2.06955421e-01 2.93851650e-02 3.73700189e+02] [-2.06861149e-01 9.78350373e-01 -6.24597699e-03 -7.24043216e+01] [-3.00416259e-02 2.93479780e-05 9.99548648e-01 -1.23313501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:373.73, Y:-72.41, Z:-12.33 [[ 9.76987898e-01 2.11270551e-01 2.93155378e-02 3.73727888e+02] [-2.11178724e-01 9.77427615e-01 -6.22921058e-03 -7.24104125e+01] [-2.99698650e-02 -1.04954535e-04 9.99550797e-01 -1.23322605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.234012739 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:373.76, Y:-72.42, Z:-12.33 [[ 9.76053185e-01 2.15662191e-01 2.84604744e-02 3.73755318e+02] [-2.15577547e-01 9.76468005e-01 -6.04620193e-03 -7.24164016e+01] [-2.90946798e-02 -2.34024604e-04 9.99576633e-01 -1.23340098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:373.78, Y:-72.42, Z:-12.34 [[ 9.74459937e-01 2.23005752e-01 2.63868581e-02 3.73782706e+02] [-2.22935721e-01 9.74817038e-01 -5.60422699e-03 -7.24213891e+01] [-2.69721337e-02 -4.21478544e-04 9.99636097e-01 -1.23353661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.294012739 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:373.81, Y:-72.43, Z:-12.34 [[ 9.73981297e-01 2.25114383e-01 2.61524057e-02 3.73810065e+02] [-2.25046395e-01 9.74332226e-01 -5.55277064e-03 -7.24260778e+01] [-2.67311402e-02 -4.77209885e-04 9.99642545e-01 -1.23367529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:373.84, Y:-72.43, Z:-12.34 [[ 9.73613168e-01 2.26552658e-01 2.74097187e-02 3.73838205e+02] [-2.26478603e-01 9.73998767e-01 -5.81764427e-03 -7.24299570e+01] [-2.80150350e-02 -5.43579739e-04 9.99607354e-01 -1.23380091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.354012739 meters Centerline goodness : 0.991277 Centerline is valid? [True, True] Translation: X:373.87, Y:-72.44, Z:-12.34 [[ 9.73774711e-01 2.25753147e-01 2.82547233e-02 3.73865987e+02] [-2.25674180e-01 9.74184390e-01 -5.99483097e-03 -7.24354485e+01] [-2.88786623e-02 -5.38746705e-04 9.99582779e-01 -1.23383202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:373.89, Y:-72.44, Z:-12.34 [[ 9.74224751e-01 2.23670384e-01 2.92864127e-02 3.73893056e+02] [-2.23584658e-01 9.74664718e-01 -6.21189229e-03 -7.24411147e+01] [-2.99338495e-02 -4.96213353e-04 9.99551759e-01 -1.23383435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.414012739 meters Centerline goodness : 0.992064 Centerline is valid? [True, True] Translation: X:373.92, Y:-72.45, Z:-12.34 [[ 9.75676562e-01 2.17174053e-01 2.98442112e-02 3.73920686e+02] [-2.17082042e-01 9.76132849e-01 -6.32840303e-03 -7.24463783e+01] [-3.05062798e-02 -3.04167809e-04 9.99534529e-01 -1.23400244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:373.95, Y:-72.45, Z:-12.34 [[ 9.76393199e-01 2.14030338e-01 2.91090406e-02 3.73949066e+02] [-2.13941459e-01 9.76826993e-01 -6.17081122e-03 -7.24524381e+01] [-2.97552374e-02 -2.02492499e-04 9.99557194e-01 -1.23407803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.474012739 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:373.98, Y:-72.46, Z:-12.34 [[ 9.77631905e-01 2.08445407e-01 2.80422897e-02 3.73976431e+02] [-2.08360659e-01 9.78034003e-01 -5.94343330e-03 -7.24592883e+01] [-2.86651942e-02 -3.24199460e-05 9.99589068e-01 -1.23435004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:374.00, Y:-72.47, Z:-12.34 [[ 9.78108726e-01 2.06265968e-01 2.75258274e-02 3.74004114e+02] [-2.06183497e-01 9.78495963e-01 -5.83233795e-03 -7.24666142e+01] [-2.81369238e-02 2.92892882e-05 9.99604078e-01 -1.23447187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.534012739 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:374.03, Y:-72.47, Z:-12.34 [[ 9.78587584e-01 2.03959731e-01 2.76905751e-02 3.74032420e+02] [-2.03875382e-01 9.78979274e-01 -5.86593962e-03 -7.24735234e+01] [-2.83049145e-02 9.49091140e-05 9.99599331e-01 -1.23449071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:374.06, Y:-72.48, Z:-12.34 [[ 9.79260053e-01 2.00590324e-01 2.85179134e-02 3.74059286e+02] [-2.00499469e-01 9.79675193e-01 -6.03984448e-03 -7.24811800e+01] [-2.91498266e-02 1.96751925e-04 9.99575034e-01 -1.23450000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.594012739 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:374.09, Y:-72.49, Z:-12.35 [[ 9.79469396e-01 1.99494367e-01 2.90120728e-02 3.74088508e+02] [-1.99399908e-01 9.79898946e-01 -6.14269570e-03 -7.24884921e+01] [-2.96543327e-02 2.31577793e-04 9.99560187e-01 -1.23458470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:374.12, Y:-72.50, Z:-12.35 [[ 9.79588488e-01 1.98892212e-01 2.91252898e-02 3.74117172e+02] [-1.98796770e-01 9.80021339e-01 -6.16591249e-03 -7.24958688e+01] [-2.97697575e-02 2.50043347e-04 9.99556751e-01 -1.23470300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.654012739 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:374.14, Y:-72.50, Z:-12.35 [[ 9.79909091e-01 1.97305820e-01 2.91305114e-02 3.74144944e+02] [-1.97209653e-01 9.80341943e-01 -6.16670697e-03 -7.25037776e+01] [-2.97745893e-02 2.97994180e-04 9.99556594e-01 -1.23493332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:374.17, Y:-72.51, Z:-12.35 [[ 9.80045643e-01 1.96663588e-01 2.88785612e-02 3.74173987e+02] [-1.96568828e-01 9.80470976e-01 -6.11237017e-03 -7.25114882e+01] [-2.95166718e-02 3.13776827e-04 9.99564239e-01 -1.23512025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.714012739 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:374.20, Y:-72.52, Z:-12.35 [[ 9.80198431e-01 1.96142163e-01 2.71898310e-02 3.74201572e+02] [-1.96057978e-01 9.80575421e-01 -5.75441208e-03 -7.25217099e+01] [-2.77903628e-02 3.09682394e-04 9.99613725e-01 -1.23514421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters Centerline goodness : 0.990654 Centerline is valid? [True, True] Translation: X:374.23, Y:-72.53, Z:-12.35 [[ 9.80171284e-01 1.96283645e-01 2.71474635e-02 3.74229862e+02] [-1.96199803e-01 9.80547112e-01 -5.74448350e-03 -7.25292858e+01] [-2.77469151e-02 3.04250766e-04 9.99614934e-01 -1.23518814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.774012739 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:374.26, Y:-72.54, Z:-12.35 [[ 9.80073781e-01 1.96759528e-01 2.72226402e-02 3.74257588e+02] [-1.96675420e-01 9.80451734e-01 -5.75982737e-03 -7.25357769e+01] [-2.78237857e-02 2.91031594e-04 9.99612801e-01 -1.23519827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters Centerline goodness : 0.990166 Centerline is valid? [True, True] Translation: X:374.29, Y:-72.54, Z:-12.35 [[ 9.79627710e-01 1.98963380e-01 2.72602988e-02 3.74285036e+02] [-1.98879916e-01 9.80006899e-01 -5.76693266e-03 -7.25437375e+01] [-2.78626893e-02 2.27921099e-04 9.99611734e-01 -1.23544871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.834012739 meters Centerline goodness : 0.990520 Centerline is valid? [True, True] Translation: X:374.31, Y:-72.55, Z:-12.36 [[ 9.79352529e-01 2.00323403e-01 2.71874645e-02 3.74314198e+02] [-2.00240945e-01 9.79729809e-01 -5.75022654e-03 -7.25512763e+01] [-2.77882744e-02 1.87455325e-04 9.99613814e-01 -1.23560372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters Centerline goodness : 0.989894 Centerline is valid? [True, True] Translation: X:374.34, Y:-72.56, Z:-12.36 [[ 9.78572157e-01 2.04190765e-01 2.65078163e-02 3.74342139e+02] [-2.04113811e-01 9.78931114e-01 -5.60592691e-03 -7.25577631e+01] [-2.70940047e-02 7.51925729e-05 9.99632887e-01 -1.23572043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.894012739 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:374.37, Y:-72.56, Z:-12.36 [[ 9.78279614e-01 2.05633281e-01 2.61524513e-02 3.74370880e+02] [-2.05558918e-01 9.78629119e-01 -5.52980235e-03 -7.25638556e+01] [-2.67306618e-02 3.38233120e-05 9.99642671e-01 -1.23584428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:374.40, Y:-72.57, Z:-12.36 [[ 9.78076057e-01 2.06583257e-01 2.62789592e-02 3.74398787e+02] [-2.06508530e-01 9.78429025e-01 -5.55599103e-03 -7.25707213e+01] [-2.68598712e-02 7.35254630e-06 9.99639209e-01 -1.23593247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.954012739 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:374.43, Y:-72.58, Z:-12.36 [[ 9.77832935e-01 2.07600205e-01 2.72929684e-02 3.74426385e+02] [-2.07520023e-01 9.78213757e-01 -5.76937629e-03 -7.25799759e+01] [-2.78960808e-02 -2.23512836e-05 9.99610828e-01 -1.23592184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:374.46, Y:-72.59, Z:-12.36 [[ 9.77728842e-01 2.08081651e-01 2.73557885e-02 3.74455195e+02] [-2.08001315e-01 9.78111459e-01 -5.78165619e-03 -7.25868716e+01] [-2.79600667e-02 -3.71479812e-05 9.99609040e-01 -1.23596886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.014012739 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:374.48, Y:-72.59, Z:-12.36 [[ 9.77163622e-01 2.10599297e-01 2.82699855e-02 3.74484017e+02] [-2.10514574e-01 9.77572464e-01 -5.97419902e-03 -7.25943319e+01] [-2.88941215e-02 -1.13473985e-04 9.99582471e-01 -1.23602275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:374.51, Y:-72.60, Z:-12.36 [[ 9.76770176e-01 2.12366922e-01 2.86411132e-02 3.74514067e+02] [-2.12280741e-01 9.77189983e-01 -6.05185521e-03 -7.26017179e+01] [-2.92730228e-02 -1.68685055e-04 9.99571439e-01 -1.23605091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.074012739 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:374.54, Y:-72.61, Z:-12.36 [[ 9.76212238e-01 2.14870400e-01 2.89892613e-02 3.74542558e+02] [-2.14783211e-01 9.76642540e-01 -6.12550671e-03 -7.26078397e+01] [-2.96283358e-02 -2.46612009e-04 9.99560954e-01 -1.23608701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:374.57, Y:-72.61, Z:-12.36 [[ 9.74757906e-01 2.21139666e-01 3.07290367e-02 3.74570948e+02] [-2.21044843e-01 9.75242038e-01 -6.49192083e-03 -7.26108249e+01] [-3.14038695e-02 -4.64443936e-04 9.99506669e-01 -1.23606327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.134012739 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:374.60, Y:-72.62, Z:-12.36 [[ 9.73924429e-01 2.24621221e-01 3.18828205e-02 3.74599832e+02] [-2.24521057e-01 9.74445969e-01 -6.73407233e-03 -7.26157804e+01] [-3.25807015e-02 -5.99887002e-04 9.99468928e-01 -1.23615045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:374.63, Y:-72.62, Z:-12.36 [[ 9.72731085e-01 2.29653959e-01 3.24544983e-02 3.74626928e+02] [-2.29552994e-01 9.73272031e-01 -6.85397639e-03 -7.26204696e+01] [-3.31610983e-02 -7.82951355e-04 9.99449713e-01 -1.23622993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.194012739 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:374.66, Y:-72.62, Z:-12.36 [[ 9.72396811e-01 2.31249505e-01 3.11144481e-02 3.74656422e+02] [-2.31157580e-01 9.72894146e-01 -6.56916344e-03 -7.26249845e+01] [-3.17901802e-02 -8.04506966e-04 9.99494241e-01 -1.23633174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:374.68, Y:-72.63, Z:-12.36 [[ 9.72201138e-01 2.32267010e-01 2.96139069e-02 3.74684287e+02] [-2.32184230e-01 9.72651736e-01 -6.25172770e-03 -7.26279377e+01] [-3.02560881e-02 -7.97945402e-04 9.99541861e-01 -1.23648325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.254012739 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:374.71, Y:-72.63, Z:-12.37 [[ 9.72235108e-01 2.32316248e-01 2.80723272e-02 3.74713706e+02] [-2.32241931e-01 9.72640008e-01 -5.92463148e-03 -7.26290968e+01] [-2.86806567e-02 -7.59436753e-04 9.99588337e-01 -1.23663881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:374.74, Y:-72.63, Z:-12.37 [[ 9.72387772e-01 2.31697536e-01 2.78975433e-02 3.74741345e+02] [-2.31623925e-01 9.72787596e-01 -5.88643836e-03 -7.26335008e+01] [-2.85022574e-02 -7.37837797e-04 9.99593456e-01 -1.23666958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.314012739 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:374.77, Y:-72.64, Z:-12.37 [[ 9.72849202e-01 2.29668267e-01 2.85817797e-02 3.74768758e+02] [-2.29590176e-01 9.73268720e-01 -6.02904229e-03 -7.26368385e+01] [-2.92024318e-02 -6.96746851e-04 9.99573275e-01 -1.23674528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:374.80, Y:-72.64, Z:-12.37 [[ 9.72862133e-01 2.29613442e-01 2.85821217e-02 3.74796654e+02] [-2.29535375e-01 9.73281656e-01 -6.02742044e-03 -7.26425893e+01] [-2.92024315e-02 -6.96758909e-04 9.99573275e-01 -1.23683660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.374012739 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:374.82, Y:-72.65, Z:-12.37 [[ 9.73119264e-01 2.28500652e-01 2.87462928e-02 3.74824355e+02] [-2.28421250e-01 9.73543530e-01 -6.06033839e-03 -7.26465738e+01] [-2.93705586e-02 -6.68832095e-04 9.99568368e-01 -1.23698015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:374.85, Y:-72.65, Z:-12.37 [[ 9.73299175e-01 2.27720673e-01 2.88446159e-02 3.74852542e+02] [-2.27640435e-01 9.73726283e-01 -6.07935039e-03 -7.26502076e+01] [-2.94711544e-02 -6.49174204e-04 9.99565420e-01 -1.23710223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.434012739 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:374.88, Y:-72.65, Z:-12.37 [[ 9.73393176e-01 2.27347708e-01 2.86137065e-02 3.74880692e+02] [-2.27268630e-01 9.73813441e-01 -6.02929834e-03 -7.26530421e+01] [-2.92351592e-02 -6.34120020e-04 9.99572360e-01 -1.23728777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:374.91, Y:-72.66, Z:-12.37 [[ 9.73353436e-01 2.27574969e-01 2.81553210e-02 3.74908443e+02] [-2.27498548e-01 9.73760357e-01 -5.93100384e-03 -7.26581004e+01] [-2.87662834e-02 -6.32331674e-04 9.99585965e-01 -1.23744026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.494012739 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:374.94, Y:-72.66, Z:-12.37 [[ 9.73191491e-01 2.28346771e-01 2.74968039e-02 3.74936150e+02] [-2.28274240e-01 9.73579653e-01 -5.79056179e-03 -7.26621253e+01] [-2.80925849e-02 -6.41486555e-04 9.99605120e-01 -1.23747389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:374.96, Y:-72.67, Z:-12.37 [[ 9.73087568e-01 2.28735606e-01 2.79393681e-02 3.74963342e+02] [-2.28660940e-01 9.73488356e-01 -5.88170683e-03 -7.26670848e+01] [-2.85440053e-02 -6.65226379e-04 9.99592316e-01 -1.23749355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55401273900003 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:374.99, Y:-72.67, Z:-12.38 [[ 9.73035301e-01 2.28865534e-01 2.86857336e-02 3.74991013e+02] [-2.28786944e-01 9.73457802e-01 -6.03666552e-03 -7.26726842e+01] [-2.93059359e-02 -6.89032689e-04 9.99570251e-01 -1.23753019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:375.02, Y:-72.68, Z:-12.37 [[ 9.73263674e-01 2.27548904e-01 3.12940455e-02 3.75018360e+02] [-2.27454755e-01 9.73766395e-01 -6.58351499e-03 -7.26784300e+01] [-3.19711615e-02 -7.10483480e-04 9.99488539e-01 -1.23745397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61401273900003 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:375.05, Y:-72.68, Z:-12.38 [[ 9.73408260e-01 2.26753338e-01 3.25466377e-02 3.75046517e+02] [-2.26651134e-01 9.73951957e-01 -6.84466078e-03 -7.26847146e+01] [-3.32509112e-02 -7.14083013e-04 9.99446780e-01 -1.23753111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:375.07, Y:-72.69, Z:-12.38 [[ 9.73806087e-01 2.24944398e-01 3.31922191e-02 3.75073098e+02] [-2.24837103e-01 9.74371373e-01 -6.97881315e-03 -7.26926889e+01] [-3.39113930e-02 -6.66831646e-04 9.99424621e-01 -1.23773992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.674012739 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:375.10, Y:-72.70, Z:-12.38 [[ 9.74234972e-01 2.23145546e-01 3.27457442e-02 3.75101355e+02] [-2.23040166e-01 9.74784955e-01 -6.88305391e-03 -7.26997240e+01] [-3.34559816e-02 -5.97904392e-04 9.99440013e-01 -1.23775393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:375.13, Y:-72.71, Z:-12.38 [[ 9.75117622e-01 2.19420425e-01 3.16275173e-02 3.75128700e+02] [-2.19320208e-01 9.75630294e-01 -6.64656797e-03 -7.27058827e+01] [-3.23151567e-02 -4.55368094e-04 9.99477625e-01 -1.23789876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.734012739 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:375.16, Y:-72.71, Z:-12.38 [[ 9.75456713e-01 2.18041326e-01 3.06949620e-02 3.75156769e+02] [-2.17946312e-01 9.75939455e-01 -6.44859918e-03 -7.27129015e+01] [-3.13624856e-02 -3.99524408e-04 9.99507996e-01 -1.23797047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:375.19, Y:-72.72, Z:-12.38 [[ 9.75563561e-01 2.17663097e-01 2.99752257e-02 3.75185173e+02] [-2.17572351e-01 9.76023889e-01 -6.29604442e-03 -7.27202969e+01] [-3.06269529e-02 -3.79588809e-04 9.99530813e-01 -1.23801258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.794012739 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:375.21, Y:-72.73, Z:-12.38 [[ 9.75385947e-01 2.18542530e-01 2.93499215e-02 3.75212462e+02] [-2.18455970e-01 9.75827343e-01 -6.16333674e-03 -7.27263109e+01] [-2.99874071e-02 -4.00033516e-04 9.99550197e-01 -1.23807977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:375.24, Y:-72.73, Z:-12.38 [[ 9.75214885e-01 2.19240077e-01 2.98281206e-02 3.75240886e+02] [-2.19151055e-01 9.75670848e-01 -6.26191250e-03 -7.27309588e+01] [-3.04752899e-02 -4.30153819e-04 9.99535428e-01 -1.23814638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.854012739 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:375.27, Y:-72.73, Z:-12.38 [[ 9.74351679e-01 2.22826033e-01 3.14223679e-02 3.75269554e+02] [-2.22729152e-01 9.74858057e-01 -6.59500459e-03 -7.27336021e+01] [-3.21018873e-02 -5.72823562e-04 9.99484437e-01 -1.23816384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:375.30, Y:-72.74, Z:-12.38 [[ 9.73781807e-01 2.25241117e-01 3.18658447e-02 3.75297288e+02] [-2.25142824e-01 9.74302827e-01 -6.68649162e-03 -7.27375294e+01] [-3.25530554e-02 -6.63182378e-04 9.99469789e-01 -1.23820014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.914012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:375.33, Y:-72.74, Z:-12.38 [[ 9.73275068e-01 2.27479495e-01 3.14439484e-02 3.75325623e+02] [-2.27385016e-01 9.73782597e-01 -6.59607631e-03 -7.27412238e+01] [-3.21200418e-02 -7.30086082e-04 9.99483752e-01 -1.23830380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:375.35, Y:-72.74, Z:-12.38 [[ 9.72658297e-01 2.30292500e-01 3.00200124e-02 3.75353845e+02] [-2.30207766e-01 9.73121136e-01 -6.29599381e-03 -7.27414167e+01] [-3.06630287e-02 -7.86989366e-04 9.99529469e-01 -1.23843517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.974012739 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:375.38, Y:-72.74, Z:-12.39 [[ 9.72575956e-01 2.30667105e-01 2.98110023e-02 3.75381610e+02] [-2.30583777e-01 9.73032402e-01 -6.25037364e-03 -7.27441175e+01] [-3.04488267e-02 -7.94970389e-04 9.99536011e-01 -1.23861023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:375.41, Y:-72.74, Z:-12.39 [[ 9.73132112e-01 2.28261426e-01 3.01763817e-02 3.75410226e+02] [-2.28174950e-01 9.73599603e-01 -6.32489729e-03 -7.27446382e+01] [-3.08234433e-02 -7.30533742e-04 9.99524578e-01 -1.23873095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.034012739 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:375.44, Y:-72.75, Z:-12.39 [[ 9.73720287e-01 2.25821383e-01 2.95551462e-02 3.75438774e+02] [-2.25737413e-01 9.74168512e-01 -6.19119448e-03 -7.27469999e+01] [-3.01897969e-02 -6.43210586e-04 9.99543977e-01 -1.23883879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:375.47, Y:-72.75, Z:-12.39 [[ 9.75385876e-01 2.18759063e-01 2.76923430e-02 3.75467564e+02] [-2.18682551e-01 9.75778824e-01 -5.79907393e-03 -7.27463110e+01] [-2.82902019e-02 -3.99497413e-04 9.99599672e-01 -1.23897116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.094012739 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:375.50, Y:-72.75, Z:-12.39 [[ 9.76443191e-01 2.13997044e-01 2.76398316e-02 3.75495426e+02] [-2.13918959e-01 9.76834273e-01 -5.78641975e-03 -7.27505453e+01] [-2.82378115e-02 -2.62573840e-04 9.99601199e-01 -1.23908159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:375.52, Y:-72.76, Z:-12.39 [[ 9.77494027e-01 2.09078516e-01 2.81353927e-02 3.75521820e+02] [-2.08995613e-01 9.77898849e-01 -5.88857382e-03 -7.27559000e+01] [-2.87447424e-02 -1.24127898e-04 9.99586777e-01 -1.23914870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.154012739 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:375.55, Y:-72.76, Z:-12.39 [[ 9.79021348e-01 2.01506163e-01 3.02070652e-02 3.75549580e+02] [-2.01407092e-01 9.79487241e-01 -6.31881352e-03 -7.27612550e+01] [-3.08607149e-02 1.02336161e-04 9.99523689e-01 -1.23904803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:375.58, Y:-72.77, Z:-12.39 [[ 9.79495923e-01 1.99114229e-01 3.06799573e-02 3.75578134e+02] [-1.99010914e-01 9.79976271e-01 -6.41594609e-03 -7.27655316e+01] [-3.13431363e-02 1.78746689e-04 9.99508667e-01 -1.23913611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.214012739 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:375.61, Y:-72.77, Z:-12.39 [[ 9.80098868e-01 1.96249531e-01 2.98718896e-02 3.75606147e+02] [-1.96150299e-01 9.80553952e-01 -6.24558689e-03 -7.27680260e+01] [-3.05166929e-02 2.61912565e-04 9.99534223e-01 -1.23927125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:375.63, Y:-72.77, Z:-12.39 [[ 9.80299589e-01 1.95373986e-01 2.90124360e-02 3.75633593e+02] [-1.95280050e-01 9.80728774e-01 -6.06421997e-03 -7.27732430e+01] [-2.96381216e-02 2.79202396e-04 9.99560655e-01 -1.23940137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.274012739 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:375.66, Y:-72.78, Z:-12.39 [[ 9.80450324e-01 1.94776470e-01 2.79157520e-02 3.75662049e+02] [-1.94689304e-01 9.80847616e-01 -5.83343543e-03 -7.27786625e+01] [-2.85173148e-02 2.84495331e-04 9.99593258e-01 -1.23945518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:375.69, Y:-72.78, Z:-12.40 [[ 9.80860959e-01 1.93017009e-01 2.56166806e-02 3.75689030e+02] [-1.92943039e-01 9.81195363e-01 -5.35197715e-03 -7.27840149e+01] [-2.61679908e-02 3.06985247e-04 9.99657512e-01 -1.23964941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.334012739 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:375.72, Y:-72.79, Z:-12.40 [[ 9.81211210e-01 1.91302577e-01 2.50576582e-02 3.75716792e+02] [-1.91231281e-01 9.81531052e-01 -5.23365880e-03 -7.27899982e+01] [-2.55960820e-02 3.43516613e-04 9.99672308e-01 -1.23980870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:375.74, Y:-72.80, Z:-12.40 [[ 9.81953314e-01 1.87099899e-01 2.75919571e-02 3.75743394e+02] [-1.87011829e-01 9.82340766e-01 -5.76157590e-03 -7.27991539e+01] [-2.81826945e-02 4.97576208e-04 9.99602665e-01 -1.23986997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.394012739 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:375.77, Y:-72.81, Z:-12.40 [[ 9.82289969e-01 1.85112554e-01 2.89785853e-02 3.75770365e+02] [-1.85014595e-01 9.82717154e-01 -6.04933538e-03 -7.28065932e+01] [-2.95975608e-02 5.80740240e-04 9.99561728e-01 -1.23983840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:375.80, Y:-72.81, Z:-12.40 [[ 9.82530873e-01 1.83770977e-01 2.93481046e-02 3.75797826e+02] [-1.83669962e-01 9.82968888e-01 -6.12457577e-03 -7.28141781e+01] [-2.99737931e-02 6.27219503e-04 9.99550488e-01 -1.23989435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.454012739 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:375.83, Y:-72.82, Z:-12.40 [[ 9.82616990e-01 1.83508392e-01 2.80806337e-02 3.75825073e+02] [-1.83415845e-01 9.83017956e-01 -5.85878116e-03 -7.28241203e+01] [-2.86789027e-02 6.06504729e-04 9.99588492e-01 -1.24005270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:375.85, Y:-72.83, Z:-12.40 [[ 9.82359894e-01 1.84952110e-01 2.75999344e-02 3.75851686e+02] [-1.84863299e-01 9.82747379e-01 -5.75762288e-03 -7.28325250e+01] [-2.81886477e-02 5.53842876e-04 9.99602468e-01 -1.24015151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.514012739 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:375.88, Y:-72.84, Z:-12.40 [[ 9.81318193e-01 1.90355758e-01 2.79157568e-02 3.75879752e+02] [-1.90267134e-01 9.81715093e-01 -5.82182136e-03 -7.28433317e+01] [-2.85135370e-02 4.01608190e-04 9.99593326e-01 -1.24020131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:375.91, Y:-72.85, Z:-12.40 [[ 9.80658698e-01 1.93709301e-01 2.80218771e-02 3.75907206e+02] [-1.93621388e-01 9.81058925e-01 -5.84330866e-03 -7.28512986e+01] [-2.86230158e-02 3.04656720e-04 9.99590231e-01 -1.24026798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.574012739 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:375.93, Y:-72.86, Z:-12.40 [[ 9.79984078e-01 1.97050063e-01 2.83280719e-02 3.75934800e+02] [-1.96961641e-01 9.80393405e-01 -5.90615006e-03 -7.28595755e+01] [-2.89364621e-02 2.08389473e-04 9.99581231e-01 -1.24033580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:375.96, Y:-72.87, Z:-12.40 [[ 9.78432073e-01 2.04453282e-01 2.94878654e-02 3.75961913e+02] [-2.04360870e-01 9.78876323e-01 -6.14649134e-03 -7.28678535e+01] [-3.01216436e-02 -1.22415628e-05 9.99546240e-01 -1.24037514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.634012739 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:375.99, Y:-72.87, Z:-12.40 [[ 9.77519947e-01 2.08766152e-01 2.95202762e-02 3.75990158e+02] [-2.08675556e-01 9.77965578e-01 -6.15144233e-03 -7.28737503e+01] [-3.01540269e-02 -1.47002443e-04 9.99545253e-01 -1.24044700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:376.02, Y:-72.88, Z:-12.41 [[ 9.76063264e-01 2.15611493e-01 2.84989108e-02 3.76017724e+02] [-2.15530009e-01 9.76479167e-01 -5.93730929e-03 -7.28796253e+01] [-2.91087448e-02 -3.47181029e-04 9.99576190e-01 -1.24066908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.694012739 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:376.05, Y:-72.89, Z:-12.41 [[ 9.75618277e-01 2.17697459e-01 2.78710180e-02 3.76045943e+02] [-2.17620425e-01 9.76016216e-01 -5.80481373e-03 -7.28863595e+01] [-2.84662588e-02 -4.02020441e-04 9.99594673e-01 -1.24079225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:376.07, Y:-72.89, Z:-12.41 [[ 9.75316429e-01 2.19096877e-01 2.74667411e-02 3.76072595e+02] [-2.19022653e-01 9.75703012e-01 -5.71932119e-03 -7.28926840e+01] [-2.80524674e-02 -4.37690589e-04 9.99606356e-01 -1.24089789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.754012739 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:376.10, Y:-72.90, Z:-12.41 [[ 9.75173274e-01 2.19782460e-01 2.70694569e-02 3.76100530e+02] [-2.19710683e-01 9.75548802e-01 -5.63472536e-03 -7.28984543e+01] [-2.76459900e-02 -4.52615287e-04 9.99617674e-01 -1.24101773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:376.13, Y:-72.90, Z:-12.41 [[ 9.75257514e-01 2.19163049e-01 2.89885910e-02 3.76127325e+02] [-2.19080504e-01 9.75688136e-01 -6.03268531e-03 -7.29042405e+01] [-2.96059660e-02 -4.67413448e-04 9.99561538e-01 -1.24101457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.814012739 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:376.16, Y:-72.91, Z:-12.41 [[ 9.75345338e-01 2.18644484e-01 2.99342950e-02 3.76155778e+02] [-2.18556279e-01 9.75804473e-01 -6.22755963e-03 -7.29091528e+01] [-3.05716405e-02 -4.68306882e-04 9.99532468e-01 -1.24101049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:376.18, Y:-72.91, Z:-12.41 [[ 9.75464241e-01 2.18091075e-01 3.00964886e-02 3.76183614e+02] [-2.18001693e-01 9.75928315e-01 -6.25983999e-03 -7.29130261e+01] [-3.07372306e-02 -4.54835398e-04 9.99527396e-01 -1.24109438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.874012739 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:376.21, Y:-72.92, Z:-12.41 [[ 9.75310903e-01 2.18949058e-01 2.88088973e-02 3.76211571e+02] [-2.18867585e-01 9.75736181e-01 -5.99036930e-03 -7.29152911e+01] [-2.94214692e-02 -4.62861304e-04 9.99566988e-01 -1.24127786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:376.24, Y:-72.92, Z:-12.41 [[ 9.75117769e-01 2.19900633e-01 2.80899894e-02 3.76239744e+02] [-2.19823623e-01 9.75522158e-01 -5.83905331e-03 -7.29200870e+01] [-2.86864186e-02 -4.81078609e-04 9.99588344e-01 -1.24139179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.934012739 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:376.27, Y:-72.92, Z:-12.42 [[ 9.75038772e-01 2.20272871e-01 2.79151479e-02 3.76267704e+02] [-2.20197005e-01 9.75438169e-01 -5.80145485e-03 -7.29241731e+01] [-2.85074038e-02 -4.90188541e-04 9.99593461e-01 -1.24151525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:376.30, Y:-72.93, Z:-12.42 [[ 9.75024487e-01 2.20272100e-01 2.84156787e-02 3.76296119e+02] [-2.20193550e-01 9.75438338e-01 -5.90335574e-03 -7.29258324e+01] [-2.90180869e-02 -5.01032748e-04 9.99578761e-01 -1.24154708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.994012739 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:376.32, Y:-72.93, Z:-12.42 [[ 9.75098748e-01 2.19895907e-01 2.87788433e-02 3.76324369e+02] [-2.19815223e-01 9.75523215e-01 -5.97708474e-03 -7.29294272e+01] [-2.93887662e-02 -4.97780006e-04 9.99567933e-01 -1.24161507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:376.35, Y:-72.93, Z:-12.42 [[ 9.75463165e-01 2.18094095e-01 3.01094714e-02 3.76351981e+02] [-2.18004986e-01 9.75927635e-01 -6.25118839e-03 -7.29322979e+01] [-3.07480125e-02 -4.66210888e-04 9.99527059e-01 -1.24164685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05401273900003 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:376.38, Y:-72.94, Z:-12.42 [[ 9.75618286e-01 2.17335906e-01 3.05624506e-02 3.76379698e+02] [-2.17243781e-01 9.76096768e-01 -6.34341429e-03 -7.29366405e+01] [-3.12105609e-02 -4.50751335e-04 9.99512730e-01 -1.24172178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:376.41, Y:-72.94, Z:-12.42 [[ 9.75636912e-01 2.17248636e-01 3.05883436e-02 3.76407160e+02] [-2.17156379e-01 9.76116196e-01 -6.34663498e-03 -7.29404753e+01] [-3.12365754e-02 -4.50442593e-04 9.99511918e-01 -1.24181801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11401273900003 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:376.43, Y:-72.94, Z:-12.42 [[ 9.75574129e-01 2.17683375e-01 2.94799471e-02 3.76434879e+02] [-2.17597942e-01 9.76019337e-01 -6.11468175e-03 -7.29406272e+01] [-3.01040630e-02 -4.49450505e-04 9.99546669e-01 -1.24182936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:376.46, Y:-72.94, Z:-12.42 [[ 9.75492964e-01 2.18016685e-01 2.97018944e-02 3.76462932e+02] [-2.17930190e-01 9.75944931e-01 -6.15825087e-03 -7.29430973e+01] [-3.03300147e-02 -4.65609086e-04 9.99539831e-01 -1.24193204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.174012739 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:376.49, Y:-72.94, Z:-12.42 [[ 9.75297473e-01 2.18669884e-01 3.12781402e-02 3.76490130e+02] [-2.18574372e-01 9.75798759e-01 -6.48276853e-03 -7.29428851e+01] [-3.19387566e-02 -5.13972069e-04 9.99489696e-01 -1.24197909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:376.52, Y:-72.95, Z:-12.42 [[ 9.75379170e-01 2.18237830e-01 3.17446843e-02 3.76518080e+02] [-2.18139303e-01 9.75895481e-01 -6.57686129e-03 -7.29460844e+01] [-3.24148139e-02 -5.09829805e-04 9.99474372e-01 -1.24196978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.234012739 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:376.55, Y:-72.95, Z:-12.42 [[ 9.75510018e-01 2.17528908e-01 3.25788142e-02 3.76546042e+02] [-2.17424814e-01 9.76053750e-01 -6.74737092e-03 -7.29491280e+01] [-3.32664220e-02 -5.01314698e-04 9.99446394e-01 -1.24198772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:376.57, Y:-72.95, Z:-12.42 [[ 9.75534418e-01 2.17419389e-01 3.25792792e-02 3.76573957e+02] [-2.17315309e-01 9.76078152e-01 -6.74512487e-03 -7.29547389e+01] [-3.32664436e-02 -4.99874672e-04 9.99446394e-01 -1.24207902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.294012739 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:376.60, Y:-72.96, Z:-12.42 [[ 9.75708524e-01 2.16591783e-01 3.28766781e-02 3.76601585e+02] [-2.16485453e-01 9.76262142e-01 -6.80288596e-03 -7.29575928e+01] [-3.35697054e-02 -4.79688716e-04 9.99436263e-01 -1.24216196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:376.63, Y:-72.96, Z:-12.42 [[ 9.76110261e-01 2.14759673e-01 3.29703163e-02 3.76629849e+02] [-2.14651769e-01 9.76666835e-01 -6.81994190e-03 -7.29598960e+01] [-3.36656630e-02 -4.20121465e-04 9.99433063e-01 -1.24232021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.354012739 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:376.66, Y:-72.96, Z:-12.42 [[ 9.76447258e-01 2.13229806e-01 3.29211475e-02 3.76656154e+02] [-2.13121440e-01 9.77002003e-01 -6.80724485e-03 -7.29640890e+01] [-3.36155345e-02 -3.69286780e-04 9.99434770e-01 -1.24246053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:376.68, Y:-72.97, Z:-12.43 [[ 9.77208640e-01 2.09833262e-01 3.21446022e-02 3.76684188e+02] [-2.09728221e-01 9.77737153e-01 -6.64331097e-03 -7.29669589e+01] [-3.28229595e-02 -2.49729343e-04 9.99461150e-01 -1.24263104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.414012739 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:376.71, Y:-72.97, Z:-12.43 [[ 9.77649477e-01 2.07924754e-01 3.11254844e-02 3.76711232e+02] [-2.07825375e-01 9.78144807e-01 -6.43041977e-03 -7.29709374e+01] [-3.17822743e-02 -1.81968915e-04 9.99494799e-01 -1.24277973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:376.74, Y:-72.98, Z:-12.43 [[ 9.78415389e-01 2.04612241e-01 2.89336671e-02 3.76737682e+02] [-2.04524987e-01 9.78843106e-01 -5.97525899e-03 -7.29753550e+01] [-2.95441317e-02 -7.13725530e-05 9.99563474e-01 -1.24297323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.474012739 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:376.76, Y:-72.98, Z:-12.43 [[ 9.78824447e-01 2.02749060e-01 2.82049846e-02 3.76764304e+02] [-2.02665441e-01 9.79230728e-01 -5.82242128e-03 -7.29820118e+01] [-2.87996780e-02 -1.70473519e-05 9.99585203e-01 -1.24309290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:376.79, Y:-72.99, Z:-12.43 [[ 9.79195593e-01 2.01010665e-01 2.77615465e-02 3.76791494e+02] [-2.00929024e-01 9.79589052e-01 -5.72851459e-03 -7.29894829e+01] [-2.83463995e-02 3.12358048e-05 9.99598160e-01 -1.24321614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.534012739 meters Centerline goodness : 0.991314 Centerline is valid? [True, True] Translation: X:376.82, Y:-73.00, Z:-12.43 [[ 9.79979947e-01 1.97185420e-01 2.75175150e-02 3.76818230e+02] [-1.97103755e-01 9.80366202e-01 -5.67617529e-03 -7.29983414e+01] [-2.80965007e-02 1.38732448e-04 9.99605206e-01 -1.24339457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:376.85, Y:-73.00, Z:-12.43 [[ 9.80195725e-01 1.96110373e-01 2.75147754e-02 3.76845921e+02] [-1.96028361e-01 9.80581814e-01 -5.67347802e-03 -7.30048829e+01] [-2.80931163e-02 1.67442576e-04 9.99605296e-01 -1.24339794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.594012739 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:376.87, Y:-73.01, Z:-12.44 [[ 9.80047658e-01 1.96974107e-01 2.66043140e-02 3.76872852e+02] [-1.96897775e-01 9.80408681e-01 -5.48488366e-03 -7.30116900e+01] [-2.71634805e-02 1.37117138e-04 9.99630995e-01 -1.24353843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:376.90, Y:-73.02, Z:-12.44 [[ 9.79853933e-01 1.98038480e-01 2.58269133e-02 3.76898723e+02] [-1.97966950e-01 9.80194241e-01 -5.32323558e-03 -7.30183457e+01] [-2.63695972e-02 1.03118055e-04 9.99652256e-01 -1.24366730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.654012739 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:376.93, Y:-73.03, Z:-12.44 [[ 9.79689400e-01 1.98855880e-01 2.57879392e-02 3.76925925e+02] [-1.98784924e-01 9.80028741e-01 -5.31234242e-03 -7.30252080e+01] [-2.63293121e-02 7.81920249e-05 9.99653321e-01 -1.24381309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:376.95, Y:-73.03, Z:-12.44 [[ 9.79227847e-01 2.00879026e-01 2.75761032e-02 3.76953259e+02] [-2.00798747e-01 9.79616056e-01 -5.67864433e-03 -7.30314110e+01] [-2.81547140e-02 2.34396891e-05 9.99603577e-01 -1.24369298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.714012739 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:376.98, Y:-73.04, Z:-12.44 [[ 9.78885280e-01 2.02406305e-01 2.85534066e-02 3.76980859e+02] [-2.02320945e-01 9.79301632e-01 -5.87777200e-03 -7.30359152e+01] [-2.91520958e-02 -2.32877151e-05 9.99574987e-01 -1.24367543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:377.01, Y:-73.04, Z:-12.44 [[ 9.78354403e-01 2.05121791e-01 2.73443543e-02 3.77008808e+02] [-2.05044620e-01 9.78736451e-01 -5.62702241e-03 -7.30399095e+01] [-2.79171412e-02 -1.01590578e-04 9.99610235e-01 -1.24387022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.774012739 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:377.04, Y:-73.04, Z:-12.44 [[ 9.78201264e-01 2.05919055e-01 2.68259085e-02 3.77035415e+02] [-2.05845136e-01 9.78569020e-01 -5.51838859e-03 -7.30446726e+01] [-2.73873443e-02 -1.23888076e-04 9.99624889e-01 -1.24398314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:377.06, Y:-73.05, Z:-12.44 [[ 9.78160856e-01 2.06097370e-01 2.69297982e-02 3.77063101e+02] [-2.06022999e-01 9.78531480e-01 -5.53776414e-03 -7.30496870e+01] [-2.74929739e-02 -1.31333698e-04 9.99621988e-01 -1.24407327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.834012739 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:377.09, Y:-73.05, Z:-12.44 [[ 9.78688731e-01 2.03542435e-01 2.71817061e-02 3.77089390e+02] [-2.03465737e-01 9.79066123e-01 -5.58752620e-03 -7.30536281e+01] [-2.77499863e-02 -6.20969460e-05 9.99614893e-01 -1.24418205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:377.12, Y:-73.06, Z:-12.44 [[ 9.79052754e-01 2.01753455e-01 2.74088952e-02 3.77115232e+02] [-2.01674836e-01 9.79436340e-01 -5.63179632e-03 -7.30597810e+01] [-2.79815024e-02 -1.38587610e-05 9.99608441e-01 -1.24426912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.894012739 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:377.14, Y:-73.07, Z:-12.44 [[ 9.79422643e-01 1.99720540e-01 2.90343257e-02 3.77141436e+02] [-1.99631503e-01 9.79852899e-01 -5.96316875e-03 -7.30685018e+01] [-2.96403355e-02 4.42964173e-05 9.99560628e-01 -1.24423323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:377.17, Y:-73.07, Z:-12.44 [[ 9.79534900e-01 1.99044703e-01 2.98761649e-02 3.77169144e+02] [-1.98950212e-01 9.79990409e-01 -6.13278453e-03 -7.30746171e+01] [-3.04990534e-02 6.34071428e-05 9.99534794e-01 -1.24428383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.954012739 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:377.20, Y:-73.08, Z:-12.44 [[ 9.79628426e-01 1.98551674e-01 3.00895171e-02 3.77197291e+02] [-1.98455663e-01 9.80090418e-01 -6.17436797e-03 -7.30800308e+01] [-3.07163785e-02 7.71513106e-05 9.99528138e-01 -1.24438736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:377.22, Y:-73.09, Z:-12.45 [[ 9.79909935e-01 1.97339611e-01 2.88720796e-02 3.77224772e+02] [-1.97250727e-01 9.80335180e-01 -5.92322063e-03 -7.30871416e+01] [-2.94732014e-02 1.09184048e-04 9.99565565e-01 -1.24457352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.014012739 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:377.25, Y:-73.10, Z:-12.45 [[ 9.80124083e-01 1.96372694e-01 2.81877240e-02 3.77252864e+02] [-1.96287613e-01 9.80529320e-01 -5.78148640e-03 -7.30951832e+01] [-2.87742159e-02 1.33672975e-04 9.99585928e-01 -1.24468097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:377.28, Y:-73.10, Z:-12.45 [[ 9.80262485e-01 1.95719453e-01 2.79169521e-02 3.77279753e+02] [-1.95635772e-01 9.80659917e-01 -5.72462641e-03 -7.31025985e+01] [-2.84974567e-02 1.50082020e-04 9.99593854e-01 -1.24471142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.074012739 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:377.31, Y:-73.11, Z:-12.45 [[ 9.80068803e-01 1.96416945e-01 2.97577633e-02 3.77306726e+02] [-1.96322243e-01 9.80520456e-01 -6.10014984e-03 -7.31090526e+01] [-3.03762685e-02 1.36455712e-04 9.99538525e-01 -1.24462095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:377.34, Y:-73.12, Z:-12.45 [[ 9.79800039e-01 1.97621494e-01 3.06207158e-02 3.77335014e+02] [-1.97521876e-01 9.80278397e-01 -6.27481413e-03 -7.31154475e+01] [-3.12568644e-02 9.98019078e-05 9.99511380e-01 -1.24471881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.134012739 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:377.36, Y:-73.12, Z:-12.45 [[ 9.79144192e-01 2.01013238e-01 2.95013294e-02 3.77363029e+02] [-2.00922352e-01 9.79588525e-01 -6.04405833e-03 -7.31215840e+01] [-3.01140995e-02 -9.47187155e-06 9.99546468e-01 -1.24485157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:377.39, Y:-73.13, Z:-12.45 [[ 9.78749267e-01 2.03148424e-01 2.79390641e-02 3.77390199e+02] [-2.03067815e-01 9.79147952e-01 -5.72273657e-03 -7.31257313e+01] [-2.85190424e-02 -7.24004919e-05 9.99593247e-01 -1.24498154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.194012739 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:377.42, Y:-73.13, Z:-12.45 [[ 9.78257462e-01 2.05609654e-01 2.71479042e-02 3.77417898e+02] [-2.05534537e-01 9.78634074e-01 -5.55911959e-03 -7.31297796e+01] [-2.77108727e-02 -1.41581706e-04 9.99615970e-01 -1.24512744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:377.45, Y:-73.14, Z:-12.45 [[ 9.77281968e-01 2.09969698e-01 2.88562149e-02 3.77445162e+02] [-2.09886794e-01 9.77707853e-01 -5.90665907e-03 -7.31351593e+01] [-2.94531674e-02 -2.84067025e-04 9.99566121e-01 -1.24517217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.254012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:377.47, Y:-73.14, Z:-12.45 [[ 9.77118652e-01 2.10502441e-01 3.04608447e-02 3.77471921e+02] [-2.10410391e-01 9.77593280e-01 -6.23273527e-03 -7.31411237e+01] [-3.10903230e-02 -3.19156353e-04 9.99516528e-01 -1.24516776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:377.50, Y:-73.15, Z:-12.45 [[ 9.77211874e-01 2.10184432e-01 2.96556567e-02 3.77499297e+02] [-2.10097115e-01 9.77661707e-01 -6.06548085e-03 -7.31455824e+01] [-3.02680695e-02 -3.03307991e-04 9.99541771e-01 -1.24529694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.314012739 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:377.53, Y:-73.15, Z:-12.45 [[ 9.77379054e-01 2.09550344e-01 2.86153506e-02 3.77525246e+02] [-2.09468831e-01 9.77797820e-01 -5.85076129e-03 -7.31508273e+01] [-2.92060565e-02 -2.75612504e-04 9.99573374e-01 -1.24544358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:377.55, Y:-73.16, Z:-12.46 [[ 9.77532300e-01 2.08846711e-01 2.85246098e-02 3.77552388e+02] [-2.08765505e-01 9.77948355e-01 -5.82910314e-03 -7.31574824e+01] [-2.91129842e-02 -2.56817971e-04 9.99576094e-01 -1.24553773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.374012739 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:377.58, Y:-73.16, Z:-12.46 [[ 9.77618759e-01 2.08072427e-01 3.11034787e-02 3.77579281e+02] [-2.07975557e-01 9.78113388e-01 -6.35362718e-03 -7.31649650e+01] [-3.17447436e-02 -2.57338202e-04 9.99495975e-01 -1.24555298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:377.61, Y:-73.17, Z:-12.46 [[ 9.77650955e-01 2.07853669e-01 3.15509415e-02 3.77607605e+02] [-2.07753953e-01 9.78159898e-01 -6.44269932e-03 -7.31703575e+01] [-3.22010044e-02 -2.56121659e-04 9.99481380e-01 -1.24557978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.434012739 meters Centerline goodness : 0.991727 Centerline is valid? [True, True] Translation: X:377.64, Y:-73.18, Z:-12.46 [[ 9.77611441e-01 2.08378835e-01 2.92255379e-02 3.77635883e+02] [-2.08293553e-01 9.78048156e-01 -5.96654919e-03 -7.31761953e+01] [-2.98272861e-02 -2.54524373e-04 9.99555035e-01 -1.24588052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:377.66, Y:-73.18, Z:-12.46 [[ 9.77574824e-01 2.08647092e-01 2.85281403e-02 3.77663009e+02] [-2.08565983e-01 9.77990964e-01 -5.82287093e-03 -7.31830552e+01] [-2.91151885e-02 -2.57707605e-04 9.99576030e-01 -1.24603635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.494012739 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:377.69, Y:-73.19, Z:-12.46 [[ 9.77545242e-01 2.08829765e-01 2.82033596e-02 3.77688803e+02] [-2.08750628e-01 9.77951972e-01 -5.75455587e-03 -7.31893412e+01] [-2.87832537e-02 -2.62130317e-04 9.99585642e-01 -1.24612951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:377.72, Y:-73.19, Z:-12.46 [[ 9.77266702e-01 2.10057096e-01 2.87368876e-02 3.77715479e+02] [-2.09975540e-01 9.77689073e-01 -5.86089787e-03 -7.31938100e+01] [-2.93268642e-02 -3.06383169e-04 9.99569828e-01 -1.24601971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55401273900003 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:377.74, Y:-73.20, Z:-12.46 [[ 9.77044046e-01 2.11055138e-01 2.89941415e-02 3.77742692e+02] [-2.10972629e-01 9.77474098e-01 -5.91084155e-03 -7.31979479e+01] [-2.95885358e-02 -3.41817696e-04 9.99562105e-01 -1.24611966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:377.77, Y:-73.20, Z:-12.46 [[ 9.76899550e-01 2.11738814e-01 2.88780858e-02 3.77770544e+02] [-2.11657324e-01 9.77326221e-01 -5.88509022e-03 -7.32025434e+01] [-2.94694125e-02 -3.63116363e-04 9.99565617e-01 -1.24618459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61401273900003 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:377.80, Y:-73.21, Z:-12.46 [[ 9.77217413e-01 2.10116513e-01 2.99529459e-02 3.77797686e+02] [-2.10028150e-01 9.77676298e-01 -6.10187938e-03 -7.32095597e+01] [-3.05663909e-02 -3.28099059e-04 9.99532685e-01 -1.24631527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:377.82, Y:-73.22, Z:-12.46 [[ 9.77649836e-01 2.07989886e-01 3.06758271e-02 3.77824083e+02] [-2.07896231e-01 9.78130939e-01 -6.24683235e-03 -7.32169884e+01] [-3.13042535e-02 -2.70174220e-04 9.99509865e-01 -1.24637550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.674012739 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:377.85, Y:-73.23, Z:-12.46 [[ 9.78576502e-01 2.03757036e-01 2.95143927e-02 3.77851243e+02] [-2.03668466e-01 9.79021477e-01 -6.00856897e-03 -7.32272279e+01] [-3.01195126e-02 -1.31306685e-04 9.99546296e-01 -1.24648404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:377.88, Y:-73.24, Z:-12.47 [[ 9.78928498e-01 2.02283396e-01 2.79360689e-02 3.77879243e+02] [-2.02203483e-01 9.79327024e-01 -5.68601824e-03 -7.32352653e+01] [-2.85087344e-02 -8.25651336e-05 9.99593540e-01 -1.24664415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.734012739 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:377.91, Y:-73.24, Z:-12.47 [[ 9.79160096e-01 2.01318217e-01 2.67671716e-02 3.77907256e+02] [-2.01244524e-01 9.79525892e-01 -5.44691608e-03 -7.32434001e+01] [-2.73157011e-02 -5.33438378e-05 9.99626855e-01 -1.24684933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:377.93, Y:-73.25, Z:-12.47 [[ 9.79038940e-01 2.01783891e-01 2.76769855e-02 3.77934031e+02] [-2.01705326e-01 9.79430067e-01 -5.63072130e-03 -7.32537042e+01] [-2.82438606e-02 -6.98999704e-05 9.99601060e-01 -1.24679677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.794012739 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:377.96, Y:-73.26, Z:-12.47 [[ 9.78707464e-01 2.03204396e-01 2.89771065e-02 3.77962522e+02] [-2.03118952e-01 9.79136334e-01 -5.89337299e-03 -7.32603266e+01] [-2.95700971e-02 -1.17911352e-04 9.99562702e-01 -1.24675416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:377.99, Y:-73.27, Z:-12.47 [[ 9.77572530e-01 2.08452272e-01 2.99932983e-02 3.77989381e+02] [-2.08363240e-01 9.78032498e-01 -6.09859633e-03 -7.32672734e+01] [-3.06056868e-02 -2.87680572e-04 9.99531495e-01 -1.24677310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.854012739 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:378.02, Y:-73.27, Z:-12.47 [[ 9.76899089e-01 2.11630296e-01 2.96780690e-02 3.78017215e+02] [-2.11544644e-01 9.77349717e-01 -6.03275850e-03 -7.32739473e+01] [-3.02825669e-02 -3.84840258e-04 9.99541304e-01 -1.24682214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:378.04, Y:-73.28, Z:-12.47 [[ 9.76326192e-01 2.14284696e-01 2.94827973e-02 3.78044188e+02] [-2.14201417e-01 9.76771136e-01 -5.99171052e-03 -7.32795614e+01] [-3.00818773e-02 -4.65393039e-04 9.99547330e-01 -1.24688852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.914012739 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:378.07, Y:-73.29, Z:-12.47 [[ 9.75652335e-01 2.17234149e-01 3.01967809e-02 3.78072246e+02] [-2.17148254e-01 9.76119356e-01 -6.13498743e-03 -7.32851259e+01] [-3.08083912e-02 -5.71563444e-04 9.99525145e-01 -1.24704740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:378.10, Y:-73.29, Z:-12.47 [[ 9.75486208e-01 2.18010402e-01 2.99687050e-02 3.78099355e+02] [-2.17926209e-01 9.75946265e-01 -6.08723197e-03 -7.32904926e+01] [-3.05749256e-02 -5.92955442e-04 9.99532302e-01 -1.24729196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.974012739 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:378.13, Y:-73.30, Z:-12.47 [[ 9.75445648e-01 2.18266468e-01 2.94200049e-02 3.78127581e+02] [-2.18185500e-01 9.75889030e-01 -5.97403051e-03 -7.32971467e+01] [-3.00145906e-02 -5.91676414e-04 9.99549286e-01 -1.24738884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters Centerline goodness : 0.991485 Centerline is valid? [True, True] Translation: X:378.16, Y:-73.30, Z:-12.47 [[ 9.75350416e-01 2.18759683e-01 2.89096402e-02 3.78156152e+02] [-2.18681757e-01 9.75778583e-01 -5.86903010e-03 -7.33031930e+01] [-2.94933150e-02 -5.97649966e-04 9.99564799e-01 -1.24742386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.034012739 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:378.18, Y:-73.31, Z:-12.47 [[ 9.75275843e-01 2.19163282e-01 2.83634609e-02 3.78183941e+02] [-2.19088482e-01 9.75688012e-01 -5.75680104e-03 -7.33091697e+01] [-2.89355682e-02 -5.99638610e-04 9.99581099e-01 -1.24747355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:378.21, Y:-73.31, Z:-12.48 [[ 9.75409335e-01 2.18487036e-01 2.89835293e-02 3.78211567e+02] [-2.18408673e-01 9.75839671e-01 -5.88124809e-03 -7.33148661e+01] [-2.95682542e-02 -5.93629881e-04 9.99562587e-01 -1.24752308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.094012739 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:378.24, Y:-73.32, Z:-12.48 [[ 9.75497014e-01 2.18002004e-01 2.96766196e-02 3.78239404e+02] [-2.17919678e-01 9.75948140e-01 -6.02005219e-03 -7.33191524e+01] [-3.02752252e-02 -5.94576464e-04 9.99541423e-01 -1.24757989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:378.27, Y:-73.32, Z:-12.48 [[ 9.75499796e-01 2.17980791e-01 2.97409120e-02 3.78267213e+02] [-2.17898150e-01 9.75952877e-01 -6.03139372e-03 -7.33240902e+01] [-3.03404566e-02 -5.96866358e-04 9.99539444e-01 -1.24770288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.154012739 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:378.30, Y:-73.33, Z:-12.48 [[ 9.75522720e-01 2.17878127e-01 2.97413013e-02 3.78295154e+02] [-2.17795497e-01 9.75975802e-01 -6.02947313e-03 -7.33295928e+01] [-3.03404807e-02 -5.95633486e-04 9.99539444e-01 -1.24779419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:378.32, Y:-73.34, Z:-12.48 [[ 9.75557284e-01 2.17784728e-01 2.92881958e-02 3.78322629e+02] [-2.17704652e-01 9.75996654e-01 -5.93437340e-03 -7.33350614e+01] [-2.98775970e-02 -5.86855263e-04 9.99553393e-01 -1.24790002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.214012739 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:378.35, Y:-73.34, Z:-12.48 [[ 9.75653091e-01 2.17420247e-01 2.88007201e-02 3.78349791e+02] [-2.17342713e-01 9.76077924e-01 -5.83363786e-03 -7.33408180e+01] [-2.93800981e-02 -5.68019851e-04 9.99568150e-01 -1.24800618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:378.38, Y:-73.35, Z:-12.48 [[ 9.76201005e-01 2.14939516e-01 2.88548408e-02 3.78377688e+02] [-2.14860667e-01 9.76627236e-01 -5.84255254e-03 -7.33472847e+01] [-2.94362189e-02 -4.96264687e-04 9.99566537e-01 -1.24813501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.274012739 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:378.40, Y:-73.35, Z:-12.48 [[ 9.76958147e-01 2.11314275e-01 2.99842628e-02 3.78404377e+02] [-2.11227471e-01 9.77418086e-01 -6.06971846e-03 -7.33544284e+01] [-3.05897789e-02 -4.03639097e-04 9.99531942e-01 -1.24819185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:378.43, Y:-73.36, Z:-12.48 [[ 9.77340919e-01 2.09494203e-01 3.02804642e-02 3.78431758e+02] [-2.09404859e-01 9.77809826e-01 -6.12780622e-03 -7.33599812e+01] [-3.08922753e-02 -3.51920571e-04 9.99522658e-01 -1.24826273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.334012739 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:378.46, Y:-73.37, Z:-12.48 [[ 9.77653679e-01 2.08031738e-01 3.02668110e-02 3.78460340e+02] [-2.07941829e-01 9.78122028e-01 -6.12322870e-03 -7.33653029e+01] [-3.08784605e-02 -3.07338984e-04 9.99523099e-01 -1.24829212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:378.49, Y:-73.37, Z:-12.48 [[ 9.77912374e-01 2.06879008e-01 2.98071260e-02 3.78487792e+02] [-2.06791318e-01 9.78366498e-01 -6.02882373e-03 -7.33683217e+01] [-3.04095306e-02 -2.68193561e-04 9.99537487e-01 -1.24834087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.394012739 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:378.52, Y:-73.37, Z:-12.48 [[ 9.77895185e-01 2.07043522e-01 2.92230417e-02 3.78515736e+02] [-2.06959366e-01 9.78331696e-01 -5.90877018e-03 -7.33732108e+01] [-2.98132005e-02 -2.69824269e-04 9.99555451e-01 -1.24845651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:378.54, Y:-73.38, Z:-12.49 [[ 9.78116947e-01 2.06195224e-01 2.77627133e-02 3.78543753e+02] [-2.06118965e-01 9.78510846e-01 -5.61221722e-03 -7.33778783e+01] [-2.83233285e-02 -2.33016972e-04 9.99598787e-01 -1.24871946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.454012739 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:378.57, Y:-73.38, Z:-12.49 [[ 9.78426525e-01 2.04716879e-01 2.77945087e-02 3.78571250e+02] [-2.04639885e-01 9.78821211e-01 -5.61733575e-03 -7.33829048e+01] [-2.83558181e-02 -1.91714775e-04 9.99597875e-01 -1.24885315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:378.60, Y:-73.39, Z:-12.49 [[ 9.78932024e-01 2.02151806e-01 2.87530784e-02 3.78599624e+02] [-2.02068362e-01 9.79354191e-01 -5.80905262e-03 -7.33877163e+01] [-2.93337583e-02 -1.23419825e-04 9.99569665e-01 -1.24889591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.514012739 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:378.63, Y:-73.39, Z:-12.49 [[ 9.80058129e-01 1.96408675e-01 3.01611833e-02 3.78628555e+02] [-1.96314181e-01 9.80522121e-01 -6.09200107e-03 -7.33948813e+01] [-3.07702293e-02 4.94471642e-05 9.99526483e-01 -1.24901707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:378.66, Y:-73.40, Z:-12.49 [[ 9.80559730e-01 1.93890583e-01 3.01505877e-02 3.78655885e+02] [-1.93794987e-01 9.81023152e-01 -6.08912118e-03 -7.34023619e+01] [-3.07590479e-02 1.27714261e-04 9.99526820e-01 -1.24906334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.574012739 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:378.68, Y:-73.41, Z:-12.49 [[ 9.81385701e-01 1.89778872e-01 2.94293261e-02 3.78683696e+02] [-1.89685978e-01 9.81826827e-01 -5.94238792e-03 -7.34105824e+01] [-3.00222415e-02 2.49444032e-04 9.99549200e-01 -1.24918585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:378.71, Y:-73.42, Z:-12.49 [[ 9.81797555e-01 1.87646849e-01 2.93635870e-02 3.78712897e+02] [-1.87553450e-01 9.82236510e-01 -5.92800330e-03 -7.34177521e+01] [-2.99543584e-02 3.12857087e-04 9.99551219e-01 -1.24930931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.634012739 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:378.74, Y:-73.43, Z:-12.49 [[ 9.82221591e-01 1.85414074e-01 2.93660930e-02 3.78742309e+02] [-1.85319662e-01 9.82660407e-01 -5.92848344e-03 -7.34266144e+01] [-2.99561212e-02 3.80970013e-04 9.99551142e-01 -1.24944633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:378.77, Y:-73.44, Z:-12.50 [[ 9.82928048e-01 1.81469830e-01 3.03505049e-02 3.78772012e+02] [-1.81367092e-01 9.83396376e-01 -6.12744078e-03 -7.34414945e+01] [-3.09585222e-02 5.18250583e-04 9.99520536e-01 -1.24950545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.694012739 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:378.80, Y:-73.45, Z:-12.50 [[ 9.83121023e-01 1.80459130e-01 3.01256663e-02 3.78802825e+02] [-1.80357275e-01 9.83582329e-01 -6.08727039e-03 -7.34512427e+01] [-3.07295765e-02 5.51140421e-04 9.99527583e-01 -1.24952609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:378.83, Y:-73.46, Z:-12.49 [[ 9.82684348e-01 1.83103414e-01 2.83656824e-02 3.78834937e+02] [-1.83014074e-01 9.83093557e-01 -5.73654379e-03 -7.34629785e+01] [-2.89365004e-02 4.45892700e-04 9.99581152e-01 -1.24867575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.754012739 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:378.86, Y:-73.47, Z:-12.50 [[ 9.82050558e-01 1.86378926e-01 2.89758026e-02 3.78864601e+02] [-1.86286949e-01 9.82477870e-01 -5.86587241e-03 -7.34714241e+01] [-2.95613598e-02 3.62769404e-04 9.99562902e-01 -1.24972971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:378.89, Y:-73.48, Z:-12.50 [[ 9.81298243e-01 1.90152925e-01 2.99269747e-02 3.78894448e+02] [-1.90056410e-01 9.81754448e-01 -6.06338031e-03 -7.34794345e+01] [-3.05339100e-02 2.62171057e-04 9.99533697e-01 -1.24982321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.814012739 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:378.92, Y:-73.49, Z:-12.50 [[ 9.79871201e-01 1.97234332e-01 3.08390761e-02 3.78924109e+02] [-1.97135183e-01 9.80356372e-01 -6.25329237e-03 -7.34872876e+01] [-3.14666487e-02 4.79541967e-05 9.99504801e-01 -1.24992894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:378.95, Y:-73.49, Z:-12.50 [[ 9.79192636e-01 2.00666342e-01 3.02456752e-02 3.78954500e+02] [-2.00572610e-01 9.79659643e-01 -6.13293865e-03 -7.34941350e+01] [-3.08611417e-02 -6.11256378e-05 9.99523680e-01 -1.25008098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.874012739 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:378.98, Y:-73.50, Z:-12.50 [[ 9.78015405e-01 2.06605178e-01 2.82872259e-02 3.78983564e+02] [-2.06525652e-01 9.78424369e-01 -5.73658816e-03 -7.35010877e+01] [-2.88621200e-02 -2.31566166e-04 9.99583375e-01 -1.25023832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:379.01, Y:-73.51, Z:-12.50 [[ 9.77410241e-01 2.09539319e-01 2.76132931e-02 3.79012635e+02] [-2.09464715e-01 9.77800172e-01 -5.59963192e-03 -7.35068523e+01] [-2.81736258e-02 -3.10872992e-04 9.99602996e-01 -1.25041285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.934012739 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:379.04, Y:-73.51, Z:-12.51 [[ 9.76867612e-01 2.12102257e-01 2.72451872e-02 3.79041250e+02] [-2.12030643e-01 9.77247404e-01 -5.52437296e-03 -7.35118547e+01] [-2.77970204e-02 -3.80233519e-04 9.99613516e-01 -1.25053746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:379.07, Y:-73.51, Z:-12.51 [[ 9.75859306e-01 2.16600131e-01 2.79821145e-02 3.79070420e+02] [-2.16526465e-01 9.76260267e-01 -5.67277398e-03 -7.35148900e+01] [-2.85465501e-02 -5.23039046e-04 9.99592327e-01 -1.25058506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.994012739 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:379.10, Y:-73.52, Z:-12.51 [[ 9.75326829e-01 2.18899389e-01 2.86467130e-02 3.79099024e+02] [-2.18823214e-01 9.75747247e-01 -5.80607367e-03 -7.35183108e+01] [-2.92228974e-02 -6.05746397e-04 9.99572736e-01 -1.25061310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:379.13, Y:-73.52, Z:-12.51 [[ 9.74145697e-01 2.24022505e-01 2.92246068e-02 3.79127130e+02] [-2.23945568e-01 9.74583662e-01 -5.92176246e-03 -7.35185189e+01] [-2.98084324e-02 -7.76061766e-04 9.99555329e-01 -1.25065115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05401273900003 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:379.16, Y:-73.52, Z:-12.51 [[ 9.73644772e-01 2.26192755e-01 2.92009566e-02 3.79155670e+02] [-2.26116972e-01 9.74082197e-01 -5.91516710e-03 -7.35222341e+01] [-2.97820999e-02 -8.43560359e-04 9.99556059e-01 -1.25076517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:379.18, Y:-73.53, Z:-12.51 [[ 9.73234099e-01 2.27906457e-01 2.95641005e-02 3.79183433e+02] [-2.27829609e-01 9.73682608e-01 -5.98730754e-03 -7.35256782e+01] [-3.01505965e-02 -9.08525611e-04 9.99544955e-01 -1.25088103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11401273900003 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:379.21, Y:-73.52, Z:-12.51 [[ 9.72728514e-01 2.29986235e-01 3.00926693e-02 3.79212334e+02] [-2.29907664e-01 9.73193376e-01 -6.09253963e-03 -7.35237912e+01] [-3.06871867e-02 -9.92148281e-04 9.99528545e-01 -1.25087377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:379.24, Y:-73.53, Z:-12.51 [[ 9.72561346e-01 2.30707926e-01 2.99713272e-02 3.79240555e+02] [-2.30630395e-01 9.73022521e-01 -6.06580874e-03 -7.35254499e+01] [-3.05622065e-02 -1.01292791e-03 9.99532353e-01 -1.25097971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.174012739 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:379.27, Y:-73.53, Z:-12.51 [[ 9.72305092e-01 2.31891063e-01 2.91434872e-02 3.79268968e+02] [-2.31818337e-01 9.72741224e-01 -5.89658130e-03 -7.35261257e+01] [-2.97164359e-02 -1.02271871e-03 9.99557846e-01 -1.25113626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:379.30, Y:-73.53, Z:-12.51 [[ 9.72392304e-01 2.31561241e-01 2.88547876e-02 3.79297350e+02] [-2.31489853e-01 9.72819810e-01 -5.83650696e-03 -7.35289231e+01] [-2.94220178e-02 -1.00421610e-03 9.99566574e-01 -1.25124498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.234012739 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:379.33, Y:-73.53, Z:-12.51 [[ 9.72561630e-01 2.30853254e-01 2.88210175e-02 3.79325040e+02] [-2.30781781e-01 9.72988082e-01 -5.82766533e-03 -7.35317012e+01] [-2.93878421e-02 -9.83602063e-04 9.99567600e-01 -1.25134492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:379.35, Y:-73.53, Z:-12.51 [[ 9.73581052e-01 2.26429202e-01 2.94915452e-02 3.79352570e+02] [-2.26352398e-01 9.74027236e-01 -5.96113485e-03 -7.35320146e+01] [-3.00753432e-02 -8.71834041e-04 9.99547254e-01 -1.25147991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.294012739 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:379.38, Y:-73.54, Z:-12.51 [[ 9.75451389e-01 2.18179766e-01 2.98693497e-02 3.79380072e+02] [-2.18097210e-01 9.75908395e-01 -6.03424861e-03 -7.35362228e+01] [-3.04663000e-02 -6.28305646e-04 9.99535597e-01 -1.25145996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:379.41, Y:-73.54, Z:-12.51 [[ 9.76494363e-01 2.13408523e-01 3.02582480e-02 3.79406909e+02] [-2.13321577e-01 9.76962929e-01 -6.11066415e-03 -7.35414536e+01] [-3.08652544e-02 -4.87708070e-04 9.99523436e-01 -1.25149882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.354012739 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:379.44, Y:-73.55, Z:-12.52 [[ 9.77430815e-01 2.08957169e-01 3.10789783e-02 3.79435528e+02] [-2.08863249e-01 9.77924728e-01 -6.27455648e-03 -7.35471599e+01] [-3.17040149e-02 -3.58311538e-04 9.99497237e-01 -1.25159319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:379.46, Y:-73.55, Z:-12.52 [[ 9.78846969e-01 2.01979569e-01 3.26016063e-02 3.79462107e+02] [-2.01872402e-01 9.79389725e-01 -6.58023449e-03 -7.35536434e+01] [-3.32587511e-02 -1.40321959e-04 9.99446765e-01 -1.25165554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.414012739 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:379.49, Y:-73.56, Z:-12.52 [[ 9.79266135e-01 1.99925176e-01 3.26766142e-02 3.79489184e+02] [-1.99816439e-01 9.79811165e-01 -6.59331961e-03 -7.35605598e+01] [-3.33350820e-02 -7.27100647e-05 9.99444229e-01 -1.25178015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:379.52, Y:-73.57, Z:-12.52 [[ 9.79841259e-01 1.97375362e-01 3.08880896e-02 3.79518470e+02] [-1.97277000e-01 9.80327989e-01 -6.23050296e-03 -7.35674818e+01] [-3.15102065e-02 1.13942332e-05 9.99503430e-01 -1.25189340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.474012739 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:379.55, Y:-73.57, Z:-12.52 [[ 9.80110704e-01 1.96135837e-01 3.02281537e-02 3.79546726e+02] [-1.96041066e-01 9.80576734e-01 -6.09669543e-03 -7.35724956e+01] [-3.08368046e-02 4.94769928e-05 9.99524431e-01 -1.25198975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:379.57, Y:-73.58, Z:-12.52 [[ 9.80315210e-01 1.95133413e-01 3.00838907e-02 3.79574140e+02] [-1.95039116e-01 9.80776705e-01 -6.06615489e-03 -7.35775045e+01] [-3.06892887e-02 7.92084563e-05 9.99528970e-01 -1.25207521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.534012739 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:379.60, Y:-73.58, Z:-12.52 [[ 9.80628956e-01 1.93406441e-01 3.09967485e-02 3.79601963e+02] [-1.93305533e-01 9.81118714e-01 -6.24827569e-03 -7.35847496e+01] [-3.16199468e-02 1.35397095e-04 9.99499955e-01 -1.25220695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:379.63, Y:-73.59, Z:-12.52 [[ 9.81172878e-01 1.90691818e-01 3.06008853e-02 3.79629825e+02] [-1.90592196e-01 9.81649929e-01 -6.16700816e-03 -7.35934921e+01] [-3.12153548e-02 2.18611218e-04 9.99512658e-01 -1.25232470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.594012739 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:379.66, Y:-73.60, Z:-12.52 [[ 9.81507634e-01 1.89080312e-01 2.98563374e-02 3.79659182e+02] [-1.88984768e-01 9.81961591e-01 -6.01585028e-03 -7.36006974e+01] [-3.04552555e-02 2.62209956e-04 9.99536097e-01 -1.25241566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:379.69, Y:-73.61, Z:-12.53 [[ 9.81805512e-01 1.87635420e-01 2.91699414e-02 3.79688566e+02] [-1.87543582e-01 9.82238698e-01 -5.87754613e-03 -7.36080948e+01] [-2.97546811e-02 2.99971874e-04 9.99557186e-01 -1.25254503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.654012739 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:379.72, Y:-73.62, Z:-12.53 [[ 9.82408265e-01 1.84380448e-01 2.96285621e-02 3.79716220e+02] [-1.84284218e-01 9.82854865e-01 -5.96997706e-03 -7.36196301e+01] [-3.02213235e-02 4.04878423e-04 9.99543149e-01 -1.25261017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:379.75, Y:-73.63, Z:-12.53 [[ 9.82657806e-01 1.82982941e-01 3.00146468e-02 3.79745042e+02] [-1.82883546e-01 9.83115984e-01 -6.04737963e-03 -7.36289272e+01] [-3.06144463e-02 4.53319755e-04 9.99531165e-01 -1.25263052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.714012739 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:379.77, Y:-73.64, Z:-12.53 [[ 9.83058087e-01 1.80795259e-01 3.01640947e-02 3.79774668e+02] [-1.80693845e-01 9.83520615e-01 -6.07737260e-03 -7.36417825e+01] [-3.07657691e-02 5.23944035e-04 9.99526484e-01 -1.25285282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:379.81, Y:-73.65, Z:-12.53 [[ 9.83215001e-01 1.80054645e-01 2.94718036e-02 3.79805323e+02] [-1.79957425e-01 9.83656463e-01 -5.94045412e-03 -7.36518891e+01] [-3.00597365e-02 5.37073720e-04 9.99547960e-01 -1.25304224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.774012739 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:379.84, Y:-73.66, Z:-12.53 [[ 9.83260094e-01 1.79945873e-01 2.86194155e-02 3.79835695e+02] [-1.79854010e-01 9.83676371e-01 -5.77345092e-03 -7.36623291e+01] [-2.91911515e-02 5.29487244e-04 9.99573707e-01 -1.25312311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:379.87, Y:-73.68, Z:-12.53 [[ 9.82816294e-01 1.82286895e-01 2.90451310e-02 3.79866201e+02] [-1.82193197e-01 9.83245273e-01 -5.86277643e-03 -7.36760415e+01] [-2.96271951e-02 4.70206916e-04 9.99560908e-01 -1.25309783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.834012739 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:379.90, Y:-73.68, Z:-12.53 [[ 9.82332270e-01 1.84801539e-01 2.95246065e-02 3.79897792e+02] [-1.84705705e-01 9.82775776e-01 -5.96454716e-03 -7.36849239e+01] [-3.01183256e-02 4.05803878e-04 9.99546258e-01 -1.25317559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:379.93, Y:-73.69, Z:-12.53 [[ 9.81123741e-01 1.91168894e-01 2.91660628e-02 3.79928042e+02] [-1.91078013e-01 9.81557134e-01 -5.89785967e-03 -7.36946771e+01] [-2.97556443e-02 2.13536829e-04 9.99557180e-01 -1.25333572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.894012739 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:379.96, Y:-73.70, Z:-12.53 [[ 9.80517357e-01 1.94366066e-01 2.84173367e-02 3.79958293e+02] [-1.94280983e-01 9.80929059e-01 -5.75165768e-03 -7.37029014e+01] [-2.89933184e-02 1.18652083e-04 9.99579598e-01 -1.25346349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:379.99, Y:-73.71, Z:-12.54 [[ 9.80049588e-01 1.96710167e-01 2.84238519e-02 3.79989704e+02] [-1.96625899e-01 9.80461681e-01 -5.75748503e-03 -7.37112369e+01] [-2.90010534e-02 5.37554058e-05 9.99579380e-01 -1.25364453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.954012739 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:380.02, Y:-73.72, Z:-12.54 [[ 9.79686129e-01 1.98450128e-01 2.88554212e-02 3.80019531e+02] [-1.98363885e-01 9.80110987e-01 -5.85000174e-03 -7.37208183e+01] [-2.94424489e-02 7.29212510e-06 9.99566477e-01 -1.25370820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:380.05, Y:-73.73, Z:-12.54 [[ 9.79778957e-01 1.97926554e-01 2.92963313e-02 3.80051805e+02] [-1.97837281e-01 9.80216853e-01 -5.94405842e-03 -7.37300060e+01] [-2.98932447e-02 2.79568203e-05 9.99553097e-01 -1.25381654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.014012739 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:380.08, Y:-73.74, Z:-12.54 [[ 9.80538635e-01 1.94107866e-01 2.94299371e-02 3.80082352e+02] [-1.94015882e-01 9.80980180e-01 -5.97692511e-03 -7.37429824e+01] [-3.00303532e-02 1.50730769e-04 9.99548976e-01 -1.25401101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:380.11, Y:-73.75, Z:-12.54 [[ 9.80931375e-01 1.92138196e-01 2.92668958e-02 3.80113009e+02] [-1.92046169e-01 9.81367855e-01 -5.94992566e-03 -7.37520705e+01] [-2.98647988e-02 2.15873524e-04 9.99553924e-01 -1.25410521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.074012739 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:380.14, Y:-73.76, Z:-12.54 [[ 9.81162448e-01 1.90977628e-01 2.91169395e-02 3.80143462e+02] [-1.90885863e-01 9.81594356e-01 -5.92508541e-03 -7.37611361e+01] [-2.97125823e-02 2.55459167e-04 9.99558451e-01 -1.25411993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:380.18, Y:-73.77, Z:-12.54 [[ 9.81137594e-01 1.91105441e-01 2.91158454e-02 3.80176242e+02] [-1.91013574e-01 9.81569480e-01 -5.93045668e-03 -7.37679790e+01] [-2.97125678e-02 2.57072304e-04 9.99558451e-01 -1.25422734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.134012739 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:380.21, Y:-73.78, Z:-12.54 [[ 9.81149692e-01 1.90867677e-01 3.02458560e-02 3.80207677e+02] [-1.90768296e-01 9.81615736e-01 -6.16481966e-03 -7.37782633e+01] [-3.08664730e-02 2.78660504e-04 9.99523478e-01 -1.25431361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:380.24, Y:-73.79, Z:-12.54 [[ 9.80921363e-01 1.92002236e-01 3.04700026e-02 3.80238638e+02] [-1.91901736e-01 9.81394456e-01 -6.21650364e-03 -7.37866609e+01] [-3.10966743e-02 2.50654815e-04 9.99516350e-01 -1.25438256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.194012739 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:380.27, Y:-73.80, Z:-12.54 [[ 9.80513193e-01 1.94140534e-01 3.00554830e-02 3.80270253e+02] [-1.94043590e-01 9.80973709e-01 -6.13728850e-03 -7.37965840e+01] [-3.06751351e-02 1.85618512e-04 9.99529390e-01 -1.25447962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:380.30, Y:-73.81, Z:-12.55 [[ 9.80376494e-01 1.94914900e-01 2.94976666e-02 3.80300692e+02] [-1.94821701e-01 9.80820144e-01 -6.02907545e-03 -7.38050271e+01] [-3.01070622e-02 1.63978268e-04 9.99546666e-01 -1.25463219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.254012739 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:380.33, Y:-73.81, Z:-12.55 [[ 9.80310454e-01 1.95339560e-01 2.88767963e-02 3.80331293e+02] [-1.95250277e-01 9.80735659e-01 -5.90732823e-03 -7.38134505e+01] [-2.94744387e-02 1.52813156e-04 9.99565523e-01 -1.25478335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:380.36, Y:-73.82, Z:-12.55 [[ 9.80301532e-01 1.95517274e-01 2.79625020e-02 3.80363161e+02] [-1.95433489e-01 9.80700247e-01 -5.72514825e-03 -7.38230655e+01] [-2.85421980e-02 1.47562264e-04 9.99592578e-01 -1.25489550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.314012739 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:380.39, Y:-73.83, Z:-12.55 [[ 9.80297695e-01 1.95575372e-01 2.76893878e-02 3.80394894e+02] [-1.95493089e-01 9.80688662e-01 -5.67456529e-03 -7.38313331e+01] [-2.82644739e-02 1.49679313e-04 9.99600469e-01 -1.25506166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:380.43, Y:-73.84, Z:-12.55 [[ 9.80179884e-01 1.96106470e-01 2.81006696e-02 3.80426298e+02] [-1.96021775e-01 9.80582598e-01 -5.76466434e-03 -7.38389691e+01] [-2.86855156e-02 1.42064879e-04 9.99588476e-01 -1.25512700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.374012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:380.46, Y:-73.85, Z:-12.55 [[ 9.79964717e-01 1.97099215e-01 2.86540092e-02 3.80458170e+02] [-1.97011477e-01 9.80383540e-01 -5.88153530e-03 -7.38459367e+01] [-2.92511650e-02 1.18528397e-04 9.99572086e-01 -1.25520660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:380.49, Y:-73.85, Z:-12.55 [[ 9.79258015e-01 2.00493321e-01 2.92603568e-02 3.80489899e+02] [-2.00403171e-01 9.79695069e-01 -6.01178999e-03 -7.38534612e+01] [-2.98715510e-02 2.32252614e-05 9.99553745e-01 -1.25526167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.434012739 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:380.52, Y:-73.86, Z:-12.55 [[ 9.78873151e-01 2.02323193e-01 2.95411561e-02 3.80520932e+02] [-2.02231955e-01 9.79318807e-01 -6.07545741e-03 -7.38604016e+01] [-3.01594156e-02 -2.70636148e-05 9.99545101e-01 -1.25530761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:380.55, Y:-73.87, Z:-12.55 [[ 9.78194627e-01 2.05563522e-01 2.96464165e-02 3.80553110e+02] [-2.05473015e-01 9.78643767e-01 -6.10058249e-03 -7.38668507e+01] [-3.02673379e-02 -1.23981564e-04 9.99541831e-01 -1.25547240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.494012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:380.58, Y:-73.87, Z:-12.56 [[ 9.77794033e-01 2.07515859e-01 2.92574480e-02 3.80584544e+02] [-2.07428403e-01 9.78231638e-01 -6.02664057e-03 -7.38729747e+01] [-2.98711848e-02 -1.76012525e-04 9.99553741e-01 -1.25560854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:380.62, Y:-73.88, Z:-12.56 [[ 9.77413471e-01 2.09313021e-01 2.91713075e-02 3.80615643e+02] [-2.09226709e-01 9.77848664e-01 -6.01458682e-03 -7.38790244e+01] [-2.97840554e-02 -2.24678483e-04 9.99556331e-01 -1.25573071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55401273900003 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:380.65, Y:-73.88, Z:-12.56 [[ 9.76917296e-01 2.11592034e-01 2.93497586e-02 3.80648636e+02] [-2.11505522e-01 9.77358034e-01 -6.05699629e-03 -7.38840336e+01] [-2.99668345e-02 -2.90451582e-04 9.99550851e-01 -1.25578583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:380.68, Y:-73.89, Z:-12.56 [[ 9.76801903e-01 2.12086659e-01 2.96191112e-02 3.80679787e+02] [-2.11998593e-01 9.77250816e-01 -6.11873198e-03 -7.38893636e+01] [-3.02430020e-02 -3.02420864e-04 9.99542530e-01 -1.25582639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61401273900003 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:380.71, Y:-73.89, Z:-12.56 [[ 9.77130756e-01 2.10498184e-01 3.00998341e-02 3.80713172e+02] [-2.10406303e-01 9.77594216e-01 -6.22386216e-03 -7.38932455e+01] [-3.07355354e-02 -2.51667667e-04 9.99527520e-01 -1.25588765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:380.74, Y:-73.90, Z:-12.56 [[ 9.77291794e-01 2.09767295e-01 2.99738286e-02 3.80744701e+02] [-2.09675654e-01 9.77751314e-01 -6.20383900e-03 -7.38976588e+01] [-3.06083128e-02 -2.21821155e-04 9.99531431e-01 -1.25594479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.674012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:380.78, Y:-73.90, Z:-12.56 [[ 9.77211971e-01 2.10139529e-01 2.99690110e-02 3.80778058e+02] [-2.10047919e-01 9.77671380e-01 -6.20847336e-03 -7.38996956e+01] [-3.06044900e-02 -2.27933911e-04 9.99531547e-01 -1.25605074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:380.81, Y:-73.90, Z:-12.56 [[ 9.77081496e-01 2.10755657e-01 2.98965309e-02 3.80810167e+02] [-2.10664597e-01 9.77538743e-01 -6.19939554e-03 -7.39036318e+01] [-3.05315749e-02 -2.40825967e-04 9.99533774e-01 -1.25621337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.734012739 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:380.84, Y:-73.91, Z:-12.56 [[ 9.77009748e-01 2.11147951e-01 2.94702286e-02 3.80842565e+02] [-2.11059487e-01 9.77454082e-01 -6.11633983e-03 -7.39074464e+01] [-3.00972479e-02 -2.44247708e-04 9.99546945e-01 -1.25639392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:380.87, Y:-73.91, Z:-12.57 [[ 9.76883796e-01 2.11806281e-01 2.89162361e-02 3.80874620e+02] [-2.11721231e-01 9.77311636e-01 -6.00714696e-03 -7.39085197e+01] [-2.95325255e-02 -2.53896568e-04 9.99563788e-01 -1.25654398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.794012739 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:380.91, Y:-73.91, Z:-12.57 [[ 9.76911619e-01 2.11563375e-01 2.97426836e-02 3.80905815e+02] [-2.11473095e-01 9.77364250e-01 -6.18490637e-03 -7.39120247e+01] [-3.03779353e-02 -2.47670459e-04 9.99538453e-01 -1.25665698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:380.94, Y:-73.91, Z:-12.57 [[ 9.77030918e-01 2.10831173e-01 3.09967867e-02 3.80936987e+02] [-2.10732723e-01 9.77522461e-01 -6.44651001e-03 -7.39132393e+01] [-3.16591805e-02 -2.33597690e-04 9.99498695e-01 -1.25670278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.854012739 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:380.97, Y:-73.92, Z:-12.57 [[ 9.77096569e-01 2.10619936e-01 3.03568188e-02 3.80967899e+02] [-2.10525398e-01 9.77567999e-01 -6.31377182e-03 -7.39174063e+01] [-3.10056609e-02 -2.21716565e-04 9.99519184e-01 -1.25683055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:381.00, Y:-73.92, Z:-12.57 [[ 9.77575626e-01 2.08564125e-01 2.91015679e-02 3.80998784e+02] [-2.08476312e-01 9.78008683e-01 -6.05341260e-03 -7.39184969e+01] [-2.97241108e-02 -1.49318944e-04 9.99558130e-01 -1.25703130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.914012739 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:381.03, Y:-73.92, Z:-12.57 [[ 9.77893370e-01 2.07125741e-01 2.86964107e-02 3.81029571e+02] [-2.07039726e-01 9.78314324e-01 -5.96951566e-03 -7.39222674e+01] [-2.93105500e-02 -1.03747225e-04 9.99570348e-01 -1.25712245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:381.06, Y:-73.92, Z:-12.57 [[ 9.78244916e-01 2.05547569e-01 2.80549627e-02 3.81058278e+02] [-2.05464705e-01 9.78647124e-01 -5.83620131e-03 -7.39242586e+01] [-2.86555256e-02 -5.50703823e-05 9.99589345e-01 -1.25728457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.974012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:381.09, Y:-73.93, Z:-12.57 [[ 9.78339669e-01 2.05106382e-01 2.79797068e-02 3.81087361e+02] [-2.05023812e-01 9.78739685e-01 -5.81948241e-03 -7.39287292e+01] [-2.85784623e-02 -4.30756564e-05 9.99591551e-01 -1.25743409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:381.12, Y:-73.93, Z:-12.58 [[ 9.78432484e-01 2.04624707e-01 2.82595752e-02 3.81115589e+02] [-2.04540295e-01 9.78840502e-01 -5.87703565e-03 -7.39336189e+01] [-2.88642034e-02 -2.99392447e-05 9.99583342e-01 -1.25751933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.034012739 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:381.14, Y:-73.94, Z:-12.56 [[ 9.78623245e-01 2.03908445e-01 2.67934730e-02 3.81144913e+02] [-2.03832323e-01 9.78989962e-01 -5.57116997e-03 -7.39387721e+01] [-2.73665497e-02 -9.29940662e-06 9.99625466e-01 -1.25649566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:381.17, Y:-73.94, Z:-12.58 [[ 9.78735263e-01 2.03351346e-01 2.69353729e-02 3.81174182e+02] [-2.03274224e-01 9.79105832e-01 -5.60000913e-03 -7.39441406e+01] [-2.75113500e-02 5.65940087e-06 9.99621491e-01 -1.25778928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.094012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:381.20, Y:-73.95, Z:-12.58 [[ 9.78858563e-01 2.02589880e-01 2.81647833e-02 3.81202624e+02] [-2.02505260e-01 9.79263672e-01 -5.85492350e-03 -7.39491220e+01] [-2.87668974e-02 2.76252438e-05 9.99586147e-01 -1.25787224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:381.23, Y:-73.95, Z:-12.58 [[ 9.78933986e-01 2.02088082e-01 2.91317258e-02 3.81231435e+02] [-2.01997362e-01 9.79367350e-01 -6.05479612e-03 -7.39544304e+01] [-2.97542632e-02 4.27139525e-05 9.99557243e-01 -1.25791943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.154012739 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:381.26, Y:-73.96, Z:-12.58 [[ 9.79135777e-01 2.01033694e-01 2.96409180e-02 3.81259409e+02] [-2.00939312e-01 9.79584324e-01 -6.15993157e-03 -7.39601299e+01] [-3.02741324e-02 7.53837196e-05 9.99541631e-01 -1.25803615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:381.29, Y:-73.97, Z:-12.58 [[ 9.80097625e-01 1.96522494e-01 2.80634010e-02 3.81289172e+02] [-1.96436072e-01 9.80499295e-01 -5.83104601e-03 -7.39688412e+01] [-2.86620766e-02 2.02330075e-04 9.99589138e-01 -1.25824057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.214012739 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:381.32, Y:-73.98, Z:-12.58 [[ 9.80753549e-01 1.93341387e-01 2.72320556e-02 3.81318477e+02] [-1.93258790e-01 9.81131503e-01 -5.65807862e-03 -7.39767352e+01] [-2.78121684e-02 2.86346569e-04 9.99613126e-01 -1.25835425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:381.35, Y:-73.98, Z:-12.58 [[ 9.81473499e-01 1.89511344e-01 2.81996845e-02 3.81347331e+02] [-1.89421143e-01 9.81878446e-01 -5.86075266e-03 -7.39848517e+01] [-2.87993415e-02 4.10556947e-04 9.99585129e-01 -1.25828099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.274012739 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:381.38, Y:-73.99, Z:-12.58 [[ 9.81503682e-01 1.89154443e-01 2.95147144e-02 3.81379113e+02] [-1.89055428e-01 9.81947250e-01 -6.13544672e-03 -7.39930344e+01] [-3.01424396e-02 4.42046578e-04 9.99545516e-01 -1.25834322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:381.41, Y:-74.00, Z:-12.58 [[ 9.81516349e-01 1.88945436e-01 3.04183998e-02 3.81409609e+02] [-1.88839963e-01 9.81987476e-01 -6.32975402e-03 -7.40015911e+01] [-3.10664658e-02 4.68547547e-04 9.99517211e-01 -1.25842036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.334012739 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:381.44, Y:-74.01, Z:-12.58 [[ 9.81472575e-01 1.89245739e-01 2.99605707e-02 3.81439756e+02] [-1.89143382e-01 9.81929652e-01 -6.24019282e-03 -7.40110861e+01] [-3.06001027e-02 4.57734432e-04 9.99531602e-01 -1.25842628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:381.47, Y:-74.02, Z:-12.59 [[ 9.81390854e-01 1.89744407e-01 2.94796878e-02 3.81471626e+02] [-1.89645410e-01 9.81833421e-01 -6.14422302e-03 -7.40182725e+01] [-3.01099747e-02 4.39196803e-04 9.99546495e-01 -1.25856364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.394012739 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:381.50, Y:-74.03, Z:-12.59 [[ 9.81229330e-01 1.90664709e-01 2.89131607e-02 3.81502697e+02] [-1.90569711e-01 9.81655134e-01 -6.03185558e-03 -7.40271301e+01] [-2.95328147e-02 4.08660911e-04 9.99563728e-01 -1.25876861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:381.53, Y:-74.03, Z:-12.59 [[ 9.81161685e-01 1.91134486e-01 2.80955014e-02 3.81531023e+02] [-1.91006853e-01 9.81562418e-01 -7.18342107e-03 -7.40349931e+01] [-2.89504877e-02 1.68166421e-03 9.99579432e-01 -1.25883535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.454012739 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:381.56, Y:-74.05, Z:-12.59 [[ 9.81479662e-01 1.89429832e-01 2.85308789e-02 3.81561024e+02] [-1.89376360e-01 9.81893849e-01 -4.58944514e-03 -7.40461495e+01] [-2.88836724e-02 -8.98626924e-04 9.99582376e-01 -1.25889090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:381.59, Y:-74.05, Z:-12.59 [[ 9.81484988e-01 1.89548410e-01 2.75430362e-02 3.81593916e+02] [-1.89461523e-01 9.81871283e-01 -5.75462216e-03 -7.40524451e+01] [-2.81344958e-02 4.29729666e-04 9.99604054e-01 -1.25896537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.514012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:381.62, Y:-74.06, Z:-12.59 [[ 9.81323524e-01 1.90507341e-01 2.66663639e-02 3.81624997e+02] [-1.90426116e-01 9.81685692e-01 -5.57644155e-03 -7.40584156e+01] [-2.72403410e-02 3.94321155e-04 9.99628835e-01 -1.25901461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:381.66, Y:-74.06, Z:-12.59 [[ 9.80706005e-01 1.93678461e-01 2.65402779e-02 3.81656216e+02] [-1.93599034e-01 9.81065012e-01 -5.55483487e-03 -7.40638997e+01] [-2.71135899e-02 3.09487759e-04 9.99632311e-01 -1.25909807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.574012739 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:381.69, Y:-74.07, Z:-12.59 [[ 9.80281665e-01 1.95590319e-01 2.81475509e-02 3.81687432e+02] [-1.95501619e-01 9.80685653e-01 -5.89632661e-03 -7.40698937e+01] [-2.87571637e-02 2.77169107e-04 9.99586389e-01 -1.25915457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:381.72, Y:-74.07, Z:-12.59 [[ 9.79256560e-01 2.00051448e-01 3.21870614e-02 3.81718266e+02] [-1.99937654e-01 9.79785379e-01 -6.74881438e-03 -7.40726605e+01] [-3.28865222e-02 1.73415216e-04 9.99459077e-01 -1.25907181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.634012739 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:381.75, Y:-74.08, Z:-12.59 [[ 9.78819448e-01 2.02155042e-01 3.23392519e-02 3.81749673e+02] [-2.02041303e-01 9.79353526e-01 -6.78114091e-03 -7.40762164e+01] [-3.30424022e-02 1.03648012e-04 9.99453945e-01 -1.25913739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:381.78, Y:-74.08, Z:-12.59 [[ 9.78457829e-01 2.04047579e-01 3.13824994e-02 3.81780578e+02] [-2.03941421e-01 9.78960972e-01 -6.58126682e-03 -7.40804142e+01] [-3.20651337e-02 3.93005226e-05 9.99485781e-01 -1.25936384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.694012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:381.81, Y:-74.08, Z:-12.60 [[ 9.78150261e-01 2.05627656e-01 3.06485592e-02 3.81810199e+02] [-2.05527158e-01 9.78630301e-01 -6.42809321e-03 -7.40820748e+01] [-3.13154024e-02 -1.14702268e-05 9.99509552e-01 -1.25960299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:381.84, Y:-74.08, Z:-12.60 [[ 9.78255041e-01 2.05099311e-01 3.08439350e-02 3.81840702e+02] [-2.04997251e-01 9.78741167e-01 -6.46951678e-03 -7.40824340e+01] [-3.15151223e-02 5.91553609e-06 9.99503275e-01 -1.25967761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.754012739 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:381.87, Y:-74.09, Z:-12.60 [[ 9.78482301e-01 2.04013183e-01 3.08384114e-02 3.81869950e+02] [-2.03910643e-01 9.78968140e-01 -6.46760644e-03 -7.40857234e+01] [-3.15092993e-02 4.01581133e-05 9.99503458e-01 -1.25973675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:381.90, Y:-74.09, Z:-12.60 [[ 9.78776993e-01 2.02555044e-01 3.10974557e-02 3.81900406e+02] [-2.02450062e-01 9.79270875e-01 -6.52116461e-03 -7.40904882e+01] [-3.17737274e-02 8.70840419e-05 9.99495084e-01 -1.25977498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.814012739 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:381.93, Y:-74.10, Z:-12.60 [[ 9.79161796e-01 2.00376466e-01 3.30371014e-02 3.81929132e+02] [-2.00256736e-01 9.79718962e-01 -6.92788916e-03 -7.40962092e+01] [-3.37552606e-02 1.67622284e-04 9.99430115e-01 -1.25987429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:381.96, Y:-74.10, Z:-12.60 [[ 9.79428642e-01 1.98947958e-01 3.37527185e-02 3.81958054e+02] [-1.98822151e-01 9.80010031e-01 -7.07752484e-03 -7.41026978e+01] [-3.44860618e-02 2.21142464e-04 9.99405154e-01 -1.26000712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.874012739 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:381.99, Y:-74.11, Z:-12.60 [[ 9.80097540e-01 1.95780847e-01 3.28431529e-02 3.81987922e+02] [-1.95659961e-01 9.80647620e-01 -6.88651767e-03 -7.41100537e+01] [-3.35558080e-02 3.23369012e-04 9.99436793e-01 -1.26016417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:382.02, Y:-74.12, Z:-12.60 [[ 9.80466516e-01 1.94083711e-01 3.18892351e-02 3.82016963e+02] [-1.93968796e-01 9.80984900e-01 -6.68818517e-03 -7.41174584e+01] [-3.25809259e-02 3.72025084e-04 9.99469031e-01 -1.26025490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.934012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:382.05, Y:-74.13, Z:-12.60 [[ 9.80786185e-01 1.92494639e-01 3.16902809e-02 3.82046649e+02] [-1.92380311e-01 9.81297934e-01 -6.64683270e-03 -7.41263464e+01] [-3.23770869e-02 4.22535586e-04 9.99475635e-01 -1.26034734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:382.08, Y:-74.13, Z:-12.60 [[ 9.80779491e-01 1.92528767e-01 3.16901261e-02 3.82077779e+02] [-1.92414433e-01 9.81291239e-01 -6.64757057e-03 -7.41329273e+01] [-3.23770917e-02 4.22163213e-04 9.99475635e-01 -1.26044937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.994012739 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:382.11, Y:-74.15, Z:-12.60 [[ 9.81390580e-01 1.89245762e-01 3.25356934e-02 3.82108523e+02] [-1.89123393e-01 9.81929602e-01 -6.82634095e-03 -7.41460950e+01] [-3.32396166e-02 5.46045972e-04 9.99447262e-01 -1.26045267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:382.14, Y:-74.16, Z:-12.61 [[ 9.81770821e-01 1.87333104e-01 3.21304071e-02 3.82138398e+02] [-1.87212538e-01 9.82296257e-01 -6.74747585e-03 -7.41569541e+01] [-3.28256042e-02 6.09259836e-04 9.99460909e-01 -1.26065347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05401273900003 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:382.17, Y:-74.17, Z:-12.61 [[ 9.81773509e-01 1.87383677e-01 3.17511291e-02 3.82168569e+02] [-1.87265784e-01 9.82286613e-01 -6.67350723e-03 -7.41666693e+01] [-3.24392154e-02 6.05972510e-04 9.99473526e-01 -1.26075661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:382.20, Y:-74.18, Z:-12.61 [[ 9.81606199e-01 1.88343253e-01 3.12424255e-02 3.82199808e+02] [-1.88229423e-01 9.82103097e-01 -6.57193407e-03 -7.41767205e+01] [-3.19210623e-02 5.70307486e-04 9.99490230e-01 -1.26085259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11401273900003 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:382.23, Y:-74.19, Z:-12.61 [[ 9.81125379e-01 1.90823384e-01 3.12957878e-02 3.82231509e+02] [-1.90710240e-01 9.81624261e-01 -6.58897097e-03 -7.41879099e+01] [-3.19780343e-02 4.96179436e-04 9.99488449e-01 -1.26083644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:382.26, Y:-74.20, Z:-12.61 [[ 9.80867094e-01 1.92038473e-01 3.19526186e-02 3.82263058e+02] [-1.91920971e-01 9.81387284e-01 -6.73339511e-03 -7.41963339e+01] [-3.26509645e-02 4.72188095e-04 9.99466704e-01 -1.26092544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.174012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:382.29, Y:-74.21, Z:-12.61 [[ 9.80469523e-01 1.94259029e-01 3.07073841e-02 3.82293121e+02] [-1.94151416e-01 9.80950192e-01 -6.47678402e-03 -7.42073830e+01] [-3.13805881e-02 3.88407219e-04 9.99507433e-01 -1.26121118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:382.33, Y:-74.22, Z:-12.61 [[ 9.80367432e-01 1.94949966e-01 2.95670400e-02 3.82325006e+02] [-1.94850357e-01 9.80813123e-01 -6.24144107e-03 -7.42161813e+01] [-3.02165095e-02 3.57757255e-04 9.99543313e-01 -1.26138990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.234012739 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:382.36, Y:-74.22, Z:-12.62 [[ 9.80227304e-01 1.95790076e-01 2.86474879e-02 3.82356414e+02] [-1.95696766e-01 9.80645777e-01 -6.05280739e-03 -7.42242560e+01] [-2.92781177e-02 3.26906311e-04 9.99571251e-01 -1.26152190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:382.39, Y:-74.23, Z:-12.62 [[ 9.80018366e-01 1.96937083e-01 2.79246814e-02 3.82387609e+02] [-1.96848747e-01 9.80416086e-01 -5.90507882e-03 -7.42334323e+01] [-2.85407359e-02 2.90147149e-04 9.99592588e-01 -1.26160490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.294012739 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:382.42, Y:-74.24, Z:-12.62 [[ 9.79884803e-01 1.97526740e-01 2.84422002e-02 3.82419160e+02] [-1.97435195e-01 9.80297458e-01 -6.01972169e-03 -7.42423403e+01] [-2.90708726e-02 2.83142463e-04 9.99577313e-01 -1.26167313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:382.45, Y:-74.25, Z:-12.62 [[ 9.79658247e-01 1.98562865e-01 2.90259944e-02 3.82450790e+02] [-1.98467807e-01 9.80088118e-01 -6.14899601e-03 -7.42537812e+01] [-2.96689945e-02 2.63189182e-04 9.99559744e-01 -1.26173668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.354012739 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:382.48, Y:-74.26, Z:-12.62 [[ 9.79475902e-01 1.99532821e-01 2.85238755e-02 3.82482793e+02] [-1.99441278e-01 9.79891115e-01 -6.04802235e-03 -7.42623114e+01] [-2.91570712e-02 2.35053957e-04 9.99574815e-01 -1.26187964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:382.51, Y:-74.27, Z:-12.62 [[ 9.78639531e-01 2.03814138e-01 2.69158986e-02 3.82513879e+02] [-2.03734107e-01 9.79009594e-01 -5.71205488e-03 -7.42706926e+01] [-2.75151205e-02 1.06356139e-04 9.99621382e-01 -1.26217347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.414012739 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:382.54, Y:-74.28, Z:-12.62 [[ 9.78096613e-01 2.06360851e-01 2.72436222e-02 3.82544912e+02] [-2.06279704e-01 9.78475957e-01 -5.78671718e-03 -7.42785729e+01] [-2.78513812e-02 4.01621584e-05 9.99612074e-01 -1.26221633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:382.58, Y:-74.29, Z:-12.62 [[ 9.77632883e-01 2.08381804e-01 2.84775195e-02 3.82576310e+02] [-2.08293853e-01 9.78047557e-01 -6.05368996e-03 -7.42876394e+01] [-2.91138472e-02 -1.34058838e-05 9.99576102e-01 -1.26230214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.474012739 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:382.61, Y:-74.30, Z:-12.62 [[ 9.77094146e-01 2.10612023e-01 3.04894290e-02 3.82608023e+02] [-2.10512090e-01 9.77569726e-01 -6.48770630e-03 -7.42978957e+01] [-3.11719318e-02 -7.92935835e-05 9.99514034e-01 -1.26227738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:382.64, Y:-74.30, Z:-12.62 [[ 9.76853337e-01 2.11738703e-01 3.04019669e-02 3.82639635e+02] [-2.11639705e-01 9.77326307e-01 -6.47499920e-03 -7.43048978e+01] [-3.10836499e-02 -1.09138725e-04 9.99516781e-01 -1.26237749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.534012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:382.67, Y:-74.31, Z:-12.63 [[ 9.76171444e-01 2.14969753e-01 2.96195294e-02 3.82671590e+02] [-2.14877115e-01 9.76620686e-01 -6.31355816e-03 -7.43127458e+01] [-3.02842691e-02 -2.01443816e-04 9.99541306e-01 -1.26261110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:382.70, Y:-74.32, Z:-12.63 [[ 9.75557016e-01 2.17735812e-01 2.96584698e-02 3.82702573e+02] [-2.17644031e-01 9.76007703e-01 -6.32765556e-03 -7.43210916e+01] [-3.03246523e-02 -2.82000141e-04 9.99540062e-01 -1.26275778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.594012739 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:382.73, Y:-74.33, Z:-12.63 [[ 9.74494506e-01 2.22207062e-01 3.13764214e-02 3.82733814e+02] [-2.22106459e-01 9.74999399e-01 -6.70020203e-03 -7.43271403e+01] [-3.20808242e-02 -4.39595782e-04 9.99485181e-01 -1.26269165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:382.77, Y:-74.33, Z:-12.63 [[ 9.73996021e-01 2.24335195e-01 3.17091679e-02 3.82766707e+02] [-2.24233396e-01 9.74511909e-01 -6.77669991e-03 -7.43324875e+01] [-3.24212140e-02 -5.09775636e-04 9.99474164e-01 -1.26276476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.654012739 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:382.80, Y:-74.33, Z:-12.63 [[ 9.73461528e-01 2.27084910e-01 2.83742324e-02 3.82797057e+02] [-2.26853055e-01 9.73864803e-01 -1.11819643e-02 -7.43343793e+01] [-3.01719216e-02 4.44843074e-03 9.99534825e-01 -1.26287178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:382.83, Y:-74.35, Z:-12.63 [[ 9.72837689e-01 2.29740786e-01 2.83901765e-02 3.82826795e+02] [-2.29810629e-01 9.73235018e-01 -8.22030108e-04 -7.43452151e+01] [-2.78191677e-02 -5.72466243e-03 9.99596580e-01 -1.26311988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.714012739 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:382.86, Y:-74.35, Z:-12.63 [[ 9.72620607e-01 2.30798336e-01 2.72265092e-02 3.82855851e+02] [-2.30725535e-01 9.73001415e-01 -5.82876694e-03 -7.43472486e+01] [-2.78367017e-02 -6.12672077e-04 9.99612296e-01 -1.26327626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:382.89, Y:-74.35, Z:-12.63 [[ 9.72907045e-01 2.29203286e-01 3.02941488e-02 3.82885458e+02] [-2.29112417e-01 9.73378372e-01 -6.48431186e-03 -7.43513738e+01] [-3.09738948e-02 -6.32132947e-04 9.99519994e-01 -1.26329397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.774012739 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:382.92, Y:-74.36, Z:-12.63 [[ 9.73388009e-01 2.26874443e-01 3.23074523e-02 3.82916028e+02] [-2.26769835e-01 9.73923833e-01 -6.91447019e-03 -7.43565924e+01] [-3.30337144e-02 -5.95893255e-04 9.99454060e-01 -1.26331877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:382.95, Y:-74.36, Z:-12.63 [[ 9.73921305e-01 2.24451653e-01 3.31473617e-02 3.82945845e+02] [-2.24340128e-01 9.74485083e-01 -7.09432785e-03 -7.43618746e+01] [-3.38939432e-02 -5.26966321e-04 9.99425296e-01 -1.26333290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.834012739 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:382.98, Y:-74.37, Z:-12.63 [[ 9.74676131e-01 2.21244820e-01 3.25141526e-02 3.82977264e+02] [-2.21135669e-01 9.75218214e-01 -6.96067796e-03 -7.43685721e+01] [-3.32484078e-02 -4.05632229e-04 9.99447037e-01 -1.26343446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:383.01, Y:-74.38, Z:-12.64 [[ 9.74953169e-01 2.20151856e-01 3.16145258e-02 3.83007351e+02] [-2.20047924e-01 9.75465548e-01 -6.77314008e-03 -7.43756183e+01] [-3.23300001e-02 -3.53216381e-04 9.99477187e-01 -1.26358115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.894012739 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:383.04, Y:-74.38, Z:-12.64 [[ 9.75679051e-01 2.17089479e-01 3.03734542e-02 3.83038804e+02] [-2.16991927e-01 9.76151680e-01 -6.51168491e-03 -7.43826590e+01] [-3.10627166e-02 -2.37479796e-04 9.99517409e-01 -1.26376686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:383.07, Y:-74.39, Z:-12.64 [[ 9.76016686e-01 2.15608566e-01 3.00728163e-02 3.83069958e+02] [-2.15512077e-01 9.76479858e-01 -6.45227810e-03 -7.43887722e+01] [-3.07566658e-02 -1.83524012e-04 9.99526885e-01 -1.26390110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.954012739 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:383.10, Y:-74.40, Z:-12.64 [[ 9.76272221e-01 2.14469356e-01 2.99240107e-02 3.83099374e+02] [-2.14373263e-01 9.76730707e-01 -6.42106352e-03 -7.43950691e+01] [-3.06048215e-02 -1.46201886e-04 9.99531552e-01 -1.26400918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:383.13, Y:-74.40, Z:-12.64 [[ 9.76201468e-01 2.14766115e-01 3.01033282e-02 3.83129892e+02] [-2.14668997e-01 9.76665496e-01 -6.45987989e-03 -7.44018214e+01] [-3.07882453e-02 -1.56107045e-04 9.99525917e-01 -1.26406430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.014012739 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:383.16, Y:-74.41, Z:-12.64 [[ 9.76044229e-01 2.15447343e-01 3.03332491e-02 3.83160885e+02] [-2.15349043e-01 9.76515443e-01 -6.50993838e-03 -7.44077411e+01] [-3.10234351e-02 -1.78248378e-04 9.99518641e-01 -1.26413001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:383.19, Y:-74.41, Z:-12.64 [[ 9.75818812e-01 2.16451417e-01 3.04373101e-02 3.83190899e+02] [-2.16352905e-01 9.76293368e-01 -6.53300936e-03 -7.44118046e+01] [-3.11298231e-02 -2.10167041e-04 9.99515328e-01 -1.26426085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.074012739 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:383.22, Y:-74.41, Z:-12.64 [[ 9.75932344e-01 2.16360309e-01 2.72814327e-02 3.83219437e+02] [-2.16168410e-01 9.76306579e-01 -9.83269138e-03 -7.44142349e+01] [-2.87624464e-02 3.69865762e-03 9.99579432e-01 -1.26441863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:383.25, Y:-74.42, Z:-12.65 [[ 9.76079267e-01 2.15501117e-01 2.87842399e-02 3.83247230e+02] [-2.15527733e-01 9.76495215e-01 -2.21154903e-03 -7.44239443e+01] [-2.85842638e-02 -4.04515481e-03 9.99583201e-01 -1.26455801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.134012739 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:383.28, Y:-74.43, Z:-12.65 [[ 9.76299925e-01 2.14779345e-01 2.66137162e-02 3.83277474e+02] [-2.14703352e-01 9.76662590e-01 -5.71455497e-03 -7.44264849e+01] [-2.72199894e-02 -1.34934491e-04 9.99629458e-01 -1.26469901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:383.31, Y:-74.43, Z:-12.65 [[ 9.76701042e-01 2.13110536e-01 2.52779490e-02 3.83305926e+02] [-2.13041434e-01 9.77028092e-01 -5.42726448e-03 -7.44302228e+01] [-2.58538736e-02 -8.44356337e-05 9.99665729e-01 -1.26472789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.194012739 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:383.34, Y:-74.44, Z:-12.65 [[ 9.76914999e-01 2.11937483e-01 2.68251358e-02 3.83335393e+02] [-2.11859250e-01 9.77283224e-01 -5.75832179e-03 -7.44358851e+01] [-2.74361595e-02 -5.77622361e-05 9.99623556e-01 -1.26478404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:383.37, Y:-74.44, Z:-12.65 [[ 9.77153360e-01 2.10285675e-01 3.08422611e-02 3.83365934e+02] [-2.10181427e-01 9.77639982e-01 -6.62063775e-03 -7.44404710e+01] [-3.15448529e-02 -1.30920398e-05 9.99502337e-01 -1.26470792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.254012739 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:383.40, Y:-74.45, Z:-12.65 [[ 9.77170035e-01 2.10094091e-01 3.16100637e-02 3.83397777e+02] [-2.09984473e-01 9.77681171e-01 -6.78589885e-03 -7.44458054e+01] [-3.23302414e-02 -6.64554522e-06 9.99477241e-01 -1.26479401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:383.43, Y:-74.45, Z:-12.65 [[ 9.77194999e-01 2.10068864e-01 3.10001174e-02 3.83429591e+02] [-2.09963259e-01 9.77686592e-01 -6.66014489e-03 -7.44516113e+01] [-3.17074882e-02 -6.25393263e-07 9.99497191e-01 -1.26495992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.314012739 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:383.46, Y:-74.46, Z:-12.65 [[ 9.77428916e-01 2.09448798e-01 2.76390043e-02 3.83460987e+02] [-2.09364489e-01 9.77819616e-01 -5.94222643e-03 -7.44581443e+01] [-2.82705527e-02 2.14779350e-05 9.99600308e-01 -1.26523517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:383.49, Y:-74.46, Z:-12.65 [[ 9.77689643e-01 2.08312877e-01 2.69945877e-02 3.83490187e+02] [-2.08231877e-01 9.78062238e-01 -5.80889721e-03 -7.44643828e+01] [-2.76124550e-02 5.81649540e-05 9.99618702e-01 -1.26534816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.374012739 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:383.52, Y:-74.47, Z:-12.65 [[ 9.77866733e-01 2.07347309e-01 2.79954695e-02 3.83520309e+02] [-2.07259784e-01 9.78267390e-01 -6.02467205e-03 -7.44711727e+01] [-2.86362544e-02 8.89914274e-05 9.99589894e-01 -1.26534142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:383.55, Y:-74.48, Z:-12.65 [[ 9.78096694e-01 2.06167976e-01 2.86639535e-02 3.83549936e+02] [-2.06075713e-01 9.78516607e-01 -6.16853095e-03 -7.44786665e+01] [-2.93199081e-02 1.26475053e-04 9.99570071e-01 -1.26536408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.434012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:383.58, Y:-74.49, Z:-12.65 [[ 9.78728054e-01 2.03124092e-01 2.88443977e-02 3.83579957e+02] [-2.03029353e-01 9.79152979e-01 -6.20695156e-03 -7.44896401e+01] [-2.95038593e-02 2.18658208e-04 9.99564642e-01 -1.26546679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:383.61, Y:-74.50, Z:-12.66 [[ 9.78998978e-01 2.01700648e-01 2.96285278e-02 3.83609760e+02] [-2.01599881e-01 9.79447178e-01 -6.38078081e-03 -7.44978857e+01] [-3.03065856e-02 2.73670220e-04 9.99540612e-01 -1.26560280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.494012739 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:383.64, Y:-74.51, Z:-12.66 [[ 9.79228438e-01 2.00452261e-01 3.05050539e-02 3.83641129e+02] [-2.00344686e-01 9.79703417e-01 -6.57434892e-03 -7.45057665e+01] [-3.12037487e-02 3.26263971e-04 9.99512991e-01 -1.26563347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:383.67, Y:-74.52, Z:-12.66 [[ 9.79377288e-01 1.99685575e-01 3.07538326e-02 3.83672241e+02] [-1.99575700e-01 9.79859961e-01 -6.63304033e-03 -7.45168601e+01] [-3.14589716e-02 3.58531392e-04 9.99504980e-01 -1.26578879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55401273900003 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:383.70, Y:-74.53, Z:-12.66 [[ 9.79289049e-01 2.00338699e-01 2.92807968e-02 3.83702590e+02] [-2.00239233e-01 9.79726645e-01 -6.32063415e-03 -7.45277173e+01] [-2.99534444e-02 3.26563504e-04 9.99551242e-01 -1.26593089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:383.73, Y:-74.54, Z:-12.66 [[ 9.78906364e-01 2.02611542e-01 2.62848426e-02 3.83733933e+02] [-2.02532105e-01 9.79259163e-01 -5.67789449e-03 -7.45401392e+01] [-2.68900799e-02 2.34602562e-04 9.99638369e-01 -1.26608666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61401273900003 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:383.76, Y:-74.55, Z:-12.66 [[ 9.78468409e-01 2.04741640e-01 2.60851230e-02 3.83764499e+02] [-2.04664025e-01 9.78816034e-01 -5.63990556e-03 -7.45482169e+01] [-2.66872601e-02 1.79783169e-04 9.99643815e-01 -1.26614957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:383.80, Y:-74.56, Z:-12.66 [[ 9.77373545e-01 2.09695264e-01 2.77281580e-02 3.83796241e+02] [-2.09609384e-01 9.77766789e-01 -6.00103542e-03 -7.45591008e+01] [-2.83700607e-02 5.31711265e-05 9.99597487e-01 -1.26624136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.674012739 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:383.83, Y:-74.57, Z:-12.66 [[ 9.76860886e-01 2.12075924e-01 2.76877571e-02 3.83827613e+02] [-2.11991088e-01 9.77253192e-01 -5.99802790e-03 -7.45674810e+01] [-2.83299864e-02 -1.03189164e-05 9.99598625e-01 -1.26630503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:383.86, Y:-74.57, Z:-12.67 [[ 9.75934129e-01 2.16382093e-01 2.70437704e-02 3.83859743e+02] [-2.16302671e-01 9.76308749e-01 -5.86352482e-03 -7.45746873e+01] [-2.76718314e-02 -1.27225792e-04 9.99617053e-01 -1.26651917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.734012739 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:383.89, Y:-74.58, Z:-12.67 [[ 9.75554731e-01 2.18157893e-01 2.64594317e-02 3.83891147e+02] [-2.18082381e-01 9.75913472e-01 -5.74193623e-03 -7.45822118e+01] [-2.70747645e-02 -1.68762808e-04 9.99633397e-01 -1.26662480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:383.92, Y:-74.59, Z:-12.67 [[ 9.75219674e-01 2.19634371e-01 2.65956770e-02 3.83922917e+02] [-2.19558497e-01 9.75582237e-01 -5.77629311e-03 -7.45914394e+01] [-2.72149426e-02 -2.06152194e-04 9.99629584e-01 -1.26673065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.794012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:383.95, Y:-74.60, Z:-12.67 [[ 9.75389999e-01 2.18650556e-01 2.83951298e-02 3.83952929e+02] [-2.18563466e-01 9.75803208e-01 -6.17342644e-03 -7.46022930e+01] [-2.90578819e-02 -1.84639572e-04 9.99577714e-01 -1.26677008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:383.98, Y:-74.61, Z:-12.67 [[ 9.75435322e-01 2.18261302e-01 2.97982658e-02 3.83984579e+02] [-2.18165090e-01 9.75890348e-01 -6.48238098e-03 -7.46088526e+01] [-3.04946929e-02 -1.77797961e-04 9.99534913e-01 -1.26673123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.854012739 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:384.02, Y:-74.62, Z:-12.67 [[ 9.75182021e-01 2.19420888e-01 2.95719572e-02 3.84016162e+02] [-2.19326558e-01 9.75630273e-01 -6.43666343e-03 -7.46159252e+01] [-3.02636351e-02 -2.08997131e-04 9.99541929e-01 -1.26685866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:384.05, Y:-74.62, Z:-12.67 [[ 9.74962533e-01 2.20443668e-01 2.92001566e-02 3.84048296e+02] [-2.20351998e-01 9.75399680e-01 -6.36096402e-03 -7.46234858e+01] [-2.98840576e-02 -2.32611258e-04 9.99553345e-01 -1.26699765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.914012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:384.08, Y:-74.63, Z:-12.67 [[ 9.74944710e-01 2.20522638e-01 2.91989348e-02 3.84080982e+02] [-2.20430835e-01 9.75381830e-01 -6.36656711e-03 -7.46307529e+01] [-2.98840827e-02 -2.29294668e-04 9.99553345e-01 -1.26710502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:384.11, Y:-74.64, Z:-12.67 [[ 9.74442167e-01 2.22732130e-01 2.92037888e-02 3.84113361e+02] [-2.22641222e-01 9.74879639e-01 -6.36987231e-03 -7.46363807e+01] [-2.98889544e-02 -2.94895048e-04 9.99553182e-01 -1.26716398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.974012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:384.15, Y:-74.64, Z:-12.67 [[ 9.74113771e-01 2.24210907e-01 2.88414718e-02 3.84145668e+02] [-2.24122724e-01 9.74540589e-01 -6.29640404e-03 -7.46410510e+01] [-2.95189074e-02 -3.30615347e-04 9.99564167e-01 -1.26721281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:384.18, Y:-74.64, Z:-12.67 [[ 9.73524615e-01 2.26899089e-01 2.76880511e-02 3.84176479e+02] [-2.26818764e-01 9.73918195e-01 -6.04962385e-03 -7.46441820e+01] [-2.83385509e-02 -3.90711789e-04 9.99598306e-01 -1.26740836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.034012739 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:384.21, Y:-74.65, Z:-12.67 [[ 9.73403593e-01 2.27464235e-01 2.73032317e-02 3.84206338e+02] [-2.27386340e-01 9.73786353e-01 -5.96586511e-03 -7.46492498e+01] [-2.79445353e-02 -4.01187383e-04 9.99609395e-01 -1.26749226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:384.24, Y:-74.65, Z:-12.68 [[ 9.73261925e-01 2.28029515e-01 2.76363052e-02 3.84236685e+02] [-2.27949924e-01 9.73654129e-01 -6.03901979e-03 -7.46532938e+01] [-2.82852774e-02 -4.22145650e-04 9.99599802e-01 -1.26758265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.094012739 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:384.27, Y:-74.65, Z:-12.68 [[ 9.72815447e-01 2.29732672e-01 2.92062715e-02 3.84266495e+02] [-2.29644545e-01 9.73253642e-01 -6.38215856e-03 -7.46533726e+01] [-2.98913004e-02 -4.98398479e-04 9.99553031e-01 -1.26763259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:384.30, Y:-74.66, Z:-12.68 [[ 9.72595188e-01 2.30533270e-01 3.02160852e-02 3.84295992e+02] [-2.30439362e-01 9.73064293e-01 -6.60170954e-03 -7.46571135e+01] [-3.09241073e-02 -5.42184487e-04 9.99521588e-01 -1.26766230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.154012739 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:384.33, Y:-74.66, Z:-12.68 [[ 9.72106062e-01 2.32557231e-01 3.04456603e-02 3.84325121e+02] [-2.32462905e-01 9.72582521e-01 -6.65114787e-03 -7.46563971e+01] [-3.11576896e-02 -6.11865488e-04 9.99514294e-01 -1.26775206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:384.35, Y:-74.66, Z:-12.68 [[ 9.72015921e-01 2.33051839e-01 2.95277678e-02 3.84353277e+02] [-2.32963365e-01 9.72464122e-01 -6.44994547e-03 -7.46582865e+01] [-3.02178665e-02 -6.09438447e-04 9.99543150e-01 -1.26798663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.214012739 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:384.38, Y:-74.66, Z:-12.68 [[ 9.72323149e-01 2.32020220e-01 2.74647409e-02 3.84382697e+02] [-2.31943311e-01 9.72710814e-01 -5.99775694e-03 -7.46578505e+01] [-2.81068514e-02 -5.38505022e-04 9.99604779e-01 -1.26819452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:384.41, Y:-74.66, Z:-12.68 [[ 9.72694174e-01 2.30475153e-01 2.73358503e-02 3.84411555e+02] [-2.30398379e-01 9.73078086e-01 -5.96872194e-03 -7.46610187e+01] [-2.79755590e-02 -4.92394542e-04 9.99608486e-01 -1.26827906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.274012739 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:384.44, Y:-74.66, Z:-12.68 [[ 9.73068068e-01 2.28881325e-01 2.74203286e-02 3.84439981e+02] [-2.28803478e-01 9.73454230e-01 -5.98590226e-03 -7.46639861e+01] [-2.80624961e-02 -4.49176213e-04 9.99606070e-01 -1.26831552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:384.47, Y:-74.66, Z:-12.68 [[ 9.73628385e-01 2.26470200e-01 2.75502527e-02 3.84469571e+02] [-2.26390684e-01 9.74018019e-01 -6.01300953e-03 -7.46632722e+01] [-2.81962101e-02 -3.82683795e-04 9.99602335e-01 -1.26838207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.334012739 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:384.50, Y:-74.67, Z:-12.69 [[ 9.73879669e-01 2.25384898e-01 2.75687930e-02 3.84497520e+02] [-2.25304876e-01 9.74269739e-01 -6.01576682e-03 -7.46659151e+01] [-2.82153037e-02 -3.52750490e-04 9.99601807e-01 -1.26850145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:384.53, Y:-74.67, Z:-12.69 [[ 9.74497548e-01 2.22497762e-01 2.91423075e-02 3.84526330e+02] [-2.22407107e-01 9.74933159e-01 -6.35728298e-03 -7.46655840e+01] [-2.98262831e-02 -2.86299620e-04 9.99555056e-01 -1.26862077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.394012739 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:384.55, Y:-74.67, Z:-12.69 [[ 9.74896764e-01 2.20666027e-01 2.97120209e-02 3.84553968e+02] [-2.20571005e-01 9.75349398e-01 -6.47945754e-03 -7.46690255e+01] [-3.04093978e-02 -2.36808105e-04 9.99537499e-01 -1.26864678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:384.58, Y:-74.67, Z:-12.69 [[ 9.75267654e-01 2.18985818e-01 2.99702266e-02 3.84581226e+02] [-2.18888397e-01 9.75728024e-01 -6.53403039e-03 -7.46735080e+01] [-3.06736500e-02 -1.87706355e-04 9.99529435e-01 -1.26872523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.454012739 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:384.61, Y:-74.68, Z:-12.69 [[ 9.75915726e-01 2.16333406e-01 2.80776376e-02 3.84608964e+02] [-2.16246847e-01 9.76319542e-01 -6.11990169e-03 -7.46796714e+01] [-2.87366855e-02 -9.91923274e-05 9.99587011e-01 -1.26895974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:384.64, Y:-74.68, Z:-12.69 [[ 9.76101812e-01 2.15710464e-01 2.63486046e-02 3.84636503e+02] [-2.15634041e-01 9.76457367e-01 -5.74199239e-03 -7.46842261e+01] [-2.69668969e-02 -7.68869213e-05 9.99636324e-01 -1.26909509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.514012739 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:384.66, Y:-74.69, Z:-12.69 [[ 9.76495072e-01 2.14196744e-01 2.40235032e-02 3.84663864e+02] [-2.14132780e-01 9.76790537e-01 -5.23439979e-03 -7.46857900e+01] [-2.45871220e-02 -3.28539086e-05 9.99697690e-01 -1.26932476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:384.69, Y:-74.69, Z:-12.69 [[ 9.76659719e-01 2.13436874e-01 2.40934489e-02 3.84690701e+02] [-2.13372368e-01 9.76956857e-01 -5.24711133e-03 -7.46918596e+01] [-2.46581871e-02 -1.62339699e-05 9.99695941e-01 -1.26938004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.574012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:384.72, Y:-74.70, Z:-12.69 [[ 9.76905324e-01 2.12172080e-01 2.52783777e-02 3.84718468e+02] [-2.12100697e-01 9.77232321e-01 -5.50327359e-03 -7.46992570e+01] [-2.58704887e-02 1.46157408e-05 9.99665303e-01 -1.26944845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:384.75, Y:-74.71, Z:-12.69 [[ 9.77440539e-01 2.09374209e-01 2.77926986e-02 3.84745325e+02] [-2.09286828e-01 9.77835585e-01 -6.04914315e-03 -7.47066301e+01] [-2.84432243e-02 9.60320058e-05 9.99595405e-01 -1.26931048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.634012739 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:384.77, Y:-74.71, Z:-12.69 [[ 9.77229879e-01 2.10274603e-01 2.83964020e-02 3.84772281e+02] [-2.10183818e-01 9.77642361e-01 -6.17870579e-03 -7.47118906e+01] [-2.90607504e-02 6.95517227e-05 9.99577645e-01 -1.26938456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:384.80, Y:-74.72, Z:-12.70 [[ 9.76997467e-01 2.11446028e-01 2.76862336e-02 3.84801264e+02] [-2.11360245e-01 9.77389675e-01 -6.02250763e-03 -7.47184565e+01] [-2.83336742e-02 3.22055696e-05 9.99598520e-01 -1.26953222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.694012739 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:384.83, Y:-74.72, Z:-12.70 [[ 9.76882015e-01 2.12084699e-01 2.68627863e-02 3.84828366e+02] [-2.12004199e-01 9.77251288e-01 -5.84289883e-03 -7.47241451e+01] [-2.74908820e-02 1.27992904e-05 9.99622054e-01 -1.26967441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:384.86, Y:-74.73, Z:-12.70 [[ 9.76961163e-01 2.11680161e-01 2.71734349e-02 3.84855834e+02] [-2.11597679e-01 9.77338994e-01 -5.90875465e-03 -7.47288733e+01] [-2.78084237e-02 2.27880569e-05 9.99613271e-01 -1.26979771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.754012739 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:384.88, Y:-74.73, Z:-12.70 [[ 9.76987232e-01 2.11501233e-01 2.76256462e-02 3.84883629e+02] [-2.11415968e-01 9.77377730e-01 -6.00507968e-03 -7.47348681e+01] [-2.82707731e-02 2.63834473e-05 9.99600301e-01 -1.26981400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:384.91, Y:-74.74, Z:-12.70 [[ 9.76688722e-01 2.12712884e-01 2.88507953e-02 3.84910352e+02] [-2.12620458e-01 9.77114747e-01 -6.26993513e-03 -7.47408028e+01] [-2.95242335e-02 -1.04943718e-05 9.99564065e-01 -1.26972637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.814012739 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:384.94, Y:-74.75, Z:-12.70 [[ 9.76560669e-01 2.13248638e-01 2.92280186e-02 3.84937618e+02] [-2.13154073e-01 9.76997962e-01 -6.35010203e-03 -7.47452007e+01] [-2.99098652e-02 -2.88113212e-05 9.99552599e-01 -1.26973473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:384.97, Y:-74.75, Z:-12.70 [[ 9.76505112e-01 2.13522650e-01 2.90834028e-02 3.84966256e+02] [-2.13429192e-01 9.76938113e-01 -6.31690507e-03 -7.47493066e+01] [-2.97614869e-02 -3.87570791e-05 9.99557028e-01 -1.26978756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.874012739 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:384.99, Y:-74.75, Z:-12.70 [[ 9.76254130e-01 2.14581903e-01 2.97065789e-02 3.84993658e+02] [-2.14484932e-01 9.76705995e-01 -6.45077783e-03 -7.47522367e+01] [-3.03988139e-02 -7.40150531e-05 9.99537847e-01 -1.26993500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:385.02, Y:-74.76, Z:-12.70 [[ 9.76115076e-01 2.15070012e-01 3.07286223e-02 3.85021854e+02] [-2.14966555e-01 9.76598628e-01 -6.67075285e-03 -7.47561979e+01] [-3.14442093e-02 -9.42036538e-05 9.99505504e-01 -1.26997025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.934012739 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:385.05, Y:-74.76, Z:-12.70 [[ 9.76120333e-01 2.15110901e-01 3.02720235e-02 3.85050530e+02] [-2.15010562e-01 9.76589623e-01 -6.57015684e-03 -7.47605537e+01] [-3.09766564e-02 -9.55411131e-05 9.99520104e-01 -1.27006923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:385.08, Y:-74.76, Z:-12.70 [[ 9.76235154e-01 2.14682927e-01 2.96000737e-02 3.85079531e+02] [-2.14586841e-01 9.76683794e-01 -6.42289572e-03 -7.47648413e+01] [-3.02887983e-02 -8.15297177e-05 9.99541186e-01 -1.27019668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.994012739 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:385.11, Y:-74.77, Z:-12.70 [[ 9.76665080e-01 2.12974434e-01 2.76985732e-02 3.85106729e+02] [-2.12889646e-01 9.77057772e-01 -6.00907390e-03 -7.47691395e+01] [-2.83428853e-02 -2.78868106e-05 9.99598259e-01 -1.27037017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:385.14, Y:-74.77, Z:-12.70 [[ 9.76886361e-01 2.12012616e-01 2.72706601e-02 3.85135207e+02] [-2.11930101e-01 9.77266929e-01 -5.91455198e-03 -7.47746772e+01] [-2.79046738e-02 -1.62857322e-06 9.99610589e-01 -1.27043648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05401273900003 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:385.16, Y:-74.78, Z:-12.70 [[ 9.77096110e-01 2.11004430e-01 2.75739548e-02 3.85163430e+02] [-2.10919704e-01 9.77485105e-01 -5.97900713e-03 -7.47776851e+01] [-2.82147271e-02 2.61742222e-05 9.99601885e-01 -1.27041295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:385.19, Y:-74.78, Z:-12.71 [[ 9.77022620e-01 2.11341602e-01 2.75957953e-02 3.85191917e+02] [-2.11256926e-01 9.77412260e-01 -5.98201330e-03 -7.47814605e+01] [-2.82367169e-02 1.47594370e-05 9.99601264e-01 -1.27053511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.114012739 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:385.22, Y:-74.79, Z:-12.71 [[ 9.76953529e-01 2.11703990e-01 2.72621048e-02 3.85219724e+02] [-2.11621525e-01 9.77333833e-01 -5.90840100e-03 -7.47854773e+01] [-2.78950095e-02 2.98499812e-06 9.99610859e-01 -1.27062804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:385.25, Y:-74.79, Z:-12.71 [[ 9.77166327e-01 2.10750540e-01 2.70218354e-02 3.85247065e+02] [-2.10669204e-01 9.77539876e-01 -5.85467806e-03 -7.47902442e+01] [-2.76487982e-02 2.83256951e-05 9.99617699e-01 -1.27082794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.174012739 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:385.27, Y:-74.80, Z:-12.71 [[ 9.77425660e-01 2.09565119e-01 2.68614832e-02 3.85274843e+02] [-2.09484340e-01 9.77794691e-01 -5.81839766e-03 -7.47961487e+01] [-2.74843488e-02 5.99910867e-05 9.99622232e-01 -1.27094231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:385.30, Y:-74.80, Z:-12.71 [[ 9.77784876e-01 2.07874798e-01 2.69221989e-02 3.85302834e+02] [-2.07793069e-01 9.78155436e-01 -5.82953983e-03 -7.48028826e+01] [-2.75459097e-02 1.05789550e-04 9.99620534e-01 -1.27100476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.234012739 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:385.33, Y:-74.81, Z:-12.71 [[ 9.77867770e-01 2.07404467e-01 2.75319918e-02 3.85330073e+02] [-2.07318844e-01 9.78255270e-01 -5.96023929e-03 -7.48086986e+01] [-2.81694963e-02 1.20425187e-04 9.99603154e-01 -1.27105335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:385.36, Y:-74.81, Z:-12.71 [[ 9.77982002e-01 2.06731042e-01 2.85215730e-02 3.85357692e+02] [-2.06638917e-01 9.78397800e-01 -6.17268643e-03 -7.48146211e+01] [-2.91815302e-02 1.43109277e-04 9.99574118e-01 -1.27102896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.294012739 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:385.39, Y:-74.82, Z:-12.71 [[ 9.78073807e-01 2.06229677e-01 2.89991194e-02 3.85386086e+02] [-2.06134283e-01 9.78503600e-01 -6.27392901e-03 -7.48207269e+01] [-2.96696131e-02 1.58652952e-04 9.99559748e-01 -1.27111705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:385.41, Y:-74.83, Z:-12.71 [[ 9.78169361e-01 2.05588096e-01 3.03024228e-02 3.85411181e+02] [-2.05559345e-01 9.78636087e-01 -4.09459093e-03 -7.48296930e+01] [-3.04968436e-02 -2.22374280e-03 9.99532389e-01 -1.27122015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.354012739 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:385.44, Y:-74.83, Z:-12.71 [[ 9.78209147e-01 2.05714148e-01 2.80811886e-02 3.85438753e+02] [-2.05551248e-01 9.78608560e-01 -8.60061283e-03 -7.48338010e+01] [-2.92497593e-02 2.64107478e-03 9.99568645e-01 -1.27126660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:385.46, Y:-74.84, Z:-12.71 [[ 9.78090227e-01 2.06164902e-01 2.89057169e-02 3.85464538e+02] [-2.06092893e-01 9.78517081e-01 -5.48102242e-03 -7.48428807e+01] [-2.94147322e-02 -5.96328361e-04 9.99567115e-01 -1.27140848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.414012739 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:385.49, Y:-74.85, Z:-12.71 [[ 9.78058773e-01 2.06434285e-01 2.80343198e-02 3.85493703e+02] [-2.06325663e-01 9.78460130e-01 -6.74506647e-03 -7.48493961e+01] [-2.88228772e-02 8.12871818e-04 9.99584204e-01 -1.27142109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:385.52, Y:-74.86, Z:-12.71 [[ 9.77959859e-01 2.06962799e-01 2.75846836e-02 3.85521097e+02] [-2.06876735e-01 9.78348804e-01 -5.96941192e-03 -7.48558704e+01] [-2.82228884e-02 1.31215956e-04 9.99601646e-01 -1.27149710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.474012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:385.55, Y:-74.86, Z:-12.72 [[ 9.77633896e-01 2.08494580e-01 2.76038953e-02 3.85549037e+02] [-2.08409055e-01 9.78023519e-01 -5.97185179e-03 -7.48628505e+01] [-2.82423575e-02 8.53830187e-05 9.99601101e-01 -1.27161595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:385.58, Y:-74.87, Z:-12.72 [[ 9.77496264e-01 2.09017475e-01 2.85087368e-02 3.85576637e+02] [-2.08926513e-01 9.77911903e-01 -6.16620415e-03 -7.48688039e+01] [-2.91678775e-02 7.12105451e-05 9.99574524e-01 -1.27165704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.534012739 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:385.61, Y:-74.87, Z:-12.72 [[ 9.77350652e-01 2.09575128e-01 2.93933596e-02 3.85605316e+02] [-2.09478740e-01 9.77792546e-01 -6.35567794e-03 -7.48741117e+01] [-3.00725999e-02 5.44420280e-05 9.99547716e-01 -1.27170653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:385.63, Y:-74.88, Z:-12.72 [[ 9.77001093e-01 2.11116806e-01 2.99759520e-02 3.85634207e+02] [-2.11017330e-01 9.77460840e-01 -6.48013449e-03 -7.48767226e+01] [-3.06683846e-02 5.65312183e-06 9.99529614e-01 -1.27174540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.594012739 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:385.66, Y:-74.88, Z:-12.72 [[ 9.76886152e-01 2.11733031e-01 2.93695343e-02 3.85661668e+02] [-2.11637849e-01 9.77327542e-01 -6.34803558e-03 -7.48814630e+01] [-3.00477436e-02 -1.43969927e-05 9.99548465e-01 -1.27184855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:385.69, Y:-74.89, Z:-12.72 [[ 9.76794254e-01 2.12386775e-01 2.76557861e-02 3.85690287e+02] [-2.12302687e-01 9.77185682e-01 -5.97600126e-03 -7.48871103e+01] [-2.82940618e-02 -3.40739978e-05 9.99599642e-01 -1.27208498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.654012739 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:385.72, Y:-74.89, Z:-12.72 [[ 9.76894124e-01 2.12004497e-01 2.70548151e-02 3.85717698e+02] [-2.11923912e-01 9.77268690e-01 -5.84489808e-03 -7.48916602e+01] [-2.76789684e-02 -2.37156467e-05 9.99616864e-01 -1.27217546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:385.75, Y:-74.89, Z:-12.72 [[ 9.77040546e-01 2.11289704e-01 2.73574814e-02 3.85745140e+02] [-2.11207071e-01 9.77423481e-01 -5.90863859e-03 -7.48949299e+01] [-2.79882792e-02 -5.11404038e-06 9.99608251e-01 -1.27227767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.714012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:385.77, Y:-74.90, Z:-12.72 [[ 9.77297398e-01 2.09961890e-01 2.83866381e-02 3.85773013e+02] [-2.09872425e-01 9.77709570e-01 -6.12875458e-03 -7.48968922e+01] [-2.90406927e-02 3.20433167e-05 9.99578230e-01 -1.27231143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:385.80, Y:-74.90, Z:-12.72 [[ 9.77419375e-01 2.09287218e-01 2.91586199e-02 3.85799790e+02] [-2.09192585e-01 9.77854211e-01 -6.29322279e-03 -7.49032577e+01] [-2.98299704e-02 5.13508041e-05 9.99554986e-01 -1.27240086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.774012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:385.83, Y:-74.91, Z:-12.72 [[ 9.77442291e-01 2.09180121e-01 2.91589581e-02 3.85827658e+02] [-2.09085487e-01 9.77877126e-01 -6.29165552e-03 -7.49091092e+01] [-2.98299674e-02 5.30152357e-05 9.99554986e-01 -1.27249201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:385.85, Y:-74.92, Z:-12.73 [[ 9.77748416e-01 2.07775640e-01 2.89364428e-02 3.85854800e+02] [-2.07681931e-01 9.78176505e-01 -6.24023554e-03 -7.49173575e+01] [-2.96015175e-02 9.18041050e-05 9.99561775e-01 -1.27262714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.834012739 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:385.88, Y:-74.92, Z:-12.73 [[ 9.78014246e-01 2.06677970e-01 2.77912229e-02 3.85882322e+02] [-2.06591139e-01 9.78409016e-01 -5.99152852e-03 -7.49239061e+01] [-2.84295000e-02 1.18379847e-04 9.99595793e-01 -1.27276597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:385.91, Y:-74.93, Z:-12.73 [[ 9.78225034e-01 2.05820780e-01 2.67130947e-02 3.85910494e+02] [-2.05740280e-01 9.78589693e-01 -5.75754467e-03 -7.49302330e+01] [-2.73261814e-02 1.36214754e-04 9.99626561e-01 -1.27288177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.894012739 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:385.94, Y:-74.94, Z:-12.73 [[ 9.78311784e-01 2.05390408e-01 2.68483605e-02 3.85937664e+02] [-2.05308962e-01 9.78680110e-01 -5.78544696e-03 -7.49388481e+01] [-2.74642317e-02 1.47761905e-04 9.99622776e-01 -1.27291633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:385.96, Y:-74.95, Z:-12.73 [[ 9.78351964e-01 2.05071402e-01 2.78056533e-02 3.85964109e+02] [-2.04983955e-01 9.78747002e-01 -5.99033193e-03 -7.49466510e+01] [-2.84431456e-02 1.60940233e-04 9.99595399e-01 -1.27295006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.954012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:385.99, Y:-74.95, Z:-12.73 [[ 9.78209690e-01 2.05394159e-01 3.03157048e-02 3.85990346e+02] [-2.05290432e-01 9.78679321e-01 -6.52883739e-03 -7.49548317e+01] [-3.10103384e-02 1.63047861e-04 9.99519051e-01 -1.27300133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:386.02, Y:-74.96, Z:-12.73 [[ 9.78089745e-01 2.05972941e-01 3.02588479e-02 3.86017827e+02] [-2.05869939e-01 9.78557677e-01 -6.51467809e-03 -7.49623820e+01] [-3.09518754e-02 1.42552645e-04 9.99520866e-01 -1.27307299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.014012739 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:386.04, Y:-74.97, Z:-12.73 [[ 9.77985129e-01 2.06779104e-01 2.80622531e-02 3.86044022e+02] [-2.06614579e-01 9.78383974e-01 -8.67271791e-03 -7.49687718e+01] [-2.92489955e-02 2.68371853e-03 9.99568554e-01 -1.27319835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:386.07, Y:-74.98, Z:-12.73 [[ 9.78332114e-01 2.05150712e-01 2.79188003e-02 3.86071453e+02] [-2.05134722e-01 9.78727608e-01 -3.46644034e-03 -7.49813248e+01] [-2.80360433e-02 -2.33578543e-03 9.99604184e-01 -1.27340802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.074012739 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:386.10, Y:-74.99, Z:-12.74 [[ 9.78583228e-01 2.04098665e-01 2.68067360e-02 3.86099606e+02] [-2.04017133e-01 9.78950307e-01 -5.77115394e-03 -7.49864776e+01] [-2.74203472e-02 1.78521038e-04 9.99623976e-01 -1.27350977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:386.13, Y:-75.00, Z:-12.74 [[ 9.78826509e-01 2.03007849e-01 2.62007451e-02 3.86126800e+02] [-2.02929607e-01 9.79177089e-01 -5.63935267e-03 -7.49962826e+01] [-2.68000022e-02 2.03040966e-04 9.99640795e-01 -1.27359493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.134012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:386.15, Y:-75.00, Z:-12.74 [[ 9.78847617e-01 2.02949257e-01 2.58639167e-02 3.86153944e+02] [-2.02873018e-01 9.79189235e-01 -5.56596858e-03 -7.50048130e+01] [-2.64552780e-02 2.01144228e-04 9.99649978e-01 -1.27366174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:386.18, Y:-75.01, Z:-12.74 [[ 9.78798574e-01 2.03207519e-01 2.56915654e-02 3.86180966e+02] [-2.03132413e-01 9.79135674e-01 -5.52768136e-03 -7.50122131e+01] [-2.62787946e-02 1.91696952e-04 9.99654634e-01 -1.27374763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.194012739 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:386.21, Y:-75.02, Z:-12.74 [[ 9.78276546e-01 2.05601418e-01 2.65152217e-02 3.86209458e+02] [-2.05522345e-01 9.78635806e-01 -5.70313164e-03 -7.50173194e+01] [-2.71213173e-02 1.29769374e-04 9.99632141e-01 -1.27364350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:386.24, Y:-75.02, Z:-12.74 [[ 9.77765488e-01 2.07965815e-01 2.69234291e-02 3.86238139e+02] [-2.07885217e-01 9.78136093e-01 -5.78971823e-03 -7.50225878e+01] [-2.75388412e-02 6.40037646e-05 9.99620732e-01 -1.27366145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.254012739 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:386.27, Y:-75.03, Z:-12.74 [[ 9.76557350e-01 2.13340685e-01 2.86617083e-02 3.86265256e+02] [-2.13251697e-01 9.76977862e-01 -6.16202349e-03 -7.50269004e+01] [-2.93164648e-02 -9.45885979e-05 9.99570176e-01 -1.27378485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:386.29, Y:-75.03, Z:-12.74 [[ 9.76125319e-01 2.15262858e-01 2.90045636e-02 3.86292755e+02] [-2.15172630e-01 9.76556131e-01 -6.23390000e-03 -7.50313077e+01] [-2.96665116e-02 -1.55920608e-04 9.99559840e-01 -1.27390724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.314012739 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:386.32, Y:-75.04, Z:-12.74 [[ 9.75982633e-01 2.15931884e-01 2.88326436e-02 3.86321089e+02] [-2.15843067e-01 9.76408414e-01 -6.19518101e-03 -7.50353776e+01] [-2.94901729e-02 -1.76937167e-04 9.99565055e-01 -1.27406997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:386.35, Y:-75.04, Z:-12.74 [[ 9.75991012e-01 2.15917314e-01 2.86576040e-02 3.86349471e+02] [-2.15829607e-01 9.76411636e-01 -6.15617950e-03 -7.50401483e+01] [-2.93108438e-02 -1.76783541e-04 9.99570329e-01 -1.27418692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.374012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:386.38, Y:-75.05, Z:-12.74 [[ 9.76078475e-01 2.15474686e-01 2.90081076e-02 3.86376885e+02] [-2.15384667e-01 9.76509412e-01 -6.23002919e-03 -7.50455606e+01] [-2.96691036e-02 -1.66904207e-04 9.99559761e-01 -1.27421983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:386.41, Y:-75.05, Z:-12.74 [[ 9.76287078e-01 2.14530108e-01 2.89891952e-02 3.86405611e+02] [-2.14439844e-01 9.76717366e-01 -6.22413577e-03 -7.50469545e+01] [-2.96495149e-02 -1.39895195e-04 9.99560347e-01 -1.27429159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.434012739 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:386.43, Y:-75.05, Z:-12.74 [[ 9.76278666e-01 2.14713681e-01 2.78926847e-02 3.86433546e+02] [-2.14630230e-01 9.76677027e-01 -5.98742096e-03 -7.50500459e+01] [-2.85277256e-02 -1.41221978e-04 9.99592992e-01 -1.27447748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:386.46, Y:-75.05, Z:-12.75 [[ 9.75866827e-01 2.16760896e-01 2.64319731e-02 3.86460101e+02] [-2.16686744e-01 9.76224706e-01 -5.67254348e-03 -7.50536088e+01] [-2.70331308e-02 -1.91811169e-04 9.99634520e-01 -1.27465419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.494012739 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:386.49, Y:-75.06, Z:-12.75 [[ 9.75520033e-01 2.18257215e-01 2.69156745e-02 3.86487867e+02] [-2.18180976e-01 9.75891249e-01 -5.77332466e-03 -7.50586647e+01] [-2.75268410e-02 -2.40494277e-04 9.99621036e-01 -1.27461842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:386.52, Y:-75.06, Z:-12.75 [[ 9.74853520e-01 2.21093390e-01 2.78985252e-02 3.86515187e+02] [-2.21012701e-01 9.75252583e-01 -5.98204416e-03 -7.50592308e+01] [-2.85306992e-02 -3.34311586e-04 9.99592861e-01 -1.27464979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55401273900003 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:386.54, Y:-75.06, Z:-12.75 [[ 9.74660317e-01 2.22100830e-01 2.66174198e-02 3.86543551e+02] [-2.22027819e-01 9.75023640e-01 -5.70513563e-03 -7.50624172e+01] [-2.72197289e-02 -3.49238361e-04 9.99629414e-01 -1.27490802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:386.57, Y:-75.07, Z:-12.75 [[ 9.74543122e-01 2.22818965e-01 2.48477802e-02 3.86571130e+02] [-2.22755615e-01 9.74859779e-01 -5.32420958e-03 -7.50662197e+01] [-2.54094364e-02 -3.46310736e-04 9.99677068e-01 -1.27510452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.614012739 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:386.60, Y:-75.07, Z:-12.75 [[ 9.74425481e-01 2.23390474e-01 2.43244337e-02 3.86597881e+02] [-2.23329978e-01 9.74728973e-01 -5.21066393e-03 -7.50686237e+01] [-2.48737429e-02 -3.54971526e-04 9.99690538e-01 -1.27524634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:386.63, Y:-75.07, Z:-12.75 [[ 9.74413943e-01 2.23242031e-01 2.60856828e-02 3.86625881e+02] [-2.23172495e-01 9.74762972e-01 -5.58446220e-03 -7.50715985e+01] [-2.66740443e-02 -3.80029087e-04 9.99644112e-01 -1.27516914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.674012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:386.65, Y:-75.07, Z:-12.75 [[ 9.74245154e-01 2.23402683e-01 3.06206108e-02 3.86653638e+02] [-2.23307027e-01 9.74726133e-01 -6.55259455e-03 -7.50720322e+01] [-3.13105768e-02 -4.53964084e-04 9.99509601e-01 -1.27500402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:386.68, Y:-75.08, Z:-12.75 [[ 9.74038835e-01 2.23915200e-01 3.33216375e-02 3.86678715e+02] [-2.23933547e-01 9.74599069e-01 -3.22836951e-03 -7.50787534e+01] [-3.31981179e-02 -4.31727519e-03 9.99439466e-01 -1.27511400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.734012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:386.71, Y:-75.08, Z:-12.75 [[ 9.74478259e-01 2.22690789e-01 2.83007879e-02 3.86709750e+02] [-2.22498873e-01 9.74883706e-01 -9.79857218e-03 -7.50762167e+01] [-2.97720287e-02 3.25160217e-03 9.99551426e-01 -1.27521999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:386.74, Y:-75.08, Z:-12.75 [[ 9.74508344e-01 2.22703714e-01 2.71393268e-02 3.86737316e+02] [-2.22628586e-01 9.74886097e-01 -5.79746805e-03 -7.50811170e+01] [-2.77488701e-02 -3.92308971e-04 9.99614849e-01 -1.27535269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.794012739 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:386.76, Y:-75.08, Z:-12.75 [[ 9.74376191e-01 2.23411750e-01 2.60428375e-02 3.86764874e+02] [-2.23342873e-01 9.74724080e-01 -5.56138773e-03 -7.50841638e+01] [-2.66270601e-02 -3.97598352e-04 9.99645358e-01 -1.27548203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:386.79, Y:-75.09, Z:-12.76 [[ 9.74127795e-01 2.24453488e-01 2.63755858e-02 3.86792783e+02] [-2.24383275e-01 9.74484707e-01 -5.63045336e-03 -7.50875535e+01] [-2.69663799e-02 -4.33459220e-04 9.99636247e-01 -1.27550519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.854012739 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:386.82, Y:-75.09, Z:-12.75 [[ 9.73958165e-01 2.25051742e-01 2.75173687e-02 3.86819879e+02] [-2.24975616e-01 9.74346700e-01 -5.87208244e-03 -7.50919954e+01] [-2.81329798e-02 -4.71574339e-04 9.99604078e-01 -1.27543767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:386.85, Y:-75.09, Z:-12.75 [[ 9.73760926e-01 2.25582486e-01 3.00366695e-02 3.86848670e+02] [-2.25492119e-01 9.74223925e-01 -6.40682405e-03 -7.50927370e+01] [-3.07077094e-02 -5.34317347e-04 9.99528264e-01 -1.27540374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.914012739 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:386.88, Y:-75.10, Z:-12.76 [[ 9.73952232e-01 2.24725623e-01 3.02563081e-02 3.86875888e+02] [-2.24633587e-01 9.74421947e-01 -6.45142549e-03 -7.50961698e+01] [-3.09322112e-02 -5.13202750e-04 9.99521353e-01 -1.27558783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:386.90, Y:-75.10, Z:-12.76 [[ 9.74708872e-01 2.21520656e-01 2.95163281e-02 3.86904067e+02] [-2.21431672e-01 9.75155596e-01 -6.29115822e-03 -7.50995607e+01] [-3.01766340e-02 -4.03802146e-04 9.99544500e-01 -1.27582892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.974012739 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:386.93, Y:-75.10, Z:-12.76 [[ 9.75284434e-01 2.18981549e-01 2.94508891e-02 3.86930472e+02] [-2.18891866e-01 9.75728945e-01 -6.27506204e-03 -7.51033891e+01] [-3.01102078e-02 -3.26589729e-04 9.99546532e-01 -1.27586532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:386.96, Y:-75.11, Z:-12.76 [[ 9.75968762e-01 2.15895321e-01 2.95666456e-02 3.86958034e+02] [-2.15803592e-01 9.76416487e-01 -6.29717100e-03 -7.51073499e+01] [-3.02288900e-02 -2.34746138e-04 9.99542975e-01 -1.27597186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.034012739 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:386.99, Y:-75.11, Z:-12.76 [[ 9.77299715e-01 2.10009622e-01 2.79504327e-02 3.86985268e+02] [-2.09925294e-01 9.77699318e-01 -5.95102917e-03 -7.51120783e+01] [-2.85768924e-02 -5.15636984e-05 9.99591596e-01 -1.27604902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:387.01, Y:-75.12, Z:-12.76 [[ 9.77827558e-01 2.07662448e-01 2.70106276e-02 3.87012197e+02] [-2.07582853e-01 9.78200546e-01 -5.74906402e-03 -7.51175036e+01] [-2.76156754e-02 1.46500992e-05 9.99618614e-01 -1.27613472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.094012739 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:387.04, Y:-75.12, Z:-12.76 [[ 9.78506356e-01 2.04435390e-01 2.70459383e-02 3.87040570e+02] [-2.04354419e-01 9.78880054e-01 -5.75420434e-03 -7.51198919e+01] [-2.76510926e-02 1.03568502e-04 9.99617630e-01 -1.27622146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:387.07, Y:-75.12, Z:-12.76 [[ 9.78568038e-01 2.04119878e-01 2.71968718e-02 3.87067235e+02] [-2.04025134e-01 9.78945739e-01 -6.24371762e-03 -7.51235076e+01] [-2.78987287e-02 5.61057092e-04 9.99610597e-01 -1.27625518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.154012739 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:387.09, Y:-75.13, Z:-12.76 [[ 9.78513781e-01 2.04062914e-01 2.94806242e-02 3.87093082e+02] [-2.04024009e-01 9.78956204e-01 -4.35374417e-03 -7.51292724e+01] [-2.97486777e-02 -1.75455647e-03 9.99555870e-01 -1.27628504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:387.12, Y:-75.13, Z:-12.76 [[ 9.78833310e-01 2.02507593e-01 2.95977294e-02 3.87123014e+02] [-2.02371202e-01 9.79279671e-01 -7.56459356e-03 -7.51327967e+01] [-3.05163423e-02 1.41474807e-03 9.99533267e-01 -1.27627505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.214012739 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:387.15, Y:-75.14, Z:-12.76 [[ 9.79001387e-01 2.01551256e-01 3.05512066e-02 3.87150229e+02] [-2.01446943e-01 9.79477949e-01 -6.48662860e-03 -7.51383867e+01] [-3.12316213e-02 1.95971214e-04 9.99512155e-01 -1.27630193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:387.18, Y:-75.14, Z:-12.76 [[ 9.79304518e-01 2.00292556e-01 2.90783965e-02 3.87176792e+02] [-2.00197565e-01 9.79736109e-01 -6.17190372e-03 -7.51427992e+01] [-2.97253414e-02 2.22749028e-04 9.99558080e-01 -1.27638718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.274012739 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:387.20, Y:-75.15, Z:-12.77 [[ 9.79444760e-01 1.99766083e-01 2.79548487e-02 3.87203842e+02] [-1.99678166e-01 9.79843590e-01 -5.93035971e-03 -7.51479566e+01] [-2.85760641e-02 2.26486810e-04 9.99591595e-01 -1.27654390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:387.23, Y:-75.15, Z:-12.77 [[ 9.79531414e-01 1.99406253e-01 2.74837230e-02 3.87231108e+02] [-1.99321188e-01 9.79916881e-01 -5.82845285e-03 -7.51517241e+01] [-2.80939940e-02 2.31064342e-04 9.99605259e-01 -1.27659495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.334012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:387.26, Y:-75.16, Z:-12.77 [[ 9.79478071e-01 1.99591535e-01 2.80343853e-02 3.87258581e+02] [-1.99503176e-01 9.79879159e-01 -5.94271073e-03 -7.51560446e+01] [-2.86564247e-02 2.27805956e-04 9.99589294e-01 -1.27663807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:387.29, Y:-75.16, Z:-12.77 [[ 9.79314721e-01 2.00263560e-01 2.89341411e-02 3.87286616e+02] [-2.00169793e-01 9.79742038e-01 -6.13130341e-03 -7.51605236e+01] [-2.95758710e-02 2.12734658e-04 9.99562516e-01 -1.27668891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.394012739 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:387.31, Y:-75.16, Z:-12.77 [[ 9.78958699e-01 2.01859439e-01 2.98769755e-02 3.87314000e+02] [-2.01760271e-01 9.79414488e-01 -6.32881682e-03 -7.51640236e+01] [-3.05394741e-02 1.67663580e-04 9.99533547e-01 -1.27665921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:387.34, Y:-75.17, Z:-12.77 [[ 9.78968478e-01 2.01757197e-01 3.02448950e-02 3.87341327e+02] [-2.01655593e-01 9.79435554e-01 -6.40446966e-03 -7.51685574e+01] [-3.09150733e-02 1.70721664e-04 9.99522000e-01 -1.27677342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.454012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:387.37, Y:-75.17, Z:-12.77 [[ 9.79340025e-01 2.00024317e-01 2.97218583e-02 3.87368177e+02] [-1.99925467e-01 9.79790908e-01 -6.29153846e-03 -7.51721899e+01] [-3.03796672e-02 2.19399047e-04 9.99538407e-01 -1.27685873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:387.40, Y:-75.18, Z:-12.77 [[ 9.79597985e-01 1.98854138e-01 2.90657834e-02 3.87395838e+02] [-1.98759164e-01 9.80029066e-01 -6.15015982e-03 -7.51775584e+01] [-2.97082973e-02 2.47593357e-04 9.99558580e-01 -1.27693417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.514012739 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:387.42, Y:-75.18, Z:-12.77 [[ 9.80212951e-01 1.96047205e-01 2.73507701e-02 3.87422255e+02] [-1.95962068e-01 9.80594410e-01 -5.78544198e-03 -7.51811490e+01] [-2.79542320e-02 3.11251663e-04 9.99609156e-01 -1.27708560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:387.45, Y:-75.19, Z:-12.77 [[ 9.80583154e-01 1.94281686e-01 2.66702907e-02 3.87448971e+02] [-1.94200137e-01 9.80945719e-01 -5.63944539e-03 -7.51854565e+01] [-2.72577485e-02 3.50571048e-04 9.99628377e-01 -1.27716351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.574012739 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:387.48, Y:-75.19, Z:-12.77 [[ 9.81310010e-01 1.90506305e-01 2.71663762e-02 3.87476872e+02] [-1.90420344e-01 9.81685864e-01 -5.74081747e-03 -7.51902353e+01] [-2.77625095e-02 4.60490940e-04 9.99614441e-01 -1.27720475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:387.50, Y:-75.20, Z:-12.77 [[ 9.81596281e-01 1.88898308e-01 2.80387361e-02 3.87504573e+02] [-1.88806140e-01 9.81996517e-01 -5.92306009e-03 -7.51960139e+01] [-2.86527972e-02 5.20168230e-04 9.99589289e-01 -1.27721495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.634012739 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:387.53, Y:-75.20, Z:-12.77 [[ 9.81786242e-01 1.87605065e-01 3.00019195e-02 3.87532307e+02] [-1.87499003e-01 9.82244362e-01 -6.33544876e-03 -7.52020997e+01] [-3.06577785e-02 5.94726435e-04 9.99529763e-01 -1.27726187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:387.56, Y:-75.21, Z:-12.77 [[ 9.82411271e-01 1.83875588e-01 3.25248104e-02 3.87558482e+02] [-1.83748974e-01 9.82949224e-01 -6.86564542e-03 -7.52098176e+01] [-3.32326618e-02 7.68486906e-04 9.99447347e-01 -1.27727780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.694012739 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:387.59, Y:-75.22, Z:-12.77 [[ 9.82841259e-01 1.81531120e-01 3.27033825e-02 3.87586386e+02] [-1.81401904e-01 9.83384833e-01 -6.90063984e-03 -7.52187894e+01] [-3.34126913e-02 8.49777688e-04 9.99441279e-01 -1.27734845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:387.62, Y:-75.22, Z:-12.77 [[ 9.82847509e-01 1.81497223e-01 3.27036960e-02 3.87615085e+02] [-1.81368038e-01 9.83391090e-01 -6.89915402e-03 -7.52247621e+01] [-3.34127005e-02 8.49411166e-04 9.99441279e-01 -1.27744199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.754012739 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:387.64, Y:-75.24, Z:-12.78 [[ 9.84016244e-01 1.75523247e-01 3.00602857e-02 3.87640142e+02] [-1.75304060e-01 9.84465577e-01 -9.79870215e-03 -7.52363427e+01] [-3.13132165e-02 4.37239197e-03 9.99500057e-01 -1.27758948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:387.67, Y:-75.25, Z:-12.78 [[ 9.84720330e-01 1.71396818e-01 3.08058733e-02 3.87665540e+02] [-1.71387438e-01 9.85199248e-01 -2.96441343e-03 -7.52500580e+01] [-3.08580143e-02 -2.36062155e-03 9.99520990e-01 -1.27770127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.814012739 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:387.69, Y:-75.26, Z:-12.78 [[ 9.85498758e-01 1.67220532e-01 2.88008889e-02 3.87693077e+02] [-1.67114402e-01 9.85918823e-01 -6.07045620e-03 -7.52623415e+01] [-2.94104434e-02 1.16938371e-03 9.99566735e-01 -1.27785324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:387.72, Y:-75.27, Z:-12.78 [[ 9.85440521e-01 1.67768329e-01 2.75820262e-02 3.87719318e+02] [-1.67560796e-01 9.85814149e-01 -9.68727279e-03 -7.52713618e+01] [-2.88159693e-02 4.92456488e-03 9.99572603e-01 -1.27787499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.874012739 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:387.75, Y:-75.29, Z:-12.78 [[ 9.85358362e-01 1.67735633e-01 3.05557807e-02 3.87745711e+02] [-1.67738001e-01 9.85828430e-01 -2.50406200e-03 -7.52871189e+01] [-3.05427778e-02 -2.65796716e-03 9.99529926e-01 -1.27800308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:387.77, Y:-75.30, Z:-12.78 [[ 9.84828152e-01 1.71138212e-01 2.87267105e-02 3.87773683e+02] [-1.70974751e-01 9.85242349e-01 -8.07142354e-03 -7.52999894e+01] [-2.96841007e-02 3.03742294e-03 9.99554715e-01 -1.27810324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.934012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:387.80, Y:-75.31, Z:-12.78 [[ 9.84442056e-01 1.73130196e-01 2.99962296e-02 3.87800068e+02] [-1.73080216e-01 9.84898455e-01 -4.27450679e-03 -7.53122568e+01] [-3.02832864e-02 -9.83749657e-04 9.99540872e-01 -1.27822882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:387.83, Y:-75.32, Z:-12.78 [[ 9.83155094e-01 1.80220614e-01 3.04399619e-02 3.87827034e+02] [-1.80108438e-01 9.83625873e-01 -6.41035256e-03 -7.53248374e+01] [-3.10968118e-02 8.19876796e-04 9.99516041e-01 -1.27828751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.994012739 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:387.86, Y:-75.33, Z:-12.78 [[ 9.82462080e-01 1.83965022e-01 3.04159779e-02 3.87855084e+02] [-1.83854857e-01 9.82932542e-01 -6.40389512e-03 -7.53342775e+01] [-3.10749472e-02 6.99458834e-04 9.99516812e-01 -1.27839567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:387.88, Y:-75.34, Z:-12.78 [[ 9.81791002e-01 1.87506947e-01 3.04560805e-02 3.87881970e+02] [-1.87398205e-01 9.82263101e-01 -6.41199151e-03 -7.53435734e+01] [-3.11181770e-02 5.87820758e-04 9.99515539e-01 -1.27847078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05401273900003 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:387.91, Y:-75.36, Z:-12.79 [[ 9.80687198e-01 1.93370926e-01 2.93309646e-02 3.87909846e+02] [-1.93272721e-01 9.81125647e-01 -6.17407891e-03 -7.53558238e+01] [-2.99712490e-02 3.85964790e-04 9.99550687e-01 -1.27864216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:387.94, Y:-75.36, Z:-12.79 [[ 9.80148287e-01 1.96274975e-01 2.80262284e-02 3.87937237e+02] [-1.96186516e-01 9.80548853e-01 -5.89887792e-03 -7.53640048e+01] [-2.86388882e-02 2.83406977e-04 9.99589783e-01 -1.27875691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.114012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:387.96, Y:-75.37, Z:-12.79 [[ 9.78889718e-01 2.02647420e-01 2.66260027e-02 3.87963625e+02] [-2.02569966e-01 9.79251763e-01 -5.60301814e-03 -7.53722521e+01] [-2.72089972e-02 9.11083861e-05 9.99629763e-01 -1.27897290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:387.99, Y:-75.38, Z:-12.79 [[ 9.78137490e-01 2.06218151e-01 2.68537886e-02 3.87991673e+02] [-2.06140756e-01 9.78506042e-01 -5.64928512e-03 -7.53789868e+01] [-2.74415795e-02 -9.88272721e-06 9.99623409e-01 -1.27905007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.174012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:388.02, Y:-75.39, Z:-12.79 [[ 9.77374671e-01 2.09752631e-01 2.72504307e-02 3.88019203e+02] [-2.09674342e-01 9.77754479e-01 -5.73142488e-03 -7.53859100e+01] [-2.78464121e-02 -1.11966616e-04 9.99612207e-01 -1.27912272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:388.05, Y:-75.39, Z:-12.79 [[ 9.76474299e-01 2.13808519e-01 2.79975010e-02 3.88045900e+02] [-2.13727582e-01 9.76875561e-01 -5.88718335e-03 -7.53932459e+01] [-2.86088045e-02 -2.35154948e-04 9.99590657e-01 -1.27920808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.234012739 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:388.07, Y:-75.40, Z:-12.79 [[ 9.76100765e-01 2.15498520e-01 2.80657140e-02 3.88073235e+02] [-2.15417935e-01 9.76504125e-01 -5.89980872e-03 -7.53988843e+01] [-2.86776856e-02 -2.87050370e-04 9.99588669e-01 -1.27933357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:388.10, Y:-75.41, Z:-12.79 [[ 9.75999908e-01 2.15978610e-01 2.78822335e-02 3.88100925e+02] [-2.15899316e-01 9.76398049e-01 -5.85964794e-03 -7.54053727e+01] [-2.84897170e-02 -3.00739305e-04 9.99594040e-01 -1.27946126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.294012739 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:388.13, Y:-75.41, Z:-12.80 [[ 9.75899775e-01 2.16404537e-01 2.80839153e-02 3.88128019e+02] [-2.16324325e-01 9.76303731e-01 -5.90005480e-03 -7.54120888e+01] [-2.86952299e-02 -3.17371875e-04 9.99588157e-01 -1.27960630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:388.15, Y:-75.42, Z:-12.80 [[ 9.75826543e-01 2.16805738e-01 2.75287210e-02 3.88154848e+02] [-2.16728880e-01 9.76214713e-01 -5.78153028e-03 -7.54185337e+01] [-2.81274114e-02 -3.24498154e-04 9.99604293e-01 -1.27969032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.354012739 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:388.18, Y:-75.42, Z:-12.80 [[ 9.75507017e-01 2.18256981e-01 2.73852181e-02 3.88183185e+02] [-2.18181549e-01 9.75891262e-01 -5.74942563e-03 -7.54228717e+01] [-2.79798473e-02 -3.66344243e-04 9.99608420e-01 -1.27974668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:388.21, Y:-75.43, Z:-12.80 [[ 9.75358937e-01 2.18821052e-01 2.81476528e-02 3.88211665e+02] [-2.18741636e-01 9.75764926e-01 -5.90805033e-03 -7.54280632e+01] [-2.87582981e-02 -3.94593938e-04 9.99586317e-01 -1.27980327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.414012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:388.24, Y:-75.43, Z:-12.80 [[ 9.75269861e-01 2.18949764e-01 3.01612058e-02 3.88237908e+02] [-2.18846342e-01 9.75736132e-01 -6.72897569e-03 -7.54335216e+01] [-3.09026860e-02 -3.81023836e-05 9.99522397e-01 -1.27988134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:388.27, Y:-75.44, Z:-12.80 [[ 9.75436904e-01 2.18123342e-01 3.07417129e-02 3.88265700e+02] [-2.18042025e-01 9.75920851e-01 -6.01396835e-03 -7.54395604e+01] [-3.13132655e-02 -8.36738686e-04 9.99509269e-01 -1.27996449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.474012739 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:388.29, Y:-75.44, Z:-12.80 [[ 9.75555386e-01 2.17691203e-01 3.00371277e-02 3.88293049e+02] [-2.17600405e-01 9.76017616e-01 -6.29892486e-03 -7.54440762e+01] [-3.06879863e-02 -3.91141082e-04 9.99528936e-01 -1.28011214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:388.32, Y:-75.45, Z:-12.80 [[ 9.75759210e-01 2.16979968e-01 2.85246724e-02 3.88321865e+02] [-2.16897831e-01 9.76175993e-01 -5.98007524e-03 -7.54483436e+01] [-2.91426570e-02 -3.51826069e-04 9.99575201e-01 -1.28027335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.534012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:388.35, Y:-75.45, Z:-12.80 [[ 9.76565837e-01 2.13293659e-01 2.87224874e-02 3.88349171e+02] [-2.13208823e-01 9.76988104e-01 -6.02016161e-03 -7.54546729e+01] [-2.93455908e-02 -2.44803590e-04 9.99569295e-01 -1.28033478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:388.38, Y:-75.46, Z:-12.80 [[ 9.77225184e-01 2.10184883e-01 2.92105383e-02 3.88376104e+02] [-2.10095804e-01 9.77661644e-01 -6.12064124e-03 -7.54612640e+01] [-2.98444892e-02 -1.55766790e-04 9.99554542e-01 -1.28037368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.594012739 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:388.40, Y:-75.47, Z:-12.80 [[ 9.77853839e-01 2.07093013e-01 3.02382774e-02 3.88404546e+02] [-2.06996134e-01 9.78321256e-01 -6.33408450e-03 -7.54681711e+01] [-3.08944942e-02 -6.53976893e-05 9.99522649e-01 -1.28049954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:388.43, Y:-75.48, Z:-12.81 [[ 9.78510702e-01 2.03990364e-01 3.00788707e-02 3.88432449e+02] [-2.03893083e-01 9.78972896e-01 -6.29922938e-03 -7.54752899e+01] [-3.07313812e-02 3.09896880e-05 9.99527679e-01 -1.28061164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.654012739 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:388.46, Y:-75.48, Z:-12.81 [[ 9.79490891e-01 1.99375480e-01 2.91034630e-02 3.88460934e+02] [-1.99282401e-01 9.79923155e-01 -6.09388922e-03 -7.54840529e+01] [-2.97341293e-02 1.69101017e-04 9.99557829e-01 -1.28086657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:388.49, Y:-75.49, Z:-12.81 [[ 9.79764575e-01 1.98136995e-01 2.83391788e-02 3.88488674e+02] [-1.97991167e-01 9.80172045e-01 -7.89055796e-03 -7.54922121e+01] [-2.93406823e-02 2.11998208e-03 9.99567221e-01 -1.28078710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.714012739 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:388.52, Y:-75.50, Z:-12.81 [[ 9.79744959e-01 1.97972506e-01 3.01115074e-02 3.88517654e+02] [-1.97933655e-01 9.80206008e-01 -4.29535347e-03 -7.55014108e+01] [-3.03658424e-02 -1.75172981e-03 9.99537316e-01 -1.28081123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:388.55, Y:-75.51, Z:-12.81 [[ 9.79441335e-01 1.99556719e-01 2.95260529e-02 3.88545651e+02] [-1.99461007e-01 9.79886263e-01 -6.18208503e-03 -7.55062383e+01] [-3.01658502e-02 1.65693383e-04 9.99544893e-01 -1.28085017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.774012739 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:388.57, Y:-75.51, Z:-12.81 [[ 9.78925543e-01 2.02188729e-01 2.87141128e-02 3.88574908e+02] [-2.02099372e-01 9.79346574e-01 -6.01103819e-03 -7.55110249e+01] [-2.93364322e-02 8.12546616e-05 9.99569591e-01 -1.28105957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:388.60, Y:-75.52, Z:-12.81 [[ 9.78714877e-01 2.03263071e-01 2.83074930e-02 3.88602739e+02] [-2.03176695e-01 9.79124161e-01 -5.92526660e-03 -7.55165663e+01] [-2.89209382e-02 4.77237002e-05 9.99581701e-01 -1.28129099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.834012739 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:388.63, Y:-75.52, Z:-12.81 [[ 9.78504072e-01 2.04408945e-01 2.73269810e-02 3.88630368e+02] [-2.04328922e-01 9.78885582e-01 -5.71914758e-03 -7.55220858e+01] [-2.79190327e-02 1.25166177e-05 9.99610188e-01 -1.28134909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:388.66, Y:-75.53, Z:-12.81 [[ 9.78476289e-01 2.04493112e-01 2.76896954e-02 3.88658917e+02] [-2.04411031e-01 9.78868003e-01 -5.79340671e-03 -7.55275885e+01] [-2.82892686e-02 8.63192352e-06 9.99599779e-01 -1.28140888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.894012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:388.69, Y:-75.53, Z:-12.81 [[ 9.78569559e-01 2.03978922e-01 2.81818816e-02 3.88687429e+02] [-2.03893725e-01 9.78975280e-01 -5.89491627e-03 -7.55327926e+01] [-2.87918041e-02 2.24768044e-05 9.99585430e-01 -1.28148333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:388.72, Y:-75.54, Z:-12.82 [[ 9.79026561e-01 2.01782047e-01 2.81247106e-02 3.88716287e+02] [-2.01696312e-01 9.79430446e-01 -5.88212511e-03 -7.55383573e+01] [-2.87331050e-02 8.61063043e-05 9.99587115e-01 -1.28152855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.954012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:388.75, Y:-75.54, Z:-12.82 [[ 9.79191861e-01 2.00892705e-01 2.87301321e-02 3.88745615e+02] [-2.00802877e-01 9.79613244e-01 -6.00802831e-03 -7.55446120e+01] [-2.93513869e-02 1.13919248e-04 9.99569149e-01 -1.28158323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:388.77, Y:-75.55, Z:-12.82 [[ 9.79027290e-01 2.01469553e-01 3.02586289e-02 3.88774885e+02] [-2.01370212e-01 9.79494772e-01 -6.32684182e-03 -7.55499625e+01] [-3.09128348e-02 1.00964303e-04 9.99522079e-01 -1.28160744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.014012739 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:388.80, Y:-75.55, Z:-12.82 [[ 9.78667452e-01 2.03081879e-01 3.11089700e-02 3.88804332e+02] [-2.02977701e-01 9.79161758e-01 -6.50423856e-03 -7.55547371e+01] [-3.17816068e-02 5.10593785e-05 9.99494836e-01 -1.28167393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:388.83, Y:-75.56, Z:-12.82 [[ 9.78156965e-01 2.05553363e-01 3.09316390e-02 3.88832874e+02] [-2.05451629e-01 9.78645908e-01 -6.46638687e-03 -7.55595108e+01] [-3.16003095e-02 -2.98142647e-05 9.99500585e-01 -1.28176038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.074012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:388.86, Y:-75.56, Z:-12.82 [[ 9.77345873e-01 2.09682618e-01 2.87792385e-02 3.88861301e+02] [-2.09596359e-01 9.77769490e-01 -6.01580623e-03 -7.55637620e+01] [-2.94008714e-02 -1.52500213e-04 9.99567689e-01 -1.28197764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:388.89, Y:-75.57, Z:-12.82 [[ 9.77111814e-01 2.10901916e-01 2.78008184e-02 3.88888833e+02] [-2.10821953e-01 9.77507211e-01 -5.81003004e-03 -7.55683933e+01] [-2.84008470e-02 -1.83973838e-04 9.99596598e-01 -1.28205223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.134012739 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:388.92, Y:-75.57, Z:-12.82 [[ 9.76957623e-01 2.11568248e-01 2.81545748e-02 3.88917448e+02] [-2.11486568e-01 9.77363204e-01 -5.88202254e-03 -7.55719254e+01] [-2.87616947e-02 -2.07827646e-04 9.99586275e-01 -1.28208071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:388.95, Y:-75.58, Z:-12.82 [[ 9.77008758e-01 2.11146620e-01 2.95125850e-02 3.88946285e+02] [-2.11056720e-01 9.77454379e-01 -6.16427519e-03 -7.55772388e+01] [-3.01487713e-02 -2.06278565e-04 9.99545401e-01 -1.28216345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.194012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:388.97, Y:-75.58, Z:-12.82 [[ 9.77271416e-01 2.09604676e-01 3.17247378e-02 3.88973423e+02] [-2.09500034e-01 9.77786199e-01 -6.62462893e-03 -7.55820468e+01] [-3.24085639e-02 -1.72273146e-04 9.99474690e-01 -1.28220183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:389.00, Y:-75.59, Z:-12.82 [[ 9.77485253e-01 2.08509983e-01 3.23445194e-02 3.89000712e+02] [-2.08400679e-01 9.78020228e-01 -6.75201171e-03 -7.55866443e+01] [-3.30414561e-02 -1.40627948e-04 9.99453972e-01 -1.28228679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.254012739 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:389.03, Y:-75.59, Z:-12.82 [[ 9.77658151e-01 2.07640310e-01 3.27114902e-02 3.89028956e+02] [-2.07528092e-01 9.78205238e-01 -6.82662057e-03 -7.55915773e+01] [-3.34160327e-02 -1.14451898e-04 9.99441522e-01 -1.28237737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:389.06, Y:-75.60, Z:-12.83 [[ 9.77662025e-01 2.07777856e-01 3.17069031e-02 3.89057848e+02] [-2.07672548e-01 9.78176032e-01 -6.61544999e-03 -7.55958444e+01] [-3.23894767e-02 -1.16979119e-04 9.99475316e-01 -1.28259108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.314012739 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:389.09, Y:-75.60, Z:-12.83 [[ 9.77504623e-01 2.08694027e-01 3.05207315e-02 3.89085065e+02] [-2.08596976e-01 9.77980972e-01 -6.36548264e-03 -7.56009723e+01] [-3.11771329e-02 -1.44243585e-04 9.99513865e-01 -1.28273640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:389.11, Y:-75.61, Z:-12.83 [[ 9.77261759e-01 2.09926767e-01 2.98363270e-02 3.89113082e+02] [-2.09834655e-01 9.77717096e-01 -6.22074666e-03 -7.56056328e+01] [-3.04773883e-02 -1.81397577e-04 9.99535440e-01 -1.28289659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.374012739 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:389.14, Y:-75.61, Z:-12.83 [[ 9.76544556e-01 2.13350608e-01 2.90215256e-02 3.89141416e+02] [-2.13265010e-01 9.76975659e-01 -6.04952570e-03 -7.56076787e+01] [-2.96439941e-02 -2.81644569e-04 9.99560481e-01 -1.28298542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:389.17, Y:-75.61, Z:-12.83 [[ 9.76257203e-01 2.14570757e-01 2.96860955e-02 3.89169240e+02] [-2.14481817e-01 9.76708392e-01 -6.18607542e-03 -7.56108584e+01] [-3.03220095e-02 -3.27927031e-04 9.99540128e-01 -1.28302723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.434012739 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:389.20, Y:-75.61, Z:-12.83 [[ 9.75690733e-01 2.16854744e-01 3.16482811e-02 3.89198002e+02] [-2.16754934e-01 9.76203789e-01 -6.59252345e-03 -7.56121021e+01] [-3.23247919e-02 -4.27657058e-04 9.99477326e-01 -1.28297083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:389.23, Y:-75.62, Z:-12.83 [[ 9.75515481e-01 2.17552742e-01 3.22544835e-02 3.89226173e+02] [-2.17449532e-01 9.76048457e-01 -6.71637363e-03 -7.56159350e+01] [-3.29431043e-02 -4.61795897e-04 9.99457122e-01 -1.28310849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.494012739 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:389.25, Y:-75.62, Z:-12.83 [[ 9.75524072e-01 2.17459997e-01 3.26180082e-02 3.89254608e+02] [-2.17429127e-01 9.76065583e-01 -4.53342600e-03 -7.56212669e+01] [-3.28231540e-02 -2.66963886e-03 9.99457610e-01 -1.28335882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:389.28, Y:-75.62, Z:-12.84 [[ 9.75781749e-01 2.17026898e-01 2.73734235e-02 3.89282980e+02] [-2.16888640e-01 9.76163911e-01 -7.95842644e-03 -7.56199521e+01] [-2.84481408e-02 1.82870268e-03 9.99593597e-01 -1.28358483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55401273900003 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:389.31, Y:-75.62, Z:-12.84 [[ 9.76289123e-01 2.14754236e-01 2.72059954e-02 3.89309814e+02] [-2.14679905e-01 9.76668070e-01 -5.65863714e-03 -7.56235811e+01] [-2.77864433e-02 -3.16114618e-04 9.99613832e-01 -1.28362773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:389.34, Y:-75.63, Z:-12.84 [[ 9.76301583e-01 2.14697523e-01 2.72064780e-02 3.89337724e+02] [-2.14623235e-01 9.76680538e-01 -5.65631592e-03 -7.56292505e+01] [-2.77864345e-02 -3.16872125e-04 9.99613832e-01 -1.28371873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.614012739 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:389.36, Y:-75.63, Z:-12.84 [[ 9.76410018e-01 2.13944642e-01 2.91747569e-02 3.89363935e+02] [-2.13858933e-01 9.76845734e-01 -6.06367386e-03 -7.56344582e+01] [-2.97965274e-02 -3.18650490e-04 9.99555934e-01 -1.28371401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:389.39, Y:-75.64, Z:-12.84 [[ 9.76507046e-01 2.13183431e-01 3.14135977e-02 3.89391346e+02] [-2.13083757e-01 9.77012140e-01 -6.52614359e-03 -7.56402007e+01] [-3.20827320e-02 -3.20902243e-04 9.99485165e-01 -1.28367942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.674012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:389.42, Y:-75.65, Z:-12.84 [[ 9.76873609e-01 2.11265461e-01 3.29371619e-02 3.89418536e+02] [-2.11154875e-01 9.77428683e-01 -6.84018413e-03 -7.56472456e+01] [-3.36388214e-02 -2.72846943e-04 9.99434017e-01 -1.28382949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:389.45, Y:-75.65, Z:-12.84 [[ 9.77179854e-01 2.10038572e-01 3.16754108e-02 3.89446377e+02] [-2.09935725e-01 9.77693075e-01 -6.57596961e-03 -7.56540638e+01] [-3.23500371e-02 -2.23895310e-04 9.99476576e-01 -1.28404111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.734012739 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:389.47, Y:-75.66, Z:-12.84 [[ 9.77475995e-01 2.09140521e-01 2.83005654e-02 3.89473721e+02] [-2.09058084e-01 9.77885582e-01 -5.87414165e-03 -7.56622829e+01] [-2.89032359e-02 -1.74629517e-04 9.99582199e-01 -1.28422562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:389.50, Y:-75.67, Z:-12.84 [[ 9.77301270e-01 2.10002002e-01 2.79533001e-02 3.89500579e+02] [-2.09921964e-01 9.77700936e-01 -5.80081694e-03 -7.56687687e+01] [-2.85481508e-02 -1.98865891e-04 9.99592399e-01 -1.28427091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.794012739 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:389.53, Y:-75.67, Z:-12.84 [[ 9.76943902e-01 2.11621955e-01 2.82269622e-02 3.89526646e+02] [-2.11541077e-01 9.77351567e-01 -5.85552193e-03 -7.56749733e+01] [-2.88268227e-02 -2.50645550e-04 9.99584389e-01 -1.28427394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:389.55, Y:-75.68, Z:-12.84 [[ 9.76063944e-01 2.15477404e-01 2.94731306e-02 3.89553138e+02] [-2.15391062e-01 9.76508751e-01 -6.11136633e-03 -7.56807938e+01] [-3.00976313e-02 -3.83164588e-04 9.99546890e-01 -1.28432451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.854012739 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:389.58, Y:-75.68, Z:-12.84 [[ 9.75136403e-01 2.19547703e-01 3.01297511e-02 3.89580626e+02] [-2.19459492e-01 9.75601626e-01 -6.24487794e-03 -7.56843245e+01] [-3.07656828e-02 -5.22652072e-04 9.99526488e-01 -1.28444846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:389.61, Y:-75.69, Z:-12.85 [[ 9.74775063e-01 2.21058045e-01 3.07720128e-02 3.89608258e+02] [-2.20966853e-01 9.75260478e-01 -6.37578050e-03 -7.56892529e+01] [-3.14201455e-02 -5.84643007e-04 9.99506094e-01 -1.28461972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.914012739 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:389.64, Y:-75.69, Z:-12.85 [[ 9.74528882e-01 2.22062336e-01 3.13333109e-02 3.89635398e+02] [-2.21968380e-01 9.75032267e-01 -6.48975641e-03 -7.56941261e+01] [-3.19921196e-02 -6.30549185e-04 9.99487922e-01 -1.28467481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:389.66, Y:-75.71, Z:-12.85 [[ 9.74114985e-01 2.22618442e-01 3.92559031e-02 3.89659625e+02] [-2.23094571e-01 9.74762809e-01 8.14111497e-03 -7.57079088e+01] [-3.64528320e-02 -1.66881609e-02 9.99196025e-01 -1.28494773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.974012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:389.69, Y:-75.69, Z:-12.85 [[ 9.73700168e-01 2.26161312e-01 2.75507459e-02 3.89693289e+02] [-2.25604626e-01 9.73972532e-01 -2.19102588e-02 -7.56901563e+01] [-3.17889226e-02 1.51184470e-02 9.99380256e-01 -1.28470901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:389.72, Y:-75.70, Z:-12.85 [[ 9.72595239e-01 2.30639209e-01 2.93948422e-02 3.89720449e+02] [-2.30560612e-01 9.73038957e-01 -6.08207184e-03 -7.56984241e+01] [-3.00050909e-02 -8.61898699e-04 9.99549374e-01 -1.28479622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.034012739 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:389.75, Y:-75.70, Z:-12.85 [[ 9.71956866e-01 2.33331404e-01 2.92627344e-02 3.89747678e+02] [-2.33254792e-01 9.72396816e-01 -6.05264223e-03 -7.56985659e+01] [-2.98672613e-02 -9.42765885e-04 9.99553429e-01 -1.28484803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:389.78, Y:-75.70, Z:-12.85 [[ 9.71434373e-01 2.35383091e-01 3.01671967e-02 3.89776470e+02] [-2.35302739e-01 9.71902114e-01 -6.23708323e-03 -7.56979371e+01] [-3.07876662e-02 -1.03950697e-03 9.99525407e-01 -1.28495590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.094012739 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:389.81, Y:-75.69, Z:-12.85 [[ 9.70731409e-01 2.38010472e-01 3.21176941e-02 3.89805295e+02] [-2.37920909e-01 9.71261849e-01 -6.63782436e-03 -7.56909764e+01] [-3.27745627e-02 -1.19792639e-03 9.99462052e-01 -1.28504852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:389.83, Y:-75.69, Z:-12.85 [[ 9.70793732e-01 2.37757623e-01 3.21067390e-02 3.89833954e+02] [-2.37668073e-01 9.71323784e-01 -6.63282311e-03 -7.56916213e+01] [-3.27630435e-02 -1.19164368e-03 9.99462437e-01 -1.28516492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.154012739 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:389.86, Y:-75.69, Z:-12.85 [[ 9.72195550e-01 2.32231151e-01 3.00750049e-02 3.89861712e+02] [-2.32149996e-01 9.72660168e-01 -6.21107185e-03 -7.56884821e+01] [-3.06951637e-02 -9.43535852e-04 9.99528347e-01 -1.28530343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:389.89, Y:-75.69, Z:-12.85 [[ 9.73141310e-01 2.28330272e-01 2.93475186e-02 3.89890084e+02] [-2.28251295e-01 9.73583403e-01 -6.05840407e-03 -7.56894846e+01] [-2.99555740e-02 -8.02925834e-04 9.99550909e-01 -1.28541658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.214012739 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:389.92, Y:-75.69, Z:-12.86 [[ 9.74140823e-01 2.24064026e-01 2.90683524e-02 3.89918542e+02] [-2.23984706e-01 9.74574198e-01 -5.99869743e-03 -7.56905587e+01] [-2.96733586e-02 -6.67290321e-04 9.99559426e-01 -1.28553915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:389.95, Y:-75.69, Z:-12.86 [[ 9.75871465e-01 2.16435235e-01 2.88214013e-02 3.89948247e+02] [-2.16353987e-01 9.76296882e-01 -5.94567099e-03 -7.56875121e+01] [-2.94250969e-02 -4.33414426e-04 9.99566894e-01 -1.28556894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.274012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:389.98, Y:-75.69, Z:-12.86 [[ 9.76590457e-01 2.13042273e-01 2.97333114e-02 3.89975534e+02] [-2.12954297e-01 9.77042922e-01 -6.13151024e-03 -7.56892671e+01] [-3.03569923e-02 -3.43862051e-04 9.99539061e-01 -1.28566084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:390.00, Y:-75.69, Z:-12.86 [[ 9.77743819e-01 2.07594462e-01 3.03572671e-02 3.90003541e+02] [-2.07500210e-01 9.78214959e-01 -6.25748836e-03 -7.56894643e+01] [-3.09949527e-02 -1.80918714e-04 9.99519525e-01 -1.28560876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.334012739 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:390.03, Y:-75.69, Z:-12.86 [[ 9.78245841e-01 2.05327374e-01 2.95929621e-02 3.90030804e+02] [-2.05236846e-01 9.78693342e-01 -6.09747906e-03 -7.56928285e+01] [-3.02144144e-02 -1.08732687e-04 9.99543434e-01 -1.28568645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:390.06, Y:-75.70, Z:-12.86 [[ 9.78743245e-01 2.03104724e-01 2.84628227e-02 3.90058697e+02] [-2.03020107e-01 9.79157020e-01 -5.86230306e-03 -7.56974364e+01] [-2.90602341e-02 -4.08357767e-05 9.99577661e-01 -1.28581537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.394012739 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:390.09, Y:-75.70, Z:-12.86 [[ 9.79775482e-01 1.98034317e-01 2.86777740e-02 3.90085430e+02] [-1.97946303e-01 9.80195081e-01 -5.90455641e-03 -7.57041610e+01] [-2.92791178e-02 1.08480268e-04 9.99571269e-01 -1.28593304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:390.11, Y:-75.71, Z:-12.86 [[ 9.80865764e-01 1.91952705e-01 3.25040179e-02 3.90111178e+02] [-1.91836381e-01 9.81404123e-01 -6.68957812e-03 -7.57111270e+01] [-3.31836598e-02 3.26125010e-04 9.99449218e-01 -1.28595033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.454012739 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:390.14, Y:-75.72, Z:-12.86 [[ 9.81241403e-01 1.89766344e-01 3.39712204e-02 3.90138413e+02] [-1.89638073e-01 9.81829192e-01 -6.98849394e-03 -7.57167336e+01] [-3.46801168e-02 4.15162831e-04 9.99398378e-01 -1.28598287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:390.16, Y:-75.72, Z:-12.86 [[ 9.81592340e-01 1.87883062e-01 3.42991685e-02 3.90164955e+02] [-1.87751242e-01 9.82191285e-01 -7.05338042e-03 -7.57221501e+01] [-3.50135551e-02 4.83832709e-04 9.99386720e-01 -1.28608506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.514012739 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:390.19, Y:-75.73, Z:-12.86 [[ 9.81865535e-01 1.86592957e-01 3.35132636e-02 3.90192524e+02] [-1.86466454e-01 9.82437175e-01 -6.88900406e-03 -7.57281032e+01] [-3.42101157e-02 5.14976222e-04 9.99414530e-01 -1.28623794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:390.22, Y:-75.73, Z:-12.86 [[ 9.82124856e-01 1.85734777e-01 3.05509392e-02 3.90219665e+02] [-1.85629303e-01 9.82599790e-01 -6.27804471e-03 -7.57342462e+01] [-3.11853977e-02 4.94674213e-04 9.99513495e-01 -1.28630808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.574012739 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:390.25, Y:-75.74, Z:-12.86 [[ 9.82227541e-01 1.85361888e-01 2.94962245e-02 3.90246230e+02] [-1.85263467e-01 9.82670206e-01 -6.05925684e-03 -7.57410248e+01] [-3.01082163e-02 4.86996127e-04 9.99546526e-01 -1.28628162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:390.27, Y:-75.75, Z:-12.86 [[ 9.82364282e-01 1.84546846e-01 3.00479512e-02 3.90272029e+02] [-1.84444405e-01 9.82823582e-01 -6.17000143e-03 -7.57475336e+01] [-3.06704894e-02 5.19012524e-04 9.99529415e-01 -1.28645255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.634012739 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:390.30, Y:-75.75, Z:-12.86 [[ 9.82583062e-01 1.83338103e-01 3.02929948e-02 3.90299567e+02] [-1.83233490e-01 9.83049759e-01 -6.21774941e-03 -7.57544154e+01] [-3.09194716e-02 5.58764094e-04 9.99521723e-01 -1.28578890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:390.33, Y:-75.76, Z:-12.87 [[ 9.83087553e-01 1.80338640e-01 3.18879055e-02 3.90325667e+02] [-1.80221222e-01 9.83604344e-01 -6.54259946e-03 -7.57639493e+01] [-3.25449658e-02 6.85070803e-04 9.99470038e-01 -1.28679919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.694012739 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:390.35, Y:-75.77, Z:-12.87 [[ 9.83486423e-01 1.78667649e-01 2.88500701e-02 3.90352904e+02] [-1.78570883e-01 9.83909257e-01 -5.91730869e-03 -7.57704708e+01] [-2.94430827e-02 6.67810269e-04 9.99566235e-01 -1.28702450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:390.38, Y:-75.78, Z:-12.87 [[ 9.83531820e-01 1.78572744e-01 2.78735259e-02 3.90379349e+02] [-1.78482427e-01 9.83926500e-01 -5.71539845e-03 -7.57762654e+01] [-2.84461152e-02 6.46341671e-04 9.99595118e-01 -1.28720682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.754012739 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:390.41, Y:-75.78, Z:-12.87 [[ 9.83559922e-01 1.78508747e-01 2.72856650e-02 3.90405444e+02] [-1.78422241e-01 9.83938122e-01 -5.59254850e-03 -7.57833144e+01] [-2.78457248e-02 6.32237078e-04 9.99612033e-01 -1.28733129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:390.43, Y:-75.79, Z:-12.87 [[ 9.83617251e-01 1.78302116e-01 2.65604834e-02 3.90432496e+02] [-1.78220132e-01 9.83975595e-01 -5.44168648e-03 -7.57915461e+01] [-2.71051316e-02 6.18923833e-04 9.99632397e-01 -1.28740882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.814012739 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:390.46, Y:-75.80, Z:-12.87 [[ 9.83369639e-01 1.79768225e-01 2.58367561e-02 3.90458355e+02] [-1.79691201e-01 9.83708834e-01 -5.29165465e-03 -7.58004837e+01] [-2.63671166e-02 5.61014792e-04 9.99652170e-01 -1.28742435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:390.48, Y:-75.81, Z:-12.87 [[ 9.82654280e-01 1.83544868e-01 2.64924077e-02 3.90484640e+02] [-1.83465318e-01 9.83011221e-01 -5.42363329e-03 -7.58069209e+01] [-2.70378141e-02 4.69118466e-04 9.99634301e-01 -1.28748949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.874012739 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:390.51, Y:-75.81, Z:-12.88 [[ 9.82237556e-01 1.85622710e-01 2.74516637e-02 3.90511575e+02] [-1.85538174e-01 9.82621000e-01 -5.61752397e-03 -7.58132899e+01] [-2.80173212e-02 4.24411449e-04 9.99607348e-01 -1.28756767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:390.54, Y:-75.82, Z:-12.88 [[ 9.81902539e-01 1.87248154e-01 2.83819178e-02 3.90538213e+02] [-1.87158518e-01 9.82312566e-01 -5.80618094e-03 -7.58194967e+01] [-2.89671112e-02 3.89186133e-04 9.99580289e-01 -1.28762905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.934012739 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:390.56, Y:-75.83, Z:-12.88 [[ 9.81337405e-01 1.90078834e-01 2.91021480e-02 3.90564351e+02] [-1.89985909e-01 9.81768781e-01 -5.95099973e-03 -7.58258093e+01] [-2.97027394e-02 3.10940606e-04 9.99558728e-01 -1.28760520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:390.59, Y:-75.83, Z:-12.88 [[ 9.81099672e-01 1.91234345e-01 2.95441711e-02 3.90592083e+02] [-1.91139175e-01 9.81544369e-01 -6.03884565e-03 -7.58312493e+01] [-3.01537495e-02 2.77661002e-04 9.99545234e-01 -1.28770711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.994012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:390.62, Y:-75.84, Z:-12.88 [[ 9.80618855e-01 1.93562632e-01 3.03342839e-02 3.90618200e+02] [-1.93463486e-01 9.81087898e-01 -6.19804855e-03 -7.58369007e+01] [-3.09603094e-02 2.09346957e-04 9.99520593e-01 -1.28778584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:390.65, Y:-75.84, Z:-12.88 [[ 9.80357901e-01 1.94745446e-01 3.11865022e-02 3.90645356e+02] [-1.94641336e-01 9.80853802e-01 -6.36941422e-03 -7.58421192e+01] [-3.18298137e-02 1.74123099e-04 9.99493288e-01 -1.28784087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05401273900003 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:390.67, Y:-75.85, Z:-12.88 [[ 9.80071109e-01 1.96138126e-01 3.14715088e-02 3.90672290e+02] [-1.96032898e-01 9.80576269e-01 -6.42524484e-03 -7.58467918e+01] [-3.21204502e-02 1.27745754e-04 9.99483997e-01 -1.28800669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:390.70, Y:-75.85, Z:-12.88 [[ 9.79701610e-01 1.98015597e-01 3.12182440e-02 3.90700779e+02] [-1.97913094e-01 9.80198867e-01 -6.37084755e-03 -7.58493491e+01] [-3.18616146e-02 6.30303455e-05 9.99492288e-01 -1.28810319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.114012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:390.73, Y:-75.85, Z:-12.88 [[ 9.79725847e-01 1.97908947e-01 3.11338032e-02 3.90728670e+02] [-1.97807016e-01 9.80220406e-01 -6.35136270e-03 -7.58536147e+01] [-3.17749808e-02 6.41094804e-05 9.99495046e-01 -1.28821749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:390.76, Y:-75.86, Z:-12.88 [[ 9.79915699e-01 1.96853046e-01 3.18449489e-02 3.90756551e+02] [-1.96745923e-01 9.80433001e-01 -6.49407959e-03 -7.58572619e+01] [-3.25002182e-02 9.82866725e-05 9.99471724e-01 -1.28819247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.174012739 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:390.78, Y:-75.86, Z:-12.88 [[ 9.79968873e-01 1.96518399e-01 3.22726835e-02 3.90784577e+02] [-1.96408274e-01 9.80500131e-01 -6.57895401e-03 -7.58614228e+01] [-3.29362559e-02 1.08548082e-04 9.99457448e-01 -1.28823589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:390.81, Y:-75.86, Z:-12.88 [[ 9.79943256e-01 1.96840988e-01 3.10618910e-02 3.90811490e+02] [-1.96739205e-01 9.80435422e-01 -6.32995017e-03 -7.58637287e+01] [-3.17001719e-02 9.19002344e-05 9.99497419e-01 -1.28837275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.234012739 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:390.84, Y:-75.87, Z:-12.89 [[ 9.79954739e-01 1.97006145e-01 2.96190544e-02 3.90838833e+02] [-1.96913748e-01 9.80402250e-01 -6.03353094e-03 -7.58679031e+01] [-3.02272302e-02 8.01882201e-05 9.99543050e-01 -1.28852387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:390.87, Y:-75.87, Z:-12.89 [[ 9.80000762e-01 1.96956180e-01 2.84036843e-02 3.90865148e+02] [-1.96871248e-01 9.80412289e-01 -5.78398858e-03 -7.58715503e+01] [-2.89865134e-02 7.64444585e-05 9.99579800e-01 -1.28868407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.294012739 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:390.89, Y:-75.87, Z:-12.89 [[ 9.80194601e-01 1.95878561e-01 2.91570393e-02 3.90891789e+02] [-1.95788662e-01 9.80628155e-01 -5.93482213e-03 -7.58736886e+01] [-2.97547181e-02 1.08662886e-04 9.99557224e-01 -1.28871194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:390.92, Y:-75.88, Z:-12.89 [[ 9.80470634e-01 1.94369749e-01 2.99622614e-02 3.90920159e+02] [-1.94274190e-01 9.80928324e-01 -6.09613795e-03 -7.58772292e+01] [-3.05757357e-02 1.56190172e-04 9.99532441e-01 -1.28863096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.354012739 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:390.95, Y:-75.88, Z:-12.89 [[ 9.80570603e-01 1.93918906e-01 2.96099689e-02 3.90946185e+02] [-1.93825440e-01 9.81017548e-01 -6.02235944e-03 -7.58830897e+01] [-3.02157485e-02 1.66183379e-04 9.99543386e-01 -1.28874666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:390.97, Y:-75.89, Z:-12.89 [[ 9.80696169e-01 1.93403901e-01 2.88089290e-02 3.90973304e+02] [-1.93315272e-01 9.81119208e-01 -5.85704937e-03 -7.58889653e+01] [-2.93977698e-02 1.74779948e-04 9.99567777e-01 -1.28901018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.414012739 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:391.00, Y:-75.89, Z:-12.89 [[ 9.80833644e-01 1.92878004e-01 2.76303748e-02 3.91000936e+02] [-1.92796324e-01 9.81222729e-01 -5.61555778e-03 -7.58939440e+01] [-2.81946693e-02 1.80893303e-04 9.99602435e-01 -1.28911355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:391.03, Y:-75.90, Z:-12.89 [[ 9.80780386e-01 1.93121368e-01 2.78203408e-02 3.91028848e+02] [-1.93038716e-01 9.81174861e-01 -5.65216221e-03 -7.58956379e+01] [-2.83881723e-02 1.73126961e-04 9.99596960e-01 -1.28924422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.474012739 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:391.06, Y:-75.90, Z:-12.89 [[ 9.80769865e-01 1.92827442e-01 3.01338744e-02 3.91056525e+02] [-1.92730401e-01 9.81232664e-01 -6.11985873e-03 -7.59008683e+01] [-3.07484185e-02 1.94459321e-04 9.99527137e-01 -1.28912770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:391.08, Y:-75.91, Z:-12.89 [[ 9.80799320e-01 1.92618586e-01 3.05085926e-02 3.91082274e+02] [-1.92519085e-01 9.81273682e-01 -6.19372832e-03 -7.59074295e+01] [-3.11303062e-02 2.01318209e-04 9.99515314e-01 -1.28918228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.534012739 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:391.11, Y:-75.91, Z:-12.89 [[ 9.80820850e-01 1.92508844e-01 3.05090897e-02 3.91110203e+02] [-1.92409365e-01 9.81295218e-01 -6.19127852e-03 -7.59129378e+01] [-3.11302997e-02 2.02300471e-04 9.99515314e-01 -1.28927306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:391.14, Y:-75.92, Z:-12.89 [[ 9.80930887e-01 1.92096996e-01 2.95523302e-02 3.91137209e+02] [-1.92003576e-01 9.81375923e-01 -5.99371796e-03 -7.59189626e+01] [-3.01533205e-02 2.05269994e-04 9.99545264e-01 -1.28935440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.594012739 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:391.16, Y:-75.92, Z:-12.90 [[ 9.81068885e-01 1.91504572e-01 2.88069644e-02 3.91163355e+02] [-1.91415609e-01 9.81491698e-01 -5.84056695e-03 -7.59238123e+01] [-2.93922916e-02 2.15895890e-04 9.99567930e-01 -1.28950974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:391.19, Y:-75.93, Z:-12.90 [[ 9.81273273e-01 1.90345506e-01 2.95186659e-02 3.91190427e+02] [-1.90251644e-01 9.81717130e-01 -5.98233041e-03 -7.59286152e+01] [-3.01176897e-02 2.54326246e-04 9.99546327e-01 -1.28962143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.654012739 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:391.22, Y:-75.94, Z:-12.90 [[ 9.81360382e-01 1.89615602e-01 3.12685903e-02 3.91216323e+02] [-1.89509985e-01 9.81858360e-01 -6.33456712e-03 -7.59352872e+01] [-3.19024595e-02 2.90783148e-04 9.99490945e-01 -1.28956848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:391.24, Y:-75.94, Z:-12.90 [[ 9.81335983e-01 1.89715718e-01 3.14266687e-02 3.91243883e+02] [-1.89609204e-01 9.81839022e-01 -6.36276114e-03 -7.59400734e+01] [-3.20630455e-02 2.85220815e-04 9.99485808e-01 -1.28960382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.714012739 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:391.27, Y:-75.94, Z:-12.90 [[ 9.81291867e-01 1.89992799e-01 3.11289016e-02 3.91270856e+02] [-1.89888507e-01 9.81785446e-01 -6.30020135e-03 -7.59443094e+01] [-3.17588954e-02 2.71315711e-04 9.99495522e-01 -1.28974462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:391.30, Y:-75.95, Z:-12.90 [[ 9.81242599e-01 1.90460864e-01 2.97929692e-02 3.91297231e+02] [-1.90365622e-01 9.81694759e-01 -6.02738283e-03 -7.59488766e+01] [-3.03955823e-02 2.42767661e-04 9.99537918e-01 -1.28998599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.774012739 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:391.32, Y:-75.96, Z:-12.90 [[ 9.81321098e-01 1.90120627e-01 2.93777223e-02 3.91324301e+02] [-1.90027944e-01 9.81760707e-01 -5.94089587e-03 -7.59550611e+01] [-2.99713803e-02 2.47338283e-04 9.99550727e-01 -1.29017101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:391.35, Y:-75.96, Z:-12.90 [[ 9.82048911e-01 1.86187171e-01 3.02369489e-02 3.91350669e+02] [-1.86087191e-01 9.82514222e-01 -6.11240006e-03 -7.59627286e+01] [-3.08462828e-02 3.75966936e-04 9.99524069e-01 -1.29026277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.834012739 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:391.38, Y:-75.97, Z:-12.90 [[ 9.82577311e-01 1.83298976e-01 3.07133993e-02 3.91376771e+02] [-1.83194491e-01 9.83057101e-01 -6.20607454e-03 -7.59687312e+01] [-3.13305924e-02 4.71422465e-04 9.99508965e-01 -1.29026945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:391.40, Y:-75.98, Z:-12.90 [[ 9.83088346e-01 1.80606788e-01 3.03066306e-02 3.91404385e+02] [-1.80503851e-01 9.83555229e-01 -6.12137306e-03 -7.59751009e+01] [-3.09138065e-02 5.47386990e-04 9.99521904e-01 -1.29035434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.894012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:391.43, Y:-75.98, Z:-12.91 [[ 9.83780915e-01 1.77098397e-01 2.84827944e-02 3.91431487e+02] [-1.77006065e-01 9.84192958e-01 -5.75109757e-03 -7.59836033e+01] [-2.90510759e-02 6.16192674e-04 9.99577738e-01 -1.29056983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:391.46, Y:-75.99, Z:-12.91 [[ 9.84009855e-01 1.75978440e-01 2.74989692e-02 3.91457354e+02] [-1.75891991e-01 9.84393823e-01 -5.55061861e-03 -7.59904724e+01] [-2.80466046e-02 6.25014958e-04 9.99606421e-01 -1.29072472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.954012739 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:391.48, Y:-76.00, Z:-12.91 [[ 9.84099947e-01 1.75497181e-01 2.73501939e-02 3.91483779e+02] [-1.75411543e-01 9.84479730e-01 -5.51834423e-03 -7.59970259e+01] [-2.78941654e-02 6.33062558e-04 9.99610682e-01 -1.29083215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:391.51, Y:-76.00, Z:-12.91 [[ 9.83914649e-01 1.76310189e-01 2.87520397e-02 3.91510493e+02] [-1.76215965e-01 9.84334450e-01 -5.79868576e-03 -7.60041652e+01] [-2.93239906e-02 6.38843451e-04 9.99569755e-01 -1.29076110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.014012739 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:391.54, Y:-76.01, Z:-12.91 [[ 9.83524875e-01 1.78407975e-01 2.91447027e-02 3.91537407e+02] [-1.78312141e-01 9.83956430e-01 -5.87577468e-03 -7.60121856e+01] [-2.97254026e-02 5.82116215e-04 9.99557933e-01 -1.29087567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:391.56, Y:-76.02, Z:-12.91 [[ 9.83388409e-01 1.79284895e-01 2.83577748e-02 3.91563285e+02] [-1.79194589e-01 9.83797050e-01 -5.71514829e-03 -7.60185284e+01] [-2.89229350e-02 5.38650780e-04 9.99581499e-01 -1.29098868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.074012739 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:391.59, Y:-76.03, Z:-12.91 [[ 9.83292765e-01 1.79837434e-01 2.81750717e-02 3.91590784e+02] [-1.79748585e-01 9.83696208e-01 -5.67590062e-03 -7.60251701e+01] [-2.87364506e-02 5.16642754e-04 9.99586889e-01 -1.29119935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:391.62, Y:-76.03, Z:-12.91 [[ 9.83334494e-01 1.79603510e-01 2.82108688e-02 3.91617884e+02] [-1.79514392e-01 9.83738942e-01 -5.68124592e-03 -7.60309061e+01] [-2.87725020e-02 5.22308107e-04 9.99585849e-01 -1.29132989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.134012739 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:391.64, Y:-76.04, Z:-12.91 [[ 9.83481569e-01 1.78636499e-01 2.92062512e-02 3.91644944e+02] [-1.78540615e-01 9.83914975e-01 -5.87963112e-03 -7.60372108e+01] [-2.97867846e-02 5.68006778e-04 9.99556114e-01 -1.29131218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:391.67, Y:-76.04, Z:-12.91 [[ 9.83582496e-01 1.77994737e-01 2.97211475e-02 3.91672227e+02] [-1.77895214e-01 9.84031259e-01 -5.98113632e-03 -7.60430067e+01] [-3.03111490e-02 5.95691091e-04 9.99540334e-01 -1.29138491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.194012739 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:391.70, Y:-76.05, Z:-12.92 [[ 9.83715336e-01 1.77241810e-01 2.98241080e-02 3.91699607e+02] [-1.77141316e-01 9.84167139e-01 -5.99971318e-03 -7.60484136e+01] [-3.04153070e-02 6.18928138e-04 9.99537156e-01 -1.29150398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:391.73, Y:-76.05, Z:-12.92 [[ 9.84345984e-01 1.73777693e-01 2.93989168e-02 3.91728004e+02] [-1.73678563e-01 9.84784649e-01 -5.91207054e-03 -7.60547615e+01] [-2.99789879e-02 7.13561274e-04 9.99550274e-01 -1.29175090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.254012739 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:391.76, Y:-76.06, Z:-12.92 [[ 9.84802706e-01 1.71124901e-01 2.96630722e-02 3.91756367e+02] [-1.71022821e-01 9.85249018e-01 -5.96377173e-03 -7.60617816e+01] [-3.02460627e-02 8.00076260e-04 9.99542163e-01 -1.29185447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:391.78, Y:-76.07, Z:-12.92 [[ 9.85933076e-01 1.64493167e-01 2.96305287e-02 3.91782485e+02] [-1.64388358e-01 9.86377714e-01 -5.95584799e-03 -7.60709910e+01] [-3.02065895e-02 1.00115356e-03 9.99543175e-01 -1.29193756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.314012739 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:391.81, Y:-76.08, Z:-12.92 [[ 9.86450788e-01 1.61481841e-01 2.89561473e-02 3.91810182e+02] [-1.61380504e-01 9.86875107e-01 -5.81861791e-03 -7.60784262e+01] [-2.95157021e-02 1.06682260e-03 9.99563747e-01 -1.29203656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:391.84, Y:-76.09, Z:-12.92 [[ 9.87091900e-01 1.57485038e-01 2.91211904e-02 3.91838089e+02] [-1.57380846e-01 9.87520654e-01 -5.85035657e-03 -7.60890667e+01] [-2.96791206e-02 1.19172200e-03 9.99558767e-01 -1.29212076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.374012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:391.87, Y:-76.10, Z:-12.92 [[ 9.87256670e-01 1.56201012e-01 3.04222308e-02 3.91865385e+02] [-1.56086713e-01 9.87724452e-01 -6.11099685e-03 -7.60974396e+01] [-3.10033251e-02 1.28461638e-03 9.99518456e-01 -1.29205913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:391.89, Y:-76.11, Z:-12.92 [[ 9.87462315e-01 1.54592301e-01 3.19280108e-02 3.91893373e+02] [-1.54465602e-01 9.87977358e-01 -6.41230700e-03 -7.61087451e+01] [-3.25354451e-02 1.40013211e-03 9.99469602e-01 -1.29198893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.434012739 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:391.92, Y:-76.12, Z:-12.92 [[ 9.87509009e-01 1.54290205e-01 3.19451058e-02 3.91921282e+02] [-1.54163237e-01 9.88024567e-01 -6.41500445e-03 -7.61174243e+01] [-3.25523217e-02 1.41011378e-03 9.99469038e-01 -1.29212522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:391.95, Y:-76.13, Z:-12.92 [[ 9.87584649e-01 1.53877558e-01 3.15952108e-02 3.91950377e+02] [-1.53753158e-01 9.88088921e-01 -6.34438310e-03 -7.61276358e+01] [-3.21951360e-02 1.40775193e-03 9.99480611e-01 -1.29233551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.494012739 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:391.98, Y:-76.14, Z:-12.93 [[ 9.87963991e-01 1.51627776e-01 3.05969014e-02 3.91979719e+02] [-1.51510041e-01 9.88436625e-01 -6.14381264e-03 -7.61440343e+01] [-3.11746706e-02 1.43412786e-03 9.99512923e-01 -1.29257840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:392.01, Y:-76.16, Z:-12.93 [[ 9.88295896e-01 1.49673395e-01 2.94804623e-02 3.92010560e+02] [-1.49563089e-01 9.88734436e-01 -5.92434158e-03 -7.61552329e+01] [-3.00350646e-02 1.44581345e-03 9.99547800e-01 -1.29269546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55401273900003 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:392.04, Y:-76.17, Z:-12.93 [[ 9.88926724e-01 1.45733351e-01 2.80307747e-02 3.92039657e+02] [-1.45631916e-01 9.89322779e-01 -5.63773288e-03 -7.61712545e+01] [-2.85530897e-02 1.49312928e-03 9.99591162e-01 -1.29279249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:392.07, Y:-76.18, Z:-12.93 [[ 9.89141167e-01 1.44240003e-01 2.81881598e-02 3.92070471e+02] [-1.44136679e-01 9.89541520e-01 -5.67433819e-03 -7.61834693e+01] [-2.87118211e-02 1.54977376e-03 9.99586529e-01 -1.29291220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.614012739 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:392.10, Y:-76.21, Z:-12.93 [[ 9.89226905e-01 1.42740019e-01 3.24871807e-02 3.92097657e+02] [-1.42883500e-01 9.89737229e-01 2.12673096e-03 -7.62068979e+01] [-3.18502025e-02 -6.74570156e-03 9.99469890e-01 -1.29307283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:392.13, Y:-76.21, Z:-12.93 [[ 9.89194006e-01 1.44027921e-01 2.74075825e-02 3.92130379e+02] [-1.43686712e-01 9.89523533e-01 -1.40465910e-02 -7.62090667e+01] [-2.91435491e-02 9.95669823e-03 9.99525646e-01 -1.29310735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.674012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:392.16, Y:-76.23, Z:-12.93 [[ 9.88899210e-01 1.45416053e-01 3.05372670e-02 3.92159670e+02] [-1.45294945e-01 9.89369210e-01 -6.15998907e-03 -7.62260270e+01] [-3.11083930e-02 1.65469778e-03 9.99514647e-01 -1.29328385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:392.19, Y:-76.24, Z:-12.93 [[ 9.88120289e-01 1.50276238e-01 3.21767928e-02 3.92189976e+02] [-1.50144141e-01 9.88642771e-01 -6.49673060e-03 -7.62432988e+01] [-3.27876578e-02 1.58839440e-03 9.99461078e-01 -1.29328107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.734012739 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:392.22, Y:-76.25, Z:-12.93 [[ 9.87639036e-01 1.53631319e-01 3.10894239e-02 3.92221310e+02] [-1.53509480e-01 9.88127201e-01 -6.28285064e-03 -7.62545708e+01] [-3.16855480e-02 1.43266725e-03 9.99496860e-01 -1.29335651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:392.25, Y:-76.27, Z:-12.94 [[ 9.86619751e-01 1.60595090e-01 2.81191007e-02 3.92251630e+02] [-1.60498100e-01 9.87019762e-01 -5.68766603e-03 -7.62693923e+01] [-2.86675193e-02 1.09850142e-03 9.99588399e-01 -1.29356748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.794012739 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:392.28, Y:-76.28, Z:-12.94 [[ 9.86071106e-01 1.64016522e-01 2.76107603e-02 3.92282540e+02] [-1.63924293e-01 9.86457102e-01 -5.58673654e-03 -7.62798075e+01] [-2.81531477e-02 9.82845114e-04 9.99603138e-01 -1.29363557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:392.31, Y:-76.29, Z:-12.94 [[ 9.84916320e-01 1.70497654e-01 2.95024100e-02 3.92313256e+02] [-1.70395082e-01 9.85357709e-01 -5.97510771e-03 -7.62938554e+01] [-3.00891690e-02 8.57915514e-04 9.99546850e-01 -1.29361341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.854012739 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:392.34, Y:-76.30, Z:-12.94 [[ 9.84281789e-01 1.73789161e-01 3.14115816e-02 3.92344399e+02] [-1.73674350e-01 9.84782548e-01 -6.36811904e-03 -7.63035997e+01] [-3.20402875e-02 8.12637576e-04 9.99486248e-01 -1.29369095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:392.38, Y:-76.31, Z:-12.94 [[ 9.83637241e-01 1.77194148e-01 3.25578415e-02 3.92376343e+02] [-1.77072465e-01 9.84175643e-01 -6.60649504e-03 -7.63129857e+01] [-3.32132668e-02 7.33297301e-04 9.99448018e-01 -1.29371608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.914012739 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:392.41, Y:-76.32, Z:-12.94 [[ 9.82432967e-01 1.83823002e-01 3.21647202e-02 3.92406711e+02] [-1.83707588e-01 9.82959229e-01 -6.53277912e-03 -7.63222289e+01] [-3.28174836e-02 5.09114405e-04 9.99461232e-01 -1.29378584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:392.44, Y:-76.33, Z:-12.94 [[ 9.81891890e-01 1.86867995e-01 3.11234340e-02 3.92437278e+02] [-1.86761282e-01 9.82384951e-01 -6.32700213e-03 -7.63299061e+01] [-3.17575074e-02 3.99779654e-04 9.99495523e-01 -1.29392577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.974012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:392.47, Y:-76.34, Z:-12.94 [[ 9.81351667e-01 1.89819089e-01 3.02922384e-02 3.92468855e+02] [-1.89719247e-01 9.81819038e-01 -6.16316195e-03 -7.63396883e+01] [-3.09113821e-02 3.01208604e-04 9.99522084e-01 -1.29417289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:392.50, Y:-76.35, Z:-12.94 [[ 9.81166768e-01 1.90677155e-01 3.08868106e-02 3.92501041e+02] [-1.90573593e-01 9.81652760e-01 -6.29003758e-03 -7.63476916e+01] [-3.15194894e-02 2.85365375e-04 9.99503097e-01 -1.29427130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.034012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:392.53, Y:-76.35, Z:-12.94 [[ 9.80584821e-01 1.93507680e-01 3.17519691e-02 3.92531961e+02] [-1.93399513e-01 9.81098739e-01 -6.47247406e-03 -7.63541453e+01] [-3.24042903e-02 2.05994465e-04 9.99474822e-01 -1.29433024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:392.56, Y:-76.36, Z:-12.94 [[ 9.80146253e-01 1.95829209e-01 3.10522814e-02 3.92564255e+02] [-1.95726751e-01 9.80638008e-01 -6.33526806e-03 -7.63603682e+01] [-3.16916779e-02 1.31727112e-04 9.99497684e-01 -1.29449190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.094012739 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:392.60, Y:-76.37, Z:-12.95 [[ 9.79628629e-01 1.98540309e-01 3.01578180e-02 3.92596088e+02] [-1.98444784e-01 9.80092722e-01 -6.15828603e-03 -7.63665938e+01] [-3.07801260e-02 4.81716172e-05 9.99526179e-01 -1.29455527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:392.63, Y:-76.37, Z:-12.95 [[ 9.78540453e-01 2.03772528e-01 3.05833059e-02 3.92627268e+02] [-2.03676666e-01 9.79018255e-01 -6.25074827e-03 -7.63716311e+01] [-3.12153456e-02 -1.12495731e-04 9.99512676e-01 -1.29465021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.154012739 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:392.66, Y:-76.38, Z:-12.95 [[ 9.77965467e-01 2.06589899e-01 3.00692437e-02 3.92658866e+02] [-2.06498548e-01 9.78427603e-01 -6.14618659e-03 -7.63774983e+01] [-3.06903181e-02 -1.98496918e-04 9.99528922e-01 -1.29481951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:392.69, Y:-76.38, Z:-12.95 [[ 9.76976349e-01 2.11344993e-01 2.91634656e-02 3.92688676e+02] [-2.11261031e-01 9.77411471e-01 -5.96601030e-03 -7.63826835e+01] [-2.97655922e-02 -3.32452855e-04 9.99556851e-01 -1.29503426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.214012739 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:392.72, Y:-76.39, Z:-12.95 [[ 9.76526196e-01 2.13474283e-01 2.87283544e-02 3.92718298e+02] [-2.13393719e-01 9.76948605e-01 -5.87735787e-03 -7.63885185e+01] [-2.93207905e-02 -3.91056462e-04 9.99569977e-01 -1.29511670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:392.75, Y:-76.39, Z:-12.95 [[ 9.75991668e-01 2.15778397e-01 2.96639060e-02 3.92746652e+02] [-2.15693560e-01 9.76442245e-01 -6.06881621e-03 -7.63915718e+01] [-3.02746104e-02 -4.75199429e-04 9.99541506e-01 -1.29513782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.274012739 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:392.78, Y:-76.39, Z:-12.95 [[ 9.75894950e-01 2.16173287e-01 2.99692665e-02 3.92775051e+02] [-2.16086912e-01 9.76354888e-01 -6.13022818e-03 -7.63948957e+01] [-3.05858314e-02 -4.93507545e-04 9.99532022e-01 -1.29519732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:392.81, Y:-76.40, Z:-12.95 [[ 9.75848350e-01 2.16474941e-01 2.93018285e-02 3.92806072e+02] [-2.16392533e-01 9.76288050e-01 -5.99288139e-03 -7.63988223e+01] [-2.99043337e-02 -4.92553463e-04 9.99552644e-01 -1.29529215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.334012739 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:392.84, Y:-76.40, Z:-12.95 [[ 9.75909339e-01 2.16294396e-01 2.85954031e-02 3.92835569e+02] [-2.16215816e-01 9.76328074e-01 -5.84910118e-03 -7.64012272e+01] [-2.91836227e-02 -4.74585954e-04 9.99573955e-01 -1.29549502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:392.86, Y:-76.41, Z:-12.96 [[ 9.76071235e-01 2.15582050e-01 2.84486284e-02 3.92862769e+02] [-2.15503955e-01 9.76485626e-01 -5.81966298e-03 -7.64051885e+01] [-2.90342916e-02 -4.50386309e-04 9.99578315e-01 -1.29554642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.394012739 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:392.89, Y:-76.41, Z:-12.96 [[ 9.76078146e-01 2.15550715e-01 2.84489517e-02 3.92891509e+02] [-2.15472653e-01 9.76492543e-01 -5.81808221e-03 -7.64109773e+01] [-2.90342810e-02 -4.51068207e-04 9.99578315e-01 -1.29564039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:392.92, Y:-76.41, Z:-12.96 [[ 9.76759184e-01 2.12376803e-01 2.89411604e-02 3.92921800e+02] [-2.12294654e-01 9.77187782e-01 -5.91767683e-03 -7.64140179e+01] [-2.95377257e-02 -3.63908447e-04 9.99563600e-01 -1.29563923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.454012739 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:392.95, Y:-76.42, Z:-12.96 [[ 9.77455401e-01 2.09147092e-01 2.89557252e-02 3.92952671e+02] [-2.09063444e-01 9.77884156e-01 -5.92059505e-03 -7.64195729e+01] [-2.95536202e-02 -2.66466026e-04 9.99563161e-01 -1.29575734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:392.98, Y:-76.43, Z:-12.96 [[ 9.79117805e-01 2.01084717e-01 2.98874706e-02 3.92983322e+02] [-2.00991819e-01 9.79573854e-01 -6.11166800e-03 -7.64273491e+01] [-3.05059478e-02 -2.30941260e-05 9.99534585e-01 -1.29583860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.514012739 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:393.01, Y:-76.43, Z:-12.96 [[ 9.79820295e-01 1.97449430e-01 3.10791211e-02 3.93013206e+02] [-1.97346981e-01 9.80313069e-01 -6.36055069e-03 -7.64336852e+01] [-3.17231557e-02 9.88259420e-05 9.99496689e-01 -1.29597613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:393.04, Y:-76.44, Z:-12.96 [[ 9.80354321e-01 1.94599819e-01 3.21918726e-02 3.93043282e+02] [-1.94488362e-01 9.80882700e-01 -6.58828274e-03 -7.64399104e+01] [-3.28585295e-02 1.97906870e-04 9.99459993e-01 -1.29605118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.574012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:393.08, Y:-76.45, Z:-12.96 [[ 9.80899073e-01 1.92078803e-01 3.07040994e-02 3.93075529e+02] [-1.91976182e-01 9.81379468e-01 -6.28366861e-03 -7.64490945e+01] [-3.13393322e-02 2.69188955e-04 9.99508766e-01 -1.29615426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:393.11, Y:-76.46, Z:-12.96 [[ 9.80975178e-01 1.92043871e-01 2.84051216e-02 3.93106773e+02] [-1.91955886e-01 9.81386308e-01 -5.81818474e-03 -7.64602544e+01] [-2.89937441e-02 2.54964531e-04 9.99579561e-01 -1.29623899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.634012739 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:393.14, Y:-76.47, Z:-12.96 [[ 9.80758109e-01 1.93104642e-01 2.87076484e-02 3.93137951e+02] [-1.93015061e-01 9.81178141e-01 -5.88580235e-03 -7.64684818e+01] [-2.93038928e-02 2.31539887e-04 9.99570522e-01 -1.29634084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:393.17, Y:-76.48, Z:-12.96 [[ 9.80342045e-01 1.95075809e-01 2.95787814e-02 3.93169910e+02] [-1.94981438e-01 9.80788150e-01 -6.06989222e-03 -7.64761684e+01] [-3.01946074e-02 1.83257230e-04 9.99544022e-01 -1.29639470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.694012739 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:393.20, Y:-76.48, Z:-12.96 [[ 9.79258002e-01 2.00208079e-01 3.11526911e-02 3.93200229e+02] [-2.00105788e-01 9.79753400e-01 -6.39919381e-03 -7.64841719e+01] [-3.18031253e-02 3.26279397e-05 9.99494152e-01 -1.29645864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:393.23, Y:-76.49, Z:-12.96 [[ 9.78124383e-01 2.05518516e-01 3.21687998e-02 3.93229096e+02] [-2.05412143e-01 9.78653218e-01 -6.61296338e-03 -7.64935423e+01] [-3.28411858e-02 -1.39561372e-04 9.99460573e-01 -1.29647358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.754012739 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:393.26, Y:-76.50, Z:-12.97 [[ 9.77636245e-01 2.08000899e-01 3.10322109e-02 3.93260953e+02] [-2.07903153e-01 9.78128611e-01 -6.37959674e-03 -7.65013090e+01] [-3.16804552e-02 -2.14769481e-04 9.99498025e-01 -1.29655546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:393.29, Y:-76.51, Z:-12.97 [[ 9.77129411e-01 2.10535454e-01 2.98820541e-02 3.93293618e+02] [-2.10445831e-01 9.77586182e-01 -6.14883662e-03 -7.65076893e+01] [-3.05068313e-02 -2.80344610e-04 9.99534519e-01 -1.29670179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.814012739 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:393.32, Y:-76.51, Z:-12.97 [[ 9.75712812e-01 2.17101582e-01 2.91789505e-02 3.93323333e+02] [-2.17018882e-01 9.76148905e-01 -6.01007459e-03 -7.65119111e+01] [-2.97877972e-02 -4.68276415e-04 9.99556135e-01 -1.29691857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:393.35, Y:-76.52, Z:-12.97 [[ 9.75084960e-01 2.19931403e-01 2.89741198e-02 3.93352664e+02] [-2.19851057e-01 9.75515185e-01 -5.96963351e-03 -7.65175636e+01] [-2.95776037e-02 -5.49091005e-04 9.99562336e-01 -1.29698085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.874012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:393.38, Y:-76.52, Z:-12.97 [[ 9.74027251e-01 2.24526185e-01 2.93071031e-02 3.93381460e+02] [-2.24446043e-01 9.74467808e-01 -6.03869804e-03 -7.65186817e+01] [-2.99146743e-02 -6.96006872e-04 9.99552214e-01 -1.29694608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:393.41, Y:-76.52, Z:-12.97 [[ 9.73564836e-01 2.26450523e-01 2.98608628e-02 3.93410806e+02] [-2.26368261e-01 9.74022365e-01 -6.15169279e-03 -7.65210030e+01] [-3.04782022e-02 -7.70479801e-04 9.99535135e-01 -1.29706435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.934012739 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:393.44, Y:-76.52, Z:-12.97 [[ 9.72957981e-01 2.29223446e-01 2.84495802e-02 3.93439787e+02] [-2.29149979e-01 9.73373486e-01 -5.86032464e-03 -7.65205251e+01] [-2.90353909e-02 -8.17371065e-04 9.99578050e-01 -1.29726238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:393.47, Y:-76.52, Z:-12.97 [[ 9.72997721e-01 2.29151874e-01 2.76559933e-02 3.93467653e+02] [-2.29082445e-01 9.73390358e-01 -5.69595951e-03 -7.65236959e+01] [-2.82253170e-02 -7.93346944e-04 9.99601272e-01 -1.29744065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.994012739 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:393.50, Y:-76.53, Z:-12.98 [[ 9.73631690e-01 2.26381366e-01 2.81568514e-02 3.93496891e+02] [-2.26308293e-01 9.74038473e-01 -5.79733884e-03 -7.65256603e+01] [-2.87382660e-02 -7.27656147e-04 9.99586706e-01 -1.29752819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:393.52, Y:-76.53, Z:-12.98 [[ 9.74102653e-01 2.24239300e-01 2.89958329e-02 3.93524127e+02] [-2.24160900e-01 9.74533871e-01 -5.96864378e-03 -7.65290978e+01] [-2.95958258e-02 -6.85660249e-04 9.99561712e-01 -1.29756550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05401273900003 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:393.55, Y:-76.53, Z:-12.98 [[ 9.74818470e-01 2.21053321e-01 2.94003462e-02 3.93553990e+02] [-2.20971312e-01 9.75261540e-01 -6.05049031e-03 -7.65280546e+01] [-3.00105079e-02 -5.98503354e-04 9.99549404e-01 -1.29757859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:393.58, Y:-76.53, Z:-12.98 [[ 9.75046632e-01 2.20167413e-01 2.84670836e-02 3.93581573e+02] [-2.20090189e-01 9.75461943e-01 -5.85710904e-03 -7.65297651e+01] [-2.90581013e-02 -5.54371379e-04 9.99577570e-01 -1.29770801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.114012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:393.61, Y:-76.53, Z:-12.98 [[ 9.75219146e-01 2.19507881e-01 2.76388701e-02 3.93609748e+02] [-2.19434867e-01 9.75610588e-01 -5.68506428e-03 -7.65319633e+01] [-2.82126907e-02 -5.20748249e-04 9.99601807e-01 -1.29790532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:393.64, Y:-76.53, Z:-12.98 [[ 9.75610778e-01 2.17773311e-01 2.75389672e-02 3.93638676e+02] [-2.17700182e-01 9.75999264e-01 -5.66279692e-03 -7.65341237e+01] [-2.81112177e-02 -4.70552459e-04 9.99604691e-01 -1.29799722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.174012739 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:393.67, Y:-76.54, Z:-12.98 [[ 9.75806890e-01 2.16867032e-01 2.77417467e-02 3.93665577e+02] [-2.16792493e-01 9.76201049e-01 -5.70319157e-03 -7.65389833e+01] [-2.83183565e-02 -4.48988800e-04 9.99598854e-01 -1.29805246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:393.69, Y:-76.54, Z:-12.98 [[ 9.76187533e-01 2.15053231e-01 2.84606546e-02 3.93694465e+02] [-2.14974063e-01 9.76602243e-01 -5.84903682e-03 -7.65437538e+01] [-2.90525934e-02 -4.08545719e-04 9.99577801e-01 -1.29808210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.234012739 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:393.72, Y:-76.55, Z:-12.98 [[ 9.76236370e-01 2.14791393e-01 2.87612216e-02 3.93722301e+02] [-2.14710471e-01 9.76659865e-01 -5.90942021e-03 -7.65480345e+01] [-2.93592234e-02 -4.06344510e-04 9.99568842e-01 -1.29812559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:393.75, Y:-76.55, Z:-12.98 [[ 9.76204311e-01 2.14826107e-01 2.95784781e-02 3.93750925e+02] [-2.14740592e-01 9.76652224e-01 -6.07546207e-03 -7.65507711e+01] [-3.01930543e-02 -4.20807643e-04 9.99543997e-01 -1.29818634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.294012739 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:393.78, Y:-76.56, Z:-12.98 [[ 9.76227435e-01 2.14724429e-01 2.95535938e-02 3.93778095e+02] [-2.14639056e-01 9.76674585e-01 -6.06888701e-03 -7.65554498e+01] [-3.01673823e-02 -4.18741474e-04 9.99544773e-01 -1.29828942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:393.81, Y:-76.56, Z:-12.98 [[ 9.76351356e-01 2.14161466e-01 2.95448041e-02 3.93805674e+02] [-2.14075942e-01 9.76798190e-01 -6.06522570e-03 -7.65607662e+01] [-3.01582488e-02 -4.03040447e-04 9.99545055e-01 -1.29849023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.354012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:393.83, Y:-76.57, Z:-12.99 [[ 9.76717782e-01 2.12480798e-01 2.95683015e-02 3.93834080e+02] [-2.12394423e-01 9.77165178e-01 -6.06823662e-03 -7.65667633e+01] [-3.01824984e-02 -3.53187725e-04 9.99544342e-01 -1.29856984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:393.86, Y:-76.57, Z:-12.99 [[ 9.77038413e-01 2.10981665e-01 2.97098650e-02 3.93861232e+02] [-2.10893812e-01 9.77489970e-01 -6.09582038e-03 -7.65721899e+01] [-3.03272014e-02 -3.09775999e-04 9.99539977e-01 -1.29860712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.414012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:393.89, Y:-76.58, Z:-12.99 [[ 9.77980655e-01 2.06425884e-01 3.06951649e-02 3.93887596e+02] [-2.06329923e-01 9.78462224e-01 -6.29601096e-03 -7.65800253e+01] [-3.13337189e-02 -1.75954078e-04 9.99508963e-01 -1.29866045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:393.92, Y:-76.59, Z:-12.99 [[ 9.78515535e-01 2.03772347e-01 3.13716105e-02 3.93916277e+02] [-2.03670807e-01 9.79018295e-01 -6.43279868e-03 -7.65878307e+01] [-3.20242071e-02 -9.48877726e-05 9.99487089e-01 -1.29873871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.474012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:393.94, Y:-76.60, Z:-12.99 [[ 9.79345811e-01 1.99684327e-01 3.17482765e-02 3.93944287e+02] [-1.99578210e-01 9.79860280e-01 -6.50922148e-03 -7.65958644e+01] [-3.24086646e-02 3.85145965e-05 9.99474701e-01 -1.29883583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:393.97, Y:-76.60, Z:-12.99 [[ 9.79593488e-01 1.98566802e-01 3.11098568e-02 3.93973232e+02] [-1.98464360e-01 9.80087353e-01 -6.37794315e-03 -7.66030890e+01] [-3.17568250e-02 7.35937525e-05 9.99495622e-01 -1.29898108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.534012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:394.00, Y:-76.61, Z:-12.99 [[ 9.79785465e-01 1.98049934e-01 2.82252768e-02 3.94001532e+02] [-1.97965407e-01 9.80191929e-01 -5.78624590e-03 -7.66117844e+01] [-2.88121541e-02 8.16512127e-05 9.99584840e-01 -1.29917648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:394.03, Y:-76.62, Z:-12.99 [[ 9.79716890e-01 1.98572845e-01 2.69005612e-02 3.94030333e+02] [-1.98496272e-01 9.80086129e-01 -5.51442459e-03 -7.66194687e+01] [-2.74598819e-02 6.29138085e-05 9.99622904e-01 -1.29927274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.594012739 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:394.06, Y:-76.63, Z:-12.99 [[ 9.79652048e-01 1.99080657e-01 2.54707223e-02 3.94058977e+02] [-1.99012195e-01 9.79983107e-01 -5.22073476e-03 -7.66274067e+01] [-2.60002249e-02 4.55191385e-05 9.99661936e-01 -1.29933283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:394.09, Y:-76.63, Z:-12.99 [[ 9.79606070e-01 1.99253267e-01 2.58859640e-02 3.94087368e+02] [-1.99182630e-01 9.79948026e-01 -5.30526748e-03 -7.66336599e+01] [-2.64239912e-02 4.10378280e-05 9.99650825e-01 -1.29942415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.654012739 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:394.12, Y:-76.64, Z:-12.99 [[ 9.79588990e-01 1.99158215e-01 2.72289691e-02 3.94116480e+02] [-1.99080051e-01 9.79967348e-01 -5.57940393e-03 -7.66404639e+01] [-2.77946847e-02 4.47780986e-05 9.99613652e-01 -1.29945245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:394.14, Y:-76.65, Z:-12.99 [[ 9.79482744e-01 1.99247778e-01 3.02304130e-02 3.94144786e+02] [-1.99151496e-01 9.79949142e-01 -6.19362002e-03 -7.66488856e+01] [-3.08583323e-02 4.61119558e-05 9.99523767e-01 -1.29945619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.714012739 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:394.17, Y:-76.66, Z:-13.00 [[ 9.79559841e-01 1.98849546e-01 3.03541751e-02 3.94174399e+02] [-1.98752306e-01 9.80030027e-01 -6.21822497e-03 -7.66569532e+01] [-3.09844943e-02 5.81611656e-05 9.99519864e-01 -1.29951388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:394.20, Y:-76.66, Z:-13.00 [[ 9.79560319e-01 1.98912542e-01 2.99229434e-02 3.94204621e+02] [-1.98818075e-01 9.80017244e-01 -6.12988470e-03 -7.66631391e+01] [-3.05443115e-02 5.53698119e-05 9.99533412e-01 -1.29963964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.774012739 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:394.23, Y:-76.67, Z:-13.00 [[ 9.79459366e-01 1.99495397e-01 2.93417395e-02 3.94234158e+02] [-1.99404826e-01 9.79898763e-01 -6.01082177e-03 -7.66689536e+01] [-2.99510655e-02 3.64712282e-05 9.99551366e-01 -1.29977158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:394.26, Y:-76.68, Z:-13.00 [[ 9.79136326e-01 2.01274910e-01 2.79368085e-02 3.94263749e+02] [-2.01193530e-01 9.79534793e-01 -5.72301370e-03 -7.66764795e+01] [-2.85169750e-02 -1.70945196e-05 9.99593308e-01 -1.29993078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.834012739 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:394.29, Y:-76.68, Z:-13.00 [[ 9.78770295e-01 2.03076393e-01 2.77252278e-02 3.94292865e+02] [-2.02996966e-01 9.79162894e-01 -5.67962193e-03 -7.66835970e+01] [-2.83009114e-02 -6.90918853e-05 9.99599447e-01 -1.29991144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:394.32, Y:-76.69, Z:-13.00 [[ 9.78557480e-01 2.03915134e-01 2.90495348e-02 3.94323214e+02] [-2.03828293e-01 9.78988564e-01 -5.95134494e-03 -7.66895290e+01] [-2.96527317e-02 -9.73839736e-05 9.99560256e-01 -1.29992335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.894012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:394.35, Y:-76.70, Z:-13.00 [[ 9.78292307e-01 2.04972094e-01 3.05057792e-02 3.94352649e+02] [-2.04876839e-01 9.78767808e-01 -6.24967289e-03 -7.66958395e+01] [-3.11390832e-02 -1.35920709e-04 9.99515052e-01 -1.29996882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:394.38, Y:-76.70, Z:-13.00 [[ 9.78024240e-01 2.06360535e-01 2.97307167e-02 3.94381468e+02] [-2.06270689e-01 9.78476008e-01 -6.09131499e-03 -7.67037060e+01] [-3.03478000e-02 -1.75121692e-04 9.99539384e-01 -1.30016050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.954012739 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:394.41, Y:-76.71, Z:-13.00 [[ 9.77934028e-01 2.06997593e-01 2.82317597e-02 3.94411595e+02] [-2.06916866e-01 9.78341434e-01 -5.78348784e-03 -7.67097524e+01] [-2.88174683e-02 -1.85757678e-04 9.99584673e-01 -1.30036894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:394.44, Y:-76.71, Z:-13.00 [[ 9.77409050e-01 2.09612668e-01 2.70938981e-02 3.94440477e+02] [-2.09539317e-01 9.77784468e-01 -5.55054593e-03 -7.67134203e+01] [-2.76554575e-02 -2.52083098e-04 9.99617483e-01 -1.30047390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.014012739 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:394.47, Y:-76.72, Z:-13.00 [[ 9.77051847e-01 2.11180014e-01 2.77973088e-02 3.94467578e+02] [-2.11103466e-01 9.77447139e-01 -5.69367975e-03 -7.67185384e+01] [-2.83727913e-02 -3.05087923e-04 9.99597365e-01 -1.30041246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:394.50, Y:-76.72, Z:-13.00 [[ 9.76267627e-01 2.14623014e-01 2.89565765e-02 3.94495606e+02] [-2.14541514e-01 9.76696873e-01 -5.92930553e-03 -7.67234035e+01] [-2.95543632e-02 -4.23798719e-04 9.99563085e-01 -1.30037876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.074012739 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:394.52, Y:-76.73, Z:-13.00 [[ 9.75825576e-01 2.16601891e-01 2.91215886e-02 3.94523196e+02] [-2.16520380e-01 9.76259895e-01 -5.96173400e-03 -7.67276197e+01] [-2.97215619e-02 -4.87804922e-04 9.99558098e-01 -1.30049699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:394.55, Y:-76.73, Z:-13.01 [[ 9.75417995e-01 2.18363573e-01 2.96156149e-02 3.94552245e+02] [-2.18280137e-01 9.75867330e-01 -6.06107947e-03 -7.67314980e+01] [-3.02244300e-02 -5.52414491e-04 9.99542985e-01 -1.30065731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.134012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:394.58, Y:-76.74, Z:-13.01 [[ 9.74550929e-01 2.22049842e-01 3.07303620e-02 3.94580186e+02] [-2.21961882e-01 9.75035070e-01 -6.28775271e-03 -7.67353171e+01] [-3.13593751e-02 -6.93233726e-04 9.99507933e-01 -1.30074530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:394.61, Y:-76.74, Z:-13.01 [[ 9.74037493e-01 2.24270917e-01 3.08790944e-02 3.94609041e+02] [-2.24183275e-01 9.74526533e-01 -6.31639752e-03 -7.67389259e+01] [-3.15090811e-02 -7.70168497e-04 9.99503169e-01 -1.30076641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.194012739 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:394.64, Y:-76.74, Z:-13.01 [[ 9.73793446e-01 2.25371258e-01 3.05633871e-02 3.94638187e+02] [-2.25285982e-01 9.74272630e-01 -6.25044627e-03 -7.67426078e+01] [-3.11857425e-02 -7.98859081e-04 9.99513287e-01 -1.30083168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:394.67, Y:-76.75, Z:-13.01 [[ 9.73608655e-01 2.26247343e-01 2.99721017e-02 3.94665836e+02] [-2.26165794e-01 9.74069546e-01 -6.12811865e-03 -7.67463305e+01] [-3.05813820e-02 -8.12274803e-04 9.99531950e-01 -1.30095854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.254012739 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:394.69, Y:-76.75, Z:-13.01 [[ 9.73561633e-01 2.26509289e-01 2.95176045e-02 3.94694279e+02] [-2.26430368e-01 9.74008669e-01 -6.03342125e-03 -7.67518155e+01] [-3.01170286e-02 -8.09774603e-04 9.99546051e-01 -1.30103715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:394.72, Y:-76.76, Z:-13.01 [[ 9.73809671e-01 2.25414603e-01 2.97149910e-02 3.94722232e+02] [-2.25334157e-01 9.74262616e-01 -6.07233649e-03 -7.67576187e+01] [-3.03189982e-02 -7.82502451e-04 9.99539967e-01 -1.30117291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.314012739 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:394.75, Y:-76.76, Z:-13.01 [[ 9.74934001e-01 2.20498000e-01 2.97376104e-02 3.94749488e+02] [-2.20415186e-01 9.75387222e-01 -6.07555446e-03 -7.67619881e+01] [-3.03453328e-02 -6.31356304e-04 9.99539275e-01 -1.30130956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:394.78, Y:-76.77, Z:-13.01 [[ 9.74941572e-01 2.20464475e-01 2.97379652e-02 3.94778228e+02] [-2.20381699e-01 9.75394800e-01 -6.07381720e-03 -7.67677724e+01] [-3.03453176e-02 -6.32086408e-04 9.99539275e-01 -1.30140352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.374012739 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:394.81, Y:-76.77, Z:-13.02 [[ 9.75594761e-01 2.17543249e-01 2.98294711e-02 3.94806786e+02] [-2.17458629e-01 9.76050531e-01 -6.09145433e-03 -7.67735877e+01] [-3.04402258e-02 -5.43884944e-04 9.99536441e-01 -1.30150339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:394.83, Y:-76.78, Z:-13.02 [[ 9.76697092e-01 2.12531251e-01 2.98874268e-02 3.94833598e+02] [-2.12443996e-01 9.77154192e-01 -6.10188421e-03 -7.67812456e+01] [-3.05014654e-02 -3.89711803e-04 9.99534646e-01 -1.30151602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.434012739 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:394.86, Y:-76.79, Z:-13.02 [[ 9.77087234e-01 2.10831414e-01 2.91659471e-02 3.94861733e+02] [-2.10747615e-01 9.77522381e-01 -5.95288410e-03 -7.67865951e+01] [-2.97654210e-02 -3.30166743e-04 9.99556857e-01 -1.30163594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:394.89, Y:-76.79, Z:-13.02 [[ 9.77215906e-01 2.10351909e-01 2.83045587e-02 3.94888866e+02] [-2.10272824e-01 9.77625685e-01 -5.77578171e-03 -7.67907583e+01] [-2.88862103e-02 -3.07493728e-04 9.99582659e-01 -1.30178598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.494012739 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:394.92, Y:-76.80, Z:-13.02 [[ 9.77064651e-01 2.11015394e-01 2.85862204e-02 3.94916912e+02] [-2.10935063e-01 9.77482682e-01 -5.83147618e-03 -7.67971002e+01] [-2.91730666e-02 -3.32106976e-04 9.99574320e-01 -1.30185045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:394.94, Y:-76.80, Z:-13.02 [[ 9.76447961e-01 2.13702348e-01 2.96763406e-02 3.94944097e+02] [-2.13617055e-01 9.76898727e-01 -6.05243543e-03 -7.68041495e+01] [-3.02841990e-02 -4.29484250e-04 9.99541236e-01 -1.30187610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55401273900003 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:394.97, Y:-76.81, Z:-13.02 [[ 9.76191455e-01 2.14900699e-01 2.94607053e-02 3.94972695e+02] [-2.14817238e-01 9.76635794e-01 -6.00674032e-03 -7.68096155e+01] [-3.00632320e-02 -4.64938764e-04 9.99547891e-01 -1.30194500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:395.00, Y:-76.82, Z:-13.02 [[ 9.75679895e-01 2.17157228e-01 2.98576708e-02 3.94999786e+02] [-2.17072600e-01 9.76136488e-01 -6.08626643e-03 -7.68160761e+01] [-3.04668386e-02 -5.43034443e-04 9.99535631e-01 -1.30207902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.614012739 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:395.03, Y:-76.82, Z:-13.02 [[ 9.75488977e-01 2.17936010e-01 3.04162880e-02 3.95027844e+02] [-2.17848621e-01 9.75962888e-01 -6.19830932e-03 -7.68237251e+01] [-3.10360031e-02 -5.79763990e-04 9.99518099e-01 -1.30216799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:395.06, Y:-76.83, Z:-13.02 [[ 9.75294030e-01 2.18724876e-01 3.09997247e-02 3.95055635e+02] [-2.18634546e-01 9.75786374e-01 -6.31573250e-03 -7.68309042e+01] [-3.16305167e-02 -6.17914515e-04 9.99499439e-01 -1.30216890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.674012739 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:395.08, Y:-76.84, Z:-13.02 [[ 9.74742978e-01 2.20988774e-01 3.22504176e-02 3.95082682e+02] [-2.20892296e-01 9.75276085e-01 -6.56897822e-03 -7.68362423e+01] [-3.29047314e-02 -7.20803375e-04 9.99458233e-01 -1.30225210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:395.11, Y:-76.84, Z:-13.02 [[ 9.73509178e-01 2.26608031e-01 3.04742700e-02 3.95111453e+02] [-2.26524691e-01 9.73985655e-01 -6.20541798e-03 -7.68385351e+01] [-3.10876994e-02 -8.62143250e-04 9.99516289e-01 -1.30236936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.734012739 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:395.14, Y:-76.84, Z:-13.02 [[ 9.72716927e-01 2.30228134e-01 2.85794604e-02 3.95137951e+02] [-2.30156428e-01 9.73136251e-01 -5.81850477e-03 -7.68417450e+01] [-2.91512924e-02 -9.17988429e-04 9.99574589e-01 -1.30244255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:395.17, Y:-76.84, Z:-13.03 [[ 9.71854186e-01 2.33966502e-01 2.75520782e-02 3.95165774e+02] [-2.33901434e-01 9.72244149e-01 -5.60661583e-03 -7.68445074e+01] [-2.80991071e-02 -9.95657554e-04 9.99604646e-01 -1.30260478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.794012739 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:395.19, Y:-76.84, Z:-13.03 [[ 9.70689405e-01 2.38880247e-01 2.64254745e-02 3.95194535e+02] [-2.38822256e-01 9.71048420e-01 -5.37560541e-03 -7.68443248e+01] [-2.69445412e-02 -1.09294820e-03 9.99636332e-01 -1.30273851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:395.22, Y:-76.85, Z:-13.03 [[ 9.70691925e-01 2.38838103e-01 2.67122925e-02 3.95221273e+02] [-2.38778880e-01 9.71058772e-01 -5.43212086e-03 -7.68466571e+01] [-2.72366034e-02 -1.10541543e-03 9.99628404e-01 -1.30283869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.854012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:395.25, Y:-76.85, Z:-13.03 [[ 9.71448372e-01 2.35447584e-01 2.91975395e-02 3.95249909e+02] [-2.35375374e-01 9.71886418e-01 -5.93490172e-03 -7.68473507e+01] [-2.97740503e-02 -1.10693116e-03 9.99556042e-01 -1.30268596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:395.28, Y:-76.85, Z:-13.03 [[ 9.72086901e-01 2.32622948e-01 3.05552243e-02 3.95277449e+02] [-2.32542540e-01 9.72566409e-01 -6.20868388e-03 -7.68505166e+01] [-3.11612671e-02 -1.07000921e-03 9.99513797e-01 -1.30275334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.914012739 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:395.30, Y:-76.85, Z:-13.03 [[ 9.73399165e-01 2.26990633e-01 3.11338741e-02 3.95303965e+02] [-2.26904343e-01 9.73896518e-01 -6.32393415e-03 -7.68532149e+01] [-3.17566454e-02 -9.08699036e-04 9.99495217e-01 -1.30294493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:395.33, Y:-76.86, Z:-13.03 [[ 9.73928753e-01 2.24818753e-01 3.03201719e-02 3.95331427e+02] [-2.24735961e-01 9.74400255e-01 -6.15549178e-03 -7.68577135e+01] [-3.09278533e-02 -8.19022561e-04 9.99521284e-01 -1.30307077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.974012739 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:395.36, Y:-76.86, Z:-13.03 [[ 9.74531611e-01 2.22567825e-01 2.74171819e-02 3.95358818e+02] [-2.22499279e-01 9.74916973e-01 -5.56472234e-03 -7.68586785e+01] [-2.79680042e-02 -6.77305394e-04 9.99608589e-01 -1.30311371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:395.39, Y:-76.86, Z:-13.03 [[ 9.74683240e-01 2.22007702e-01 2.65548974e-02 3.95386887e+02] [-2.21943247e-01 9.75044700e-01 -5.38769934e-03 -7.68622057e+01] [-2.70883227e-02 -6.42379912e-04 9.99632838e-01 -1.30332709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.034012739 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:395.41, Y:-76.87, Z:-13.03 [[ 9.74880614e-01 2.21094117e-01 2.69291556e-02 3.95414888e+02] [-2.21027535e-01 9.75252274e-01 -5.46178102e-03 -7.68662902e+01] [-2.74702879e-02 -6.27500461e-04 9.99622423e-01 -1.30338060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:395.44, Y:-76.87, Z:-13.04 [[ 9.75686087e-01 2.17224684e-01 2.91564189e-02 3.95442172e+02] [-2.17144975e-01 9.76121467e-01 -5.91108843e-03 -7.68719549e+01] [-2.97442407e-02 -5.63803132e-04 9.99557383e-01 -1.30353055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.094012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:395.47, Y:-76.88, Z:-13.04 [[ 9.77069358e-01 2.11045610e-01 2.81996351e-02 3.95469652e+02] [-2.10968522e-01 9.77476147e-01 -5.71537216e-03 -7.68801501e+01] [-2.87706749e-02 -3.64920335e-04 9.99585972e-01 -1.30375700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:395.50, Y:-76.89, Z:-13.04 [[ 9.77884337e-01 2.07348222e-01 2.73667510e-02 3.95497706e+02] [-2.07274209e-01 9.78267168e-01 -5.54527572e-03 -7.68868004e+01] [-2.79217970e-02 -2.49783388e-04 9.99610079e-01 -1.30392359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.154012739 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:395.52, Y:-76.89, Z:-13.04 [[ 9.78630587e-01 2.03827391e-01 2.71397849e-02 3.95524402e+02] [-2.03753282e-01 9.79006830e-01 -5.49798984e-03 -7.68932539e+01] [-2.76906757e-02 -1.49319225e-04 9.99616529e-01 -1.30405386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:395.55, Y:-76.90, Z:-13.04 [[ 9.79846681e-01 1.97876620e-01 2.73006559e-02 3.95552120e+02] [-1.97799367e-01 9.80226934e-01 -5.52880006e-03 -7.69041023e+01] [-2.78548585e-02 1.73239455e-05 9.99611978e-01 -1.30407800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.214012739 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:395.58, Y:-76.92, Z:-13.04 [[ 9.80745477e-01 1.93117996e-01 2.90473521e-02 3.95578111e+02] [-1.93028497e-01 9.81175527e-01 -5.88094846e-03 -7.69184906e+01] [-2.96362680e-02 1.60746889e-04 9.99560736e-01 -1.30403569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:395.61, Y:-76.93, Z:-13.04 [[ 9.81073752e-01 1.91364880e-01 2.95596900e-02 3.95606838e+02] [-1.91271426e-01 9.81518943e-01 -5.98379404e-03 -7.69285123e+01] [-3.01584837e-02 2.16619205e-04 9.99545106e-01 -1.30406382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.274012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:395.64, Y:-76.94, Z:-13.04 [[ 9.81256196e-01 1.90524796e-01 2.89236821e-02 3.95635952e+02] [-1.90434978e-01 9.81682355e-01 -5.85431183e-03 -7.69381439e+01] [-2.95092600e-02 2.36498980e-04 9.99564479e-01 -1.30422853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:395.66, Y:-76.95, Z:-13.04 [[ 9.81088919e-01 1.91563004e-01 2.77154935e-02 3.95664491e+02] [-1.91480948e-01 9.81480299e-01 -5.60976783e-03 -7.69530523e+01] [-2.82768348e-02 1.96692074e-04 9.99600111e-01 -1.30432753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.334012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:395.69, Y:-76.96, Z:-13.04 [[ 9.80680298e-01 1.93528304e-01 2.85122432e-02 3.95694068e+02] [-1.93442294e-01 9.81094682e-01 -5.77096170e-03 -7.69636630e+01] [-2.90900546e-02 1.43994704e-04 9.99576784e-01 -1.30432545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:395.72, Y:-76.98, Z:-13.04 [[ 9.79355890e-01 1.99728390e-01 3.11546235e-02 3.95722922e+02] [-1.99628801e-01 9.79851299e-01 -6.30664680e-03 -7.69767364e+01] [-3.17865147e-02 -4.29084237e-05 9.99494680e-01 -1.30419167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.394012739 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:395.75, Y:-76.99, Z:-13.04 [[ 9.78570356e-01 2.03426895e-01 3.18991598e-02 3.95750837e+02] [-2.03324436e-01 9.79090124e-01 -6.45777244e-03 -7.69852618e+01] [-3.25458369e-02 -1.66494002e-04 9.99470230e-01 -1.30428111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:395.78, Y:-77.00, Z:-13.05 [[ 9.77337744e-01 2.09534495e-01 3.01036449e-02 3.95780814e+02] [-2.09446130e-01 9.77801193e-01 -6.09464248e-03 -7.69965956e+01] [-3.07124177e-02 -3.48567790e-04 9.99528202e-01 -1.30455311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.454012739 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:395.81, Y:-77.00, Z:-13.05 [[ 9.76811186e-01 2.12179081e-01 2.86346844e-02 3.95810810e+02] [-2.12100247e-01 9.77230715e-01 -5.79790679e-03 -7.70038965e+01] [-2.92128877e-02 -4.09963419e-04 9.99573128e-01 -1.30469963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:395.84, Y:-77.01, Z:-13.05 [[ 9.75845796e-01 2.16832459e-01 2.66207948e-02 3.95838916e+02] [-2.16766031e-01 9.76208699e-01 -5.39102520e-03 -7.70103698e+01] [-2.71564008e-02 -5.09674750e-04 9.99631067e-01 -1.30483290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.514012739 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:395.87, Y:-77.02, Z:-13.05 [[ 9.75301383e-01 2.19170051e-01 2.74171502e-02 3.95868158e+02] [-2.19100541e-01 9.75686495e-01 -5.55121412e-03 -7.70165027e+01] [-2.79672031e-02 -5.93005634e-04 9.99608665e-01 -1.30486462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:395.90, Y:-77.02, Z:-13.05 [[ 9.74759339e-01 2.21364549e-01 2.90166670e-02 3.95897031e+02] [-2.21287684e-01 9.75190880e-01 -5.87433403e-03 -7.70216910e+01] [-2.95971584e-02 -6.94969070e-04 9.99561667e-01 -1.30484226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.574012739 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:395.93, Y:-77.02, Z:-13.05 [[ 9.73658708e-01 2.25933525e-01 3.07044210e-02 3.95925823e+02] [-2.25849747e-01 9.74142321e-01 -6.21525363e-03 -7.70229756e+01] [-3.13147101e-02 -8.83049908e-04 9.99509184e-01 -1.30483557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:395.95, Y:-77.03, Z:-13.05 [[ 9.72825314e-01 2.29817156e-01 2.81954368e-02 3.95953460e+02] [-2.29748174e-01 9.73233382e-01 -5.70618796e-03 -7.70252399e+01] [-2.87521202e-02 -9.26726019e-04 9.99586143e-01 -1.30520012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.634012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:395.98, Y:-77.03, Z:-13.05 [[ 9.72579035e-01 2.30936644e-01 2.75370061e-02 3.95982326e+02] [-2.30871343e-01 9.72968337e-01 -5.57120733e-03 -7.70301167e+01] [-2.80792310e-02 -9.39066123e-04 9.99605260e-01 -1.30530378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:396.01, Y:-77.03, Z:-13.05 [[ 9.72382606e-01 2.31732460e-01 2.77873115e-02 3.96009364e+02] [-2.31666307e-01 9.72779072e-01 -5.62128196e-03 -7.70343372e+01] [-2.83335486e-02 -9.71347046e-04 9.99598052e-01 -1.30535971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.694012739 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:396.04, Y:-77.04, Z:-13.05 [[ 9.72845100e-01 2.29672799e-01 2.86847790e-02 3.96038229e+02] [-2.29601463e-01 9.73267444e-01 -5.80095416e-03 -7.70354511e+01] [-2.92502829e-02 -9.42637398e-04 9.99571674e-01 -1.30538231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:396.07, Y:-77.04, Z:-13.05 [[ 9.73946829e-01 2.25033681e-01 2.80609651e-02 3.96066203e+02] [-2.24963526e-01 9.74350668e-01 -5.67351421e-03 -7.70386651e+01] [-2.86179518e-02 -7.86992473e-04 9.99590113e-01 -1.30549934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.754012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:396.09, Y:-77.04, Z:-13.06 [[ 9.74407064e-01 2.22973916e-01 2.85220228e-02 3.96094814e+02] [-2.22900607e-01 9.74824130e-01 -5.76494440e-03 -7.70437056e+01] [-2.90893883e-02 -7.40173656e-04 9.99576540e-01 -1.30559619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:396.12, Y:-77.05, Z:-13.06 [[ 9.74962781e-01 2.20315019e-01 3.01474476e-02 3.96123997e+02] [-2.20231889e-01 9.75428523e-01 -6.09201214e-03 -7.70469637e+01] [-3.07488420e-02 -6.99944230e-04 9.99526897e-01 -1.30557897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.814012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:396.15, Y:-77.05, Z:-13.06 [[ 9.75179218e-01 2.19338224e-01 3.02693771e-02 3.96152553e+02] [-2.19253997e-01 9.75648651e-01 -6.11514751e-03 -7.70512310e+01] [-3.08735625e-02 -6.73317125e-04 9.99523071e-01 -1.30561976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:396.18, Y:-77.06, Z:-13.06 [[ 9.75470596e-01 2.18071198e-01 3.00344697e-02 3.96180839e+02] [-2.17987705e-01 9.75932660e-01 -6.06661703e-03 -7.70561854e+01] [-3.06345743e-02 -6.29338594e-04 9.99530453e-01 -1.30570724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.874012739 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:396.21, Y:-77.06, Z:-13.06 [[ 9.76332511e-01 2.14378142e-01 2.85804286e-02 3.96208936e+02] [-2.14300996e-01 9.76750619e-01 -5.77156322e-03 -7.70617654e+01] [-2.91532483e-02 -4.89849501e-04 9.99574834e-01 -1.30578428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:396.24, Y:-77.07, Z:-13.06 [[ 9.77283557e-01 2.09865211e-01 2.95540728e-02 3.96238424e+02] [-2.09780688e-01 9.77730258e-01 -5.96704272e-03 -7.70676534e+01] [-3.01481859e-02 -3.68380983e-04 9.99545372e-01 -1.30592198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.934012739 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:396.27, Y:-77.07, Z:-13.06 [[ 9.77692440e-01 2.07858454e-01 3.02052253e-02 3.96267746e+02] [-2.07769230e-01 9.78158865e-01 -6.09776436e-03 -7.70743277e+01] [-3.08129807e-02 -3.13978281e-04 9.99525118e-01 -1.30595166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:396.30, Y:-77.08, Z:-13.06 [[ 9.78388635e-01 2.04505074e-01 3.05508319e-02 3.96296044e+02] [-2.04412184e-01 9.78865481e-01 -6.16677613e-03 -7.70816984e+01] [-3.11662918e-02 -2.11458603e-04 9.99514191e-01 -1.30602785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.994012739 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:396.33, Y:-77.09, Z:-13.06 [[ 9.78588082e-01 2.03619230e-01 3.00761434e-02 3.96325373e+02] [-2.03528797e-01 9.79050140e-01 -6.07061752e-03 -7.70874276e+01] [-3.06821469e-02 -1.80727334e-04 9.99529176e-01 -1.30616000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:396.35, Y:-77.09, Z:-13.06 [[ 9.78667126e-01 2.03281369e-01 2.97882726e-02 3.96353495e+02] [-2.03192524e-01 9.79120348e-01 -6.01182454e-03 -7.70923921e+01] [-3.03883958e-02 -1.69179247e-04 9.99538152e-01 -1.30630705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05401273900003 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:396.38, Y:-77.10, Z:-13.06 [[ 9.78465466e-01 2.04228625e-01 2.99332789e-02 3.96382026e+02] [-2.04139389e-01 9.78923198e-01 -6.03999060e-03 -7.70991543e+01] [-3.05359201e-02 -2.00639048e-04 9.99533650e-01 -1.30636503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:396.41, Y:-77.11, Z:-13.06 [[ 9.78363700e-01 2.04777877e-01 2.95040988e-02 3.96411349e+02] [-2.04691454e-01 9.78808446e-01 -5.95265706e-03 -7.71098725e+01] [-3.00978336e-02 -2.15373287e-04 9.99546934e-01 -1.30648429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.114012739 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:396.44, Y:-77.12, Z:-13.07 [[ 9.78413179e-01 2.04648700e-01 2.87499816e-02 3.96441828e+02] [-2.04566585e-01 9.78835465e-01 -5.80044279e-03 -7.71183603e+01] [-2.93285547e-02 -2.06055896e-04 9.99569804e-01 -1.30653467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:396.47, Y:-77.13, Z:-13.07 [[ 9.78389204e-01 2.04890406e-01 2.78296048e-02 3.96471556e+02] [-2.04813547e-01 9.78784899e-01 -5.61530131e-03 -7.71259685e+01] [-2.83897183e-02 -2.05929902e-04 9.99596910e-01 -1.30671288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.174012739 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:396.50, Y:-77.13, Z:-13.07 [[ 9.77992083e-01 2.06793914e-01 2.77085305e-02 3.96500633e+02] [-2.06718433e-01 9.78384490e-01 -5.59275637e-03 -7.71308752e+01] [-2.82661445e-02 -2.58192578e-04 9.99600399e-01 -1.30674485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:396.53, Y:-77.14, Z:-13.07 [[ 9.77994402e-01 2.06782930e-01 2.77086648e-02 3.96530195e+02] [-2.06707464e-01 9.78386812e-01 -5.59209123e-03 -7.71368012e+01] [-2.82661412e-02 -2.58553901e-04 9.99600399e-01 -1.30684149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.234012739 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:396.56, Y:-77.14, Z:-13.07 [[ 9.77549360e-01 2.08790047e-01 2.83542829e-02 3.96558962e+02] [-2.08711875e-01 9.77960434e-01 -5.72208743e-03 -7.71420775e+01] [-2.89240817e-02 -3.24252646e-04 9.99581559e-01 -1.30692057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:396.59, Y:-77.15, Z:-13.07 [[ 9.76674256e-01 2.12734904e-01 2.91763426e-02 3.96586773e+02] [-2.12653911e-01 9.77109847e-01 -5.88727824e-03 -7.71469602e+01] [-2.97609213e-02 -4.54510286e-04 9.99556942e-01 -1.30698948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.294012739 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:396.62, Y:-77.15, Z:-13.07 [[ 9.76326402e-01 2.14314006e-01 2.92619805e-02 3.96615450e+02] [-2.14233277e-01 9.76764686e-01 -5.90349228e-03 -7.71514003e+01] [-2.98472703e-02 -5.05154619e-04 9.99554343e-01 -1.30706643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:396.64, Y:-77.15, Z:-13.07 [[ 9.75622658e-01 2.17569811e-01 2.87020120e-02 3.96644629e+02] [-2.17493579e-01 9.76044581e-01 -5.78954304e-03 -7.71530862e+01] [-2.92740730e-02 -5.94093934e-04 9.99571246e-01 -1.30710324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.354012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:396.67, Y:-77.16, Z:-13.07 [[ 9.75375739e-01 2.18751116e-01 2.81090095e-02 3.96672107e+02] [-2.18678528e-01 9.75780492e-01 -5.66864301e-03 -7.71563651e+01] [-2.86682451e-02 -6.17779949e-04 9.99588790e-01 -1.30726972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:396.70, Y:-77.16, Z:-13.07 [[ 9.75117539e-01 2.19917134e-01 2.79685405e-02 3.96701605e+02] [-2.19845799e-01 9.75518340e-01 -5.63860277e-03 -7.71573484e+01] [-2.85238495e-02 -6.50465668e-04 9.99592901e-01 -1.30737751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.414012739 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:396.73, Y:-77.16, Z:-13.07 [[ 9.75287528e-01 2.19086140e-01 2.85569778e-02 3.96729092e+02] [-2.19011454e-01 9.75705310e-01 -5.75590487e-03 -7.71598323e+01] [-2.91242339e-02 -6.40642999e-04 9.99575594e-01 -1.30740840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:396.76, Y:-77.16, Z:-13.07 [[ 9.75544098e-01 2.17845519e-01 2.92752844e-02 3.96757715e+02] [-2.17766527e-01 9.75983066e-01 -5.89874704e-03 -7.71623221e+01] [-2.98571974e-02 -6.20689132e-04 9.99553982e-01 -1.30745697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.474012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:396.79, Y:-77.16, Z:-13.07 [[ 9.76061889e-01 2.15429134e-01 2.98910892e-02 3.96786519e+02] [-2.15345693e-01 9.76519316e-01 -6.02141227e-03 -7.71615938e+01] [-3.04864136e-02 -5.59646274e-04 9.99535025e-01 -1.30743189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:396.81, Y:-77.16, Z:-13.08 [[ 9.76489850e-01 2.13421360e-01 3.03132977e-02 3.96814737e+02] [-2.13334633e-01 9.76960116e-01 -6.10466717e-03 -7.71631698e+01] [-3.09177492e-02 -5.05730707e-04 9.99521804e-01 -1.30755408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.534012739 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:396.84, Y:-77.17, Z:-13.08 [[ 9.76678107e-01 2.12615356e-01 2.99096143e-02 3.96843467e+02] [-2.12530599e-01 9.77135858e-01 -6.02164019e-03 -7.71669157e+01] [-3.05060498e-02 -4.75504098e-04 9.99534469e-01 -1.30767388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:396.87, Y:-77.17, Z:-13.08 [[ 9.76822378e-01 2.11985618e-01 2.96671648e-02 3.96871478e+02] [-2.11901982e-01 9.77272681e-01 -5.97143150e-03 -7.71702737e+01] [-3.02587673e-02 -4.53503092e-04 9.99541996e-01 -1.30780427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.594012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:396.90, Y:-77.17, Z:-13.08 [[ 9.77178826e-01 2.10296347e-01 2.99497709e-02 3.96900603e+02] [-2.10210373e-01 9.77637602e-01 -6.02648336e-03 -7.71721318e+01] [-3.05473696e-02 -4.06800568e-04 9.99533237e-01 -1.30793171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:396.93, Y:-77.18, Z:-13.08 [[ 9.77602029e-01 2.08193235e-01 3.08196388e-02 3.96929081e+02] [-2.08101194e-01 9.78087651e-01 -6.20001605e-03 -7.71783368e+01] [-3.14351095e-02 -3.52455375e-04 9.99505733e-01 -1.30787764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.654012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:396.96, Y:-77.19, Z:-13.08 [[ 9.77937717e-01 2.06574886e-01 3.10586356e-02 3.96956086e+02] [-2.06480646e-01 9.78430746e-01 -6.24651349e-03 -7.71853875e+01] [-3.16790968e-02 -3.04306004e-04 9.99498045e-01 -1.30799031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:396.98, Y:-77.19, Z:-13.08 [[ 9.78494892e-01 2.03899791e-01 3.11868678e-02 3.96983249e+02] [-2.03803480e-01 9.78991740e-01 -6.27017136e-03 -7.71934837e+01] [-3.18101726e-02 -2.20661554e-04 9.99493904e-01 -1.30822590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.714012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:397.01, Y:-77.20, Z:-13.08 [[ 9.78719229e-01 2.02848476e-01 3.10026854e-02 3.97010783e+02] [-2.02752829e-01 9.79210121e-01 -6.23132898e-03 -7.71996044e+01] [-3.16221589e-02 -1.87160675e-04 9.99499877e-01 -1.30834518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:397.04, Y:-77.21, Z:-13.08 [[ 9.78876313e-01 2.02145864e-01 3.06302713e-02 3.97038738e+02] [-2.02052215e-01 9.79355412e-01 -6.15463885e-03 -7.72061438e+01] [-3.12420567e-02 -1.64283970e-04 9.99511834e-01 -1.30843186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.774012739 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:397.06, Y:-77.22, Z:-13.09 [[ 9.79008160e-01 2.01621651e-01 2.98618892e-02 3.97064773e+02] [-2.01532440e-01 9.79463470e-01 -5.99890272e-03 -7.72158995e+01] [-3.04581383e-02 -1.45164663e-04 9.99536033e-01 -1.30851450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:397.09, Y:-77.22, Z:-13.09 [[ 9.79119879e-01 2.01098139e-01 2.97287903e-02 3.97091490e+02] [-2.01009536e-01 9.79571091e-01 -5.97032472e-03 -7.72235980e+01] [-3.03220848e-02 -1.30106738e-04 9.99540171e-01 -1.30862372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.834012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:397.12, Y:-77.23, Z:-13.09 [[ 9.79340640e-01 2.00225443e-01 2.83140083e-02 3.97119960e+02] [-2.00144757e-01 9.79749847e-01 -5.68454686e-03 -7.72338046e+01] [-2.88788362e-02 -9.97925531e-05 9.99582914e-01 -1.30889597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:397.15, Y:-77.24, Z:-13.09 [[ 9.79556843e-01 1.99485909e-01 2.59569457e-02 3.97147874e+02] [-1.99417855e-01 9.79900692e-01 -5.21075778e-03 -7.72439937e+01] [-2.64747018e-02 -7.20450005e-05 9.99649481e-01 -1.30903058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.894012739 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:397.18, Y:-77.25, Z:-13.09 [[ 9.79642438e-01 1.99108596e-01 2.56214993e-02 3.97176674e+02] [-1.99042177e-01 9.79977430e-01 -5.14280914e-03 -7.72522149e+01] [-2.61324686e-02 -6.16449321e-05 9.99658487e-01 -1.30910227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:397.21, Y:-77.26, Z:-13.09 [[ 9.79575731e-01 1.99399633e-01 2.59070233e-02 3.97205518e+02] [-1.99331844e-01 9.79918252e-01 -5.19947809e-03 -7.72611772e+01] [-2.64235390e-02 -7.08121631e-05 9.99650835e-01 -1.30912449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.954012739 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:397.23, Y:-77.27, Z:-13.09 [[ 9.79361592e-01 2.00300363e-01 2.70302989e-02 3.97232927e+02] [-2.00226928e-01 9.79734533e-01 -5.42427625e-03 -7.72720072e+01] [-2.75690018e-02 -9.98658924e-05 9.99619898e-01 -1.30920293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:397.26, Y:-77.28, Z:-13.09 [[ 9.79098638e-01 2.01593308e-01 2.69442816e-02 3.97261991e+02] [-2.01520857e-01 9.79469305e-01 -5.40598066e-03 -7.72801512e+01] [-2.74809063e-02 -1.36846428e-04 9.99622319e-01 -1.30933022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.014012739 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:397.29, Y:-77.29, Z:-13.10 [[ 9.78182119e-01 2.06132506e-01 2.58675719e-02 3.97291477e+02] [-2.06067336e-01 9.78524054e-01 -5.18922068e-03 -7.72898171e+01] [-2.63817084e-02 -2.54458748e-04 9.99651910e-01 -1.30956180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:397.32, Y:-77.30, Z:-13.10 [[ 9.76936673e-01 2.11929998e-01 2.60847319e-02 3.97319383e+02] [-2.11865787e-01 9.77284761e-01 -5.23298111e-03 -7.72970950e+01] [-2.66012366e-02 -4.14171093e-04 9.99646039e-01 -1.30960656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.074012739 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:397.35, Y:-77.30, Z:-13.10 [[ 9.76415485e-01 2.14527153e-01 2.43084730e-02 3.97348152e+02] [-2.14336586e-01 9.76706375e-01 -1.02218024e-02 -7.72993697e+01] [-2.59350947e-02 4.77053101e-03 9.99652246e-01 -1.30957532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:397.37, Y:-77.31, Z:-13.10 [[ 9.75926823e-01 2.16253725e-01 2.83048268e-02 3.97374209e+02] [-2.16330632e-01 9.76320098e-01 -3.52981096e-04 -7.73108758e+01] [-2.77109047e-02 -5.77871736e-03 9.99599276e-01 -1.30971311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.134012739 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:397.40, Y:-77.31, Z:-13.10 [[ 9.75375890e-01 2.18754835e-01 2.80748101e-02 3.97403375e+02] [-2.18683381e-01 9.75779637e-01 -5.62840639e-03 -7.73144393e+01] [-2.86260691e-02 -6.49682490e-04 9.99589979e-01 -1.30983789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:397.43, Y:-77.32, Z:-13.10 [[ 9.75476584e-01 2.18368354e-01 2.75807345e-02 3.97431701e+02] [-2.18299273e-01 9.75866214e-01 -5.52810421e-03 -7.73220870e+01] [-2.81222699e-02 -6.28318081e-04 9.99604293e-01 -1.30994844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.194012739 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:397.46, Y:-77.33, Z:-13.10 [[ 9.75662769e-01 2.17447896e-01 2.82590338e-02 3.97459476e+02] [-2.17375028e-01 9.76071734e-01 -5.66270963e-03 -7.73282883e+01] [-2.88141884e-02 -6.17913300e-04 9.99584594e-01 -1.30999085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:397.49, Y:-77.33, Z:-13.10 [[ 9.75775542e-01 2.16367742e-01 3.23588124e-02 3.97487241e+02] [-2.16271656e-01 9.76311706e-01 -6.48253488e-03 -7.73334939e+01] [-3.29948988e-02 -6.72794963e-04 9.99455294e-01 -1.30981024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.254012739 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:397.52, Y:-77.34, Z:-13.10 [[ 9.75663178e-01 2.16724997e-01 3.33412593e-02 3.97516547e+02] [-2.16623235e-01 9.76232440e-01 -6.67817845e-03 -7.73390805e+01] [-3.39961471e-02 -7.06838644e-04 9.99421714e-01 -1.30978291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:397.55, Y:-77.34, Z:-13.10 [[ 9.75386808e-01 2.18040052e-01 3.28498280e-02 3.97546092e+02] [-2.17942152e-01 9.75939537e-01 -6.57562079e-03 -7.73447052e+01] [-3.34931946e-02 -7.45588436e-04 9.99438667e-01 -1.30984062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.314012739 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:397.57, Y:-77.35, Z:-13.10 [[ 9.74716616e-01 2.21508936e-01 2.93480672e-02 3.97574336e+02] [-2.21433007e-01 9.75158019e-01 -5.85332978e-03 -7.73482976e+01] [-2.99155679e-02 -7.93292949e-04 9.99552114e-01 -1.31014301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:397.60, Y:-77.35, Z:-13.10 [[ 9.74458106e-01 2.22773839e-01 2.83410864e-02 3.97604250e+02] [-2.22702937e-01 9.74869840e-01 -5.67423335e-03 -7.73521899e+01] [-2.88929411e-02 -7.82340513e-04 9.99582206e-01 -1.31024776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.374012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:397.63, Y:-77.35, Z:-13.10 [[ 9.74111629e-01 2.24076845e-01 2.99349705e-02 3.97632552e+02] [-2.23998380e-01 9.74571092e-01 -5.99263018e-03 -7.73543762e+01] [-3.05165665e-02 -8.67894140e-04 9.99533884e-01 -1.31020326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:397.66, Y:-77.36, Z:-13.10 [[ 9.74085852e-01 2.24032087e-01 3.10866054e-02 3.97662069e+02] [-2.23947507e-01 9.74581352e-01 -6.22120881e-03 -7.73588547e+01] [-3.16901763e-02 -9.01776275e-04 9.99497333e-01 -1.31022897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.434012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:397.69, Y:-77.36, Z:-13.10 [[ 9.74234389e-01 2.23426902e-01 3.07859636e-02 3.97690515e+02] [-2.23343671e-01 9.74720296e-01 -6.16031388e-03 -7.73611716e+01] [-3.13840834e-02 -8.74260491e-04 9.99507016e-01 -1.31040145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:397.72, Y:-77.36, Z:-13.11 [[ 9.74473695e-01 2.22618080e-01 2.90208098e-02 3.97718846e+02] [-2.22543791e-01 9.74905405e-01 -5.80615164e-03 -7.73644798e+01] [-2.95850987e-02 -8.00458998e-04 9.99561945e-01 -1.31063383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.494012739 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:397.75, Y:-77.37, Z:-13.11 [[ 9.75463856e-01 2.18613520e-01 2.60459951e-02 3.97747142e+02] [-2.18552282e-01 9.75811332e-01 -5.20995274e-03 -7.73671350e+01] [-2.65549433e-02 -6.10291074e-04 9.99647169e-01 -1.31077233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:397.77, Y:-77.37, Z:-13.11 [[ 9.76130727e-01 2.15528449e-01 2.67636206e-02 3.97774727e+02] [-2.15462675e-01 9.76497411e-01 -5.35183751e-03 -7.73713237e+01] [-2.72880795e-02 -5.42468239e-04 9.99627464e-01 -1.31082103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55401273900003 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:397.80, Y:-77.38, Z:-13.11 [[ 9.76801391e-01 2.12250603e-01 2.84380725e-02 3.97803557e+02] [-2.12175004e-01 9.77215151e-01 -5.68483150e-03 -7.73754116e+01] [-2.89967242e-02 -4.80896838e-04 9.99579391e-01 -1.31086467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:397.83, Y:-77.38, Z:-13.11 [[ 9.77965465e-01 2.06540126e-01 3.04093152e-02 3.97832199e+02] [-2.06450968e-01 9.78438074e-01 -6.07728888e-03 -7.73790419e+01] [-3.10088358e-02 -3.34653891e-04 9.99519054e-01 -1.31099334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.614012739 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:397.86, Y:-77.39, Z:-13.11 [[ 9.79093689e-01 2.01199095e-01 2.99077445e-02 3.97861453e+02] [-2.01110395e-01 9.79550355e-01 -5.97592664e-03 -7.73860146e+01] [-3.04984927e-02 -1.63766233e-04 9.99534799e-01 -1.31108196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:397.89, Y:-77.39, Z:-13.11 [[ 9.79574331e-01 1.98928274e-01 2.93542526e-02 3.97890998e+02] [-1.98841808e-01 9.80014048e-01 -5.86533232e-03 -7.73925223e+01] [-2.99343603e-02 -9.13236671e-05 9.99551862e-01 -1.31111200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.674012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:397.92, Y:-77.40, Z:-13.11 [[ 9.80031822e-01 1.96747125e-01 2.87784069e-02 3.97920755e+02] [-1.96663078e-01 9.80454266e-01 -5.75027142e-03 -7.73988746e+01] [-2.93472612e-02 -2.42010931e-05 9.99569276e-01 -1.31115291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:397.95, Y:-77.41, Z:-13.11 [[ 9.80763714e-01 1.93096590e-01 2.85699848e-02 3.97949835e+02] [-1.93012211e-01 9.81179749e-01 -5.70846280e-03 -7.74070739e+01] [-2.91345752e-02 8.42972378e-05 9.99575495e-01 -1.31130470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.734012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:397.98, Y:-77.42, Z:-13.12 [[ 9.81196818e-01 1.90934784e-01 2.82260831e-02 3.97979532e+02] [-1.90851481e-01 9.81602713e-01 -5.64145158e-03 -7.74185516e+01] [-2.87839491e-02 1.48384589e-04 9.99585645e-01 -1.31150980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:398.01, Y:-77.43, Z:-13.12 [[ 9.81293230e-01 1.90476481e-01 2.79697466e-02 3.98009424e+02] [-1.90394480e-01 9.81691746e-01 -5.59088434e-03 -7.74273383e+01] [-2.85226014e-02 1.61011595e-04 9.99593135e-01 -1.31165103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.794012739 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:398.04, Y:-77.44, Z:-13.12 [[ 9.81517824e-01 1.89460924e-01 2.69688696e-02 3.98039503e+02] [-1.89384304e-01 9.81888245e-01 -5.39078093e-03 -7.74386847e+01] [-2.75017583e-02 1.83666969e-04 9.99621738e-01 -1.31176542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:398.07, Y:-77.45, Z:-13.12 [[ 9.81636176e-01 1.88961389e-01 2.61536233e-02 3.98070176e+02] [-1.88889041e-01 9.81984498e-01 -5.23213216e-03 -7.74483323e+01] [-2.66711236e-02 1.95917394e-04 9.99644243e-01 -1.31181005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.854012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:398.10, Y:-77.46, Z:-13.12 [[ 9.81661691e-01 1.88840141e-01 2.60715458e-02 3.98100866e+02] [-1.88768086e-01 9.82007821e-01 -5.22009992e-03 -7.74586321e+01] [-2.65882263e-02 2.02896298e-04 9.99646450e-01 -1.31193150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:398.13, Y:-77.47, Z:-13.12 [[ 9.81442681e-01 1.89841526e-01 2.70270196e-02 3.98131335e+02] [-1.89764331e-01 9.81814728e-01 -5.41650571e-03 -7.74725133e+01] [-2.75638036e-02 1.87225571e-04 9.99620029e-01 -1.31193247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.914012739 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:398.16, Y:-77.49, Z:-13.12 [[ 9.81133360e-01 1.91035967e-01 2.97084134e-02 3.98162433e+02] [-1.90943046e-01 9.81583022e-01 -5.96022911e-03 -7.74861132e+01] [-3.02998923e-02 1.75164668e-04 9.99540838e-01 -1.31199310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:398.19, Y:-77.50, Z:-13.12 [[ 9.80956193e-01 1.91802728e-01 3.06049260e-02 3.98192635e+02] [-1.91704295e-01 9.81433486e-01 -6.14619237e-03 -7.74963308e+01] [-3.12155556e-02 1.62049701e-04 9.99512663e-01 -1.31210979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.974012739 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:398.22, Y:-77.51, Z:-13.12 [[ 9.80815871e-01 1.92464630e-01 3.09449915e-02 3.98224268e+02] [-1.92364149e-01 9.81303900e-01 -6.22011877e-03 -7.75076405e+01] [-3.15635937e-02 1.48084245e-04 9.99501735e-01 -1.31220799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:398.26, Y:-77.52, Z:-13.12 [[ 9.80642919e-01 1.93516231e-01 2.98485207e-02 3.98255157e+02] [-1.93423063e-01 9.81097067e-01 -6.00531738e-03 -7.75213716e+01] [-3.04464225e-02 1.15679672e-04 9.99536394e-01 -1.31235307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.034012739 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:398.29, Y:-77.53, Z:-13.12 [[ 9.80497144e-01 1.94496810e-01 2.82195207e-02 3.98286374e+02] [-1.94413790e-01 9.80903147e-01 -5.68283074e-03 -7.75300326e+01] [-2.87859091e-02 8.57353225e-05 9.99585596e-01 -1.31247470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:398.32, Y:-77.54, Z:-13.13 [[ 9.79863622e-01 1.97720310e-01 2.78201716e-02 3.98318056e+02] [-1.97640781e-01 9.80258476e-01 -5.60739070e-03 -7.75421723e+01] [-2.83796540e-02 -3.92227982e-06 9.99597216e-01 -1.31259533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.094012739 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:398.35, Y:-77.55, Z:-13.13 [[ 9.79510936e-01 1.99296920e-01 2.89666089e-02 3.98348508e+02] [-1.99211208e-01 9.79939149e-01 -5.84458481e-03 -7.75519171e+01] [-2.95503218e-02 -4.56384271e-05 9.99563293e-01 -1.31258774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:398.38, Y:-77.56, Z:-13.13 [[ 9.79362153e-01 1.99803707e-01 3.04672349e-02 3.98378934e+02] [-1.99708939e-01 9.79835943e-01 -6.15340165e-03 -7.75626959e+01] [-3.10823643e-02 -5.81704634e-05 9.99516825e-01 -1.31256025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.154012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:398.41, Y:-77.57, Z:-13.13 [[ 9.79345929e-01 1.99883381e-01 3.04661487e-02 3.98411725e+02] [-1.99788484e-01 9.79819693e-01 -6.15877454e-03 -7.75694679e+01] [-3.10823692e-02 -5.52149053e-05 9.99516825e-01 -1.31266764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:398.44, Y:-77.58, Z:-13.13 [[ 9.79391776e-01 1.99742109e-01 2.99138508e-02 3.98442355e+02] [-1.99650486e-01 9.79848502e-01 -6.04946526e-03 -7.75770984e+01] [-3.05193749e-02 -4.75183280e-05 9.99534174e-01 -1.31280613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.214012739 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:398.47, Y:-77.59, Z:-13.13 [[ 9.79335013e-01 2.00108426e-01 2.93180864e-02 3.98473169e+02] [-2.00020427e-01 9.79773757e-01 -5.93412335e-03 -7.75889238e+01] [-2.99125597e-02 -5.27213784e-05 9.99552518e-01 -1.31297366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:398.50, Y:-77.60, Z:-13.13 [[ 9.79170143e-01 2.00859571e-01 2.96860749e-02 3.98504201e+02] [-2.00769519e-01 9.79620042e-01 -6.01437580e-03 -7.75987233e+01] [-3.02891189e-02 -7.09617620e-05 9.99541177e-01 -1.31302169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.274012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:398.53, Y:-77.61, Z:-13.13 [[ 9.78892290e-01 2.02234608e-01 2.95135152e-02 3.98534545e+02] [-2.02146067e-01 9.79337098e-01 -5.98464279e-03 -7.76085423e+01] [-3.01139822e-02 -1.07720326e-04 9.99546465e-01 -1.31316199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:398.57, Y:-77.62, Z:-13.13 [[ 9.78725976e-01 2.03182710e-01 2.85000030e-02 3.98566041e+02] [-2.03100409e-01 9.79140833e-01 -5.78392666e-03 -7.76174450e+01] [-2.90807105e-02 -1.27482992e-04 9.99577059e-01 -1.31334086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.334012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:398.60, Y:-77.63, Z:-13.14 [[ 9.78626068e-01 2.03912601e-01 2.66584009e-02 3.98596747e+02] [-2.03840741e-01 9.78989087e-01 -5.41472810e-03 -7.76306169e+01] [-2.72024149e-02 -1.35074131e-04 9.99629937e-01 -1.31360500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:398.63, Y:-77.64, Z:-13.14 [[ 9.78612763e-01 2.03990567e-01 2.65501365e-02 3.98627434e+02] [-2.03919175e-01 9.78972845e-01 -5.39804098e-03 -7.76409214e+01] [-2.70930121e-02 -1.31490117e-04 9.99632908e-01 -1.31364187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.394012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:398.66, Y:-77.65, Z:-13.14 [[ 9.78584333e-01 2.03969620e-01 2.77326037e-02 3.98659537e+02] [-2.03891565e-01 9.78977210e-01 -5.64385417e-03 -7.76504394e+01] [-2.83007618e-02 -1.31456696e-04 9.99599445e-01 -1.31370197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:398.69, Y:-77.66, Z:-13.14 [[ 9.78133580e-01 2.05894055e-01 2.93655832e-02 3.98690812e+02] [-2.05807228e-01 9.78574270e-01 -5.98194636e-03 -7.76607632e+01] [-2.99680514e-02 -1.92506683e-04 9.99550839e-01 -1.31374131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.454012739 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:398.72, Y:-77.67, Z:-13.14 [[ 9.76811359e-01 2.12296379e-01 2.77455580e-02 3.98721514e+02] [-2.12221309e-01 9.77205258e-01 -5.65685401e-03 -7.76693898e+01] [-2.83140348e-02 -3.62519382e-04 9.99599012e-01 -1.31394195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:398.75, Y:-77.68, Z:-13.14 [[ 9.75932523e-01 2.16355944e-01 2.73096261e-02 3.98753377e+02] [-2.16284673e-01 9.76314440e-01 -5.57259812e-03 -7.76764178e+01] [-2.78684471e-02 -4.68173817e-04 9.99611490e-01 -1.31405380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.514012739 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:398.79, Y:-77.68, Z:-13.14 [[ 9.74978394e-01 2.20578852e-01 2.76061900e-02 3.98785541e+02] [-2.20507570e-01 9.75368967e-01 -5.63823153e-03 -7.76825890e+01] [-2.81698956e-02 -5.90219945e-04 9.99602975e-01 -1.31410947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:398.82, Y:-77.69, Z:-13.14 [[ 9.73351453e-01 2.27499180e-01 2.88283224e-02 3.98818641e+02] [-2.27424311e-01 9.73777927e-01 -5.89336676e-03 -7.76877961e+01] [-2.94131201e-02 -8.19944260e-04 9.99567004e-01 -1.31410065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.574012739 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:398.85, Y:-77.69, Z:-13.14 [[ 9.72242631e-01 2.32205137e-01 2.87235208e-02 3.98851314e+02] [-2.32132707e-01 9.72666369e-01 -5.87719799e-03 -7.76939011e+01] [-2.93031182e-02 -9.53606203e-04 9.99570117e-01 -1.31418691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:398.88, Y:-77.70, Z:-13.14 [[ 9.71889851e-01 2.33719144e-01 2.83809643e-02 3.98883456e+02] [-2.33648929e-01 9.72303655e-01 -5.81218494e-03 -7.76996398e+01] [-2.89533342e-02 -9.82378353e-04 9.99580282e-01 -1.31435254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.634012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:398.92, Y:-77.70, Z:-13.15 [[ 9.71768183e-01 2.34286975e-01 2.78605924e-02 3.98915441e+02] [-2.34219393e-01 9.72166992e-01 -5.71094072e-03 -7.77041917e+01] [-2.84231473e-02 -9.75780548e-04 9.99595504e-01 -1.31451563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:398.95, Y:-77.71, Z:-13.15 [[ 9.71604224e-01 2.34839804e-01 2.89049916e-02 3.98948341e+02] [-2.34767144e-01 9.72033548e-01 -5.93043338e-03 -7.77066776e+01] [-2.94893234e-02 -1.02390821e-03 9.99564571e-01 -1.31460659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.694012739 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:398.98, Y:-77.71, Z:-13.15 [[ 9.71346347e-01 2.35812169e-01 2.96461777e-02 3.98980829e+02] [-2.35736010e-01 9.71798058e-01 -6.08831212e-03 -7.77117102e+01] [-3.02457960e-02 -1.07481192e-03 9.99541913e-01 -1.31466183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:399.01, Y:-77.71, Z:-13.15 [[ 9.70924259e-01 2.37695625e-01 2.84055148e-02 3.99012960e+02] [-2.37626360e-01 9.71339087e-01 -5.83879522e-03 -7.77144125e+01] [-2.89792429e-02 -1.08087114e-03 9.99579429e-01 -1.31479056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.754012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:399.05, Y:-77.72, Z:-13.15 [[ 9.70658857e-01 2.38991545e-01 2.65410069e-02 3.99045598e+02] [-2.38931442e-01 9.71021089e-01 -5.45985523e-03 -7.77182964e+01] [-2.70767366e-02 -1.04182420e-03 9.99632815e-01 -1.31492844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:399.08, Y:-77.72, Z:-13.15 [[ 9.69795512e-01 2.42568175e-01 2.56387349e-02 3.99077686e+02] [-2.42513208e-01 9.70133741e-01 -5.27914141e-03 -7.77196295e+01] [-2.61535535e-02 -1.09804419e-03 9.99657334e-01 -1.31503933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.814012739 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:399.11, Y:-77.72, Z:-13.15 [[ 9.69238120e-01 2.44748930e-01 2.59889796e-02 3.99109416e+02] [-2.44693102e-01 9.69585786e-01 -5.35617854e-03 -7.77235181e+01] [-2.65094642e-02 -1.16791162e-03 9.99647880e-01 -1.31509714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:399.14, Y:-77.73, Z:-13.15 [[ 9.68867534e-01 2.46135192e-01 2.67052273e-02 3.99139717e+02] [-2.46076624e-01 9.69234721e-01 -5.50911785e-03 -7.77260879e+01] [-2.72396214e-02 -1.23392677e-03 9.99628171e-01 -1.31516681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.874012739 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:399.17, Y:-77.73, Z:-13.15 [[ 9.68449838e-01 2.47604845e-01 2.82268121e-02 3.99170055e+02] [-2.47540021e-01 9.68860168e-01 -5.82347632e-03 -7.77250279e+01] [-2.87897549e-02 -1.34752097e-03 9.99584581e-01 -1.31523729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:399.20, Y:-77.73, Z:-13.15 [[ 9.68302666e-01 2.48113683e-01 2.88018469e-02 3.99202456e+02] [-2.48046451e-01 9.68729923e-01 -5.94093161e-03 -7.77289028e+01] [-2.93752374e-02 -1.39157598e-03 9.99567486e-01 -1.31532360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.934012739 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:399.23, Y:-77.73, Z:-13.15 [[ 9.68149856e-01 2.48557622e-01 3.00826398e-02 3.99233112e+02] [-2.48484320e-01 9.68616008e-01 -6.21065527e-03 -7.77286781e+01] [-3.06822322e-02 -1.46221930e-03 9.99528120e-01 -1.31533431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:399.26, Y:-77.73, Z:-13.15 [[ 9.68048841e-01 2.48936873e-01 3.01972561e-02 3.99262886e+02] [-2.48863139e-01 9.68518585e-01 -6.23611943e-03 -7.77304198e+01] [-3.07990038e-02 -1.47811577e-03 9.99524505e-01 -1.31539295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.994012739 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:399.29, Y:-77.73, Z:-13.16 [[ 9.67720386e-01 2.50220660e-01 3.01143705e-02 3.99293479e+02] [-2.50147962e-01 9.68187650e-01 -6.21864437e-03 -7.77284689e+01] [-3.07123949e-02 -1.51513947e-03 9.99527115e-01 -1.31554407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:399.32, Y:-77.73, Z:-13.16 [[ 9.67531371e-01 2.50976471e-01 2.98974597e-02 3.99322388e+02] [-2.50905186e-01 9.67991981e-01 -6.17352554e-03 -7.77310743e+01] [-3.04899109e-02 -1.52834806e-03 9.99533906e-01 -1.31569106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05401273900003 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:399.35, Y:-77.73, Z:-13.16 [[ 9.67841018e-01 2.49987560e-01 2.81066609e-02 3.99350630e+02] [-2.49924168e-01 9.68248024e-01 -5.80288354e-03 -7.77303059e+01] [-2.86648676e-02 -1.40826515e-03 9.99588086e-01 -1.31584706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:399.38, Y:-77.73, Z:-13.16 [[ 9.68224030e-01 2.48597727e-01 2.72286314e-02 3.99379525e+02] [-2.48537738e-01 9.68605911e-01 -5.61973857e-03 -7.77329806e+01] [-2.77708675e-02 -1.32617654e-03 9.99613435e-01 -1.31594993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.114012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:399.41, Y:-77.73, Z:-13.16 [[ 9.69005740e-01 2.45584539e-01 2.67602387e-02 3.99407901e+02] [-2.45525483e-01 9.69374410e-01 -5.52185099e-03 -7.77326146e+01] [-2.72967718e-02 -1.21961522e-03 9.99626630e-01 -1.31603696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:399.44, Y:-77.74, Z:-13.16 [[ 9.69201057e-01 2.44697976e-01 2.77886969e-02 3.99435821e+02] [-2.44633978e-01 9.69598555e-01 -5.73231869e-03 -7.77355486e+01] [-2.83465671e-02 -1.24229012e-03 9.99597383e-01 -1.31609006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.174012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:399.47, Y:-77.74, Z:-13.16 [[ 9.69638851e-01 2.42638088e-01 3.04508825e-02 3.99465536e+02] [-2.42560287e-01 9.70116011e-01 -6.27948716e-03 -7.77356560e+01] [-3.10645315e-02 -1.29734009e-03 9.99516539e-01 -1.31611712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:399.49, Y:-77.74, Z:-13.16 [[ 9.69990793e-01 2.41150060e-01 3.10565677e-02 3.99493114e+02] [-2.41068419e-01 9.70487002e-01 -6.40289051e-03 -7.77381530e+01] [-3.16840527e-02 -1.27601283e-03 9.99497120e-01 -1.31617908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.234012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:399.52, Y:-77.74, Z:-13.16 [[ 9.70872112e-01 2.37395594e-01 3.24141000e-02 3.99522193e+02] [-2.37304634e-01 9.71412311e-01 -6.68078639e-03 -7.77396989e+01] [-3.30734450e-02 -1.20582694e-03 9.99452197e-01 -1.31622910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:399.55, Y:-77.74, Z:-13.16 [[ 9.71224798e-01 2.35762386e-01 3.37414922e-02 3.99549917e+02] [-2.35662898e-01 9.71809992e-01 -6.95262043e-03 -7.77432651e+01] [-3.44294856e-02 -1.19906043e-03 9.99406410e-01 -1.31623260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.294012739 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:399.58, Y:-77.74, Z:-13.16 [[ 9.71501712e-01 2.34435918e-01 3.49889057e-02 3.99579060e+02] [-2.34328154e-01 9.72130839e-01 -7.20749027e-03 -7.77447303e+01] [-3.57034888e-02 -1.19679654e-03 9.99361711e-01 -1.31630610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:399.61, Y:-77.75, Z:-13.16 [[ 9.71343650e-01 2.35220012e-01 3.41036712e-02 3.99607347e+02] [-2.35118173e-01 9.71941416e-01 -7.02349299e-03 -7.77469746e+01] [-3.47988366e-02 -1.19616757e-03 9.99393621e-01 -1.31641077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.354012739 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:399.64, Y:-77.74, Z:-13.17 [[ 9.70645780e-01 2.38613675e-01 3.01709051e-02 3.99637024e+02] [-2.38535657e-01 9.71113872e-01 -6.21196588e-03 -7.77436180e+01] [-3.07816445e-02 -1.16721820e-03 9.99525451e-01 -1.31659253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:399.66, Y:-77.74, Z:-13.17 [[ 9.70356330e-01 2.39947213e-01 2.88778013e-02 3.99664305e+02] [-2.39876384e-01 9.70785244e-01 -5.94389150e-03 -7.77439455e+01] [-2.94603636e-02 -1.15940981e-03 9.99565277e-01 -1.31673426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.414012739 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:399.69, Y:-77.74, Z:-13.17 [[ 9.70101225e-01 2.40973958e-01 2.88992260e-02 3.99692970e+02] [-2.40903577e-01 9.70530847e-01 -5.94497388e-03 -7.77449315e+01] [-2.94801742e-02 -1.19470047e-03 9.99564651e-01 -1.31682461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:399.72, Y:-77.74, Z:-13.17 [[ 9.70065179e-01 2.40886319e-01 3.07787116e-02 3.99720815e+02] [-2.40806514e-01 9.70552504e-01 -6.32926714e-03 -7.77427141e+01] [-3.13969895e-02 -1.27191257e-03 9.99506184e-01 -1.31685421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.474012739 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:399.75, Y:-77.74, Z:-13.17 [[ 9.70389911e-01 2.39479280e-01 3.15134122e-02 3.99748804e+02] [-2.39394964e-01 9.70900660e-01 -6.47767037e-03 -7.77446989e+01] [-3.21476605e-02 -1.25828619e-03 9.99482338e-01 -1.31688582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:399.78, Y:-77.74, Z:-13.17 [[ 9.71788224e-01 2.33735520e-01 3.15492255e-02 3.99777417e+02] [-2.33648059e-01 9.72299624e-01 -6.48277750e-03 -7.77432640e+01] [-3.21905555e-02 -1.07152846e-03 9.99481175e-01 -1.31696053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.534012739 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:399.80, Y:-77.75, Z:-13.17 [[ 9.73374587e-01 2.27329227e-01 2.93825918e-02 3.99804281e+02] [-2.27250504e-01 9.73817631e-01 -6.03567557e-03 -7.77451495e+01] [-2.99853714e-02 -8.02235580e-04 9.99550016e-01 -1.31705435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:399.83, Y:-77.75, Z:-13.17 [[ 9.74002263e-01 2.24735362e-01 2.85238409e-02 3.99832144e+02] [-2.24660151e-01 9.74419582e-01 -5.85623282e-03 -7.77484937e+01] [-2.91102917e-02 -7.04186362e-04 9.99575958e-01 -1.31722416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.594012739 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:399.86, Y:-77.75, Z:-13.17 [[ 9.74480882e-01 2.22732714e-01 2.78773981e-02 3.99859956e+02] [-2.22660111e-01 9.74879346e-01 -5.72155118e-03 -7.77510432e+01] [-2.84514762e-02 -6.31642297e-04 9.99594975e-01 -1.31735890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:399.89, Y:-77.75, Z:-13.17 [[ 9.75081272e-01 2.20123187e-01 2.76096852e-02 3.99888173e+02] [-2.20050981e-01 9.75471926e-01 -5.66463138e-03 -7.77525067e+01] [-2.81793895e-02 -5.52062345e-04 9.99602730e-01 -1.31747004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.654012739 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:399.92, Y:-77.76, Z:-13.17 [[ 9.75562769e-01 2.17956795e-01 2.77870409e-02 3.99915055e+02] [-2.17882838e-01 9.75958294e-01 -5.69894988e-03 -7.77601681e+01] [-2.83611178e-02 -4.94635998e-04 9.99597620e-01 -1.31747945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:399.94, Y:-77.76, Z:-13.17 [[ 9.75762453e-01 2.17017336e-01 2.81267138e-02 3.99942012e+02] [-2.16941229e-01 9.76167634e-01 -5.76654961e-03 -7.77647702e+01] [-2.87078289e-02 -4.75061259e-04 9.99587732e-01 -1.31749229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.714012739 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:399.97, Y:-77.77, Z:-13.18 [[ 9.75941470e-01 2.16046456e-01 2.93628483e-02 3.99970161e+02] [-2.15963152e-01 9.76382973e-01 -6.01731936e-03 -7.77664762e+01] [-2.99694056e-02 -4.68741756e-04 9.99550707e-01 -1.31758704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:400.00, Y:-77.77, Z:-13.18 [[ 9.75877771e-01 2.16269574e-01 2.98336642e-02 3.99996505e+02] [-2.16183746e-01 9.76333568e-01 -6.11164151e-03 -7.77717175e+01] [-3.04493699e-02 -4.85338171e-04 9.99536193e-01 -1.31766388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.774012739 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:400.02, Y:-77.78, Z:-13.18 [[ 9.75747532e-01 2.16812890e-01 3.01483803e-02 4.00024145e+02] [-2.16725614e-01 9.76213045e-01 -6.17242223e-03 -7.77778735e+01] [-3.07695028e-02 -5.11200478e-04 9.99526376e-01 -1.31776501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:400.05, Y:-77.78, Z:-13.18 [[ 9.75303036e-01 2.18728920e-01 3.06862868e-02 4.00051488e+02] [-2.18639518e-01 9.75785488e-01 -6.28031473e-03 -7.77823469e+01] [-3.13169198e-02 -5.84024938e-04 9.99509334e-01 -1.31779557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.834012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:400.08, Y:-77.78, Z:-13.18 [[ 9.74974617e-01 2.20044491e-01 3.17004330e-02 4.00078238e+02] [-2.19949852e-01 9.75489621e-01 -6.48554009e-03 -7.77846561e+01] [-3.23505508e-02 -6.49268577e-04 9.99476373e-01 -1.31794173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:400.11, Y:-77.79, Z:-13.18 [[ 9.74962607e-01 2.19984178e-01 3.24788711e-02 4.00105966e+02] [-2.19884890e-01 9.75503213e-01 -6.64206407e-03 -7.77905974e+01] [-3.31443921e-02 -6.65848916e-04 9.99450352e-01 -1.31801364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.894012739 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:400.13, Y:-77.80, Z:-13.18 [[ 9.74967668e-01 2.19876526e-01 3.30508637e-02 4.00132336e+02] [-2.19773732e-01 9.75527476e-01 -6.75652619e-03 -7.77954106e+01] [-3.37276272e-02 -6.76317079e-04 9.99430833e-01 -1.31803059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:400.16, Y:-77.80, Z:-13.18 [[ 9.74923062e-01 2.20106927e-01 3.28323647e-02 4.00159210e+02] [-2.20005713e-01 9.75475512e-01 -6.70905029e-03 -7.77985227e+01] [-3.35038763e-02 -6.82499953e-04 9.99438355e-01 -1.31814548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.954012739 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:400.19, Y:-77.80, Z:-13.18 [[ 9.74910883e-01 2.20194648e-01 3.26050035e-02 4.00187538e+02] [-2.20094972e-01 9.75455714e-01 -6.65983506e-03 -7.78014283e+01] [-3.32711970e-02 -6.83451670e-04 9.99446127e-01 -1.31827334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:400.21, Y:-77.81, Z:-13.18 [[ 9.75035912e-01 2.19823459e-01 3.13467288e-02 4.00214303e+02] [-2.19731209e-01 9.75539455e-01 -6.40057316e-03 -7.78059583e+01] [-3.19869668e-02 -6.47065928e-04 9.99488077e-01 -1.31842472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.014012739 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:400.24, Y:-77.81, Z:-13.19 [[ 9.75061243e-01 2.19710995e-01 3.13472612e-02 4.00242231e+02] [-2.19618772e-01 9.75564791e-01 -6.39796461e-03 -7.78114962e+01] [-3.19869875e-02 -6.46039666e-04 9.99488077e-01 -1.31851600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:400.27, Y:-77.82, Z:-13.19 [[ 9.75343353e-01 2.18561899e-01 3.05947646e-02 4.00268310e+02] [-2.18473598e-01 9.75822904e-01 -6.24079257e-03 -7.78170321e+01] [-3.12190715e-02 -5.97232750e-04 9.99512388e-01 -1.31858984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.074012739 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:400.30, Y:-77.82, Z:-13.19 [[ 9.75949291e-01 2.15923898e-01 2.99975367e-02 4.00296381e+02] [-2.15837871e-01 9.76410065e-01 -6.11550435e-03 -7.78210266e+01] [-3.06103803e-02 -5.06182317e-04 9.99531264e-01 -1.31860761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:400.32, Y:-77.83, Z:-13.19 [[ 9.76167097e-01 2.14921969e-01 3.01055690e-02 4.00323573e+02] [-2.14834911e-01 9.76631107e-01 -6.13536502e-03 -7.78261251e+01] [-3.07206599e-02 -4.78585785e-04 9.99527895e-01 -1.31876975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.134012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:400.35, Y:-77.83, Z:-13.19 [[ 9.76295148e-01 2.14445696e-01 2.93398514e-02 4.00349440e+02] [-2.14362858e-01 9.76735807e-01 -5.97725558e-03 -7.78346855e+01] [-2.99390802e-02 -4.53808784e-04 9.99551622e-01 -1.31898843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:400.38, Y:-77.84, Z:-13.19 [[ 9.76255055e-01 2.14746223e-01 2.84627314e-02 4.00375618e+02] [-2.14668460e-01 9.76669778e-01 -5.79621654e-03 -7.78414799e+01] [-2.90434052e-02 -4.51465037e-04 9.99578049e-01 -1.31903498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.194012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:400.40, Y:-77.85, Z:-13.19 [[ 9.75772708e-01 2.17025331e-01 2.77060841e-02 4.00402695e+02] [-2.16952631e-01 9.76165840e-01 -5.63987413e-03 -7.78468698e+01] [-2.82697284e-02 -5.07672584e-04 9.99600202e-01 -1.31907520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:400.43, Y:-77.85, Z:-13.19 [[ 9.75474741e-01 2.18268033e-01 2.84270073e-02 4.00429941e+02] [-2.18192088e-01 9.75888699e-01 -5.78452291e-03 -7.78528992e+01] [-2.90041716e-02 -5.59892083e-04 9.99579134e-01 -1.31919093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.254012739 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:400.46, Y:-77.86, Z:-13.19 [[ 9.75191964e-01 2.19154080e-01 3.11788734e-02 4.00455559e+02] [-2.19063250e-01 9.75690049e-01 -6.34195129e-03 -7.78619589e+01] [-3.18107810e-02 -6.45525388e-04 9.99493701e-01 -1.31929638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:400.48, Y:-77.87, Z:-13.19 [[ 9.75198038e-01 2.19026660e-01 3.18764653e-02 4.00482587e+02] [-2.18931742e-01 9.75718652e-01 -6.48104586e-03 -7.78686696e+01] [-3.25219836e-02 -6.58466866e-04 9.99470803e-01 -1.31939586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.314012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:400.51, Y:-77.88, Z:-13.20 [[ 9.75010478e-01 2.19904501e-01 3.15686296e-02 4.00509942e+02] [-2.19811940e-01 9.75521165e-01 -6.41619441e-03 -7.78751538e+01] [-3.22068163e-02 -6.83304921e-04 9.99480992e-01 -1.31953120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:400.54, Y:-77.88, Z:-13.20 [[ 9.74819887e-01 2.20810336e-01 3.11284924e-02 4.00536516e+02] [-2.20720870e-01 9.75316512e-01 -6.32451995e-03 -7.78819593e+01] [-3.17566520e-02 -7.05440097e-04 9.99495381e-01 -1.31961871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.374012739 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:400.56, Y:-77.89, Z:-13.20 [[ 9.74423911e-01 2.22634493e-01 3.05274430e-02 4.00563787e+02] [-2.22549422e-01 9.74901696e-01 -6.19988084e-03 -7.78883473e+01] [-3.11415632e-02 -7.52552661e-04 9.99514701e-01 -1.31965915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:400.59, Y:-77.89, Z:-13.20 [[ 9.74282454e-01 2.23286762e-01 3.02774044e-02 4.00591406e+02] [-2.23203461e-01 9.74752497e-01 -6.14692519e-03 -7.78925541e+01] [-3.08855025e-02 -7.69180080e-04 9.99522633e-01 -1.31981095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.434012739 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:400.62, Y:-77.90, Z:-13.20 [[ 9.74048726e-01 2.24323462e-01 3.01340989e-02 4.00618834e+02] [-2.24241510e-01 9.74514414e-01 -6.11565050e-03 -7.78963418e+01] [-3.07379976e-02 -8.00374259e-04 9.99527156e-01 -1.31997618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:400.65, Y:-77.90, Z:-13.20 [[ 9.74029658e-01 2.24425493e-01 2.99903848e-02 4.00645223e+02] [-2.24344439e-01 9.74490921e-01 -6.08424575e-03 -7.79021884e+01] [-3.05908176e-02 -8.01940247e-04 9.99531670e-01 -1.32006434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.494012739 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:400.67, Y:-77.91, Z:-13.20 [[ 9.73947101e-01 2.24794041e-01 2.99112785e-02 4.00671726e+02] [-2.24713667e-01 9.74405961e-01 -6.06557446e-03 -7.79076483e+01] [-3.05092330e-02 -8.13924414e-04 9.99534154e-01 -1.32008769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:400.70, Y:-77.91, Z:-13.20 [[ 9.73680759e-01 2.25990511e-01 2.95646485e-02 4.00699753e+02] [-2.25912615e-01 9.74129138e-01 -5.99278614e-03 -7.79105367e+01] [-3.01540983e-02 -8.43966508e-04 9.99544905e-01 -1.32015099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55401273900003 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:400.73, Y:-77.91, Z:-13.20 [[ 9.73595590e-01 2.26381771e-01 2.93755321e-02 4.00726135e+02] [-2.26305109e-01 9.74038278e-01 -5.95238382e-03 -7.79144118e+01] [-2.99604039e-02 -8.52618357e-04 9.99550723e-01 -1.32030261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:400.75, Y:-77.92, Z:-13.20 [[ 9.73665017e-01 2.26199733e-01 2.84625363e-02 4.00754209e+02] [-2.26127752e-01 9.74080594e-01 -5.76507850e-03 -7.79181237e+01] [-2.90288635e-02 -8.22914093e-04 9.99578235e-01 -1.32046703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.614012739 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:400.78, Y:-77.92, Z:-13.20 [[ 9.73913631e-01 2.25097807e-01 2.86917640e-02 4.00781068e+02] [-2.25024241e-01 9.74335846e-01 -5.80954169e-03 -7.79198980e+01] [-2.92631292e-02 -7.98350584e-04 9.99571424e-01 -1.32041696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:400.81, Y:-77.92, Z:-13.20 [[ 9.74023428e-01 2.24630989e-01 2.86230648e-02 4.00809247e+02] [-2.24557687e-01 9.74443585e-01 -5.79175997e-03 -7.79242609e+01] [-2.91925706e-02 -7.86219313e-04 9.99573497e-01 -1.32047605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.674012739 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:400.84, Y:-77.93, Z:-13.21 [[ 9.74216722e-01 2.23739753e-01 2.90224438e-02 4.00837518e+02] [-2.23664059e-01 9.74648617e-01 -5.87044351e-03 -7.79273595e+01] [-2.96001362e-02 -7.72193345e-04 9.99561522e-01 -1.32054526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:400.87, Y:-77.93, Z:-13.21 [[ 9.74333400e-01 2.23129830e-01 2.97910213e-02 4.00865742e+02] [-2.23049855e-01 9.74788427e-01 -6.02370093e-03 -7.79301517e+01] [-3.03840101e-02 -7.75789968e-04 9.99537998e-01 -1.32065425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.734012739 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:400.89, Y:-77.93, Z:-13.21 [[ 9.74426928e-01 2.22638527e-01 3.04014448e-02 4.00894006e+02] [-2.22555071e-01 9.74900754e-01 -6.14489656e-03 -7.79322562e+01] [-3.10064822e-02 -7.78243025e-04 9.99518880e-01 -1.32075902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:400.92, Y:-77.93, Z:-13.21 [[ 9.74483226e-01 2.22391896e-01 3.04021022e-02 4.00922884e+02] [-2.22308384e-01 9.74957049e-01 -6.14285070e-03 -7.79326267e+01] [-3.10068640e-02 -7.72537235e-04 9.99518873e-01 -1.32083063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.794012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:400.95, Y:-77.93, Z:-13.21 [[ 9.74319702e-01 2.23221799e-01 2.95490656e-02 4.00950365e+02] [-2.23143348e-01 9.74767368e-01 -5.96855215e-03 -7.79343551e+01] [-3.01357758e-02 -7.78399485e-04 9.99545511e-01 -1.32092324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:400.98, Y:-77.94, Z:-13.21 [[ 9.74254881e-01 2.23567501e-01 2.90688669e-02 4.00977224e+02] [-2.23491844e-01 9.74688137e-01 -5.86784751e-03 -7.79362425e+01] [-2.96449398e-02 -7.79875586e-04 9.99560188e-01 -1.32098063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.854012739 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:401.00, Y:-77.94, Z:-13.21 [[ 9.74163347e-01 2.23975353e-01 2.89968094e-02 4.01004902e+02] [-2.23900365e-01 9.74594485e-01 -5.84943651e-03 -7.79383744e+01] [-2.95702602e-02 -7.94089570e-04 9.99562389e-01 -1.32112518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:401.03, Y:-77.94, Z:-13.21 [[ 9.74468417e-01 2.22500417e-01 3.00810168e-02 4.01032942e+02] [-2.22419081e-01 9.74932283e-01 -6.06594036e-03 -7.79398060e+01] [-3.06766286e-02 -7.79524813e-04 9.99529058e-01 -1.32129088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.914012739 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:401.06, Y:-77.94, Z:-13.21 [[ 9.75885221e-01 2.16124633e-01 3.06296823e-02 4.01060009e+02] [-2.16037227e-01 9.76365604e-01 -6.17443069e-03 -7.79427620e+01] [-3.12402148e-02 -5.91615965e-04 9.99511730e-01 -1.32142325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:401.09, Y:-77.95, Z:-13.21 [[ 9.76929381e-01 2.11387913e-01 3.03995898e-02 4.01086961e+02] [-2.11299642e-01 9.77402147e-01 -6.12413643e-03 -7.79464201e+01] [-3.10071927e-02 -4.40573635e-04 9.99519064e-01 -1.32149090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.974012739 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:401.11, Y:-77.95, Z:-13.22 [[ 9.78976145e-01 2.01802452e-01 2.96897066e-02 4.01114939e+02] [-2.01713912e-01 9.79426236e-01 -5.97876161e-03 -7.79504449e+01] [-3.02854064e-02 -1.35761888e-04 9.99541283e-01 -1.32151825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:401.14, Y:-77.96, Z:-13.22 [[ 9.79717541e-01 1.98130421e-01 2.99645822e-02 4.01141464e+02] [-1.98038582e-01 9.80175666e-01 -6.03192453e-03 -7.79561803e+01] [-3.05656620e-02 -2.45611065e-05 9.99532761e-01 -1.32151622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.034012739 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:401.17, Y:-77.96, Z:-13.21 [[ 9.80323270e-01 1.95089327e-01 3.01071415e-02 4.01167575e+02] [-1.94995256e-01 9.80785476e-01 -6.05807260e-03 -7.79618778e+01] [-3.07105124e-02 6.81197813e-05 9.99528319e-01 -1.32149524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:401.20, Y:-77.97, Z:-13.21 [[ 9.80953524e-01 1.91692495e-01 3.13715132e-02 4.01195105e+02] [-1.91588705e-01 9.81455019e-01 -6.30976919e-03 -7.79655712e+01] [-3.19992645e-02 1.79162753e-04 9.99487876e-01 -1.32140493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.094012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:401.22, Y:-77.97, Z:-13.21 [[ 9.80928968e-01 1.91683454e-01 3.21840633e-02 4.01222680e+02] [-1.91574286e-01 9.81456785e-01 -6.47090136e-03 -7.79691324e+01] [-3.28276320e-02 1.81855630e-04 9.99461012e-01 -1.32149380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:401.25, Y:-77.97, Z:-13.22 [[ 9.80749937e-01 1.92713764e-01 3.14796302e-02 4.01250059e+02] [-1.92609924e-01 9.81255005e-01 -6.32709844e-03 -7.79728468e+01] [-3.21088636e-02 1.42012214e-04 9.99484367e-01 -1.32175035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.154012739 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:401.28, Y:-77.98, Z:-13.22 [[ 9.80911773e-01 1.91981534e-01 3.09060660e-02 4.01277787e+02] [-1.91881152e-01 9.81398525e-01 -6.20958566e-03 -7.79787882e+01] [-3.15232934e-02 1.60764127e-04 9.99503005e-01 -1.32191470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:401.30, Y:-77.99, Z:-13.22 [[ 9.81723153e-01 1.87707833e-01 3.13914106e-02 4.01303620e+02] [-1.87602161e-01 9.82224862e-01 -6.30476144e-03 -7.79861535e+01] [-3.20168771e-02 3.00433820e-04 9.99487283e-01 -1.32204837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.214012739 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:401.33, Y:-77.99, Z:-13.22 [[ 9.82285947e-01 1.84571685e-01 3.23668263e-02 4.01330368e+02] [-1.84457732e-01 9.82818968e-01 -6.49784502e-03 -7.79931945e+01] [-3.30100491e-02 4.12430461e-04 9.99454935e-01 -1.32207991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:401.36, Y:-78.00, Z:-13.22 [[ 9.83667866e-01 1.76968645e-01 3.28576950e-02 4.01357883e+02] [-1.76847039e-01 9.84216258e-01 -6.59411379e-03 -7.80042386e+01] [-3.35060290e-02 6.75631756e-04 9.99438287e-01 -1.32211803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.274012739 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:401.39, Y:-78.01, Z:-13.22 [[ 9.84559519e-01 1.72148041e-01 3.17428103e-02 4.01385309e+02] [-1.72032091e-01 9.85070757e-01 -6.36895529e-03 -7.80128023e+01] [-3.23653174e-02 8.09833521e-04 9.99475778e-01 -1.32223033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:401.41, Y:-78.03, Z:-13.22 [[ 9.86224194e-01 1.62553939e-01 3.06277146e-02 4.01413193e+02] [-1.62441411e-01 9.86699064e-01 -6.14377878e-03 -7.80267108e+01] [-3.12190328e-02 1.08393411e-03 9.99511979e-01 -1.32240619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.334012739 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:401.44, Y:-78.04, Z:-13.23 [[ 9.86849134e-01 1.58752845e-01 3.04355117e-02 4.01439900e+02] [-1.58639942e-01 9.87317631e-01 -6.10449543e-03 -7.80373978e+01] [-3.10186234e-02 1.19592821e-03 9.99518091e-01 -1.32254439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:401.47, Y:-78.05, Z:-13.23 [[ 9.87706747e-01 1.53335329e-01 3.03917543e-02 4.01466933e+02] [-1.53220212e-01 9.88173273e-01 -6.09497381e-03 -7.80535879e+01] [-3.09668941e-02 1.36341573e-03 9.99519481e-01 -1.32259527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.394012739 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:401.50, Y:-78.06, Z:-13.23 [[ 9.87883079e-01 1.52243677e-01 3.01477202e-02 4.01495534e+02] [-1.52129905e-01 9.88342017e-01 -6.04567905e-03 -7.80640380e+01] [-3.07166749e-02 1.38605423e-03 9.99527171e-01 -1.32262083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:401.52, Y:-78.08, Z:-13.23 [[ 9.87876925e-01 1.52724773e-01 2.78267094e-02 4.01523982e+02] [-1.52628042e-01 9.88267951e-01 -5.58015014e-03 -7.80788498e+01] [-2.83524722e-02 1.26536539e-03 9.99597187e-01 -1.32281874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.454012739 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:401.55, Y:-78.09, Z:-13.23 [[ 9.87711831e-01 1.54013698e-01 2.65541016e-02 4.01552783e+02] [-1.53926062e-01 9.88068017e-01 -5.32560027e-03 -7.80895860e+01] [-2.70574739e-02 1.17279011e-03 9.99633192e-01 -1.32301793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:401.58, Y:-78.10, Z:-13.23 [[ 9.87115594e-01 1.57952638e-01 2.55688956e-02 4.01579806e+02] [-1.57872696e-01 9.87446157e-01 -5.12829941e-03 -7.81049884e+01] [-2.60579361e-02 1.02559383e-03 9.99659908e-01 -1.32319524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.514012739 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:401.61, Y:-78.12, Z:-13.23 [[ 9.86753672e-01 1.60051017e-01 2.64738051e-02 4.01607414e+02] [-1.59966057e-01 9.87108232e-01 -5.31022788e-03 -7.81154650e+01] [-2.69824183e-02 1.00497666e-03 9.99635403e-01 -1.32321916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:401.64, Y:-78.13, Z:-13.23 [[ 9.86044975e-01 1.64007354e-01 2.85813925e-02 4.01636395e+02] [-1.63909996e-01 9.86458642e-01 -5.73251679e-03 -7.81298274e+01] [-2.91345365e-02 9.67743442e-04 9.99575031e-01 -1.32317203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.574012739 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:401.67, Y:-78.14, Z:-13.23 [[ 9.85645434e-01 1.66291978e-01 2.91557254e-02 4.01666564e+02] [-1.66191652e-01 9.86076130e-01 -5.84812626e-03 -7.81399721e+01] [-2.97222613e-02 9.18740771e-04 9.99557774e-01 -1.32331490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:401.70, Y:-78.15, Z:-13.23 [[ 9.85312758e-01 1.68291043e-01 2.89291137e-02 4.01695551e+02] [-1.68192991e-01 9.85736979e-01 -5.80747576e-03 -7.81502722e+01] [-2.94938433e-02 8.56505805e-04 9.99564595e-01 -1.32342150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.634012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:401.72, Y:-78.16, Z:-13.24 [[ 9.84493989e-01 1.72963025e-01 2.92468222e-02 4.01724958e+02] [-1.72864844e-01 9.84928051e-01 -5.87193456e-03 -7.81648358e+01] [-2.98216432e-02 7.25136921e-04 9.99554973e-01 -1.32355302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:401.75, Y:-78.18, Z:-13.24 [[ 9.83368890e-01 1.79070538e-01 3.03210875e-02 4.01754072e+02] [-1.78967886e-01 9.83836078e-01 -6.08834039e-03 -7.81769373e+01] [-3.09212222e-02 5.60583622e-04 9.99521667e-01 -1.32354841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.694012739 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:401.79, Y:-78.19, Z:-13.24 [[ 9.82761751e-01 1.82414761e-01 3.00698525e-02 4.01785042e+02] [-1.82315350e-01 9.83221567e-01 -6.03840864e-03 -7.81855541e+01] [-3.06668224e-02 4.52121350e-04 9.99529560e-01 -1.32365638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:401.81, Y:-78.19, Z:-13.24 [[ 9.82014350e-01 1.86407032e-01 3.00039212e-02 4.01814071e+02] [-1.86309759e-01 9.82472548e-01 -6.03035522e-03 -7.81932301e+01] [-3.06021296e-02 3.31872019e-04 9.99531590e-01 -1.32378420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.754012739 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:401.84, Y:-78.20, Z:-13.24 [[ 9.80490826e-01 1.94254557e-01 3.00484146e-02 4.01841426e+02] [-1.94160662e-01 9.80951150e-01 -6.03970084e-03 -7.82002666e+01] [-3.06492663e-02 8.76511955e-05 9.99530197e-01 -1.32387596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:401.87, Y:-78.21, Z:-13.24 [[ 9.79846681e-01 1.97467685e-01 3.01163548e-02 4.01870562e+02] [-1.97374902e-01 9.80309397e-01 -6.05267558e-03 -7.82057433e+01] [-3.07185535e-02 -1.35184945e-05 9.99528074e-01 -1.32396278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.814012739 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:401.90, Y:-78.21, Z:-13.24 [[ 9.78789934e-01 2.02714587e-01 2.96152351e-02 4.01901386e+02] [-2.02627287e-01 9.79237849e-01 -5.95123443e-03 -7.82073716e+01] [-3.02067611e-02 -1.75846383e-04 9.99543656e-01 -1.32406294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:401.93, Y:-78.21, Z:-13.24 [[ 9.77843124e-01 2.07223753e-01 2.96840285e-02 4.01930191e+02] [-2.07138120e-01 9.78293523e-01 -5.96512317e-03 -7.82073806e+01] [-3.02758080e-02 -3.15739189e-04 9.99541533e-01 -1.32413503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.874012739 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:401.96, Y:-78.21, Z:-13.24 [[ 9.77530312e-01 2.08595239e-01 3.03729450e-02 4.01958156e+02] [-2.08506281e-01 9.78001989e-01 -6.10242663e-03 -7.82099332e+01] [-3.09777377e-02 -3.67642799e-04 9.99520007e-01 -1.32419375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:401.99, Y:-78.21, Z:-13.24 [[ 9.77413719e-01 2.09096932e-01 3.06740143e-02 4.01987049e+02] [-2.09006507e-01 9.77894842e-01 -6.16104041e-03 -7.82123854e+01] [-3.12842150e-02 -3.89183167e-04 9.99510453e-01 -1.32414340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.934012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:402.02, Y:-78.21, Z:-13.24 [[ 9.77844716e-01 2.07061171e-01 3.07470899e-02 4.02015813e+02] [-2.06969356e-01 9.78327943e-01 -6.17421109e-03 -7.82111732e+01] [-3.13591766e-02 -3.26285697e-04 9.99508127e-01 -1.32427755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:402.04, Y:-78.22, Z:-13.24 [[ 9.77851940e-01 2.07026998e-01 3.07474554e-02 4.02044572e+02] [-2.06935223e-01 9.78335175e-01 -6.17239016e-03 -7.82168614e+01] [-3.13591686e-02 -3.27047855e-04 9.99508127e-01 -1.32437153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.994012739 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:402.07, Y:-78.22, Z:-13.24 [[ 9.78498461e-01 2.03948112e-01 3.07559558e-02 4.02073716e+02] [-2.03854800e-01 9.78981672e-01 -6.17298817e-03 -7.82193769e+01] [-3.13684863e-02 -2.29489783e-04 9.99507862e-01 -1.32449174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:402.10, Y:-78.22, Z:-13.25 [[ 9.80002376e-01 1.96665288e-01 3.03003025e-02 4.02102849e+02] [-1.96571282e-01 9.80470685e-01 -6.08003322e-03 -7.82198306e+01] [-3.09042898e-02 2.27770275e-06 9.99522348e-01 -1.32470473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05401273900003 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:402.13, Y:-78.22, Z:-13.25 [[ 9.80718600e-01 1.93176775e-01 2.95594389e-02 4.02130533e+02] [-1.93085748e-01 9.81163963e-01 -5.93059913e-03 -7.82227514e+01] [-3.01483102e-02 1.08742496e-04 9.99545430e-01 -1.32477920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:402.16, Y:-78.22, Z:-13.25 [[ 9.81814532e-01 1.87770614e-01 2.79717770e-02 4.02158698e+02] [-1.87686955e-01 9.82212874e-01 -5.61047324e-03 -7.82228151e+01] [-2.85277214e-02 2.58506528e-04 9.99592968e-01 -1.32488597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.114012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:402.19, Y:-78.23, Z:-13.25 [[ 9.82228394e-01 1.85647487e-01 2.76114581e-02 4.02186743e+02] [-1.85565176e-01 9.82616360e-01 -5.53658002e-03 -7.82263849e+01] [-2.81593226e-02 3.14461021e-04 9.99603398e-01 -1.32496244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:402.22, Y:-78.23, Z:-13.25 [[ 9.83080707e-01 1.80780297e-01 2.95094661e-02 4.02215821e+02] [-1.80684141e-01 9.83523386e-01 -5.91527542e-03 -7.82306136e+01] [-3.00926153e-02 4.83300600e-04 9.99546998e-01 -1.32496284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.174012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:402.24, Y:-78.24, Z:-13.25 [[ 9.83916256e-01 1.75693036e-01 3.22607826e-02 4.02243687e+02] [-1.75575429e-01 9.84444753e-01 -6.46509754e-03 -7.82362648e+01] [-3.28948307e-02 6.96913835e-04 9.99458576e-01 -1.32499384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:402.27, Y:-78.24, Z:-13.25 [[ 9.84254175e-01 1.73685428e-01 3.28190533e-02 4.02273530e+02] [-1.73562636e-01 9.84800878e-01 -6.57582632e-03 -7.82422941e+01] [-3.34623577e-02 7.76123107e-04 9.99439677e-01 -1.32504669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.234012739 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:402.30, Y:-78.25, Z:-13.25 [[ 9.84542747e-01 1.72066289e-01 3.26920768e-02 4.02302292e+02] [-1.71943553e-01 9.85085025e-01 -6.55039966e-03 -7.82486377e+01] [-3.33315783e-02 8.27956634e-04 9.99444006e-01 -1.32515097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:402.33, Y:-78.26, Z:-13.25 [[ 9.85055011e-01 1.69386542e-01 3.12221992e-02 4.02332834e+02] [-1.69273242e-01 9.85549303e-01 -6.25620852e-03 -7.82602371e+01] [-3.18307342e-02 8.77626671e-04 9.99492888e-01 -1.32539653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.294012739 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:402.36, Y:-78.27, Z:-13.26 [[ 9.85309993e-01 1.68101737e-01 3.01002462e-02 4.02362939e+02] [-1.67995685e-01 9.85769249e-01 -6.03636360e-03 -7.82697530e+01] [-3.06866203e-02 8.90977909e-04 9.99528658e-01 -1.32553627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:402.39, Y:-78.28, Z:-13.26 [[ 9.85661271e-01 1.65955128e-01 3.05082501e-02 4.02393292e+02] [-1.65845066e-01 9.86132824e-01 -6.12099259e-03 -7.82829642e+01] [-3.11009970e-02 9.73582577e-04 9.99515773e-01 -1.32561386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.354012739 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:402.42, Y:-78.29, Z:-13.26 [[ 9.85729831e-01 1.65427853e-01 3.11500434e-02 4.02423482e+02] [-1.65312675e-01 9.86221371e-01 -6.25517425e-03 -7.82930378e+01] [-3.17556186e-02 1.01641486e-03 9.99495146e-01 -1.32566214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:402.45, Y:-78.31, Z:-13.26 [[ 9.85424190e-01 1.67140658e-01 3.16728159e-02 4.02454085e+02] [-1.67022337e-01 9.85932573e-01 -6.36406218e-03 -7.83072216e+01] [-3.22909544e-02 9.81233092e-04 9.99478029e-01 -1.32566876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.414012739 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:402.49, Y:-78.32, Z:-13.26 [[ 9.85020846e-01 1.69644302e-01 3.08989279e-02 4.02486025e+02] [-1.69532745e-01 9.85504963e-01 -6.21422567e-03 -7.83169501e+01] [-3.15052548e-02 8.82761748e-04 9.99503196e-01 -1.32580285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:402.52, Y:-78.33, Z:-13.26 [[ 9.84119993e-01 1.75242300e-01 2.82484653e-02 4.02517218e+02] [-1.75151231e-01 9.84525122e-01 -5.68594403e-03 -7.83282431e+01] [-2.88077417e-02 6.47897730e-04 9.99584761e-01 -1.32603672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.474012739 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:402.55, Y:-78.34, Z:-13.26 [[ 9.83546535e-01 1.78589920e-01 2.72369960e-02 4.02547162e+02] [-1.78506387e-01 9.83923449e-01 -5.48782406e-03 -7.83366701e+01] [-2.77791892e-02 5.35552591e-04 9.99613940e-01 -1.32612810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:402.58, Y:-78.35, Z:-13.26 [[ 9.82221010e-01 1.85804478e-01 2.68063977e-02 4.02576087e+02] [-1.85726168e-01 9.82586682e-01 -5.40399356e-03 -7.83459801e+01] [-2.73436956e-02 3.29266494e-04 9.99626037e-01 -1.32612423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.534012739 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:402.61, Y:-78.35, Z:-13.26 [[ 9.81483825e-01 1.89530782e-01 2.77052946e-02 4.02605087e+02] [-1.89448617e-01 9.81874752e-01 -5.58507217e-03 -7.83525569e+01] [-2.82616723e-02 2.32928266e-04 9.99600532e-01 -1.32619784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:402.63, Y:-78.36, Z:-13.26 [[ 9.79932836e-01 1.97149527e-01 2.93888014e-02 4.02634544e+02] [-1.97060477e-01 9.80373431e-01 -5.92489858e-03 -7.83585591e+01] [-2.99800910e-02 1.46314319e-05 9.99550496e-01 -1.32639467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.594012739 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:402.66, Y:-78.36, Z:-13.26 [[ 9.79131197e-01 2.01133545e-01 2.91100840e-02 4.02662204e+02] [-2.01047956e-01 9.79563824e-01 -5.86801388e-03 -7.83639801e+01] [-2.96954396e-02 -1.06967442e-04 9.99558987e-01 -1.32646454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:402.69, Y:-78.37, Z:-13.26 [[ 9.77562240e-01 2.08592291e-01 2.93483000e-02 4.02691778e+02] [-2.08508672e-01 9.78002629e-01 -5.91532868e-03 -7.83685004e+01] [-2.99366066e-02 -3.36773108e-04 9.99551743e-01 -1.32646405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.654012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:402.72, Y:-78.37, Z:-13.27 [[ 9.76806776e-01 2.11958613e-01 3.03655766e-02 4.02719790e+02] [-2.11870743e-01 9.77278537e-01 -6.11963102e-03 -7.83719087e+01] [-3.09727348e-02 -4.55880234e-04 9.99520126e-01 -1.32651015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:402.75, Y:-78.37, Z:-13.27 [[ 9.75615871e-01 2.17302475e-01 3.08756531e-02 4.02748115e+02] [-2.17214359e-01 9.76104107e-01 -6.22050517e-03 -7.83731060e+01] [-3.14895829e-02 -6.37811607e-04 9.99503877e-01 -1.32673723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.714012739 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:402.78, Y:-78.38, Z:-13.27 [[ 9.75275120e-01 2.19001233e-01 2.96124940e-02 4.02777169e+02] [-2.18921014e-01 9.75724355e-01 -5.96432640e-03 -7.83767454e+01] [-3.01998265e-02 -6.65938056e-04 9.99543659e-01 -1.32688527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:402.81, Y:-78.38, Z:-13.27 [[ 9.74991326e-01 2.20350546e-01 2.89404820e-02 4.02806078e+02] [-2.20274559e-01 9.75420503e-01 -5.82766885e-03 -7.83797086e+01] [-2.95132695e-02 -6.92925331e-04 9.99564148e-01 -1.32694480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.774012739 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:402.84, Y:-78.38, Z:-13.27 [[ 9.74493947e-01 2.22474552e-01 2.94384252e-02 4.02836377e+02] [-2.22396939e-01 9.74938192e-01 -5.92649779e-03 -7.83770654e+01] [-3.00191400e-02 -7.71679449e-04 9.99549026e-01 -1.32686990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:402.87, Y:-78.37, Z:-13.27 [[ 9.74159594e-01 2.23859315e-01 3.00015425e-02 4.02865297e+02] [-2.23779404e-01 9.74621114e-01 -6.03839186e-03 -7.83741611e+01] [-3.05918870e-02 -8.31369935e-04 9.99531613e-01 -1.32698338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.834012739 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:402.89, Y:-78.38, Z:-13.27 [[ 9.74161309e-01 2.23920608e-01 2.94839814e-02 4.02892966e+02] [-2.23843511e-01 9.74607043e-01 -5.93249864e-03 -7.83759610e+01] [-3.00637046e-02 -8.20587264e-04 9.99547648e-01 -1.32712913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:402.92, Y:-78.37, Z:-13.27 [[ 9.74287278e-01 2.23473014e-01 2.87073412e-02 4.02921001e+02] [-2.23399789e-01 9.74709799e-01 -5.77427071e-03 -7.83744197e+01] [-2.92717204e-02 -7.87415465e-04 9.99571181e-01 -1.32734005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.894012739 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:402.95, Y:-78.38, Z:-13.27 [[ 9.74425837e-01 2.22808082e-01 2.91692768e-02 4.02949018e+02] [-2.22732259e-01 9.74862014e-01 -5.86466371e-03 -7.83759970e+01] [-2.97427144e-02 -7.82259048e-04 9.99557282e-01 -1.32737727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:402.98, Y:-78.37, Z:-13.27 [[ 9.74454543e-01 2.22654202e-01 2.93845034e-02 4.02977967e+02] [-2.22577237e-01 9.74897169e-01 -5.90622657e-03 -7.83740193e+01] [-2.99619153e-02 -7.84972253e-04 9.99550733e-01 -1.32737962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.954012739 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:403.00, Y:-78.38, Z:-13.27 [[ 9.74352895e-01 2.23075727e-01 2.95576831e-02 4.03004886e+02] [-2.22998108e-01 9.74800786e-01 -5.93896517e-03 -7.83761768e+01] [-3.01376917e-02 -8.04659512e-04 9.99545433e-01 -1.32749110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:403.03, Y:-78.37, Z:-13.27 [[ 9.73851525e-01 2.25554668e-01 2.71716583e-02 4.03032204e+02] [-2.25256030e-01 9.74204243e-01 -1.36313508e-02 -7.83721656e+01] [-2.95453596e-02 7.15433188e-03 9.99537837e-01 -1.32737320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.014012739 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:403.06, Y:-78.38, Z:-13.28 [[ 9.73963321e-01 2.24289927e-01 3.30072415e-02 4.03060400e+02] [-2.24464982e-01 9.74480760e-01 1.64935728e-03 -7.83829707e+01] [-3.17949875e-02 -9.01538335e-03 9.99453752e-01 -1.32759681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:403.09, Y:-78.38, Z:-13.28 [[ 9.73872369e-01 2.24903339e-01 3.14816963e-02 4.03089955e+02] [-2.24816574e-01 9.74380638e-01 -6.31507071e-03 -7.83796855e+01] [-3.20954358e-02 -9.27534241e-04 9.99484378e-01 -1.32763570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.074012739 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:403.12, Y:-78.38, Z:-13.28 [[ 9.73737358e-01 2.25669563e-01 3.01463983e-02 4.03117713e+02] [-2.25590431e-01 9.74203476e-01 -6.04523714e-03 -7.83774532e+01] [-3.07329520e-02 -9.14265733e-04 9.99527213e-01 -1.32776781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:403.15, Y:-78.38, Z:-13.28 [[ 9.73794854e-01 2.25535899e-01 2.92769659e-02 4.03145725e+02] [-2.25461274e-01 9.74234455e-01 -5.86861273e-03 -7.83752268e+01] [-2.98462118e-02 -8.85997157e-04 9.99554110e-01 -1.32796268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.134012739 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:403.17, Y:-78.38, Z:-13.28 [[ 9.73967250e-01 2.24698808e-01 2.99706864e-02 4.03172948e+02] [-2.24620283e-01 9.74427866e-01 -6.00522234e-03 -7.83769407e+01] [-3.05536383e-02 -8.83134191e-04 9.99532738e-01 -1.32806011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:403.20, Y:-78.38, Z:-13.28 [[ 9.75034773e-01 2.19861219e-01 3.11164782e-02 4.03201651e+02] [-2.19774192e-01 9.75530862e-01 -6.23225004e-03 -7.83761814e+01] [-3.17253149e-02 -7.61938345e-04 9.99496335e-01 -1.32819342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.194012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:403.23, Y:-78.38, Z:-13.28 [[ 9.75779037e-01 2.16647193e-01 3.03193889e-02 4.03228536e+02] [-2.16563084e-01 9.76249753e-01 -6.07042143e-03 -7.83785924e+01] [-3.09144357e-02 -6.42670401e-04 9.99521828e-01 -1.32825114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:403.26, Y:-78.38, Z:-13.28 [[ 9.76888695e-01 2.11785573e-01 2.89023815e-02 4.03257311e+02] [-2.11707085e-01 9.77316045e-01 -5.78431713e-03 -7.83782559e+01] [-2.94717961e-02 -4.68204934e-04 9.99565503e-01 -1.32840442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.254012739 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:403.28, Y:-78.38, Z:-13.28 [[ 9.77139268e-01 2.10548576e-01 2.94643476e-02 4.03284296e+02] [-2.10466511e-01 9.77583297e-01 -5.89456095e-03 -7.83812870e+01] [-3.00449455e-02 -4.41451458e-04 9.99548451e-01 -1.32842819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:403.31, Y:-78.38, Z:-13.28 [[ 9.77138933e-01 2.10291785e-01 3.12549245e-02 4.03313140e+02] [-2.10199400e-01 9.77638559e-01 -6.24990819e-03 -7.83818940e+01] [-3.18703237e-02 -4.62737738e-04 9.99491905e-01 -1.32826412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.314012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:403.34, Y:-78.38, Z:-13.28 [[ 9.76935142e-01 2.11256466e-01 3.11196814e-02 4.03340508e+02] [-2.11165436e-01 9.77430540e-01 -6.22069990e-03 -7.83843087e+01] [-3.17314901e-02 -4.94180764e-04 9.99496307e-01 -1.32836276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:403.37, Y:-78.39, Z:-13.29 [[ 9.76683574e-01 2.12550926e-01 3.01877556e-02 4.03368073e+02] [-2.12466003e-01 9.77149850e-01 -6.03059363e-03 -7.83867536e+01] [-3.07797692e-02 -5.23890056e-04 9.99526053e-01 -1.32852739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.374012739 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:403.40, Y:-78.39, Z:-13.29 [[ 9.76526196e-01 2.13490464e-01 2.86078719e-02 4.03396690e+02] [-2.13414659e-01 9.76945006e-01 -5.71300552e-03 -7.83882946e+01] [-2.91679897e-02 -5.26439674e-04 9.99574385e-01 -1.32867754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:403.43, Y:-78.39, Z:-13.29 [[ 9.76786234e-01 2.12262171e-01 2.88690981e-02 4.03425190e+02] [-2.12184492e-01 9.77212630e-01 -5.76336103e-03 -7.83893042e+01] [-2.94345908e-02 -4.96003211e-04 9.99566585e-01 -1.32876324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.434012739 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:403.45, Y:-78.39, Z:-13.29 [[ 9.76913659e-01 2.11590728e-01 2.94799351e-02 4.03452188e+02] [-2.11509605e-01 9.77358236e-01 -5.87918123e-03 -7.83919209e+01] [-3.00564376e-02 -4.91836986e-04 9.99548082e-01 -1.32878657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:403.48, Y:-78.40, Z:-13.29 [[ 9.77083299e-01 2.10733061e-01 2.99967474e-02 4.03479755e+02] [-2.10648739e-01 9.77543529e-01 -5.97980851e-03 -7.83952416e+01] [-3.05832696e-02 -4.76005982e-04 9.99532109e-01 -1.32889405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.494012739 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:403.51, Y:-78.40, Z:-13.29 [[ 9.77451836e-01 2.09107991e-01 2.93556716e-02 4.03508161e+02] [-2.09026671e-01 9.77892464e-01 -5.84641776e-03 -7.83983067e+01] [-2.99292227e-02 -4.21526541e-04 9.99551932e-01 -1.32893134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:403.54, Y:-78.40, Z:-13.29 [[ 9.77567328e-01 2.08675121e-01 2.85799371e-02 4.03535034e+02] [-2.08551648e-01 9.77984347e-01 -7.26821102e-03 -7.83989080e+01] [-2.94674259e-02 1.14477265e-03 9.99565086e-01 -1.32902453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55401273900003 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:403.56, Y:-78.40, Z:-13.29 [[ 9.77699477e-01 2.07884165e-01 2.97977666e-02 4.03563192e+02] [-2.07850497e-01 9.78151342e-01 -4.25711776e-03 -7.84034393e+01] [-3.00317127e-02 -2.03129879e-03 9.99546882e-01 -1.32917017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:403.59, Y:-78.41, Z:-13.29 [[ 9.77443856e-01 2.08971573e-01 3.05677836e-02 4.03590033e+02] [-2.08924953e-01 9.77920156e-01 -4.74689057e-03 -7.84069068e+01] [-3.08848169e-02 -1.74655372e-03 9.99521424e-01 -1.32923249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.614012739 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:403.62, Y:-78.41, Z:-13.29 [[ 9.77250790e-01 2.09832132e-01 3.08442689e-02 4.03618858e+02] [-2.09703430e-01 9.77737139e-01 -7.38632029e-03 -7.84080748e+01] [-3.17074745e-02 7.50138352e-04 9.99496910e-01 -1.32926116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:403.65, Y:-78.41, Z:-13.29 [[ 9.77281975e-01 2.09541476e-01 3.18168230e-02 4.03646237e+02] [-2.09446895e-01 9.77799635e-01 -6.31438700e-03 -7.84123676e+01] [-3.24336039e-02 -4.92998187e-04 9.99473771e-01 -1.32931878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.674012739 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:403.67, Y:-78.41, Z:-13.29 [[ 9.77563021e-01 2.08352105e-01 3.09829019e-02 4.03674073e+02] [-2.08262006e-01 9.78053782e-01 -6.14304598e-03 -7.84142588e+01] [-3.15828610e-02 -4.47346700e-04 9.99501037e-01 -1.32945683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:403.70, Y:-78.42, Z:-13.30 [[ 9.77758905e-01 2.07717388e-01 2.90001751e-02 4.03701437e+02] [-2.07638330e-01 9.78188797e-01 -5.74463404e-03 -7.84188956e+01] [-2.95609068e-02 -4.04680853e-04 9.99562899e-01 -1.32970212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.734012739 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:403.73, Y:-78.42, Z:-13.30 [[ 9.77855947e-01 2.07370094e-01 2.82026758e-02 4.03727635e+02] [-2.07295344e-01 9.78262487e-01 -5.58097114e-03 -7.84238092e+01] [-2.87469463e-02 -3.88897569e-04 9.99586645e-01 -1.32976073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:403.76, Y:-78.43, Z:-13.30 [[ 9.78246047e-01 2.05333325e-01 2.95448493e-02 4.03755307e+02] [-2.05250434e-01 9.78692038e-01 -5.84414023e-03 -7.84264042e+01] [-3.01153056e-02 -3.47086090e-04 9.99546371e-01 -1.32975127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.794012739 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:403.78, Y:-78.43, Z:-13.30 [[ 9.78584446e-01 2.03567803e-01 3.05390051e-02 4.03783255e+02] [-2.03478568e-01 9.79060802e-01 -6.03475301e-03 -7.84306273e+01] [-3.11280243e-02 -3.08517591e-04 9.99515358e-01 -1.32978661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:403.81, Y:-78.44, Z:-13.30 [[ 9.79097110e-01 2.00996822e-01 3.11307930e-02 4.03809783e+02] [-2.00902988e-01 9.79591865e-01 -6.14557469e-03 -7.84353068e+01] [-3.17307125e-02 -2.37154904e-04 9.99496426e-01 -1.32984363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.854012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:403.84, Y:-78.44, Z:-13.30 [[ 9.79119969e-01 2.00885319e-01 3.11315672e-02 4.03837737e+02] [-2.00791554e-01 9.79614737e-01 -6.14165010e-03 -7.84406625e+01] [-3.17307094e-02 -2.37543507e-04 9.99496426e-01 -1.32993493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:403.87, Y:-78.45, Z:-13.30 [[ 9.80244632e-01 1.95496676e-01 3.00251934e-02 4.03865175e+02] [-1.95407034e-01 9.80704362e-01 -5.91989896e-03 -7.84480924e+01] [-3.06031587e-02 -6.41848291e-05 9.99531612e-01 -1.33006370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.914012739 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:403.89, Y:-78.46, Z:-13.30 [[ 9.81196270e-01 1.90918306e-01 2.83563168e-02 4.03891533e+02] [-1.90808128e-01 9.81605386e-01 -6.56692158e-03 -7.84551553e+01] [-2.90884589e-02 1.03282321e-03 9.99576308e-01 -1.33025669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:403.92, Y:-78.46, Z:-13.30 [[ 9.81748812e-01 1.88021191e-01 2.85885072e-02 4.03919275e+02] [-1.87965865e-01 9.82164626e-01 -4.63469061e-03 -7.84624974e+01] [-2.89500406e-02 -8.23561478e-04 9.99580520e-01 -1.33035179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.974012739 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:403.94, Y:-78.47, Z:-13.30 [[ 9.82510745e-01 1.83904343e-01 2.91860903e-02 4.03944990e+02] [-1.83814754e-01 9.82944105e-01 -5.74653961e-03 -7.84704027e+01] [-2.97451090e-02 2.81202916e-04 9.99557477e-01 -1.33027989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:403.97, Y:-78.48, Z:-13.30 [[ 9.82788389e-01 1.82318264e-01 2.97831125e-02 4.03972081e+02] [-1.82224323e-01 9.83239513e-01 -5.86145142e-03 -7.84775140e+01] [-3.03525826e-02 3.33358887e-04 9.99539199e-01 -1.33029187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.034012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:404.00, Y:-78.48, Z:-13.30 [[ 9.82960425e-01 1.81342355e-01 3.00624997e-02 4.03998993e+02] [-1.81246251e-01 9.83419960e-01 -5.91434678e-03 -7.84847456e+01] [-3.06365838e-02 3.64853464e-04 9.99530523e-01 -1.33037093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:404.03, Y:-78.49, Z:-13.31 [[ 9.82931813e-01 1.81661892e-01 2.90518101e-02 4.04025589e+02] [-1.81572340e-01 9.83360992e-01 -5.71351907e-03 -7.84943820e+01] [-2.96063455e-02 3.40994497e-04 9.99561578e-01 -1.33053031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.094012739 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:404.05, Y:-78.50, Z:-13.31 [[ 9.82617378e-01 1.83803313e-01 2.60659007e-02 4.04050225e+02] [-1.83712203e-01 9.82962555e-01 -5.86865634e-03 -7.85027193e+01] [-2.67004828e-02 9.78019676e-04 9.99643000e-01 -1.33075947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:404.08, Y:-78.51, Z:-13.31 [[ 9.82669585e-01 1.83498923e-01 2.62418035e-02 4.04079514e+02] [-1.83448623e-01 9.83019753e-01 -4.33217488e-03 -7.85108245e+01] [-2.65911606e-02 -5.56926222e-04 9.99646237e-01 -1.33085765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.154012739 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:404.10, Y:-78.52, Z:-13.31 [[ 9.82611276e-01 1.83540778e-01 2.80688998e-02 4.04104822e+02] [-1.83458224e-01 9.83012061e-01 -5.51068886e-03 -7.85208632e+01] [-2.86035031e-02 2.65394518e-04 9.99590801e-01 -1.33084202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:404.13, Y:-78.53, Z:-13.31 [[ 9.82652185e-01 1.83255199e-01 2.84993992e-02 4.04131952e+02] [-1.83170043e-01 9.83065337e-01 -5.59275608e-03 -7.85291790e+01] [-2.90416731e-02 2.75497792e-04 9.99578164e-01 -1.33091813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.214012739 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:404.16, Y:-78.54, Z:-13.31 [[ 9.82741747e-01 1.82695379e-01 2.90009711e-02 4.04158241e+02] [-1.82607018e-01 9.83169523e-01 -5.68908832e-03 -7.85406064e+01] [-2.95522410e-02 2.95123761e-04 9.99563194e-01 -1.33101995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:404.18, Y:-78.55, Z:-13.31 [[ 9.82602283e-01 1.83325321e-01 2.97418995e-02 4.04184285e+02] [-1.83232743e-01 9.83052261e-01 -5.83217020e-03 -7.85485072e+01] [-3.03070261e-02 2.81013900e-04 9.99540597e-01 -1.33106179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.274012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:404.21, Y:-78.56, Z:-13.31 [[ 9.82352659e-01 1.84438925e-01 3.10730724e-02 4.04209993e+02] [-1.84338518e-01 9.82843944e-01 -6.09037493e-03 -7.85560453e+01] [-3.16632832e-02 2.54931901e-04 9.99498560e-01 -1.33106576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:404.24, Y:-78.56, Z:-13.31 [[ 9.81600027e-01 1.87894672e-01 3.40144090e-02 4.04236390e+02] [-1.87776528e-01 9.82189172e-01 -6.66385059e-03 -7.85646171e+01] [-3.46606863e-02 1.54128283e-04 9.99399126e-01 -1.33096349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.334012739 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:404.26, Y:-78.57, Z:-13.31 [[ 9.80952197e-01 1.91333757e-01 3.35287986e-02 4.04262176e+02] [-1.91221053e-01 9.81525034e-01 -6.56631975e-03 -7.85716923e+01] [-3.41657138e-02 2.98336234e-05 9.99416181e-01 -1.33110736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:404.29, Y:-78.58, Z:-13.31 [[ 9.80766802e-01 1.92584083e-01 3.17466698e-02 4.04288839e+02] [-1.92483780e-01 9.81280475e-01 -6.21480578e-03 -7.85769475e+01] [-3.23492599e-02 -1.54438174e-05 9.99476626e-01 -1.33126282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.394012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:404.32, Y:-78.58, Z:-13.31 [[ 9.80690349e-01 1.93319833e-01 2.95614758e-02 4.04315903e+02] [-1.93233268e-01 9.81135791e-01 -5.78477178e-03 -7.85819388e+01] [-3.01221330e-02 -3.91907240e-05 9.99546225e-01 -1.33141279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:404.34, Y:-78.59, Z:-13.32 [[ 9.80955658e-01 1.92345899e-01 2.70009666e-02 4.04343636e+02] [-1.92273362e-01 9.81327191e-01 -5.28197483e-03 -7.85864469e+01] [-2.75127489e-02 -1.01835355e-05 9.99621453e-01 -1.33154695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.454012739 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:404.37, Y:-78.59, Z:-13.32 [[ 9.81242163e-01 1.90827931e-01 2.73590713e-02 4.04371579e+02] [-1.90752910e-01 9.81623502e-01 -5.35047196e-03 -7.85915427e+01] [-2.78773269e-02 3.12862232e-05 9.99611351e-01 -1.33159023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:404.40, Y:-78.60, Z:-13.32 [[ 9.81784006e-01 1.87653921e-01 2.97686469e-02 4.04398707e+02] [-1.87563709e-01 9.82235200e-01 -5.81944508e-03 -7.85970251e+01] [-3.03318546e-02 1.29920269e-04 9.99539875e-01 -1.33158552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.514012739 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:404.43, Y:-78.60, Z:-13.32 [[ 9.82084068e-01 1.85965943e-01 3.04557401e-02 4.04425398e+02] [-1.85870776e-01 9.82556174e-01 -5.95150450e-03 -7.86008123e+01] [-3.10312526e-02 1.84045714e-04 9.99518398e-01 -1.33157095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:404.45, Y:-78.60, Z:-13.32 [[ 9.82069097e-01 1.86177764e-01 2.96332353e-02 4.04452775e+02] [-1.86087839e-01 9.82516062e-01 -5.78833094e-03 -7.86046155e+01] [-3.01927882e-02 1.70156208e-04 9.99544079e-01 -1.33165894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.574012739 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:404.48, Y:-78.61, Z:-13.32 [[ 9.82249057e-01 1.85413275e-01 2.84377688e-02 4.04479659e+02] [-1.85330197e-01 9.82660615e-01 -5.55288423e-03 -7.86073120e+01] [-2.89742538e-02 1.83938008e-04 9.99580141e-01 -1.33188036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:404.51, Y:-78.61, Z:-13.32 [[ 9.82531219e-01 1.83894407e-01 2.85525969e-02 4.04507317e+02] [-1.83810086e-01 9.82945978e-01 -5.57286016e-03 -7.86124589e+01] [-2.90904781e-02 2.27253778e-04 9.99576757e-01 -1.33195737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.634012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:404.53, Y:-78.62, Z:-13.32 [[ 9.83260444e-01 1.79890444e-01 2.89538879e-02 4.04534614e+02] [-1.79802061e-01 9.83686590e-01 -5.64906927e-03 -7.86189549e+01] [-2.94977648e-02 3.48537635e-04 9.99564785e-01 -1.33197418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:404.56, Y:-78.62, Z:-13.32 [[ 9.83708480e-01 1.77404084e-01 2.90760541e-02 4.04560764e+02] [-1.77313929e-01 9.84138005e-01 -5.67084024e-03 -7.86244979e+01] [-2.96208801e-02 4.22864244e-04 9.99561116e-01 -1.33204135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.694012739 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:404.59, Y:-78.63, Z:-13.32 [[ 9.84641295e-01 1.72050190e-01 2.96690512e-02 4.04587727e+02] [-1.71953964e-01 9.85088006e-01 -5.78396214e-03 -7.86321218e+01] [-3.02217583e-02 5.93417009e-04 9.99543042e-01 -1.33204979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:404.61, Y:-78.64, Z:-13.32 [[ 9.85030350e-01 1.69712894e-01 3.02116540e-02 4.04614538e+02] [-1.69612084e-01 9.85493317e-01 -5.88754580e-03 -7.86386227e+01] [-3.07725755e-02 6.75149711e-04 9.99526184e-01 -1.33207168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.754012739 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:404.64, Y:-78.65, Z:-13.32 [[ 9.85501883e-01 1.66780531e-01 3.11495435e-02 4.04642290e+02] [-1.66671963e-01 9.85993729e-01 -6.06827334e-03 -7.86463079e+01] [-3.17253244e-02 7.88539215e-04 9.99496314e-01 -1.33218129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:404.67, Y:-78.65, Z:-13.32 [[ 9.85689373e-01 1.65507391e-01 3.19963019e-02 4.04670573e+02] [-1.65392218e-01 9.86208183e-01 -6.23171203e-03 -7.86537686e+01] [-3.25864092e-02 8.50592977e-04 9.99468560e-01 -1.33231835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.814012739 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:404.70, Y:-78.67, Z:-13.32 [[ 9.86134798e-01 1.62774957e-01 3.22873714e-02 4.04698155e+02] [-1.62656264e-01 9.86662767e-01 -6.28689401e-03 -7.86652411e+01] [-3.28800961e-02 9.47981761e-04 9.99458854e-01 -1.33228111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:404.73, Y:-78.67, Z:-13.32 [[ 9.86415376e-01 1.61248395e-01 3.13633810e-02 4.04725533e+02] [-1.61135675e-01 9.86913378e-01 -6.10556123e-03 -7.86737572e+01] [-3.19374523e-02 9.68859917e-04 9.99489400e-01 -1.33240146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.874012739 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:404.75, Y:-78.69, Z:-13.33 [[ 9.86538179e-01 1.60710003e-01 3.02442762e-02 4.04753468e+02] [-1.60604976e-01 9.87001212e-01 -5.88630355e-03 -7.86850271e+01] [-3.07971251e-02 9.49681924e-04 9.99525205e-01 -1.33253724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:404.78, Y:-78.70, Z:-13.33 [[ 9.86108713e-01 1.62957422e-01 3.21634010e-02 4.04781054e+02] [-1.62839860e-01 9.86632660e-01 -6.25899391e-03 -7.86961872e+01] [-3.27534113e-02 9.34564723e-04 9.99463026e-01 -1.33259833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.934012739 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:404.81, Y:-78.70, Z:-13.33 [[ 9.85775277e-01 1.64845140e-01 3.27594738e-02 4.04808387e+02] [-1.64724272e-01 9.86319063e-01 -6.37341278e-03 -7.87045899e+01] [-3.33619196e-02 8.86472282e-04 9.99442943e-01 -1.33263109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:404.84, Y:-78.71, Z:-13.33 [[ 9.85425668e-01 1.66907110e-01 3.28370057e-02 4.04835731e+02] [-1.66786851e-01 9.85972286e-01 -6.38733943e-03 -7.87121391e+01] [-3.34424699e-02 8.17467472e-04 9.99440310e-01 -1.33265731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.994012739 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:404.86, Y:-78.72, Z:-13.33 [[ 9.84806966e-01 1.70717287e-01 3.17938296e-02 4.04863023e+02] [-1.70606556e-01 9.85319829e-01 -6.18370345e-03 -7.87216675e+01] [-3.23827558e-02 6.65518453e-04 9.99475319e-01 -1.33285011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:404.89, Y:-78.73, Z:-13.33 [[ 9.84661925e-01 1.71811139e-01 3.03616009e-02 4.04891342e+02] [-1.71710713e-01 9.85129724e-01 -5.90413451e-03 -7.87300314e+01] [-3.09245115e-02 6.00164330e-04 9.99521543e-01 -1.33301790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05401273900003 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:404.92, Y:-78.74, Z:-13.33 [[ 9.84220449e-01 1.74727368e-01 2.79366138e-02 4.04918092e+02] [-1.74643535e-01 9.84616742e-01 -5.43205289e-03 -7.87415069e+01] [-2.84559860e-02 4.67388532e-04 9.99594937e-01 -1.33323718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:404.95, Y:-78.75, Z:-13.33 [[ 9.83596763e-01 1.78058109e-01 2.88568585e-02 4.04945180e+02] [-1.77970134e-01 9.84019900e-01 -5.60956891e-03 -7.87527237e+01] [-2.93945523e-02 3.81894834e-04 9.99567814e-01 -1.33333004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.114012739 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:404.97, Y:-78.76, Z:-13.33 [[ 9.83380126e-01 1.79124997e-01 2.96270791e-02 4.04972665e+02] [-1.79032791e-01 9.83826259e-01 -5.75780045e-03 -7.87610795e+01] [-3.01792643e-02 3.57887874e-04 9.99544438e-01 -1.33333743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:405.00, Y:-78.77, Z:-13.33 [[ 9.83008418e-01 1.81087054e-01 3.00321253e-02 4.05000717e+02] [-1.80993246e-01 9.83467025e-01 -5.83578860e-03 -7.87720145e+01] [-3.05923907e-02 3.01017475e-04 9.99531898e-01 -1.33342278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.174012739 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:405.03, Y:-78.78, Z:-13.34 [[ 9.82716312e-01 1.82838132e-01 2.89632091e-02 4.05028670e+02] [-1.82751664e-01 9.83143002e-01 -5.62743438e-03 -7.87794437e+01] [-2.95038859e-02 2.37096920e-04 9.99564637e-01 -1.33358787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:405.06, Y:-78.79, Z:-13.34 [[ 9.82362590e-01 1.84827659e-01 2.83280573e-02 4.05056449e+02] [-1.84745798e-01 9.82770933e-01 -5.50306693e-03 -7.87861018e+01] [-2.88571103e-02 1.72517535e-04 9.99583532e-01 -1.33370196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.234012739 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:405.08, Y:-78.79, Z:-13.34 [[ 9.81337296e-01 1.90233473e-01 2.80773301e-02 4.05083938e+02] [-1.90155301e-01 9.81738878e-01 -5.45306031e-03 -7.87925408e+01] [-2.86019611e-02 1.22383003e-05 9.99590880e-01 -1.33378369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:405.11, Y:-78.80, Z:-13.34 [[ 9.80765193e-01 1.93059201e-01 2.87711699e-02 4.05112471e+02] [-1.92978386e-01 9.81187107e-01 -5.58597413e-03 -7.87988574e+01] [-2.93083247e-02 -7.36849267e-05 9.99570416e-01 -1.33386624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.294012739 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:405.14, Y:-78.80, Z:-13.34 [[ 9.79929100e-01 1.97249664e-01 2.88362401e-02 4.05140534e+02] [-1.97170325e-01 9.80353268e-01 -5.59759511e-03 -7.88042822e+01] [-2.93738259e-02 -2.00404496e-04 9.99568476e-01 -1.33386337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:405.17, Y:-78.81, Z:-13.34 [[ 9.79431319e-01 1.99749580e-01 2.85376426e-02 4.05168354e+02] [-1.99672975e-01 9.79846942e-01 -5.53830203e-03 -7.88077157e+01] [-2.90687953e-02 -2.73809539e-04 9.99577376e-01 -1.33404990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.354012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:405.20, Y:-78.81, Z:-13.34 [[ 9.79320112e-01 2.00280061e-01 2.86359172e-02 4.05195965e+02] [-2.00203204e-01 9.79738645e-01 -5.55565187e-03 -7.88121965e+01] [-2.91684010e-02 -2.92240756e-04 9.99574469e-01 -1.33416565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:405.22, Y:-78.82, Z:-13.34 [[ 9.79422939e-01 1.99309949e-01 3.17214428e-02 4.05224938e+02] [-1.99215192e-01 9.79936456e-01 -6.15219792e-03 -7.88161273e+01] [-3.23111925e-02 -2.93789536e-04 9.99477814e-01 -1.33415943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.414012739 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:405.25, Y:-78.82, Z:-13.34 [[ 9.79641659e-01 1.97924010e-01 3.35902747e-02 4.05252238e+02] [-1.97817000e-01 9.80217331e-01 -6.51292488e-03 -7.88202362e+01] [-3.42148336e-02 -2.64394847e-04 9.99414466e-01 -1.33421271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:405.28, Y:-78.82, Z:-13.34 [[ 9.80328889e-01 1.94351045e-01 3.43939104e-02 4.05280184e+02] [-1.94236726e-01 9.80932031e-01 -6.66664970e-03 -7.88240465e+01] [-3.50337588e-02 -1.45051253e-04 9.99386119e-01 -1.33434916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.474012739 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:405.31, Y:-78.83, Z:-13.34 [[ 9.80621284e-01 1.92981219e-01 3.37660434e-02 4.05308465e+02] [-1.92870290e-01 9.81202446e-01 -6.54304665e-03 -7.88288000e+01] [-3.43940094e-02 -9.62157664e-05 9.99408346e-01 -1.33448951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:405.34, Y:-78.83, Z:-13.35 [[ 9.80544117e-01 1.93866255e-01 3.08076341e-02 4.05336146e+02] [-1.93774394e-01 9.81027962e-01 -5.96848776e-03 -7.88311804e+01] [-3.13802389e-02 -1.17365084e-04 9.99507512e-01 -1.33458738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.534012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:405.36, Y:-78.83, Z:-13.35 [[ 9.80186747e-01 1.95668614e-01 3.07852977e-02 4.05364504e+02] [-1.95577835e-01 9.80670058e-01 -5.96224075e-03 -7.88344379e+01] [-3.13568430e-02 -1.76812490e-04 9.99508238e-01 -1.33462585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:405.39, Y:-78.83, Z:-13.35 [[ 9.79332921e-01 1.99486933e-01 3.33465614e-02 4.05391795e+02] [-1.99382688e-01 9.79900432e-01 -6.45649804e-03 -7.88342194e+01] [-3.39642969e-02 -3.25665952e-04 9.99422994e-01 -1.33456712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.594012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:405.42, Y:-78.84, Z:-13.35 [[ 9.78982342e-01 2.01060091e-01 3.41820762e-02 4.05419735e+02] [-2.00951612e-01 9.79578831e-01 -6.61542327e-03 -7.88367283e+01] [-3.48141359e-02 -3.92560753e-04 9.99393727e-01 -1.33461263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:405.45, Y:-78.84, Z:-13.35 [[ 9.78408059e-01 2.04036969e-01 3.29633924e-02 4.05447809e+02] [-2.03937839e-01 9.78963065e-01 -6.37770821e-03 -7.88371832e+01] [-3.35712319e-02 -4.82481915e-04 9.99436211e-01 -1.33484308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.654012739 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:405.47, Y:-78.84, Z:-13.35 [[ 9.78266855e-01 2.04896078e-01 3.18049783e-02 4.05474494e+02] [-2.04804318e-01 9.78783608e-01 -6.15143970e-03 -7.88385044e+01] [-3.23905973e-02 -4.96047331e-04 9.99475164e-01 -1.33503268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:405.50, Y:-78.84, Z:-13.35 [[ 9.78265169e-01 2.04946249e-01 3.15324380e-02 4.05502155e+02] [-2.04856162e-01 9.78773104e-01 -6.09620579e-03 -7.88359430e+01] [-3.21124967e-02 -4.95908446e-04 9.99484138e-01 -1.33522342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.714012739 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:405.53, Y:-78.84, Z:-13.35 [[ 9.78703960e-01 2.02791653e-01 3.18450187e-02 4.05530148e+02] [-2.02698712e-01 9.79221813e-01 -6.15409857e-03 -7.88375643e+01] [-3.24313368e-02 -4.31903641e-04 9.99473873e-01 -1.33530705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:405.56, Y:-78.84, Z:-13.35 [[ 9.79141214e-01 2.00747024e-01 3.13546797e-02 4.05557576e+02] [-2.00655946e-01 9.79643048e-01 -6.05713033e-03 -7.88417393e+01] [-3.19323449e-02 -3.60716983e-04 9.99489968e-01 -1.33541208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.774012739 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:405.59, Y:-78.85, Z:-13.36 [[ 9.79153002e-01 2.00689451e-01 3.13551076e-02 4.05585562e+02] [-2.00598415e-01 9.79654844e-01 -6.05491447e-03 -7.88470133e+01] [-3.19323405e-02 -3.61097206e-04 9.99489968e-01 -1.33550335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:405.61, Y:-78.85, Z:-13.36 [[ 9.80313580e-01 1.94997892e-01 3.10017109e-02 4.05612791e+02] [-1.94906108e-01 9.80803646e-01 -5.98481369e-03 -7.88492474e+01] [-3.15736172e-02 -1.75428676e-04 9.99501414e-01 -1.33555766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.834012739 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:405.64, Y:-78.85, Z:-13.36 [[ 9.80988949e-01 1.91461869e-01 3.16707109e-02 4.05639965e+02] [-1.91364324e-01 9.81500050e-01 -6.11121893e-03 -7.88538202e+01] [-3.22548697e-02 -6.56059614e-05 9.99479674e-01 -1.33567020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:405.67, Y:-78.86, Z:-13.36 [[ 9.82506994e-01 1.83302730e-01 3.28651194e-02 4.05667602e+02] [-1.83193198e-01 9.83056492e-01 -6.33923999e-03 -7.88634738e+01] [-3.34702689e-02 2.07681297e-04 9.99439692e-01 -1.33585938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.894012739 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:405.69, Y:-78.87, Z:-13.36 [[ 9.83257777e-01 1.79230683e-01 3.28710481e-02 4.05694305e+02] [-1.79118890e-01 9.83807015e-01 -6.33874434e-03 -7.88707191e+01] [-3.34748652e-02 3.44794021e-04 9.99439500e-01 -1.33595738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:405.72, Y:-78.88, Z:-13.36 [[ 9.84089802e-01 1.74910077e-01 3.12046041e-02 4.05722384e+02] [-1.74807225e-01 9.84584302e-01 -6.01544652e-03 -7.88778057e+01] [-3.17757256e-02 4.64949326e-04 9.99494916e-01 -1.33611308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.954012739 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:405.75, Y:-78.88, Z:-13.36 [[ 9.84174010e-01 1.74609370e-01 3.02173177e-02 4.05749586e+02] [-1.74512825e-01 9.84637679e-01 -5.82373990e-03 -7.88848520e+01] [-3.07699891e-02 4.58263984e-04 9.99526387e-01 -1.33624563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:405.78, Y:-78.90, Z:-13.36 [[ 9.84139117e-01 1.74658736e-01 3.10568054e-02 4.05776631e+02] [-1.74556836e-01 9.84628919e-01 -5.98361976e-03 -7.88977944e+01] [-3.16245202e-02 4.67536590e-04 9.99499710e-01 -1.33620744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.014012739 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:405.81, Y:-78.91, Z:-13.36 [[ 9.84107519e-01 1.74592497e-01 3.24014050e-02 4.05805133e+02] [-1.74481596e-01 9.84640656e-01 -6.24109011e-03 -7.89063015e+01] [-3.29933882e-02 4.88454855e-04 9.99455451e-01 -1.33619742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:405.83, Y:-78.91, Z:-13.36 [[ 9.83823694e-01 1.75871997e-01 3.40584853e-02 4.05833345e+02] [-1.75750255e-01 9.84412933e-01 -6.55941854e-03 -7.89146270e+01] [-3.46812314e-02 4.67523905e-04 9.99398316e-01 -1.33628522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.074012739 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:405.86, Y:-78.92, Z:-13.36 [[ 9.83549565e-01 1.77505899e-01 3.34948999e-02 4.05860875e+02] [-1.77389129e-01 9.84119654e-01 -6.45005707e-03 -7.89226554e+01] [-3.41079125e-02 4.02319714e-04 9.99418075e-01 -1.33646359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:405.89, Y:-78.93, Z:-13.37 [[ 9.82869125e-01 1.81629129e-01 3.12912600e-02 4.05889196e+02] [-1.81529342e-01 9.83367074e-01 -6.02465019e-03 -7.89347713e+01] [-3.18650467e-02 2.41160811e-04 9.99492151e-01 -1.33659957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.134012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:405.92, Y:-78.94, Z:-13.37 [[ 9.82553973e-01 1.83518614e-01 3.01431335e-02 4.05917333e+02] [-1.83426915e-01 9.83016220e-01 -5.80329834e-03 -7.89414183e+01] [-3.06962024e-02 1.72991847e-04 9.99528746e-01 -1.33666446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:405.95, Y:-78.95, Z:-13.37 [[ 9.81767488e-01 1.87961787e-01 2.83366710e-02 4.05945231e+02] [-1.87882637e-01 9.82176342e-01 -5.45424857e-03 -7.89470228e+01] [-2.88567981e-02 3.08354428e-05 9.99583555e-01 -1.33686695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.194012739 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:405.97, Y:-78.95, Z:-13.37 [[ 9.80927192e-01 1.92111429e-01 2.95811066e-02 4.05971622e+02] [-1.92027102e-01 9.81373114e-01 -5.69233103e-03 -7.89544713e+01] [-3.01236646e-02 -9.66118930e-05 9.99546175e-01 -1.33695063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:406.00, Y:-78.96, Z:-13.37 [[ 9.80697207e-01 1.93071148e-01 3.09276615e-02 4.05999264e+02] [-1.92979504e-01 9.81184750e-01 -5.94953515e-03 -7.89603339e+01] [-3.14944334e-02 -1.33712277e-04 9.99503918e-01 -1.33699908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.254012739 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:406.03, Y:-78.97, Z:-13.37 [[ 9.80624729e-01 1.93291815e-01 3.18342000e-02 4.06027052e+02] [-1.93194902e-01 9.81141301e-01 -6.12185198e-03 -7.89656786e+01] [-3.24171523e-02 -1.46965715e-04 9.99474415e-01 -1.33698914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:406.06, Y:-78.97, Z:-13.37 [[ 9.80813300e-01 1.91859079e-01 3.45740387e-02 4.06055153e+02] [-1.91743947e-01 9.81422479e-01 -6.64659089e-03 -7.89721691e+01] [-3.52069476e-02 -1.10297904e-04 9.99380037e-01 -1.33722185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.314012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:406.08, Y:-78.98, Z:-13.37 [[ 9.81179489e-01 1.89633837e-01 3.64117982e-02 4.06082714e+02] [-1.89504668e-01 9.81854881e-01 -6.99816437e-03 -7.89820389e+01] [-3.70781905e-02 -3.37503685e-05 9.99312367e-01 -1.33726893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:406.11, Y:-78.99, Z:-13.37 [[ 9.81480334e-01 1.88113858e-01 3.61874330e-02 4.06111859e+02] [-1.87985287e-01 9.82147227e-01 -6.95384436e-03 -7.89892275e+01] [-3.68495015e-02 2.23565157e-05 9.99320826e-01 -1.33732780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.374012739 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:406.14, Y:-79.00, Z:-13.37 [[ 9.82147174e-01 1.85064043e-01 3.37376437e-02 4.06140949e+02] [-1.84950519e-01 9.82726454e-01 -6.48241194e-03 -7.89969740e+01] [-3.43545363e-02 1.26887872e-04 9.99409701e-01 -1.33738465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:406.17, Y:-79.00, Z:-13.38 [[ 9.82300110e-01 1.84418446e-01 3.28074899e-02 4.06169906e+02] [-1.84310738e-01 9.82847809e-01 -6.30367458e-03 -7.90041969e+01] [-3.34072835e-02 1.45327549e-04 9.99441810e-01 -1.33752737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.434012739 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:406.20, Y:-79.01, Z:-13.38 [[ 9.81939861e-01 1.86368018e-01 3.25740797e-02 4.06198213e+02] [-1.86262923e-01 9.82480003e-01 -6.25840909e-03 -7.90120712e+01] [-3.31697492e-02 7.80380526e-05 9.99449729e-01 -1.33757961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:406.23, Y:-79.02, Z:-13.38 [[ 9.81555388e-01 1.88301758e-01 3.30373664e-02 4.06228404e+02] [-1.88194794e-01 9.82111220e-01 -6.34598498e-03 -7.90176639e+01] [-3.36413283e-02 1.14753862e-05 9.99433970e-01 -1.33768119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.494012739 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:406.26, Y:-79.02, Z:-13.38 [[ 9.80693026e-01 1.92733587e-01 3.30900836e-02 4.06256868e+02] [-1.92628804e-01 9.81251112e-01 -6.35605063e-03 -7.90221246e+01] [-3.36947058e-02 -1.40768716e-04 9.99432162e-01 -1.33778808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:406.28, Y:-79.03, Z:-13.38 [[ 9.80353569e-01 1.94526491e-01 3.26546149e-02 4.06284770e+02] [-1.94425481e-01 9.80897244e-01 -6.27121228e-03 -7.90273088e+01] [-3.32507387e-02 -2.00883882e-04 9.99447021e-01 -1.33795669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55401273900003 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:406.31, Y:-79.03, Z:-13.38 [[ 9.79812567e-01 1.97440037e-01 3.13809611e-02 4.06313408e+02] [-1.97348283e-01 9.80314923e-01 -6.02551545e-03 -7.90302119e+01] [-3.19529025e-02 -2.89103040e-04 9.99489334e-01 -1.33809978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:406.34, Y:-79.03, Z:-13.38 [[ 9.79576176e-01 1.98717278e-01 3.06913590e-02 4.06341802e+02] [-1.98630186e-01 9.80056803e-01 -5.89165418e-03 -7.90335557e+01] [-3.12500486e-02 -3.24906264e-04 9.99511545e-01 -1.33817297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.614012739 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:406.37, Y:-79.03, Z:-13.38 [[ 9.79299567e-01 2.00193742e-01 2.99136108e-02 4.06370349e+02] [-2.00111740e-01 9.79756262e-01 -5.74094756e-03 -7.90341471e+01] [-3.04573493e-02 -3.63957247e-04 9.99536001e-01 -1.33825132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:406.40, Y:-79.04, Z:-13.38 [[ 9.79220833e-01 2.00388339e-01 3.11620392e-02 4.06397664e+02] [-2.00299509e-01 9.79716471e-01 -5.97856334e-03 -7.90372952e+01] [-3.17279975e-02 -3.87407399e-04 9.99496465e-01 -1.33834589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.674012739 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:406.43, Y:-79.04, Z:-13.38 [[ 9.79306426e-01 1.99401801e-01 3.46098987e-02 4.06426278e+02] [-1.99291684e-01 9.79917733e-01 -6.63783171e-03 -7.90404455e+01] [-3.52384491e-02 -3.96993734e-04 9.99378854e-01 -1.33827373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:406.46, Y:-79.05, Z:-13.38 [[ 9.79572034e-01 1.97964050e-01 3.53392890e-02 4.06455093e+02] [-1.97848367e-01 9.80209217e-01 -6.77600500e-03 -7.90453594e+01] [-3.59813022e-02 -3.54235642e-04 9.99352401e-01 -1.33838950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.734012739 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:406.48, Y:-79.05, Z:-13.39 [[ 9.80495067e-01 1.93723577e-01 3.31752909e-02 4.06483782e+02] [-1.93619254e-01 9.81056135e-01 -6.35958495e-03 -7.90503689e+01] [-3.37788242e-02 -1.87833395e-04 9.99429315e-01 -1.33856539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:406.51, Y:-79.06, Z:-13.39 [[ 9.81461140e-01 1.88888315e-01 3.24843772e-02 4.06511389e+02] [-1.88785692e-01 9.81998576e-01 -6.22562824e-03 -7.90580787e+01] [-3.30755606e-02 -2.23734386e-05 9.99452854e-01 -1.33878989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.794012739 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:406.54, Y:-79.07, Z:-13.39 [[ 9.81880067e-01 1.86518096e-01 3.35042373e-02 4.06539442e+02] [-1.86407602e-01 9.82451524e-01 -6.41946477e-03 -7.90656147e+01] [-3.41136354e-02 5.76999572e-05 9.99417959e-01 -1.33881245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:406.57, Y:-79.07, Z:-13.39 [[ 9.82614884e-01 1.82360072e-01 3.48251944e-02 4.06568735e+02] [-1.82238118e-01 9.83231794e-01 -6.67140027e-03 -7.90748980e+01] [-3.54578354e-02 2.08939305e-04 9.99371151e-01 -1.33876966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.854012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:406.60, Y:-79.08, Z:-13.39 [[ 9.82918117e-01 1.80891574e-01 3.39148055e-02 4.06597026e+02] [-1.80775041e-01 9.83503011e-01 -6.49702970e-03 -7.90815446e+01] [-3.45305713e-02 2.55097853e-04 9.99403609e-01 -1.33888093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:406.63, Y:-79.09, Z:-13.39 [[ 9.83037496e-01 1.80699691e-01 3.13831606e-02 4.06625293e+02] [-1.80599801e-01 9.83538287e-01 -6.01241260e-03 -7.90899935e+01] [-3.19529812e-02 2.42634464e-04 9.99489344e-01 -1.33913639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.914012739 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:406.66, Y:-79.10, Z:-13.39 [[ 9.82743678e-01 1.82214312e-01 3.18246438e-02 4.06655363e+02] [-1.82112397e-01 9.83258819e-01 -6.09662355e-03 -7.90972962e+01] [-3.24027537e-02 1.95756093e-04 9.99474874e-01 -1.33925452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:406.68, Y:-79.10, Z:-13.39 [[ 9.82028574e-01 1.85685282e-01 3.37765753e-02 4.06683943e+02] [-1.85572530e-01 9.82609266e-01 -6.47049810e-03 -7.91033227e+01] [-3.43906521e-02 8.62094772e-05 9.99408463e-01 -1.33921674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.974012739 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:406.71, Y:-79.11, Z:-13.39 [[ 9.81775257e-01 1.86900009e-01 3.44344451e-02 4.06713850e+02] [-1.86783594e-01 9.82378942e-01 -6.59575689e-03 -7.91090236e+01] [-3.50604208e-02 4.37614841e-05 9.99385193e-01 -1.33925768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:406.74, Y:-79.12, Z:-13.39 [[ 9.81713067e-01 1.87348933e-01 3.37614018e-02 4.06742149e+02] [-1.87237293e-01 9.82293427e-01 -6.46681046e-03 -7.91172782e+01] [-3.43751531e-02 2.71588480e-05 9.99408999e-01 -1.33944342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.034012739 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:406.77, Y:-79.13, Z:-13.40 [[ 9.81800731e-01 1.86896909e-01 3.37175006e-02 4.06770596e+02] [-1.86785307e-01 9.82379531e-01 -6.45799116e-03 -7.91250152e+01] [-3.43303610e-02 4.25267387e-05 9.99410539e-01 -1.33958831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:406.80, Y:-79.13, Z:-13.40 [[ 9.82164681e-01 1.85020915e-01 3.34634252e-02 4.06800307e+02] [-1.84909912e-01 9.82734577e-01 -6.40895661e-03 -7.91337510e+01] [-3.40714561e-02 1.06931789e-04 9.99419394e-01 -1.33980792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.094012739 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:406.83, Y:-79.14, Z:-13.40 [[ 9.82294422e-01 1.84380390e-01 3.31894727e-02 4.06830215e+02] [-1.84270832e-01 9.82854951e-01 -6.35648888e-03 -7.91412741e+01] [-3.37924495e-02 1.28091801e-04 9.99428864e-01 -1.33997946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:406.86, Y:-79.15, Z:-13.40 [[ 9.82334808e-01 1.84255788e-01 3.26822565e-02 4.06859504e+02] [-1.84149485e-01 9.82878318e-01 -6.25936097e-03 -7.91494242e+01] [-3.32760048e-02 1.30367437e-04 9.99446192e-01 -1.34008202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.154012739 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:406.89, Y:-79.15, Z:-13.40 [[ 9.82148939e-01 1.85306675e-01 3.23248766e-02 4.06890140e+02] [-1.85203241e-01 9.82680735e-01 -6.19131124e-03 -7.91547292e+01] [-3.29123248e-02 9.41178740e-05 9.99458238e-01 -1.34005985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:406.92, Y:-79.16, Z:-13.40 [[ 9.81432099e-01 1.89295114e-01 3.09579597e-02 4.06919843e+02] [-1.89202203e-01 9.81920240e-01 -5.93024683e-03 -7.91584528e+01] [-3.15208140e-02 -3.71795861e-05 9.99503095e-01 -1.34010073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.214012739 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:406.95, Y:-79.16, Z:-13.40 [[ 9.80940405e-01 1.91745662e-01 3.14566970e-02 4.06949002e+02] [-1.91651005e-01 9.81444643e-01 -6.02539224e-03 -7.91637386e+01] [-3.20283496e-02 -1.18156884e-04 9.99486954e-01 -1.34023299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:406.98, Y:-79.17, Z:-13.40 [[ 9.80968901e-01 1.91450095e-01 3.23554852e-02 4.06977632e+02] [-1.91349815e-01 9.81502343e-01 -6.19674623e-03 -7.91688723e+01] [-3.29433522e-02 -1.12400784e-04 9.99457214e-01 -1.34032502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.274012739 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:407.01, Y:-79.17, Z:-13.40 [[ 9.81053302e-01 1.90887338e-01 3.31125826e-02 4.07006896e+02] [-1.90782003e-01 9.81611947e-01 -6.34133364e-03 -7.91737610e+01] [-3.37141870e-02 -9.60985158e-05 9.99431511e-01 -1.34039041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:407.04, Y:-79.18, Z:-13.41 [[ 9.81118107e-01 1.90506986e-01 3.33818512e-02 4.07035287e+02] [-1.90399725e-01 9.81685836e-01 -6.39245276e-03 -7.91786409e+01] [-3.39882974e-02 -8.41441417e-05 9.99422227e-01 -1.34052202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.334012739 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:407.07, Y:-79.18, Z:-13.41 [[ 9.81100621e-01 1.90677983e-01 3.29162293e-02 4.07065051e+02] [-1.90573827e-01 9.81652637e-01 -6.30220983e-03 -7.91847562e+01] [-3.35139959e-02 -8.98697975e-05 9.99438244e-01 -1.34066374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:407.09, Y:-79.19, Z:-13.41 [[ 9.81019922e-01 1.91369913e-01 3.12645075e-02 4.07094360e+02] [-1.91276301e-01 9.81517980e-01 -5.98597006e-03 -7.91890101e+01] [-3.18322108e-02 -1.07803458e-04 9.99493221e-01 -1.34074084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.394012739 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:407.12, Y:-79.19, Z:-13.41 [[ 9.80530245e-01 1.94170886e-01 2.92934532e-02 4.07124303e+02] [-1.94089966e-01 9.80967702e-01 -5.60828433e-03 -7.91916239e+01] [-2.98248970e-02 -1.86472931e-04 9.99555121e-01 -1.34084734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:407.15, Y:-79.20, Z:-13.41 [[ 9.80245993e-01 1.95617661e-01 2.91808993e-02 4.07153257e+02] [-1.95538022e-01 9.80680212e-01 -5.58608918e-03 -7.91955358e+01] [-2.97098682e-02 -2.30233794e-04 9.99558538e-01 -1.34087753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.454012739 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:407.18, Y:-79.20, Z:-13.41 [[ 9.79854317e-01 1.97096935e-01 3.22229182e-02 4.07180939e+02] [-1.97000679e-01 9.80383958e-01 -6.16664849e-03 -7.91972039e+01] [-3.28062596e-02 -3.05519633e-04 9.99461683e-01 -1.34088222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:407.21, Y:-79.20, Z:-13.41 [[ 9.79769618e-01 1.97196312e-01 3.41337040e-02 4.07209277e+02] [-1.97088441e-01 9.80363966e-01 -6.52998325e-03 -7.92014061e+01] [-3.47511421e-02 -3.29479307e-04 9.99395942e-01 -1.34086936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.514012739 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:407.24, Y:-79.21, Z:-13.41 [[ 9.79922211e-01 1.96050329e-01 3.62867547e-02 4.07238723e+02] [-1.95927695e-01 9.80593786e-01 -6.94011814e-03 -7.92055575e+01] [-3.69431786e-02 -3.08804275e-04 9.99317320e-01 -1.34090887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:407.27, Y:-79.21, Z:-13.41 [[ 9.80011452e-01 1.95695931e-01 3.57862729e-02 4.07267365e+02] [-1.95576455e-01 9.80664579e-01 -6.84347870e-03 -7.92099430e+01] [-3.64335712e-02 -2.92264894e-04 9.99336034e-01 -1.34105352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.574012739 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:407.30, Y:-79.21, Z:-13.41 [[ 9.80055254e-01 1.95984600e-01 3.28897429e-02 4.07297678e+02] [-1.95883885e-01 9.80606934e-01 -6.28847626e-03 -7.92114386e+01] [-3.34843544e-02 -2.79516426e-04 9.99439203e-01 -1.34131843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:407.33, Y:-79.21, Z:-13.41 [[ 9.80002120e-01 1.96529269e-01 3.11783870e-02 4.07326181e+02] [-1.96439063e-01 9.80497918e-01 -5.96054096e-03 -7.92148138e+01] [-3.17417643e-02 -2.83310367e-04 9.99496063e-01 -1.34142630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.634012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:407.35, Y:-79.22, Z:-13.41 [[ 9.79892937e-01 1.97172972e-01 3.05393386e-02 4.07354320e+02] [-1.97086786e-01 9.80368670e-01 -5.83689590e-03 -7.92167987e+01] [-3.10906889e-02 -2.99367029e-04 9.99516523e-01 -1.34142352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:407.38, Y:-79.22, Z:-13.42 [[ 9.79899949e-01 1.97138065e-01 3.05396913e-02 4.07383129e+02] [-1.97051919e-01 9.80375690e-01 -5.83505032e-03 -7.92222194e+01] [-3.10906814e-02 -3.00139268e-04 9.99516523e-01 -1.34151746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.694012739 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:407.41, Y:-79.23, Z:-13.42 [[ 9.79962721e-01 1.96712647e-01 3.12601992e-02 4.07411018e+02] [-1.96622209e-01 9.80461140e-01 -5.97153839e-03 -7.92259250e+01] [-3.18240876e-02 -2.94564393e-04 9.99493442e-01 -1.34155564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:407.44, Y:-79.23, Z:-13.42 [[ 9.80238175e-01 1.95051719e-01 3.29840493e-02 4.07440211e+02] [-1.94950159e-01 9.80792925e-01 -6.29873414e-03 -7.92287107e+01] [-3.35791011e-02 -2.55986019e-04 9.99436030e-01 -1.34162191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.754012739 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:407.47, Y:-79.23, Z:-13.42 [[ 9.80335821e-01 1.94462999e-01 3.35532504e-02 4.07467489e+02] [-1.94357617e-01 9.80909824e-01 -6.40570877e-03 -7.92334216e+01] [-3.41583863e-02 -2.41584011e-04 9.99416403e-01 -1.34177228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:407.49, Y:-79.24, Z:-13.42 [[ 9.80726535e-01 1.92741591e-01 3.20334471e-02 4.07494618e+02] [-1.92644685e-01 9.81249534e-01 -6.11366960e-03 -7.92394153e+01] [-3.26111634e-02 -1.75235328e-04 9.99468099e-01 -1.34193993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.814012739 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:407.52, Y:-79.25, Z:-13.42 [[ 9.81007348e-01 1.91522266e-01 3.07214030e-02 4.07522917e+02] [-1.91432596e-01 9.81488260e-01 -5.86144680e-03 -7.92467210e+01] [-3.12752939e-02 -1.30955561e-04 9.99510800e-01 -1.34211367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:407.55, Y:-79.25, Z:-13.42 [[ 9.81043841e-01 1.91356881e-01 3.05863825e-02 4.07550848e+02] [-1.91267963e-01 9.81520518e-01 -5.83422243e-03 -7.92536416e+01] [-3.11375806e-02 -1.26567095e-04 9.99515100e-01 -1.34217486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.874012739 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:407.58, Y:-79.26, Z:-13.42 [[ 9.80914938e-01 1.92004839e-01 3.06598612e-02 4.07577943e+02] [-1.91915856e-01 9.81393968e-01 -5.84676211e-03 -7.92616152e+01] [-3.12120095e-02 -1.48937216e-04 9.99512775e-01 -1.34227558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:407.60, Y:-79.27, Z:-13.42 [[ 9.80672066e-01 1.93239694e-01 3.06711640e-02 4.07604694e+02] [-1.93151307e-01 9.81151560e-01 -5.84707183e-03 -7.92672293e+01] [-3.12229468e-02 -1.90115395e-04 9.99512427e-01 -1.34231973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.934012739 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:407.63, Y:-79.27, Z:-13.42 [[ 9.79992201e-01 1.96734070e-01 3.01826510e-02 4.07632529e+02] [-1.96650192e-01 9.80456841e-01 -5.75201040e-03 -7.92726235e+01] [-3.07244031e-02 -2.98498774e-04 9.99527850e-01 -1.34244983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:407.66, Y:-79.28, Z:-13.43 [[ 9.79796010e-01 1.97780416e-01 2.97100274e-02 4.07660350e+02] [-1.97699667e-01 9.80246296e-01 -5.66054265e-03 -7.92782822e+01] [-3.02426888e-02 -3.27485425e-04 9.99542532e-01 -1.34253543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.994012739 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:407.69, Y:-79.28, Z:-13.43 [[ 9.79705049e-01 1.98234912e-01 2.96805808e-02 4.07687655e+02] [-1.98154575e-01 9.80154479e-01 -5.65350019e-03 -7.92841878e+01] [-3.02122753e-02 -3.42580195e-04 9.99543446e-01 -1.34267798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:407.72, Y:-79.29, Z:-13.43 [[ 9.79674753e-01 1.98327744e-01 3.00580062e-02 4.07715843e+02] [-1.98245452e-01 9.80135696e-01 -5.72351944e-03 -7.92891891e+01] [-3.05960576e-02 -3.51675527e-04 9.99531769e-01 -1.34276065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05401273900003 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:407.74, Y:-79.29, Z:-13.43 [[ 9.79632554e-01 1.98193043e-01 3.22424830e-02 4.07743354e+02] [-1.98098335e-01 9.80162934e-01 -6.13776314e-03 -7.92926152e+01] [-3.28193487e-02 -3.74429615e-04 9.99461230e-01 -1.34268783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:407.77, Y:-79.30, Z:-13.43 [[ 9.79733521e-01 1.97498776e-01 3.34134844e-02 4.07771358e+02] [-1.97396735e-01 9.80303065e-01 -6.35843608e-03 -7.92970790e+01] [-3.40111245e-02 -3.66139741e-04 9.99421387e-01 -1.34268873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.114012739 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:407.80, Y:-79.30, Z:-13.43 [[ 9.80464546e-01 1.93558993e-01 3.49884159e-02 4.07799318e+02] [-1.93444656e-01 9.81088608e-01 -6.65639456e-03 -7.93023565e+01] [-3.56151413e-02 -2.41963202e-04 9.99365550e-01 -1.34278140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:407.83, Y:-79.31, Z:-13.43 [[ 9.81360794e-01 1.88994870e-01 3.48127956e-02 4.07828685e+02] [-1.88878861e-01 9.81978072e-01 -6.62138163e-03 -7.93086280e+01] [-3.54368091e-02 -7.74368503e-05 9.99371916e-01 -1.34289175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.174012739 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:407.86, Y:-79.31, Z:-13.43 [[ 9.81731827e-01 1.87174458e-01 3.41810072e-02 4.07858021e+02] [-1.87061548e-01 9.82326688e-01 -6.50040309e-03 -7.93148261e+01] [-3.47936251e-02 -1.22995109e-05 9.99394518e-01 -1.34294598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:407.89, Y:-79.32, Z:-13.43 [[ 9.82450884e-01 1.83929088e-01 3.09895444e-02 4.07888170e+02] [-1.83682418e-01 9.82927930e-01 -1.06514788e-02 -7.93210101e+01] [-3.24196055e-02 4.77232032e-03 9.99462953e-01 -1.34315042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.234012739 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:407.92, Y:-79.33, Z:-13.43 [[ 9.82670900e-01 1.82384173e-01 3.30743960e-02 4.07915769e+02] [-1.82435148e-01 9.83216751e-01 -1.49551914e-03 -7.93332254e+01] [-3.27920592e-02 -4.56432919e-03 9.99451774e-01 -1.34328478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:407.95, Y:-79.34, Z:-13.43 [[ 9.82661045e-01 1.82894648e-01 3.04436971e-02 4.07945050e+02] [-1.82802944e-01 9.83132510e-01 -5.79242962e-03 -7.93367110e+01] [-3.09895927e-02 1.26797494e-04 9.99519699e-01 -1.34339605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.294012739 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:407.97, Y:-79.34, Z:-13.43 [[ 9.82144956e-01 1.85660011e-01 3.03586191e-02 4.07974407e+02] [-1.85570150e-01 9.82614044e-01 -5.77588713e-03 -7.93420785e+01] [-3.09031567e-02 3.91049278e-05 9.99522383e-01 -1.34338331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:408.00, Y:-79.35, Z:-13.43 [[ 9.81766100e-01 1.87505782e-01 3.12554910e-02 4.08003394e+02] [-1.87411491e-01 9.82263499e-01 -5.94574557e-03 -7.93476177e+01] [-3.18159896e-02 -2.03067201e-05 9.99493743e-01 -1.34344449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.354012739 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:408.03, Y:-79.35, Z:-13.44 [[ 9.81305261e-01 1.89789951e-01 3.19336762e-02 4.08032610e+02] [-1.89692758e-01 9.81824712e-01 -6.07394009e-03 -7.93526326e+01] [-3.25060452e-02 -9.71977337e-05 9.99471534e-01 -1.34353614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:408.06, Y:-79.36, Z:-13.44 [[ 9.80596368e-01 1.93463738e-01 3.16629792e-02 4.08061028e+02] [-1.93370124e-01 9.81107402e-01 -6.02166841e-03 -7.93566887e+01] [-3.22297578e-02 -2.17848055e-04 9.99480463e-01 -1.34372902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.414012739 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:408.09, Y:-79.36, Z:-13.44 [[ 9.80372770e-01 1.94636116e-01 3.14008475e-02 4.08088456e+02] [-1.94544672e-01 9.80875485e-01 -5.97104013e-03 -7.93609006e+01] [-3.19625016e-02 -2.55022424e-04 9.99489036e-01 -1.34388584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:408.12, Y:-79.36, Z:-13.44 [[ 9.80212427e-01 1.95352984e-01 3.19501141e-02 4.08115654e+02] [-1.95258757e-01 9.80732956e-01 -6.07351236e-03 -7.93645926e+01] [-3.25210086e-02 -2.85207268e-04 9.99471011e-01 -1.34394792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.474012739 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:408.14, Y:-79.37, Z:-13.44 [[ 9.80348167e-01 1.94617284e-01 3.22735952e-02 4.08143154e+02] [-1.94520805e-01 9.80879219e-01 -6.13303803e-03 -7.93694634e+01] [-3.28500941e-02 -2.65373119e-04 9.99460255e-01 -1.34391391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:408.17, Y:-79.38, Z:-13.44 [[ 9.81011075e-01 1.91199744e-01 3.25565487e-02 4.08170148e+02] [-1.91099752e-01 9.81551137e-01 -6.18469873e-03 -7.93756999e+01] [-3.31384302e-02 -1.54290443e-04 9.99450759e-01 -1.34403137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.534012739 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:408.20, Y:-79.38, Z:-13.44 [[ 9.81954839e-01 1.86276636e-01 3.26451895e-02 4.08198853e+02] [-1.86173438e-01 9.82497336e-01 -6.19970155e-03 -7.93843796e+01] [-3.32286712e-02 1.01597823e-05 9.99447775e-01 -1.34425238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:408.23, Y:-79.39, Z:-13.44 [[ 9.82481701e-01 1.83447706e-01 3.28123033e-02 4.08227487e+02] [-1.83341897e-01 9.83029465e-01 -6.23063914e-03 -7.93917709e+01] [-3.33984574e-02 1.05619014e-04 9.99442110e-01 -1.34435245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.594012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:408.26, Y:-79.40, Z:-13.44 [[ 9.82866241e-01 1.81295594e-01 3.32544579e-02 4.08256490e+02] [-1.81185707e-01 9.83428632e-01 -6.31383183e-03 -7.94014807e+01] [-3.38480560e-02 1.80419686e-04 9.99426974e-01 -1.34438713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:408.29, Y:-79.41, Z:-13.44 [[ 9.82717762e-01 1.81988513e-01 3.38523543e-02 4.08285397e+02] [-1.81875050e-01 9.83300644e-01 -6.42732242e-03 -7.94092617e+01] [-3.44567406e-02 1.59345281e-04 9.99406178e-01 -1.34445448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.654012739 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:408.31, Y:-79.42, Z:-13.45 [[ 9.81787434e-01 1.86929038e-01 3.39259415e-02 4.08314697e+02] [-1.86818040e-01 9.82373419e-01 -6.44091855e-03 -7.94174920e+01] [-3.45319379e-02 -1.43650034e-05 9.99403595e-01 -1.34453393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:408.34, Y:-79.42, Z:-13.45 [[ 9.81114828e-01 1.90650374e-01 3.26516261e-02 4.08343585e+02] [-1.90549620e-01 9.81657993e-01 -6.19897246e-03 -7.94231023e+01] [-3.32345662e-02 -1.39851128e-04 9.99447569e-01 -1.34472341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.714012739 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:408.37, Y:-79.43, Z:-13.45 [[ 9.79635297e-01 1.98454584e-01 3.05034851e-02 4.08371820e+02] [-1.98370439e-01 9.80110012e-01 -5.79083651e-03 -7.94290750e+01] [-3.10459892e-02 -3.78081894e-04 9.99517886e-01 -1.34488730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:408.40, Y:-79.43, Z:-13.45 [[ 9.78889141e-01 2.01953780e-01 3.14757292e-02 4.08400193e+02] [-2.01866040e-01 9.79394923e-01 -5.97385811e-03 -7.94342257e+01] [-3.20336126e-02 -5.06136005e-04 9.99486664e-01 -1.34490166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.774012739 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:408.43, Y:-79.44, Z:-13.45 [[ 9.77817919e-01 2.06866442e-01 3.28388928e-02 4.08427787e+02] [-2.06773757e-01 9.78368943e-01 -6.23092963e-03 -7.94367027e+01] [-3.34175230e-02 -6.97506598e-04 9.99441235e-01 -1.34489232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:408.46, Y:-79.44, Z:-13.45 [[ 9.77466960e-01 2.08892113e-01 3.03714828e-02 4.08456759e+02] [-2.08813864e-01 9.77938434e-01 -5.76108621e-03 -7.94380905e+01] [-3.09048858e-02 -7.10715267e-04 9.99522077e-01 -1.34514006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.834012739 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:408.48, Y:-79.44, Z:-13.45 [[ 9.77512421e-01 2.08840151e-01 2.92447951e-02 4.08484739e+02] [-2.08767616e-01 9.77949551e-01 -5.54607895e-03 -7.94411489e+01] [-2.97581782e-02 -6.84005104e-04 9.99556893e-01 -1.34533612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:408.51, Y:-79.44, Z:-13.45 [[ 9.77852019e-01 2.07240473e-01 2.92713957e-02 4.08513571e+02] [-2.07167141e-01 9.78289824e-01 -5.54939644e-03 -7.94422944e+01] [-2.97859681e-02 -6.37582846e-04 9.99556096e-01 -1.34545801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.894012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:408.54, Y:-79.45, Z:-13.46 [[ 9.78171232e-01 2.05494964e-01 3.08684432e-02 4.08541447e+02] [-2.05412592e-01 9.78657978e-01 -5.85056606e-03 -7.94452752e+01] [-3.14119101e-02 -6.17911508e-04 9.99506333e-01 -1.34555552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:408.57, Y:-79.45, Z:-13.46 [[ 9.78974710e-01 2.01183002e-01 3.36736709e-02 4.08570608e+02] [-2.01082499e-01 9.79553533e-01 -6.38002633e-03 -7.94479861e+01] [-3.42687162e-02 -5.25301490e-04 9.99412517e-01 -1.34554426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.954012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:408.60, Y:-79.45, Z:-13.46 [[ 9.79513458e-01 1.98523548e-01 3.37903191e-02 4.08598185e+02] [-1.98420820e-01 9.80096022e-01 -6.40053562e-03 -7.94531417e+01] [-3.43884144e-02 -4.35292048e-04 9.99408449e-01 -1.34560794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:408.63, Y:-79.46, Z:-13.46 [[ 9.80872121e-01 1.92009875e-01 3.19701453e-02 4.08625950e+02] [-1.91914511e-01 9.81392974e-01 -6.05402591e-03 -7.94592877e+01] [-3.25377088e-02 -1.97309588e-04 9.99470489e-01 -1.34585689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.014012739 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:408.65, Y:-79.46, Z:-13.46 [[ 9.81501728e-01 1.88963701e-01 3.07746199e-02 4.08653436e+02] [-1.88873884e-01 9.81984068e-01 -5.82625539e-03 -7.94643378e+01] [-3.13211372e-02 -9.40422419e-05 9.99509368e-01 -1.34595830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:408.68, Y:-79.47, Z:-13.46 [[ 9.82358488e-01 1.84411395e-01 3.10521754e-02 4.08681495e+02] [-1.84317732e-01 9.82849142e-01 -5.87697122e-03 -7.94689860e+01] [-3.16033844e-02 4.98260303e-05 9.99500487e-01 -1.34601722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.074012739 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:408.71, Y:-79.47, Z:-13.46 [[ 9.82970405e-01 1.81007508e-01 3.17090622e-02 4.08708882e+02] [-1.80908115e-01 9.83481701e-01 -5.99982226e-03 -7.94735627e+01] [-3.22712953e-02 1.61221036e-04 9.99479133e-01 -1.34599727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:408.74, Y:-79.48, Z:-13.46 [[ 9.83203343e-01 1.79866546e-01 3.09711360e-02 4.08737718e+02] [-1.79771217e-01 9.83691003e-01 -5.85839691e-03 -7.94786508e+01] [-3.15197574e-02 1.92276611e-04 9.99503111e-01 -1.34610977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.134012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:408.77, Y:-79.48, Z:-13.46 [[ 9.83394943e-01 1.78929848e-01 3.03067029e-02 4.08766501e+02] [-1.78838164e-01 9.83861811e-01 -5.73133244e-03 -7.94836492e+01] [-3.08431140e-02 2.16168233e-04 9.99524215e-01 -1.34628117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:408.80, Y:-79.49, Z:-13.46 [[ 9.83609784e-01 1.77787326e-01 3.00575956e-02 4.08795030e+02] [-1.77696632e-01 9.84068902e-01 -5.68351366e-03 -7.94862082e+01] [-3.05892018e-02 2.49226119e-04 9.99532010e-01 -1.34631258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.194012739 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:408.82, Y:-79.49, Z:-13.46 [[ 9.83623530e-01 1.77573886e-01 3.08588236e-02 4.08824710e+02] [-1.77478222e-01 9.84107437e-01 -5.83385538e-03 -7.94892669e+01] [-3.14043382e-02 2.61548259e-04 9.99506728e-01 -1.34640478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:408.85, Y:-79.49, Z:-13.47 [[ 9.83635771e-01 1.77428847e-01 3.12997356e-02 4.08854457e+02] [-1.77330381e-01 9.84133594e-01 -5.91645005e-03 -7.94927467e+01] [-3.18528703e-02 2.69237875e-04 9.99492532e-01 -1.34652859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.254012739 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:408.88, Y:-79.50, Z:-13.47 [[ 9.83794330e-01 1.76276886e-01 3.27898708e-02 4.08882783e+02] [-1.76168206e-01 9.84340570e-01 -6.19729295e-03 -7.94960085e+01] [-3.33688396e-02 3.20328956e-04 9.99443054e-01 -1.34658951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:408.91, Y:-79.50, Z:-13.47 [[ 9.83911897e-01 1.75470884e-01 3.35759919e-02 4.08912479e+02] [-1.75356500e-01 9.84484557e-01 -6.34467594e-03 -7.95003340e+01] [-3.41683515e-02 3.54833699e-04 9.99416028e-01 -1.34660467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.314012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:408.94, Y:-79.50, Z:-13.47 [[ 9.84288872e-01 1.73508889e-01 3.27121113e-02 4.08941544e+02] [-1.73399259e-01 9.84832217e-01 -6.18066485e-03 -7.95015414e+01] [-3.32883414e-02 4.11303777e-04 9.99445705e-01 -1.34673314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:408.97, Y:-79.51, Z:-13.47 [[ 9.84593803e-01 1.71841139e-01 3.23367684e-02 4.08971132e+02] [-1.71733149e-01 9.85124566e-01 -6.10862820e-03 -7.95058058e+01] [-3.29054586e-02 4.61222393e-04 9.99458362e-01 -1.34689007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.374012739 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:409.00, Y:-79.51, Z:-13.47 [[ 9.85567369e-01 1.66017630e-01 3.30924108e-02 4.08998942e+02] [-1.65901276e-01 9.86122557e-01 -6.25056381e-03 -7.95117625e+01] [-3.36708765e-02 6.70278564e-04 9.99432751e-01 -1.34707541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:409.03, Y:-79.52, Z:-13.47 [[ 9.86614171e-01 1.59771702e-01 3.26416895e-02 4.09028340e+02] [-1.59655114e-01 9.87153608e-01 -6.16434810e-03 -7.95199695e+01] [-3.32072499e-02 8.70420548e-04 9.99448108e-01 -1.34705101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.434012739 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:409.06, Y:-79.53, Z:-13.47 [[ 9.87354632e-01 1.55290697e-01 3.18689457e-02 4.09057831e+02] [-1.55177231e-01 9.87868314e-01 -6.01845262e-03 -7.95304789e+01] [-3.24169313e-02 9.97012332e-04 9.99473936e-01 -1.34714075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:409.09, Y:-79.54, Z:-13.47 [[ 9.87593180e-01 1.53814150e-01 3.16372849e-02 4.09088534e+02] [-1.53701481e-01 9.88099248e-01 -5.97749396e-03 -7.95392468e+01] [-3.21802006e-02 1.04063473e-03 9.99481541e-01 -1.34726685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.494012739 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:409.12, Y:-79.55, Z:-13.48 [[ 9.87662689e-01 1.53439249e-01 3.12859356e-02 4.09119934e+02] [-1.53328860e-01 9.88157534e-01 -5.91178311e-03 -7.95510150e+01] [-3.18225325e-02 1.04181078e-03 9.99492992e-01 -1.34752520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:409.15, Y:-79.56, Z:-13.48 [[ 9.87447326e-01 1.54830222e-01 3.12310760e-02 4.09150439e+02] [-1.54720727e-01 9.87940585e-01 -5.90733175e-03 -7.95603903e+01] [-3.17690810e-02 1.00108416e-03 9.99494734e-01 -1.34754323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55401273900003 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:409.18, Y:-79.57, Z:-13.48 [[ 9.87089851e-01 1.57055956e-01 3.14173845e-02 4.09181250e+02] [-1.56946096e-01 9.87589258e-01 -5.94817697e-03 -7.95700840e+01] [-3.19616680e-02 9.40549276e-04 9.99488653e-01 -1.34762383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:409.21, Y:-79.58, Z:-13.48 [[ 9.87084783e-01 1.57087987e-01 3.14164827e-02 4.09212505e+02] [-1.56977992e-01 9.87584160e-01 -5.95293582e-03 -7.95760554e+01] [-3.19615554e-02 9.44355977e-04 9.99488653e-01 -1.34772576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.614012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:409.24, Y:-79.59, Z:-13.48 [[ 9.86068537e-01 1.63464106e-01 3.07949170e-02 4.09240737e+02] [-1.63361492e-01 9.86549016e-01 -5.83618354e-03 -7.95879001e+01] [-3.13347016e-02 7.24173368e-04 9.99508685e-01 -1.34775372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:409.27, Y:-79.60, Z:-13.48 [[ 9.84871603e-01 1.70842109e-01 2.89982485e-02 4.09269295e+02] [-1.70754307e-01 9.85298311e-01 -5.49598469e-03 -7.95993195e+01] [-2.95108709e-02 4.61263433e-04 9.99564353e-01 -1.34789861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.674012739 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:409.30, Y:-79.61, Z:-13.48 [[ 9.84384335e-01 1.73576949e-01 2.93005680e-02 4.09297824e+02] [-1.73488505e-01 9.84820235e-01 -5.55366047e-03 -7.96079753e+01] [-2.98197798e-02 3.83624635e-04 9.99555218e-01 -1.34804289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:409.33, Y:-79.62, Z:-13.48 [[ 9.83791142e-01 1.76597932e-01 3.11152699e-02 4.09326249e+02] [-1.76499711e-01 9.84283026e-01 -5.89724902e-03 -7.96202754e+01] [-3.16676740e-02 3.09825200e-04 9.99498405e-01 -1.34816488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.734012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:409.36, Y:-79.63, Z:-13.48 [[ 9.83789083e-01 1.76542622e-01 3.14919632e-02 4.09356540e+02] [-1.76441980e-01 9.84292946e-01 -5.96864413e-03 -7.96291236e+01] [-3.20510374e-02 3.15382600e-04 9.99486184e-01 -1.34829714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:409.39, Y:-79.64, Z:-13.48 [[ 9.84019258e-01 1.75549585e-01 2.98067797e-02 4.09385785e+02] [-1.75458959e-01 9.84470535e-01 -5.64967579e-03 -7.96412201e+01] [-3.03356946e-02 3.29523238e-04 9.99539713e-01 -1.34836583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.794012739 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:409.42, Y:-79.65, Z:-13.49 [[ 9.84159382e-01 1.74975800e-01 2.85268192e-02 4.09416111e+02] [-1.74892428e-01 9.84572677e-01 -5.41132959e-03 -7.96503036e+01] [-2.90335784e-02 3.36486119e-04 9.99578380e-01 -1.34851165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:409.45, Y:-79.66, Z:-13.49 [[ 9.84201453e-01 1.74566480e-01 2.95642443e-02 4.09445800e+02] [-1.74476727e-01 9.84645324e-01 -5.60879571e-03 -7.96623740e+01] [-3.00894027e-02 3.61912291e-04 9.99547146e-01 -1.34864843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.854012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:409.48, Y:-79.67, Z:-13.49 [[ 9.84036449e-01 1.75098010e-01 3.18269388e-02 4.09476232e+02] [-1.74994242e-01 9.84550937e-01 -6.03881205e-03 -7.96710915e+01] [-3.23926264e-02 3.72880137e-04 9.99475152e-01 -1.34866484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:409.51, Y:-79.68, Z:-13.49 [[ 9.83693785e-01 1.76677767e-01 3.36378418e-02 4.09508184e+02] [-1.76562735e-01 9.84268688e-01 -6.38355887e-03 -7.96815578e+01] [-3.42365074e-02 3.40277829e-04 9.99413701e-01 -1.34872506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.914012739 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:409.54, Y:-79.69, Z:-13.49 [[ 9.83528050e-01 1.78136801e-01 3.06570453e-02 4.09539111e+02] [-1.78041799e-01 9.84005695e-01 -5.82325107e-03 -7.96890110e+01] [-3.12040425e-02 2.69095286e-04 9.99512999e-01 -1.34891190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:409.57, Y:-79.70, Z:-13.49 [[ 9.83429088e-01 1.78906980e-01 2.93176022e-02 4.09570743e+02] [-1.78820289e-01 9.83865964e-01 -5.57392568e-03 -7.96953798e+01] [-2.98418052e-02 2.38978536e-04 9.99554606e-01 -1.34905128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.974012739 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:409.60, Y:-79.70, Z:-13.49 [[ 9.83415776e-01 1.78996275e-01 2.92189037e-02 4.09602547e+02] [-1.78980650e-01 9.83847485e-01 -3.17052724e-03 -7.97035437e+01] [-2.93144575e-02 -2.11167187e-03 9.99568008e-01 -1.34914829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:409.63, Y:-79.71, Z:-13.49 [[ 9.83449498e-01 1.77929643e-01 3.41778628e-02 4.09632439e+02] [-1.78100487e-01 9.84010280e-01 1.99651444e-03 -7.97118929e+01] [-3.32761293e-02 -8.05056515e-03 9.99413772e-01 -1.34932349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.034012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:409.67, Y:-79.71, Z:-13.49 [[ 9.83681820e-01 1.77560871e-01 2.90209280e-02 4.09668120e+02] [-1.77148772e-01 9.84050364e-01 -1.62232339e-02 -7.97062948e+01] [-3.14386663e-02 1.08174785e-02 9.99447143e-01 -1.34933243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:409.70, Y:-79.72, Z:-13.49 [[ 9.83472932e-01 1.78253062e-01 3.17307079e-02 4.09699332e+02] [-1.78150591e-01 9.83984633e-01 -6.05059451e-03 -7.97173265e+01] [-3.23010660e-02 2.97751547e-04 9.99478140e-01 -1.34933605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.094012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:409.73, Y:-79.72, Z:-13.49 [[ 9.83324565e-01 1.79175180e-01 3.11296492e-02 4.09731639e+02] [-1.79076830e-01 9.83817149e-01 -5.94185983e-03 -7.97226286e+01] [-3.16905166e-02 2.68177810e-04 9.99497693e-01 -1.34949917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:409.76, Y:-79.73, Z:-13.50 [[ 9.83287913e-01 1.79557231e-01 3.00679233e-02 4.09763916e+02] [-1.79465485e-01 9.83747497e-01 -5.74479794e-03 -7.97272693e+01] [-3.06107643e-02 2.52635947e-04 9.99531349e-01 -1.34971347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.154012739 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:409.80, Y:-79.73, Z:-13.50 [[ 9.83351338e-01 1.79248946e-01 2.98322157e-02 4.09795430e+02] [-1.79158316e-01 9.83803712e-01 -5.70553401e-03 -7.97340369e+01] [-3.03717555e-02 2.65854977e-04 9.99538636e-01 -1.34983419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:409.83, Y:-79.74, Z:-13.50 [[ 9.83394769e-01 1.79125744e-01 2.91323983e-02 4.09827654e+02] [-1.79039112e-01 9.83826151e-01 -5.57678362e-03 -7.97417264e+01] [-2.96601608e-02 2.68341112e-04 9.99560005e-01 -1.34976485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.214012739 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:409.86, Y:-79.75, Z:-13.50 [[ 9.83242959e-01 1.79902313e-01 2.94693406e-02 4.09860646e+02] [-1.79813831e-01 9.83684448e-01 -5.64736774e-03 -7.97474509e+01] [-3.00045065e-02 2.53739531e-04 9.99549731e-01 -1.34984994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:409.89, Y:-79.75, Z:-13.50 [[ 9.82688727e-01 1.82627048e-01 3.11484582e-02 4.09892211e+02] [-1.82529348e-01 9.83182245e-01 -5.97584190e-03 -7.97507431e+01] [-3.17159614e-02 1.86884691e-04 9.99496905e-01 -1.34994391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.274012739 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:409.92, Y:-79.76, Z:-13.50 [[ 9.82351666e-01 1.84174493e-01 3.26337261e-02 4.09924971e+02] [-1.84067888e-01 9.82893552e-01 -6.26727899e-03 -7.97566687e+01] [-3.32297519e-02 1.49850902e-04 9.99447728e-01 -1.35009613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:409.96, Y:-79.76, Z:-13.50 [[ 9.81697876e-01 1.87538335e-01 3.31459423e-02 4.09957680e+02] [-1.87430053e-01 9.82257283e-01 -6.37214268e-03 -7.97620542e+01] [-3.37528642e-02 4.29732081e-05 9.99430209e-01 -1.35019105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.334012739 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:409.99, Y:-79.77, Z:-13.50 [[ 9.81572172e-01 1.88368815e-01 3.21443847e-02 4.09990706e+02] [-1.88267227e-01 9.82098360e-01 -6.18564874e-03 -7.97663130e+01] [-3.27341308e-02 1.99265116e-05 9.99464095e-01 -1.35038975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:410.02, Y:-79.77, Z:-13.51 [[ 9.81507595e-01 1.89106576e-01 2.96907962e-02 4.10022829e+02] [-1.89020077e-01 9.81956569e-01 -5.71905516e-03 -7.97690977e+01] [-3.02365833e-02 1.13949362e-06 9.99542770e-01 -1.35070847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.394012739 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:410.05, Y:-79.77, Z:-13.51 [[ 9.81438639e-01 1.89595112e-01 2.88425425e-02 4.10054210e+02] [-1.89513540e-01 9.81862360e-01 -5.56099762e-03 -7.97749034e+01] [-2.93737448e-02 -8.27438881e-06 9.99568498e-01 -1.35072706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:410.08, Y:-79.78, Z:-13.51 [[ 9.81470452e-01 1.89454704e-01 2.86821558e-02 4.10084319e+02] [-1.89373819e-01 9.81889462e-01 -5.53547805e-03 -7.97792646e+01] [-2.92114289e-02 1.25875935e-06 9.99573255e-01 -1.35078934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.454012739 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:410.11, Y:-79.78, Z:-13.51 [[ 9.81357730e-01 1.90101943e-01 2.82534358e-02 4.10114872e+02] [-1.90023715e-01 9.81764356e-01 -5.45312092e-03 -7.97800241e+01] [-2.87748651e-02 -1.73604797e-05 9.99585918e-01 -1.35079234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:410.15, Y:-79.78, Z:-13.51 [[ 9.80646352e-01 1.93621243e-01 2.90438924e-02 4.10145018e+02] [-1.93540117e-01 9.81076347e-01 -5.60571621e-03 -7.97810479e+01] [-2.95796616e-02 -1.23933173e-04 9.99562418e-01 -1.35082649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.514012739 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:410.17, Y:-79.78, Z:-13.51 [[ 9.80233023e-01 1.95558563e-01 3.00011520e-02 4.10173973e+02] [-1.95472917e-01 9.80692007e-01 -5.79015042e-03 -7.97835455e+01] [-3.05542035e-02 -1.88716048e-04 9.99533094e-01 -1.35088564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:410.20, Y:-79.78, Z:-13.51 [[ 9.79451860e-01 1.99352652e-01 3.05380663e-02 4.10204113e+02] [-1.99265800e-01 9.79927764e-01 -5.89230826e-03 -7.97817309e+01] [-3.10997463e-02 -3.13959907e-04 9.99516237e-01 -1.35094122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.574012739 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:410.23, Y:-79.78, Z:-13.51 [[ 9.79348843e-01 1.99984921e-01 2.96963983e-02 4.10232910e+02] [-1.99903124e-01 9.79798921e-01 -5.72850889e-03 -7.97840398e+01] [-3.02421144e-02 -3.26194257e-04 9.99542549e-01 -1.35101866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:410.26, Y:-79.78, Z:-13.51 [[ 9.79747011e-01 1.98204762e-01 2.84721981e-02 4.10262436e+02] [-1.98128848e-01 9.80160601e-01 -5.49140841e-03 -7.97828228e+01] [-2.89957501e-02 -2.60972823e-04 9.99579501e-01 -1.35122025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.634012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:410.29, Y:-79.78, Z:-13.51 [[ 9.80638203e-01 1.93657788e-01 2.90753478e-02 4.10292200e+02] [-1.93576666e-01 9.81069133e-01 -5.60627576e-03 -7.97805385e+01] [-2.96106253e-02 -1.30580707e-04 9.99561501e-01 -1.35138909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:410.32, Y:-79.78, Z:-13.51 [[ 9.81155681e-01 1.90868333e-01 3.00467774e-02 4.10320792e+02] [-1.90780436e-01 9.81615646e-01 -5.79207122e-03 -7.97824149e+01] [-3.05999098e-02 -4.94137037e-05 9.99531712e-01 -1.35148638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.694012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:410.35, Y:-79.79, Z:-13.52 [[ 9.81681737e-01 1.88016811e-01 3.08325395e-02 4.10348881e+02] [-1.87922898e-01 9.82165809e-01 -5.94198002e-03 -7.97851363e+01] [-3.13998582e-02 3.89930988e-05 9.99506902e-01 -1.35156716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:410.38, Y:-79.79, Z:-13.52 [[ 9.82707657e-01 1.82735819e-01 2.98878236e-02 4.10377238e+02] [-1.82645185e-01 9.83162032e-01 -5.75808763e-03 -7.97870130e+01] [-3.04367822e-02 1.99649723e-04 9.99536674e-01 -1.35158402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.754012739 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:410.41, Y:-79.79, Z:-13.52 [[ 9.83770595e-01 1.77103934e-01 2.88029916e-02 4.10405600e+02] [-1.77017377e-01 9.84192089e-01 -5.54807849e-03 -7.97902330e+01] [-2.93302630e-02 3.59406469e-04 9.99569711e-01 -1.35176815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:410.44, Y:-79.80, Z:-13.52 [[ 9.84288727e-01 1.74303245e-01 2.81794244e-02 4.10435131e+02] [-1.74219277e-01 9.84691927e-01 -5.42694213e-03 -7.97961928e+01] [-2.86939853e-02 4.32279038e-04 9.99588149e-01 -1.35190672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.814012739 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:410.46, Y:-79.80, Z:-13.52 [[ 9.85262795e-01 1.68887371e-01 2.70976186e-02 4.10463166e+02] [-1.68807697e-01 9.85635194e-01 -5.21792389e-03 -7.98046718e+01] [-2.75896080e-02 5.66739680e-04 9.99619174e-01 -1.35203144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:410.49, Y:-79.81, Z:-13.52 [[ 9.85639803e-01 1.66528241e-01 2.79736212e-02 4.10491567e+02] [-1.66442390e-01 9.86036469e-01 -5.38630320e-03 -7.98126511e+01] [-2.84799823e-02 6.52958453e-04 9.99594150e-01 -1.35201026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.874012739 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:410.52, Y:-79.82, Z:-13.52 [[ 9.85634358e-01 1.66359652e-01 2.91440961e-02 4.10521438e+02] [-1.66266414e-01 9.86064905e-01 -5.61090001e-03 -7.98199358e+01] [-2.96713977e-02 6.84611490e-04 9.99559473e-01 -1.35202545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:410.55, Y:-79.83, Z:-13.52 [[ 9.85532192e-01 1.66407828e-01 3.21672789e-02 4.10549849e+02] [-1.66294262e-01 9.86056726e-01 -6.19292470e-03 -7.98304636e+01] [-3.27493128e-02 7.54092763e-04 9.99463313e-01 -1.35205916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.934012739 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:410.58, Y:-79.84, Z:-13.52 [[ 9.85420389e-01 1.67014281e-01 3.24482123e-02 4.10580410e+02] [-1.66899062e-01 9.85954199e-01 -6.24665612e-03 -7.98391465e+01] [-3.30357319e-02 7.40006114e-04 9.99453897e-01 -1.35217680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:410.61, Y:-79.85, Z:-13.52 [[ 9.84998424e-01 1.69816302e-01 3.06680424e-02 4.10609912e+02] [-1.69714717e-01 9.85475545e-01 -5.90463217e-03 -7.98498713e+01] [-3.12253086e-02 6.11235247e-04 9.99512184e-01 -1.35235577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.994012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:410.64, Y:-79.86, Z:-13.52 [[ 9.84488775e-01 1.72927468e-01 2.96300924e-02 4.10638397e+02] [-1.72834030e-01 9.84934437e-01 -5.70553652e-03 -7.98579219e+01] [-3.01703423e-02 4.95948375e-04 9.99544649e-01 -1.35240614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:410.67, Y:-79.86, Z:-13.52 [[ 9.84169955e-01 1.74624286e-01 3.02631412e-02 4.10666968e+02] [-1.74527624e-01 9.84635036e-01 -5.82707037e-03 -7.98645105e+01] [-3.08156972e-02 4.53073444e-04 9.99524981e-01 -1.35237995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05401273900003 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:410.70, Y:-79.87, Z:-13.52 [[ 9.83619627e-01 1.77558946e-01 3.10684792e-02 4.10696716e+02] [-1.77458545e-01 9.84110097e-01 -5.98175653e-03 -7.98725205e+01] [-3.16369185e-02 3.70406002e-04 9.99499359e-01 -1.35239581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:410.73, Y:-79.88, Z:-13.53 [[ 9.83409281e-01 1.78804498e-01 3.05800176e-02 4.10726750e+02] [-1.78707831e-01 9.83884569e-01 -5.88771078e-03 -7.98786218e+01] [-3.11399566e-02 3.25140799e-04 9.99514981e-01 -1.35252770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.114012739 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:410.76, Y:-79.88, Z:-13.53 [[ 9.83181795e-01 1.80360159e-01 2.87013965e-02 4.10756233e+02] [-1.80275669e-01 9.83600603e-01 -5.52604489e-03 -7.98836668e+01] [-2.92273893e-02 2.58943276e-04 9.99572755e-01 -1.35284674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:410.79, Y:-79.89, Z:-13.53 [[ 9.83116999e-01 1.80835068e-01 2.79220962e-02 4.10785710e+02] [-1.80755305e-01 9.83513407e-01 -5.37572977e-03 -7.98899126e+01] [-2.84338764e-02 2.37904324e-04 9.99595647e-01 -1.35292934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.174012739 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:410.81, Y:-79.90, Z:-13.53 [[ 9.83078740e-01 1.80817742e-01 2.93451027e-02 4.10813933e+02] [-1.80729652e-01 9.83516589e-01 -5.64901225e-03 -7.98964257e+01] [-2.98828370e-02 2.49893641e-04 9.99553377e-01 -1.35295779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:410.84, Y:-79.90, Z:-13.53 [[ 9.83034849e-01 1.80984603e-01 2.97835527e-02 4.10842937e+02] [-1.80893968e-01 9.83485898e-01 -5.73235810e-03 -7.99010703e+01] [-3.03291726e-02 2.47442750e-04 9.99539934e-01 -1.35302227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.234012739 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:410.87, Y:-79.91, Z:-13.53 [[ 9.82969324e-01 1.81469356e-01 2.89858807e-02 4.10872429e+02] [-1.81383742e-01 9.83396574e-01 -5.57819511e-03 -7.99060144e+01] [-2.95168873e-02 2.25627164e-04 9.99564256e-01 -1.35316852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:410.90, Y:-79.91, Z:-13.53 [[ 9.82786409e-01 1.82594934e-01 2.81063200e-02 4.10901329e+02] [-1.82514913e-01 9.83188210e-01 -5.40839071e-03 -7.99101052e+01] [-2.86213472e-02 1.85470326e-04 9.99590308e-01 -1.35329697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.294012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:410.93, Y:-79.91, Z:-13.53 [[ 9.82659531e-01 1.83175058e-01 2.87601197e-02 4.10930574e+02] [-1.83091560e-01 9.83080296e-01 -5.53280717e-03 -7.99148137e+01] [-2.92869793e-02 1.71130521e-04 9.99571030e-01 -1.35336491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:410.96, Y:-79.92, Z:-13.53 [[ 9.82681933e-01 1.82869789e-01 2.99141888e-02 4.10959315e+02] [-1.82779337e-01 9.83137124e-01 -5.75402500e-03 -7.99192444e+01] [-3.04619869e-02 1.86680831e-04 9.99535909e-01 -1.35340122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.354012739 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:410.99, Y:-79.92, Z:-13.54 [[ 9.82774080e-01 1.82356931e-01 3.00176183e-02 4.10988226e+02] [-1.82265625e-01 9.83232378e-01 -5.77350803e-03 -7.99246843e+01] [-3.05671334e-02 2.02874093e-04 9.99532695e-01 -1.35350462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:411.02, Y:-79.93, Z:-13.54 [[ 9.82953996e-01 1.81530337e-01 2.91235125e-02 4.11016537e+02] [-1.81444014e-01 9.83385320e-01 -5.60197857e-03 -7.99281806e+01] [-2.96565637e-02 2.22200198e-04 9.99560123e-01 -1.35352268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.414012739 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:411.05, Y:-79.93, Z:-13.54 [[ 9.82962866e-01 1.81552145e-01 2.86848859e-02 4.11045847e+02] [-1.81468435e-01 9.83381295e-01 -5.51688500e-03 -7.99324118e+01] [-2.92097825e-02 2.17491755e-04 9.99573280e-01 -1.35367576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:411.07, Y:-79.93, Z:-13.54 [[ 9.83057480e-01 1.80883010e-01 2.96534473e-02 4.11074514e+02] [-1.80793267e-01 9.83504589e-01 -5.70244872e-03 -7.99344181e+01] [-3.01957776e-02 2.44691250e-04 9.99543974e-01 -1.35367325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.474012739 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:411.10, Y:-79.94, Z:-13.54 [[ 9.83063210e-01 1.80851835e-01 2.96536471e-02 4.11103319e+02] [-1.80762108e-01 9.83510322e-01 -5.70140950e-03 -7.99398674e+01] [-3.01957784e-02 2.44590158e-04 9.99543974e-01 -1.35376765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:411.13, Y:-79.94, Z:-13.54 [[ 9.83354568e-01 1.78872421e-01 3.19131890e-02 4.11131357e+02] [-1.78767490e-01 9.83872222e-01 -6.13470952e-03 -7.99436886e+01] [-3.24958305e-02 3.27553928e-04 9.99471817e-01 -1.35377774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.534012739 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:411.16, Y:-79.95, Z:-13.54 [[ 9.83820442e-01 1.76134605e-01 3.27709986e-02 4.11160788e+02] [-1.76022497e-01 9.84365998e-01 -6.29781211e-03 -7.99499734e+01] [-3.33679194e-02 4.27483304e-04 9.99443045e-01 -1.35379960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:411.19, Y:-79.96, Z:-13.54 [[ 9.84086711e-01 1.74725132e-01 3.23183232e-02 4.11191430e+02] [-1.74615362e-01 9.84617138e-01 -6.21016033e-03 -7.99557003e+01] [-3.29062460e-02 4.68060556e-04 9.99458333e-01 -1.35389403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.594012739 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:411.22, Y:-79.96, Z:-13.54 [[ 9.84499338e-01 1.72786751e-01 3.00963877e-02 4.11221401e+02] [-1.72690632e-01 9.84959132e-01 -5.78391382e-03 -7.99605165e+01] [-3.06430956e-02 4.96895104e-04 9.99530267e-01 -1.35404582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:411.25, Y:-79.97, Z:-13.54 [[ 9.84648452e-01 1.72024962e-01 2.95776856e-02 4.11251034e+02] [-1.71931774e-01 9.85092458e-01 -5.68461323e-03 -7.99662990e+01] [-3.01146504e-02 5.12001661e-04 9.99546320e-01 -1.35419482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.654012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:411.28, Y:-79.97, Z:-13.54 [[ 9.84756776e-01 1.71409387e-01 2.95451207e-02 4.11280186e+02] [-1.71316128e-01 9.85199747e-01 -5.67832940e-03 -7.99725837e+01] [-3.00811644e-02 5.30217685e-04 9.99547319e-01 -1.35423956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:411.31, Y:-79.98, Z:-13.54 [[ 9.84886583e-01 1.70487048e-01 3.05382425e-02 4.11309069e+02] [-1.70386956e-01 9.85359748e-01 -5.86960979e-03 -7.99782271e+01] [-3.10918474e-02 5.77581751e-04 9.99516365e-01 -1.35424110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.714012739 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:411.34, Y:-79.99, Z:-13.54 [[ 9.85578775e-01 1.66167519e-01 3.19817751e-02 4.11339163e+02] [-1.66055477e-01 9.86097255e-01 -6.14667237e-03 -7.99864202e+01] [-3.25585180e-02 7.47280915e-04 9.99469552e-01 -1.35428050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:411.37, Y:-80.00, Z:-13.54 [[ 9.86053146e-01 1.63371909e-01 3.17618079e-02 4.11369852e+02] [-1.63259928e-01 9.86564201e-01 -6.10517355e-03 -7.99958440e+01] [-3.23324765e-02 8.34595125e-04 9.99476820e-01 -1.35439968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.774012739 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:411.40, Y:-80.01, Z:-13.54 [[ 9.86839661e-01 1.58665566e-01 3.11884913e-02 4.11399939e+02] [-1.58555081e-01 9.87331902e-01 -6.00007158e-03 -8.00097110e+01] [-3.17453972e-02 9.76014841e-04 9.99495511e-01 -1.35445988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:411.43, Y:-80.02, Z:-13.55 [[ 9.87107741e-01 1.57002782e-01 3.11196627e-02 4.11429824e+02] [-1.56891783e-01 9.87597620e-01 -5.99237772e-03 -8.00219424e+01] [-3.16745248e-02 1.03270308e-03 9.99497703e-01 -1.35455058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.834012739 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:411.46, Y:-80.03, Z:-13.55 [[ 9.86942166e-01 1.58083377e-01 3.08999545e-02 4.11461495e+02] [-1.57974299e-01 9.87425265e-01 -5.95546807e-03 -8.00319452e+01] [-3.14528562e-02 9.96303915e-04 9.99504740e-01 -1.35468971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:411.49, Y:-80.04, Z:-13.55 [[ 9.86149301e-01 1.63098910e-01 3.01380376e-02 4.11491714e+02] [-1.62997315e-01 9.86609381e-01 -5.81413818e-03 -8.00444204e+01] [-3.06827502e-02 8.21189107e-04 9.99528836e-01 -1.35474362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.894012739 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:411.52, Y:-80.05, Z:-13.55 [[ 9.85625875e-01 1.66335677e-01 2.95647895e-02 4.11523403e+02] [-1.66239206e-01 9.86068931e-01 -5.70880732e-03 -8.00527176e+01] [-3.01024987e-02 7.11921072e-04 9.99546564e-01 -1.35480019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:411.55, Y:-80.06, Z:-13.55 [[ 9.84351555e-01 1.73847074e-01 2.87960183e-02 4.11553358e+02] [-1.73758703e-01 9.84772548e-01 -5.56245590e-03 -8.00616938e+01] [-2.93245450e-02 4.71853307e-04 9.99569832e-01 -1.35494241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.954012739 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:411.58, Y:-80.07, Z:-13.55 [[ 9.83719245e-01 1.77328611e-01 2.91720994e-02 4.11583661e+02] [-1.77239303e-01 9.84151625e-01 -5.63989854e-03 -8.00692583e+01] [-2.97098844e-02 3.77634160e-04 9.99558493e-01 -1.35506966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:411.61, Y:-80.08, Z:-13.55 [[ 9.82630131e-01 1.83157566e-01 2.98551888e-02 4.11612684e+02] [-1.83066689e-01 9.83083548e-01 -5.77270595e-03 -8.00778291e+01] [-3.04074597e-02 2.06944241e-04 9.99537565e-01 -1.35512219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.014012739 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:411.64, Y:-80.08, Z:-13.55 [[ 9.81826016e-01 1.87544750e-01 2.90627101e-02 4.11641838e+02] [-1.87460554e-01 9.82256057e-01 -5.61950389e-03 -8.00814135e+01] [-2.96009315e-02 6.92633878e-05 9.99561794e-01 -1.35525338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:411.67, Y:-80.08, Z:-13.55 [[ 9.81506207e-01 1.89169485e-01 2.93337829e-02 4.11670949e+02] [-1.89084445e-01 9.81944451e-01 -5.67160386e-03 -8.00847684e+01] [-2.98770397e-02 2.01523479e-05 9.99553581e-01 -1.35540380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.074012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:411.70, Y:-80.09, Z:-13.56 [[ 9.81087000e-01 1.91059061e-01 3.10601583e-02 4.11700650e+02] [-1.90964685e-01 9.81578542e-01 -6.00462153e-03 -8.00895990e+01] [-3.16352222e-02 -4.03372113e-05 9.99499480e-01 -1.35550006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:411.73, Y:-80.10, Z:-13.55 [[ 9.81149735e-01 1.90734235e-01 3.10748932e-02 4.11732029e+02] [-1.90639609e-01 9.81641712e-01 -6.00737972e-03 -8.00970814e+01] [-3.16502243e-02 -2.99664718e-05 9.99499006e-01 -1.35548374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.134012739 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:411.76, Y:-80.10, Z:-13.56 [[ 9.81337295e-01 1.89833131e-01 3.06675174e-02 4.11762788e+02] [-1.89740367e-01 9.81816369e-01 -5.93385488e-03 -8.01028851e+01] [-3.12363129e-02 4.24708338e-06 9.99512027e-01 -1.35561343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:411.79, Y:-80.11, Z:-13.56 [[ 9.81744718e-01 1.87803386e-01 3.01197203e-02 4.11793082e+02] [-1.87712801e-01 9.82206640e-01 -5.83276718e-03 -8.01094577e+01] [-3.06792027e-02 7.24313055e-05 9.99529280e-01 -1.35582247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.194012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:411.82, Y:-80.12, Z:-13.56 [[ 9.81957102e-01 1.86734444e-01 2.98412002e-02 4.11823297e+02] [-1.86645013e-01 9.82410422e-01 -5.77953719e-03 -8.01168303e+01] [-3.03955447e-02 1.05546410e-04 9.99537943e-01 -1.35593385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:411.85, Y:-80.13, Z:-13.56 [[ 9.82132426e-01 1.85826047e-01 2.97418462e-02 4.11853939e+02] [-1.85736780e-01 9.82582649e-01 -5.76073865e-03 -8.01268861e+01] [-3.02943173e-02 1.33653490e-04 9.99541013e-01 -1.35595129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.254012739 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:411.88, Y:-80.13, Z:-13.56 [[ 9.82028971e-01 1.86371039e-01 2.97478694e-02 4.11884841e+02] [-1.86281834e-01 9.82479425e-01 -5.76692715e-03 -8.01340226e+01] [-3.03014578e-02 1.21801872e-04 9.99540798e-01 -1.35603002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:411.92, Y:-80.14, Z:-13.56 [[ 9.81314738e-01 1.90135576e-01 2.94931744e-02 4.11915379e+02] [-1.90049433e-01 9.81757843e-01 -5.72278910e-03 -8.01401589e+01] [-3.00432611e-02 1.06962008e-05 9.99548599e-01 -1.35614645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.314012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:411.94, Y:-80.14, Z:-13.56 [[ 9.79956129e-01 1.96966058e-01 2.98388626e-02 4.11944434e+02] [-1.96881020e-01 9.80410288e-01 -5.79066088e-03 -8.01432920e+01] [-3.03948915e-02 -2.00112089e-04 9.99537949e-01 -1.35619371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:411.97, Y:-80.15, Z:-13.56 [[ 9.79304785e-01 2.00178410e-01 2.98452962e-02 4.11972707e+02] [-2.00094836e-01 9.79759416e-01 -5.79158832e-03 -8.01471294e+01] [-3.04005609e-02 -3.00159492e-04 9.99537751e-01 -1.35629812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.374012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:412.00, Y:-80.15, Z:-13.56 [[ 9.78717445e-01 2.02976277e-01 3.02124857e-02 4.12003236e+02] [-2.02892000e-01 9.79183577e-01 -5.86172649e-03 -8.01503273e+01] [-3.07733612e-02 -3.92897680e-04 9.99526311e-01 -1.35642024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:412.03, Y:-80.15, Z:-13.57 [[ 9.78694833e-01 2.02977909e-01 3.09255835e-02 4.12032409e+02] [-2.02889606e-01 9.79183235e-01 -6.00008778e-03 -8.01546128e+01] [-3.14996981e-02 -4.02224533e-04 9.99503680e-01 -1.35654560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.434012739 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:412.06, Y:-80.16, Z:-13.57 [[ 9.79095149e-01 2.01012893e-01 3.10886720e-02 4.12062074e+02] [-2.00922678e-01 9.79588536e-01 -6.03133619e-03 -8.01589276e+01] [-3.16664831e-02 -3.41167233e-04 9.99498433e-01 -1.35665633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:412.09, Y:-80.16, Z:-13.57 [[ 9.79605503e-01 1.98548432e-01 3.08476745e-02 4.12092643e+02] [-1.98458401e-01 9.80091043e-01 -5.98417886e-03 -8.01649585e+01] [-3.14216788e-02 -2.59845612e-04 9.99506183e-01 -1.35680413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.494012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:412.12, Y:-80.17, Z:-13.57 [[ 9.80951062e-01 1.91932696e-01 2.99475117e-02 4.12124132e+02] [-1.91844744e-01 9.81408089e-01 -5.81002126e-03 -8.01715889e+01] [-3.05058633e-02 -4.59261752e-05 9.99534587e-01 -1.35685910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:412.15, Y:-80.18, Z:-13.57 [[ 9.81574793e-01 1.88725610e-01 2.98926467e-02 4.12154564e+02] [-1.88636309e-01 9.82029857e-01 -5.80536739e-03 -8.01773503e+01] [-3.04510931e-02 5.95637549e-05 9.99536256e-01 -1.35698680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55401273900003 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:412.18, Y:-80.18, Z:-13.57 [[ 9.82303840e-01 1.85202176e-01 2.79163042e-02 4.12184175e+02] [-1.85122877e-01 9.82700427e-01 -5.42134729e-03 -8.01827347e+01] [-2.84374094e-02 1.57463705e-04 9.99595563e-01 -1.35713002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:412.21, Y:-80.19, Z:-13.57 [[ 9.82258546e-01 1.85510637e-01 2.74581916e-02 4.12214197e+02] [-1.85433993e-01 9.82642245e-01 -5.33407311e-03 -8.01889532e+01] [-2.79711063e-02 1.47756793e-04 9.99608721e-01 -1.35716979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.614012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:412.24, Y:-80.20, Z:-13.57 [[ 9.82154519e-01 1.85918216e-01 2.84062887e-02 4.12244379e+02] [-1.85836357e-01 9.82565213e-01 -5.51825200e-03 -8.01956656e+01] [-2.89369746e-02 1.40854935e-04 9.99581228e-01 -1.35717752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:412.27, Y:-80.21, Z:-13.57 [[ 9.82027930e-01 1.86349156e-01 2.99188311e-02 4.12274140e+02] [-1.86258547e-01 9.82483574e-01 -5.81203981e-03 -8.02056209e+01] [-3.04778288e-02 1.34947435e-04 9.99535434e-01 -1.35716130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.674012739 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:412.31, Y:-80.21, Z:-13.57 [[ 9.81952485e-01 1.86709474e-01 3.01477825e-02 4.12305726e+02] [-1.86617627e-01 9.82415165e-01 -5.85700668e-03 -8.02146007e+01] [-3.07111974e-02 1.25194638e-04 9.99528292e-01 -1.35721104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:412.34, Y:-80.23, Z:-13.57 [[ 9.81621404e-01 1.88288264e-01 3.10957973e-02 4.12336725e+02] [-1.88191134e-01 9.82113803e-01 -6.04768869e-03 -8.02254044e+01] [-3.16783205e-02 8.45873127e-05 9.99498112e-01 -1.35729569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.734012739 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:412.37, Y:-80.23, Z:-13.57 [[ 9.81295240e-01 1.89938794e-01 3.13513337e-02 4.12367818e+02] [-1.89840777e-01 9.81795933e-01 -6.10133675e-03 -8.02336705e+01] [-3.19394924e-02 3.54511846e-05 9.99489804e-01 -1.35744048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:412.40, Y:-80.24, Z:-13.58 [[ 9.80605346e-01 1.93478176e-01 3.12945749e-02 4.12398646e+02] [-1.93382127e-01 9.81104576e-01 -6.09613740e-03 -8.02419434e+01] [-3.18827202e-02 -7.39065546e-05 9.99491614e-01 -1.35761088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.794012739 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:412.43, Y:-80.25, Z:-13.58 [[ 9.80184988e-01 1.95726133e-01 3.04741029e-02 4.12429958e+02] [-1.95635985e-01 9.80658586e-01 -5.94133664e-03 -8.02485358e+01] [-3.10475655e-02 -1.38222150e-04 9.99517899e-01 -1.35771790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:412.46, Y:-80.26, Z:-13.58 [[ 9.79269395e-01 2.00354643e-01 2.98239752e-02 4.12459686e+02] [-2.00270288e-01 9.79723401e-01 -5.81978388e-03 -8.02569283e+01] [-3.03852671e-02 -2.73719841e-04 9.99538224e-01 -1.35776812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.854012739 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:412.49, Y:-80.26, Z:-13.58 [[ 9.78505223e-01 2.04027019e-01 3.00084017e-02 4.12490217e+02] [-2.03943287e-01 9.78965181e-01 -5.85753880e-03 -8.02631481e+01] [-3.05722766e-02 -3.88379791e-04 9.99532483e-01 -1.35779605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:412.52, Y:-80.27, Z:-13.58 [[ 9.78267732e-01 2.05192791e-01 2.98020564e-02 4.12519989e+02] [-2.05110726e-01 9.78721483e-01 -5.81799931e-03 -8.02671238e+01] [-3.03617244e-02 -4.21160424e-04 9.99538888e-01 -1.35788446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.914012739 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:412.55, Y:-80.27, Z:-13.58 [[ 9.77925884e-01 2.06790829e-01 2.99753030e-02 4.12550718e+02] [-2.06708545e-01 9.78385062e-01 -5.85220339e-03 -8.02698597e+01] [-3.05375707e-02 -4.73130099e-04 9.99533508e-01 -1.35817894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:412.58, Y:-80.27, Z:-13.58 [[ 9.77889870e-01 2.06925480e-01 3.02199876e-02 4.12581079e+02] [-2.06841911e-01 9.78356588e-01 -5.89997418e-03 -8.02745295e+01] [-3.07867789e-02 -4.81235010e-04 9.99525859e-01 -1.35823684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.974012739 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:412.61, Y:-80.28, Z:-13.58 [[ 9.77829108e-01 2.07082738e-01 3.10962421e-02 4.12609572e+02] [-2.06994330e-01 9.78323305e-01 -6.07106672e-03 -8.02763478e+01] [-3.16793915e-02 -5.00280054e-04 9.99497957e-01 -1.35821710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:412.64, Y:-80.28, Z:-13.58 [[ 9.77738392e-01 2.07538615e-01 3.09089053e-02 4.12639637e+02] [-2.07451532e-01 9.78226692e-01 -6.03337782e-03 -8.02790181e+01] [-3.14880750e-02 -5.13034638e-04 9.99503996e-01 -1.35828703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.034012739 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:412.67, Y:-80.28, Z:-13.58 [[ 9.77338548e-01 2.09362503e-01 3.12522927e-02 4.12670030e+02] [-2.09274431e-01 9.77837925e-01 -6.09963529e-03 -8.02789768e+01] [-3.18367120e-02 -5.78897074e-04 9.99492916e-01 -1.35844308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:412.70, Y:-80.28, Z:-13.58 [[ 9.77057865e-01 2.10610542e-01 3.16406023e-02 4.12699969e+02] [-2.10520946e-01 9.77569847e-01 -6.17464443e-03 -8.02822302e+01] [-3.22313440e-02 -6.28024616e-04 9.99480238e-01 -1.35847592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.094012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:412.73, Y:-80.28, Z:-13.58 [[ 9.76554723e-01 2.12941016e-01 3.15752418e-02 4.12728867e+02] [-2.12853032e-01 9.77064802e-01 -6.16109442e-03 -8.02817126e+01] [-3.21630071e-02 -7.04240104e-04 9.99482389e-01 -1.35843060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:412.76, Y:-80.28, Z:-13.59 [[ 9.76401375e-01 2.13701460e-01 3.11775821e-02 4.12759224e+02] [-2.13616102e-01 9.76898749e-01 -6.08235009e-03 -8.02789948e+01] [-3.17571481e-02 -7.21218589e-04 9.99495354e-01 -1.35860177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.154012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:412.79, Y:-80.28, Z:-13.59 [[ 9.76649620e-01 2.12623435e-01 3.07700276e-02 4.12788523e+02] [-2.12539806e-01 9.77133980e-01 -6.00137263e-03 -8.02810577e+01] [-3.13424720e-02 -6.78617410e-04 9.99508474e-01 -1.35876063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:412.82, Y:-80.28, Z:-13.59 [[ 9.77769528e-01 2.07367043e-01 3.10750634e-02 4.12817369e+02] [-2.07279142e-01 9.78263074e-01 -6.05926051e-03 -8.02809589e+01] [-3.16560780e-02 -5.16652207e-04 9.99498687e-01 -1.35886187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.214012739 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:412.85, Y:-80.28, Z:-13.59 [[ 9.78483490e-01 2.03970045e-01 3.10850465e-02 4.12846125e+02] [-2.03880436e-01 9.78977044e-01 -6.05921992e-03 -8.02834081e+01] [-3.16674464e-02 -4.08786199e-04 9.99498377e-01 -1.35886199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:412.87, Y:-80.28, Z:-13.59 [[ 9.79865005e-01 1.97617906e-01 2.84909654e-02 4.12874318e+02] [-1.97539980e-01 9.80279107e-01 -5.55232936e-03 -8.02818690e+01] [-2.90263378e-02 -1.87571482e-04 9.99578629e-01 -1.35900807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.274012739 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:412.90, Y:-80.28, Z:-13.59 [[ 9.80796888e-01 1.93099315e-01 2.73883066e-02 4.12903203e+02] [-1.93025588e-01 9.81179215e-01 -5.33577573e-03 -8.02818963e+01] [-2.79031718e-02 -5.33317663e-05 9.99610629e-01 -1.35916418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:412.93, Y:-80.28, Z:-13.59 [[ 9.81020676e-01 1.91771283e-01 2.86741854e-02 4.12931993e+02] [-1.91689946e-01 9.81439644e-01 -5.58480100e-03 -8.02847027e+01] [-2.92129867e-02 -1.77477951e-05 9.99573209e-01 -1.35923444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.334012739 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:412.96, Y:-80.28, Z:-13.59 [[ 9.81209442e-01 1.90358812e-01 3.14889621e-02 4.12960961e+02] [-1.90260045e-01 9.81714583e-01 -6.13132988e-03 -8.02846388e+01] [-3.20803260e-02 2.50274366e-05 9.99485294e-01 -1.35914829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:412.99, Y:-80.29, Z:-13.59 [[ 9.81216140e-01 1.90324234e-01 3.14892518e-02 4.12989751e+02] [-1.90225497e-01 9.81721287e-01 -6.12984186e-03 -8.02901600e+01] [-3.20803262e-02 2.46411908e-05 9.99485294e-01 -1.35924269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.394012739 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:413.02, Y:-80.29, Z:-13.59 [[ 9.81387188e-01 1.89364983e-01 3.19388476e-02 4.13016998e+02] [-1.89262937e-01 9.81906767e-01 -6.21617027e-03 -8.02936059e+01] [-3.25380956e-02 5.56297763e-05 9.99470494e-01 -1.35922717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:413.05, Y:-80.30, Z:-13.59 [[ 9.82057569e-01 1.85764156e-01 3.24747581e-02 4.13045394e+02] [-1.85656752e-01 9.82594345e-01 -6.31848361e-03 -8.02997021e+01] [-3.30832614e-02 1.75956546e-04 9.99452584e-01 -1.35928314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.454012739 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:413.07, Y:-80.31, Z:-13.59 [[ 9.82395174e-01 1.83709734e-01 3.39183644e-02 4.13073864e+02] [-1.83591398e-01 9.82980503e-01 -6.59770359e-03 -8.03073838e+01] [-3.45531532e-02 2.54432223e-04 9.99402829e-01 -1.35937309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:413.10, Y:-80.32, Z:-13.59 [[ 9.82738025e-01 1.81546277e-01 3.55938597e-02 4.13101169e+02] [-1.81414573e-01 9.83382342e-01 -6.92265645e-03 -8.03171737e+01] [-3.62591556e-02 3.45912884e-04 9.99342361e-01 -1.35936544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.514012739 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:413.13, Y:-80.32, Z:-13.59 [[ 9.82818430e-01 1.81339601e-01 3.44076057e-02 4.13130112e+02] [-1.81216443e-01 9.83420476e-01 -6.69086158e-03 -8.03242150e+01] [-3.50504622e-02 3.40678131e-04 9.99385486e-01 -1.35949743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:413.16, Y:-80.33, Z:-13.60 [[ 9.82774835e-01 1.82121033e-01 3.13935278e-02 4.13158128e+02] [-1.82018900e-01 9.83276079e-01 -6.10509671e-03 -8.03312870e+01] [-3.19803715e-02 2.85720005e-04 9.99488456e-01 -1.35967594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.574012739 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:413.19, Y:-80.34, Z:-13.60 [[ 9.82516787e-01 1.83558984e-01 3.10944267e-02 4.13186190e+02] [-1.83459532e-01 9.83008669e-01 -6.04618955e-03 -8.03415252e+01] [-3.16759235e-02 2.35913746e-04 9.99498164e-01 -1.35973936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:413.21, Y:-80.35, Z:-13.60 [[ 9.82371354e-01 1.84319855e-01 3.11883723e-02 4.13213598e+02] [-1.84220209e-01 9.82866291e-01 -6.06370342e-03 -8.03499995e+01] [-3.17716608e-02 2.11280081e-04 9.99495131e-01 -1.35981230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.634012739 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:413.24, Y:-80.36, Z:-13.60 [[ 9.82116495e-01 1.85707837e-01 3.09804654e-02 4.13242325e+02] [-1.85610240e-01 9.82604993e-01 -6.02217609e-03 -8.03597701e+01] [-3.15599253e-02 1.64186865e-04 9.99501848e-01 -1.36000389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:413.27, Y:-80.37, Z:-13.60 [[ 9.81949435e-01 1.86719526e-01 3.01848508e-02 4.13269700e+02] [-1.86627393e-01 9.82413254e-01 -5.86631560e-03 -8.03663300e+01] [-3.07493532e-02 1.27105270e-04 9.99527119e-01 -1.36020442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.694012739 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:413.30, Y:-80.37, Z:-13.60 [[ 9.81672437e-01 1.88360183e-01 2.89770288e-02 4.13297728e+02] [-1.88276012e-01 9.82100013e-01 -5.63090707e-03 -8.03748561e+01] [-2.95189790e-02 7.20268478e-05 9.99564217e-01 -1.36038507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:413.33, Y:-80.38, Z:-13.60 [[ 9.81561341e-01 1.88967032e-01 2.87888061e-02 4.13325316e+02] [-1.88884231e-01 9.81983431e-01 -5.59367534e-03 -8.03825215e+01] [-2.93271508e-02 5.27839720e-05 9.99569865e-01 -1.36038087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.754012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:413.35, Y:-80.39, Z:-13.60 [[ 9.81169422e-01 1.90841410e-01 2.97677999e-02 4.13354039e+02] [-1.90753778e-01 9.81620882e-01 -5.78276014e-03 -8.03922151e+01] [-3.03242841e-02 -4.45285936e-06 9.99540113e-01 -1.36040335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:413.38, Y:-80.40, Z:-13.61 [[ 9.80662909e-01 1.93550412e-01 2.89568010e-02 4.13381384e+02] [-1.93468690e-01 9.81090327e-01 -5.62455035e-03 -8.04002844e+01] [-2.94978714e-02 -8.64464415e-05 9.99564839e-01 -1.36058453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.814012739 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:413.41, Y:-80.41, Z:-13.61 [[ 9.80286965e-01 1.95545927e-01 2.82711214e-02 4.13409994e+02] [-1.95468890e-01 9.80694534e-01 -5.49030131e-03 -8.04071918e+01] [-2.87989403e-02 -1.44053900e-04 9.99585214e-01 -1.36072845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:413.44, Y:-80.41, Z:-13.61 [[ 9.79601619e-01 1.98983004e-01 2.80433805e-02 4.13436982e+02] [-1.98908626e-01 9.80002911e-01 -5.44552368e-03 -8.04144531e+01] [-2.85661612e-02 -2.43626476e-04 9.99591874e-01 -1.36076071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.874012739 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:413.47, Y:-80.42, Z:-13.61 [[ 9.79281908e-01 2.00338937e-01 2.95170442e-02 4.13465064e+02] [-2.00257208e-01 9.79726605e-01 -5.72976402e-03 -8.04208083e+01] [-3.00665284e-02 -2.99946620e-04 9.99547855e-01 -1.36080488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:413.49, Y:-80.43, Z:-13.61 [[ 9.78915235e-01 2.01535082e-01 3.32952435e-02 4.13492775e+02] [-2.01431839e-01 9.79481222e-01 -6.46137400e-03 -8.04278484e+01] [-3.39142593e-02 -3.81584664e-04 9.99424673e-01 -1.36073705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.934012739 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:413.52, Y:-80.43, Z:-13.61 [[ 9.78836475e-01 2.01706353e-01 3.45500080e-02 4.13521344e+02] [-2.01595330e-01 9.79445958e-01 -6.70361576e-03 -8.04340117e+01] [-3.51920276e-02 -4.03376663e-04 9.99380487e-01 -1.36083580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:413.55, Y:-80.44, Z:-13.61 [[ 9.78940995e-01 2.01557463e-01 3.23900782e-02 4.13549780e+02] [-2.01459832e-01 9.79476620e-01 -6.28382618e-03 -8.04407953e+01] [-3.29918764e-02 -3.73804661e-04 9.99455550e-01 -1.36107774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.994012739 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:413.58, Y:-80.45, Z:-13.61 [[ 9.78947033e-01 2.01691749e-01 3.13551449e-02 4.13577894e+02] [-2.01600315e-01 9.79448980e-01 -6.08346368e-03 -8.04470353e+01] [-3.19377491e-02 -3.65818352e-04 9.99489793e-01 -1.36122134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:413.61, Y:-80.45, Z:-13.61 [[ 9.78750965e-01 2.02679384e-01 3.11065349e-02 4.13606641e+02] [-2.02589928e-01 9.79245072e-01 -6.03411870e-03 -8.04542766e+01] [-3.16839125e-02 -3.95971163e-04 9.99497860e-01 -1.36130202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05401273900003 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:413.63, Y:-80.46, Z:-13.61 [[ 9.78352751e-01 2.04813130e-01 2.96222437e-02 4.13634873e+02] [-2.04733006e-01 9.78800994e-01 -5.74553314e-03 -8.04613990e+01] [-3.01710422e-02 -4.43492848e-04 9.99544652e-01 -1.36135079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:413.66, Y:-80.47, Z:-13.61 [[ 9.78093347e-01 2.06149508e-01 2.89099438e-02 4.13663459e+02] [-2.06073797e-01 9.78520391e-01 -5.60664423e-03 -8.04674650e+01] [-2.94447765e-02 -4.73760473e-04 9.99566296e-01 -1.36146971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.114012739 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:413.69, Y:-80.47, Z:-13.62 [[ 9.77934396e-01 2.06964606e-01 2.84599361e-02 4.13691348e+02] [-2.06891617e-01 9.78348307e-01 -5.51807338e-03 -8.04731528e+01] [-2.89857762e-02 -4.91808434e-04 9.99579703e-01 -1.36161207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:413.72, Y:-80.48, Z:-13.62 [[ 9.77726306e-01 2.07824614e-01 2.93291903e-02 4.13720816e+02] [-2.07747527e-01 9.78165959e-01 -5.68515432e-03 -8.04788403e+01] [-2.98703305e-02 -5.34541814e-04 9.99553639e-01 -1.36168790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.174012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:413.75, Y:-80.48, Z:-13.62 [[ 9.77608838e-01 2.08272984e-01 3.00553658e-02 4.13749543e+02] [-2.08192266e-01 9.78070574e-01 -5.82515663e-03 -8.04846004e+01] [-3.06094916e-02 -5.62570111e-04 9.99531261e-01 -1.36168794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:413.78, Y:-80.49, Z:-13.62 [[ 9.77676207e-01 2.07874443e-01 3.06178216e-02 4.13777323e+02] [-2.07790504e-01 9.78155356e-01 -5.93341470e-03 -8.04912205e+01] [-3.11823915e-02 -5.61134200e-04 9.99513553e-01 -1.36172316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.234012739 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:413.81, Y:-80.50, Z:-13.62 [[ 9.77493791e-01 2.08807766e-01 3.00866472e-02 4.13805774e+02] [-2.08727189e-01 9.77956532e-01 -5.82939950e-03 -8.04975568e+01] [-3.06406571e-02 -5.81699496e-04 9.99530296e-01 -1.36178844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:413.83, Y:-80.50, Z:-13.62 [[ 9.77299010e-01 2.09669838e-01 3.04171831e-02 4.13834142e+02] [-2.09587932e-01 9.77772049e-01 -5.89233894e-03 -8.05019999e+01] [-3.09765172e-02 -6.16497513e-04 9.99519922e-01 -1.36184091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.294012739 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:413.86, Y:-80.50, Z:-13.62 [[ 9.76673246e-01 2.12621353e-01 3.00254909e-02 4.13861608e+02] [-2.12542980e-01 9.77134416e-01 -5.81505761e-03 -8.05044605e+01] [-3.05753459e-02 -7.02296098e-04 9.99532218e-01 -1.36191658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:413.89, Y:-80.51, Z:-13.62 [[ 9.76196264e-01 2.14911728e-01 2.92199260e-02 4.13890048e+02] [-2.14838580e-01 9.76633186e-01 -5.65731557e-03 -8.05084917e+01] [-2.97529729e-02 -7.54917099e-04 9.99556997e-01 -1.36201973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.354012739 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:413.92, Y:-80.51, Z:-13.62 [[ 9.75015406e-01 2.20266418e-01 2.87691380e-02 4.13919105e+02] [-2.20197875e-01 9.75439329e-01 -5.56869023e-03 -8.05097688e+01] [-2.92891442e-02 -9.05344302e-04 9.99570571e-01 -1.36205156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:413.95, Y:-80.51, Z:-13.62 [[ 9.74492021e-01 2.22500159e-01 2.93083555e-02 4.13947221e+02] [-2.22430072e-01 9.74932149e-01 -5.67167334e-03 -8.05120026e+01] [-2.98356063e-02 -9.92059213e-04 9.99554327e-01 -1.36212969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.414012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:413.98, Y:-80.51, Z:-13.62 [[ 9.73902351e-01 2.25055458e-01 2.93981494e-02 4.13975684e+02] [-2.24986155e-01 9.74345362e-01 -5.68733443e-03 -8.05112458e+01] [-2.99239162e-02 -1.07526823e-03 9.99551601e-01 -1.36226096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:414.00, Y:-80.51, Z:-13.62 [[ 9.73743138e-01 2.25717532e-01 2.95955687e-02 4.14003394e+02] [-2.25647663e-01 9.74192165e-01 -5.72342666e-03 -8.05140515e+01] [-3.01236489e-02 -1.10502348e-03 9.99545569e-01 -1.36242787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.474012739 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:414.03, Y:-80.51, Z:-13.62 [[ 9.73606330e-01 2.26201848e-01 3.03881171e-02 4.14030788e+02] [-2.26128489e-01 9.74079769e-01 -5.87451607e-03 -8.05131268e+01] [-3.09292765e-02 -1.15215298e-03 9.99520911e-01 -1.36240761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:414.06, Y:-80.51, Z:-13.62 [[ 9.73287427e-01 2.27273060e-01 3.25352328e-02 4.14058437e+02] [-2.27189658e-01 9.73830240e-01 -6.28675933e-03 -8.05099800e+01] [-3.31126046e-02 -1.27284460e-03 9.99450817e-01 -1.36234572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.534012739 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:414.09, Y:-80.51, Z:-13.62 [[ 9.73274175e-01 2.27242976e-01 3.31362435e-02 4.14086281e+02] [-2.27156537e-01 9.73837227e-01 -6.40019360e-03 -8.05110396e+01] [-3.37237065e-02 -1.29797117e-03 9.99430351e-01 -1.36243687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:414.12, Y:-80.51, Z:-13.63 [[ 9.73765068e-01 2.25284921e-01 3.20670708e-02 4.14115412e+02] [-2.25202980e-01 9.74292196e-01 -6.19156042e-03 -8.05077583e+01] [-3.26375620e-02 -1.19247464e-03 9.99466541e-01 -1.36265064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.594012739 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:414.14, Y:-80.51, Z:-13.63 [[ 9.74169926e-01 2.23641325e-01 3.12652088e-02 4.14143750e+02] [-2.23562653e-01 9.74670880e-01 -6.03463988e-03 -8.05084661e+01] [-3.18228834e-02 -1.11096832e-03 9.99492906e-01 -1.36278290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:414.17, Y:-80.51, Z:-13.63 [[ 9.74951104e-01 2.20238954e-01 3.10668350e-02 4.14172488e+02] [-2.20159617e-01 9.75445443e-01 -5.99422236e-03 -8.05071839e+01] [-3.16241639e-02 -9.95588810e-04 9.99499335e-01 -1.36294042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.654012739 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:414.20, Y:-80.51, Z:-13.63 [[ 9.75894060e-01 2.16008053e-01 3.11657701e-02 4.14199774e+02] [-2.15926124e-01 9.76391200e-01 -6.01107799e-03 -8.05064987e+01] [-3.17284249e-02 -8.63328632e-04 9.99496154e-01 -1.36304455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:414.23, Y:-80.51, Z:-13.63 [[ 9.76453992e-01 2.13419071e-01 3.14626914e-02 4.14227293e+02] [-2.13334314e-01 9.76960428e-01 -6.06571329e-03 -8.05083209e+01] [-3.20323433e-02 -7.89181733e-04 9.99486521e-01 -1.36309847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.714012739 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:414.25, Y:-80.51, Z:-13.63 [[ 9.77533398e-01 2.08331506e-01 3.20381027e-02 4.14254403e+02] [-2.08241015e-01 9.78058064e-01 -6.17273508e-03 -8.05085690e+01] [-3.26210999e-02 -6.37592324e-04 9.99467587e-01 -1.36328523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:414.28, Y:-80.51, Z:-13.63 [[ 9.78074038e-01 2.05875196e-01 3.14098692e-02 4.14281243e+02] [-2.05787070e-01 9.78578103e-01 -6.04801768e-03 -8.05134337e+01] [-3.19821470e-02 -5.48335884e-04 9.99488290e-01 -1.36345555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.774012739 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:414.31, Y:-80.52, Z:-13.64 [[ 9.78854025e-01 2.02416988e-01 2.95323649e-02 4.14308995e+02] [-2.02337577e-01 9.79299338e-01 -5.68430382e-03 -8.05189333e+01] [-3.00716250e-02 -4.11403476e-04 9.99547662e-01 -1.36359246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:414.34, Y:-80.52, Z:-13.64 [[ 9.79071462e-01 2.01420072e-01 2.91380513e-02 4.14335132e+02] [-2.01342383e-01 9.79504881e-01 -5.60650852e-03 -8.05239423e+01] [-2.96701268e-02 -3.77552187e-04 9.99559674e-01 -1.36363820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.834012739 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:414.36, Y:-80.53, Z:-13.64 [[ 9.79348241e-01 1.99976948e-01 2.97698231e-02 4.14362411e+02] [-1.99895258e-01 9.79800542e-01 -5.72568671e-03 -8.05315764e+01] [-3.03134942e-02 -3.43405249e-04 9.99540381e-01 -1.36372563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:414.39, Y:-80.54, Z:-13.64 [[ 9.79524062e-01 1.99125909e-01 2.96898174e-02 4.14389083e+02] [-1.99044328e-01 9.79973863e-01 -5.70826278e-03 -8.05382850e+01] [-3.02319081e-02 -3.18209015e-04 9.99542861e-01 -1.36384405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.894012739 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:414.42, Y:-80.54, Z:-13.64 [[ 9.79826010e-01 1.97558734e-01 3.01916744e-02 4.14416862e+02] [-1.97473704e-01 9.80291013e-01 -5.80226008e-03 -8.05443593e+01] [-3.07429143e-02 -2.76856453e-04 9.99527287e-01 -1.36397519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:414.44, Y:-80.55, Z:-13.64 [[ 9.79999101e-01 1.96569075e-01 3.10219239e-02 4.14443505e+02] [-1.96478877e-01 9.80489946e-01 -5.95962395e-03 -8.05510989e+01] [-3.15881623e-02 -2.54726673e-04 9.99500937e-01 -1.36396864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.954012739 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:414.47, Y:-80.56, Z:-13.64 [[ 9.80055199e-01 1.96237426e-01 3.13477283e-02 4.14469900e+02] [-1.96145234e-01 9.80556378e-01 -6.01967654e-03 -8.05577696e+01] [-3.19195007e-02 -2.49092210e-04 9.99490412e-01 -1.36398939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:414.50, Y:-80.56, Z:-13.64 [[ 9.80167487e-01 1.95718982e-01 3.10769478e-02 4.14497054e+02] [-1.95628193e-01 9.80659995e-01 -5.96522673e-03 -8.05644238e+01] [-3.16434276e-02 -2.32605855e-04 9.99499194e-01 -1.36401444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.014012739 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:414.52, Y:-80.57, Z:-13.64 [[ 9.80498131e-01 1.94061561e-01 3.10407185e-02 4.14524969e+02] [-1.93970219e-01 9.80989336e-01 -5.95617360e-03 -8.05699162e+01] [-3.16064782e-02 -1.80957895e-04 9.99500374e-01 -1.36407528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:414.55, Y:-80.58, Z:-13.64 [[ 9.80664899e-01 1.93136539e-01 3.15378090e-02 4.14552763e+02] [-1.93041845e-01 9.81171877e-01 -6.04921743e-03 -8.05750778e+01] [-3.21123362e-02 -1.55861633e-04 9.99484254e-01 -1.36418995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.074012739 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:414.58, Y:-80.58, Z:-13.64 [[ 9.80874368e-01 1.92015965e-01 3.18644434e-02 4.14580748e+02] [-1.91918771e-01 9.81391794e-01 -6.10992921e-03 -8.05829317e+01] [-3.24447072e-02 -1.22311867e-04 9.99473524e-01 -1.36436929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:414.61, Y:-80.59, Z:-13.64 [[ 9.80827239e-01 1.92201099e-01 3.21972832e-02 4.14609144e+02] [-1.92102014e-01 9.81355552e-01 -6.17218216e-03 -8.05900173e+01] [-3.27832829e-02 -1.31318566e-04 9.99462475e-01 -1.36434912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.134012739 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:414.64, Y:-80.60, Z:-13.64 [[ 9.80712105e-01 1.92772016e-01 3.22911384e-02 4.14636779e+02] [-1.92672716e-01 9.81243561e-01 -6.18853251e-03 -8.05953503e+01] [-3.28784475e-02 -1.52452590e-04 9.99459346e-01 -1.36434852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:414.66, Y:-80.60, Z:-13.64 [[ 9.80608112e-01 1.93260455e-01 3.25288790e-02 4.14664881e+02] [-1.93160023e-01 9.81147475e-01 -6.23205800e-03 -8.06012653e+01] [-3.31200379e-02 -1.72072389e-04 9.99451366e-01 -1.36445960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.194012739 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:414.69, Y:-80.61, Z:-13.65 [[ 9.80545394e-01 1.93826715e-01 3.10150810e-02 4.14692566e+02] [-1.93735744e-01 9.81035764e-01 -5.94061455e-03 -8.06087129e+01] [-3.15783535e-02 -1.83687566e-04 9.99501263e-01 -1.36464297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:414.72, Y:-80.61, Z:-13.65 [[ 9.80334748e-01 1.95124451e-01 2.94996759e-02 4.14719777e+02] [-1.95042781e-01 9.80778467e-01 -5.64902044e-03 -8.06124628e+01] [-3.00349089e-02 -2.15767807e-04 9.99548827e-01 -1.36471116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.254012739 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:414.75, Y:-80.62, Z:-13.65 [[ 9.80149156e-01 1.96067015e-01 2.94169705e-02 4.14747839e+02] [-1.95986279e-01 9.80590468e-01 -5.63142799e-03 -8.06168518e+01] [-2.99501381e-02 -2.45683204e-04 9.99551364e-01 -1.36480466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:414.78, Y:-80.62, Z:-13.65 [[ 9.80170826e-01 1.95958600e-01 2.94173380e-02 4.14775834e+02] [-1.95877873e-01 9.80612139e-01 -5.62950775e-03 -8.06220460e+01] [-2.99501492e-02 -2.44326335e-04 9.99551364e-01 -1.36489635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.314012739 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:414.80, Y:-80.63, Z:-13.65 [[ 9.79922757e-01 1.97203272e-01 2.93642620e-02 4.14803964e+02] [-1.97123498e-01 9.80362580e-01 -5.61589592e-03 -8.06257832e+01] [-2.98950967e-02 -2.85241838e-04 9.99553001e-01 -1.36491907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:414.83, Y:-80.63, Z:-13.65 [[ 9.79898155e-01 1.97293971e-01 2.95752371e-02 4.14832168e+02] [-1.97213153e-01 9.80344329e-01 -5.65408780e-03 -8.06297424e+01] [-3.01094334e-02 -2.92195550e-04 9.99546566e-01 -1.36508094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.374012739 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:414.86, Y:-80.63, Z:-13.65 [[ 9.79802554e-01 1.97776644e-01 2.95187156e-02 4.14858860e+02] [-1.97696418e-01 9.80247063e-01 -5.64113863e-03 -8.06311490e+01] [-3.00513197e-02 -3.08542299e-04 9.99548309e-01 -1.36518762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:414.89, Y:-80.63, Z:-13.65 [[ 9.80014868e-01 1.96593398e-01 3.03627020e-02 4.14886714e+02] [-1.96508033e-01 9.80485062e-01 -5.79973742e-03 -8.06343638e+01] [-3.09103658e-02 -2.82685948e-04 9.99522121e-01 -1.36515583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.434012739 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:414.91, Y:-80.64, Z:-13.65 [[ 9.80299314e-01 1.95065130e-01 3.10298383e-02 4.14913133e+02] [-1.94975280e-01 9.80790261e-01 -5.92483505e-03 -8.06384169e+01] [-3.15894919e-02 -2.41939666e-04 9.99500898e-01 -1.36520681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:414.94, Y:-80.64, Z:-13.65 [[ 9.80774718e-01 1.92574342e-01 3.15606681e-02 4.14939810e+02] [-1.92480189e-01 9.81282373e-01 -6.02344882e-03 -8.06407506e+01] [-3.21298889e-02 -1.67157047e-04 9.99483688e-01 -1.36531754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.494012739 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:414.97, Y:-80.65, Z:-13.65 [[ 9.80882128e-01 1.92107855e-01 3.10615966e-02 4.14967695e+02] [-1.92016503e-01 9.81373807e-01 -5.92568385e-03 -8.06451027e+01] [-3.16214077e-02 -1.51941769e-04 9.99499907e-01 -1.36542975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:415.00, Y:-80.65, Z:-13.66 [[ 9.80863139e-01 1.92562984e-01 2.87576058e-02 4.14995268e+02] [-1.92484934e-01 9.81284603e-01 -5.48428011e-03 -8.06483207e+01] [-2.92754651e-02 -1.56077651e-04 9.99571370e-01 -1.36551739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55401273900003 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:415.02, Y:-80.65, Z:-13.66 [[ 9.80674515e-01 1.93546795e-01 2.85855389e-02 4.15023063e+02] [-1.93470155e-01 9.81091027e-01 -5.44940142e-03 -8.06514748e+01] [-2.90997299e-02 -1.86359533e-04 9.99576496e-01 -1.36557952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:415.05, Y:-80.65, Z:-13.66 [[ 9.79826208e-01 1.97586494e-01 3.00029856e-02 4.15050842e+02] [-1.97504026e-01 9.80285404e-01 -5.71728228e-03 -8.06518237e+01] [-3.05411466e-02 -3.23767418e-04 9.99533458e-01 -1.36554517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.614012739 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:415.08, Y:-80.65, Z:-13.66 [[ 9.79067019e-01 2.01161644e-01 3.10123329e-02 4.15079700e+02] [-2.01075412e-01 9.79557955e-01 -5.90683732e-03 -8.06514577e+01] [-3.15666065e-02 -4.52628008e-04 9.99501548e-01 -1.36552584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:415.11, Y:-80.65, Z:-13.66 [[ 9.78913275e-01 2.01841889e-01 3.14428367e-02 4.15106494e+02] [-2.01753670e-01 9.79418000e-01 -5.98651036e-03 -8.06535113e+01] [-3.20040088e-02 -4.83433237e-04 9.99487624e-01 -1.36566962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.674012739 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:415.13, Y:-80.66, Z:-13.66 [[ 9.78990121e-01 2.01386079e-01 3.19685779e-02 4.15134776e+02] [-2.01294770e-01 9.79511826e-01 -6.08269962e-03 -8.06565959e+01] [-3.25385711e-02 -4.80204684e-04 9.99470365e-01 -1.36576505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:415.16, Y:-80.66, Z:-13.66 [[ 9.79788881e-01 1.97412175e-01 3.22828476e-02 4.15162712e+02] [-1.97316979e-01 9.80320513e-01 -6.14018355e-03 -8.06592309e+01] [-3.28596847e-02 -3.53870394e-04 9.99459912e-01 -1.36592213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.734012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:415.19, Y:-80.66, Z:-13.66 [[ 9.80433397e-01 1.94279796e-01 3.17130073e-02 4.15190057e+02] [-1.94186365e-01 9.80946125e-01 -6.02957197e-03 -8.06625999e+01] [-3.22801756e-02 -2.46639877e-04 9.99478829e-01 -1.36596444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:415.22, Y:-80.66, Z:-13.66 [[ 9.81602696e-01 1.88463135e-01 3.06234132e-02 4.15217974e+02] [-1.88373247e-01 9.82080263e-01 -5.82031136e-03 -8.06642486e+01] [-3.11715638e-02 -5.53984605e-05 9.99514047e-01 -1.36608971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.794012739 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:415.25, Y:-80.67, Z:-13.66 [[ 9.82044746e-01 1.86156178e-01 3.05613104e-02 4.15245498e+02] [-1.86065606e-01 9.82520166e-01 -5.80630262e-03 -8.06688436e+01] [-3.11079828e-02 1.56402687e-05 9.99516029e-01 -1.36618287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:415.27, Y:-80.67, Z:-13.66 [[ 9.82556520e-01 1.83182912e-01 3.20422653e-02 4.15271851e+02] [-1.83081846e-01 9.83078841e-01 -6.08518597e-03 -8.06742964e+01] [-3.26147752e-02 1.12682063e-04 9.99467990e-01 -1.36615091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.854012739 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:415.30, Y:-80.68, Z:-13.66 [[ 9.82251228e-01 1.84644661e-01 3.29980806e-02 4.15299631e+02] [-1.84538395e-01 9.82805345e-01 -6.26382573e-03 -8.06769900e+01] [-3.35872719e-02 6.32376803e-05 9.99435786e-01 -1.36612625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:415.33, Y:-80.68, Z:-13.66 [[ 9.81869814e-01 1.86815891e-01 3.21168455e-02 4.15326731e+02] [-1.86716463e-01 9.82394942e-01 -6.09423591e-03 -8.06799939e+01] [-3.26899267e-02 -1.29975181e-05 9.99465541e-01 -1.36621531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.914012739 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:415.35, Y:-80.68, Z:-13.67 [[ 9.80899756e-01 1.92044794e-01 3.08944347e-02 4.15354245e+02] [-1.91955463e-01 9.81386144e-01 -5.85973263e-03 -8.06825730e+01] [-3.14447013e-02 -1.82545218e-04 9.99505476e-01 -1.36653419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:415.38, Y:-80.69, Z:-13.67 [[ 9.80537083e-01 1.93913815e-01 3.07320876e-02 4.15380733e+02] [-1.93826409e-01 9.81018539e-01 -5.82667502e-03 -8.06863427e+01] [-3.12786205e-02 -2.43419248e-04 9.99510675e-01 -1.36663882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.974012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:415.41, Y:-80.69, Z:-13.67 [[ 9.80261227e-01 1.95227840e-01 3.12092508e-02 4.15407570e+02] [-1.95138451e-01 9.80757873e-01 -5.91439619e-03 -8.06891105e+01] [-3.17633732e-02 -2.92471571e-04 9.99495374e-01 -1.36669358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:415.44, Y:-80.69, Z:-13.67 [[ 9.80441623e-01 1.94417128e-01 3.05974641e-02 4.15435022e+02] [-1.94330896e-01 9.80918911e-01 -5.79586081e-03 -8.06924677e+01] [-3.11404458e-02 -2.63529439e-04 9.99514984e-01 -1.36670943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.034012739 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:415.46, Y:-80.70, Z:-13.67 [[ 9.80690548e-01 1.93156073e-01 3.06068543e-02 4.15463250e+02] [-1.93069242e-01 9.81168018e-01 -5.79546346e-03 -8.06963672e+01] [-3.11498955e-02 -2.25685926e-04 9.99514699e-01 -1.36683553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:415.49, Y:-80.70, Z:-13.67 [[ 9.81009800e-01 1.91477525e-01 3.09213386e-02 4.15491002e+02] [-1.91388136e-01 9.81496982e-01 -5.85278530e-03 -8.06995966e+01] [-3.14698774e-02 -1.76337630e-04 9.99504685e-01 -1.36694372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.094012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:415.52, Y:-80.70, Z:-13.67 [[ 9.81695000e-01 1.87716156e-01 3.22113480e-02 4.15517794e+02] [-1.87617207e-01 9.82223315e-01 -6.09444763e-03 -8.07015457e+01] [-3.27827634e-02 -6.05143963e-05 9.99462499e-01 -1.36693621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:415.54, Y:-80.71, Z:-13.67 [[ 9.82040066e-01 1.85906279e-01 3.21894936e-02 4.15544595e+02] [-1.85806584e-01 9.82567481e-01 -6.08753628e-03 -8.07068977e+01] [-3.27600608e-02 -2.81529564e-06 9.99463245e-01 -1.36707177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.154012739 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:415.57, Y:-80.71, Z:-13.67 [[ 9.82540135e-01 1.83290448e-01 3.19295150e-02 4.15571245e+02] [-1.83191050e-01 9.83058800e-01 -6.03607095e-03 -8.07143444e+01] [-3.24949449e-02 8.14805745e-05 9.99471897e-01 -1.36720447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:415.60, Y:-80.72, Z:-13.67 [[ 9.82673657e-01 1.82558024e-01 3.20164322e-02 4.15598791e+02] [-1.82457771e-01 9.83195076e-01 -6.05016817e-03 -8.07192543e+01] [-3.25829053e-02 1.03694013e-04 9.99469031e-01 -1.36717888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.214012739 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:415.63, Y:-80.72, Z:-13.67 [[ 9.82618388e-01 1.82625939e-01 3.32997030e-02 4.15625838e+02] [-1.82517611e-01 9.83182463e-01 -6.29012994e-03 -8.07221509e+01] [-3.38884249e-02 1.03015115e-04 9.99425617e-01 -1.36719925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:415.65, Y:-80.73, Z:-13.67 [[ 9.82578704e-01 1.82753650e-01 3.37667543e-02 4.15652970e+02] [-1.82642435e-01 9.83158733e-01 -6.37547900e-03 -8.07267603e+01] [-3.43632214e-02 9.71676471e-05 9.99409405e-01 -1.36728932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.274012739 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:415.68, Y:-80.73, Z:-13.68 [[ 9.82751170e-01 1.82046104e-01 3.25477319e-02 4.15680633e+02] [-1.81942466e-01 9.83289989e-01 -6.14299163e-03 -8.07327272e+01] [-3.31221666e-02 1.15217611e-04 9.99451304e-01 -1.36753079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:415.71, Y:-80.74, Z:-13.68 [[ 9.82934535e-01 1.81217012e-01 3.16242576e-02 4.15706958e+02] [-1.81118817e-01 9.83443123e-01 -5.96642836e-03 -8.07387552e+01] [-3.21818770e-02 1.36860339e-04 9.99482020e-01 -1.36753743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.334012739 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:415.73, Y:-80.74, Z:-13.68 [[ 9.83006972e-01 1.80758093e-01 3.19969494e-02 4.15733307e+02] [-1.80657416e-01 9.83527574e-01 -6.03397021e-03 -8.07441462e+01] [-3.25605709e-02 1.50948580e-04 9.99469753e-01 -1.36758661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:415.76, Y:-80.75, Z:-13.68 [[ 9.83236756e-01 1.79365954e-01 3.27618045e-02 4.15760371e+02] [-1.79259725e-01 9.83782402e-01 -6.17541872e-03 -8.07500489e+01] [-3.33381466e-02 1.99026596e-04 9.99444110e-01 -1.36763193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.394012739 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:415.79, Y:-80.76, Z:-13.68 [[ 9.83392766e-01 1.78471460e-01 3.29636885e-02 4.15787426e+02] [-1.78363494e-01 9.83945062e-01 -6.21113497e-03 -8.07552799e+01] [-3.35429688e-02 2.28466537e-04 9.99437250e-01 -1.36771932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:415.81, Y:-80.76, Z:-13.68 [[ 9.83769291e-01 1.76498153e-01 3.23478714e-02 4.15814898e+02] [-1.76393193e-01 9.84300929e-01 -6.09281420e-03 -8.07630566e+01] [-3.29154103e-02 2.87979188e-04 9.99458100e-01 -1.36790086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.454012739 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:415.84, Y:-80.77, Z:-13.68 [[ 9.84008093e-01 1.75299778e-01 3.15920996e-02 4.15841977e+02] [-1.75199120e-01 9.84515052e-01 -5.94824900e-03 -8.07695968e+01] [-3.21456243e-02 3.18217103e-04 9.99483145e-01 -1.36802903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:415.87, Y:-80.78, Z:-13.68 [[ 9.84635491e-01 1.71941059e-01 3.04831357e-02 4.15869891e+02] [-1.71845802e-01 9.85107153e-01 -5.73732223e-03 -8.07790266e+01] [-3.10156363e-02 4.10772183e-04 9.99518815e-01 -1.36823242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.514012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:415.90, Y:-80.79, Z:-13.68 [[ 9.85065089e-01 1.69540303e-01 3.00475559e-02 4.15898165e+02] [-1.69446676e-01 9.85523139e-01 -5.65393389e-03 -8.07870004e+01] [-3.05711313e-02 4.78034415e-04 9.99532479e-01 -1.36839431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:415.92, Y:-80.80, Z:-13.68 [[ 9.85461808e-01 1.67258560e-01 2.98261504e-02 4.15924639e+02] [-1.67165305e-01 9.85912916e-01 -5.61088478e-03 -8.07954200e+01] [-3.03444554e-02 5.43415124e-04 9.99539353e-01 -1.36849645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.574012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:415.95, Y:-80.81, Z:-13.68 [[ 9.86023073e-01 1.64057660e-01 2.90445292e-02 4.15951029e+02] [-1.63967891e-01 9.86450554e-01 -5.46218080e-03 -8.08073141e+01] [-2.95471045e-02 6.23466116e-04 9.99563195e-01 -1.36845635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:415.98, Y:-80.82, Z:-13.69 [[ 9.86030462e-01 1.63993531e-01 2.91556226e-02 4.15977484e+02] [-1.63903096e-01 9.86461216e-01 -5.48135574e-03 -8.08155907e+01] [-2.96597978e-02 6.26086920e-04 9.99559855e-01 -1.36850226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.634012739 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:416.00, Y:-80.83, Z:-13.69 [[ 9.85554756e-01 1.66466512e-01 3.11564465e-02 4.16003332e+02] [-1.66364531e-01 9.86046933e-01 -5.85557950e-03 -8.08268005e+01] [-3.16964764e-02 5.87666616e-04 9.99497368e-01 -1.36856735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:416.03, Y:-80.83, Z:-13.69 [[ 9.85205333e-01 1.68338189e-01 3.21357343e-02 4.16030967e+02] [-1.68230751e-01 9.85729152e-01 -6.03772414e-03 -8.08346375e+01] [-3.26935097e-02 5.42179299e-04 9.99465277e-01 -1.36868001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.694012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:416.06, Y:-80.84, Z:-13.69 [[ 9.84860361e-01 1.70327360e-01 3.22282354e-02 4.16057575e+02] [-1.70220416e-01 9.85387418e-01 -6.05360330e-03 -8.08415506e+01] [-3.27883919e-02 4.76050298e-04 9.99462203e-01 -1.36877175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:416.09, Y:-80.85, Z:-13.69 [[ 9.84093804e-01 1.75024794e-01 3.04254226e-02 4.16085199e+02] [-1.74931777e-01 9.84563980e-01 -5.71330750e-03 -8.08484360e+01] [-3.09557457e-02 3.00057245e-04 9.99520711e-01 -1.36885024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.754012739 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:416.11, Y:-80.85, Z:-13.69 [[ 9.83340312e-01 1.79309011e-01 2.98347072e-02 4.16112693e+02] [-1.79221584e-01 9.83792790e-01 -5.60097603e-03 -8.08542219e+01] [-3.03554753e-02 1.60642015e-04 9.99539153e-01 -1.36893130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:416.14, Y:-80.86, Z:-13.69 [[ 9.82951205e-01 1.81275316e-01 3.07601611e-02 4.16139115e+02] [-1.81183402e-01 9.83432382e-01 -5.77280248e-03 -8.08593008e+01] [-3.12970051e-02 1.01152512e-04 9.99510124e-01 -1.36897181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.814012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:416.17, Y:-80.86, Z:-13.69 [[ 9.82546581e-01 1.83308241e-01 3.16275981e-02 4.16167580e+02] [-1.83212205e-01 9.83055486e-01 -5.93299570e-03 -8.08648369e+01] [-3.21792508e-02 3.48826587e-05 9.99482113e-01 -1.36901223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:416.20, Y:-80.87, Z:-13.69 [[ 9.82211789e-01 1.84967668e-01 3.23568304e-02 4.16195464e+02] [-1.84868103e-01 9.82744606e-01 -6.06820298e-03 -8.08689685e+01] [-3.29209219e-02 -2.14853494e-05 9.99457959e-01 -1.36916361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.874012739 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:416.22, Y:-80.87, Z:-13.69 [[ 9.82264399e-01 1.84787601e-01 3.17835289e-02 4.16221813e+02] [-1.84691500e-01 9.82778481e-01 -5.95882045e-03 -8.08723118e+01] [-3.23372844e-02 -1.70104443e-05 9.99477013e-01 -1.36932581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:416.25, Y:-80.87, Z:-13.70 [[ 9.82505898e-01 1.83659016e-01 3.08468113e-02 4.16250050e+02] [-1.83568018e-01 9.82990013e-01 -5.78076597e-03 -8.08738545e+01] [-3.13837972e-02 1.71486583e-05 9.99507407e-01 -1.36950512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.934012739 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:416.28, Y:-80.88, Z:-13.70 [[ 9.82739965e-01 1.82469112e-01 3.04497136e-02 4.16279093e+02] [-1.82379924e-01 9.83211585e-01 -5.70465284e-03 -8.08779983e+01] [-3.09794341e-02 5.27738755e-05 9.99520021e-01 -1.36954121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:416.31, Y:-80.88, Z:-13.70 [[ 9.82951558e-01 1.81344629e-01 3.03374510e-02 4.16307638e+02] [-1.81255607e-01 9.83419604e-01 -5.68215592e-03 -8.08823628e+01] [-3.08648725e-02 8.64509369e-05 9.99523563e-01 -1.36963570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.994012739 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:416.34, Y:-80.88, Z:-13.70 [[ 9.83481582e-01 1.78418900e-01 3.05069666e-02 4.16335539e+02] [-1.78327518e-01 9.83954605e-01 -5.71242437e-03 -8.08838204e+01] [-3.10366748e-02 1.77832521e-04 9.99518231e-01 -1.36963741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:416.36, Y:-80.89, Z:-13.70 [[ 9.83746444e-01 1.76829689e-01 3.12121108e-02 4.16363553e+02] [-1.76733293e-01 9.84241438e-01 -5.84254147e-03 -8.08869844e+01] [-3.17533876e-02 2.31360252e-04 9.99495707e-01 -1.36971533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05401273900003 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:416.39, Y:-80.89, Z:-13.70 [[ 9.84215282e-01 1.73993506e-01 3.23502402e-02 4.16391983e+02] [-1.73888494e-01 9.84746744e-01 -6.05327752e-03 -8.08892105e+01] [-3.29100247e-02 3.32393696e-04 9.99458263e-01 -1.36981122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:416.42, Y:-80.89, Z:-13.70 [[ 9.84377906e-01 1.73015396e-01 3.26467512e-02 4.16420966e+02] [-1.72907963e-01 9.84919052e-01 -6.10722114e-03 -8.08928653e+01] [-3.32110505e-02 3.66930299e-04 9.99448294e-01 -1.36991254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.114012739 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:416.45, Y:-80.89, Z:-13.70 [[ 9.84606250e-01 1.71881864e-01 3.17357326e-02 4.16450344e+02] [-1.71779804e-01 9.85117491e-01 -5.93532590e-03 -8.08943548e+01] [-3.22836001e-02 3.92401062e-04 9.99478672e-01 -1.37008480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:416.48, Y:-80.90, Z:-13.70 [[ 9.84769640e-01 1.71075305e-01 3.10160675e-02 4.16477759e+02] [-1.70977469e-01 9.85257872e-01 -5.79926979e-03 -8.08983287e+01] [-3.15509365e-02 4.07896109e-04 9.99502062e-01 -1.37020660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.174012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:416.51, Y:-80.90, Z:-13.70 [[ 9.84775586e-01 1.71041012e-01 3.10164070e-02 4.16506588e+02] [-1.70943216e-01 9.85263826e-01 -5.79745326e-03 -8.09036353e+01] [-3.15509461e-02 4.07146073e-04 9.99502062e-01 -1.37030100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:416.53, Y:-80.91, Z:-13.70 [[ 9.85011094e-01 1.69734177e-01 3.07156986e-02 4.16534361e+02] [-1.69637667e-01 9.85489783e-01 -5.74017336e-03 -8.09081978e+01] [-3.12443108e-02 4.43594980e-04 9.99511679e-01 -1.37044295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.234012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:416.56, Y:-80.91, Z:-13.71 [[ 9.85654078e-01 1.65983434e-01 3.05865633e-02 4.16562439e+02] [-1.65885985e-01 9.86128383e-01 -5.71421019e-03 -8.09132954e+01] [-3.11107424e-02 5.58352404e-04 9.99515788e-01 -1.37054534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:416.59, Y:-80.92, Z:-13.71 [[ 9.85951720e-01 1.64277033e-01 3.02036833e-02 4.16590692e+02] [-1.64181253e-01 9.86414057e-01 -5.64124610e-03 -8.09185096e+01] [-3.07200649e-02 6.03117736e-04 9.99527845e-01 -1.37059776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.294012739 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:416.62, Y:-80.92, Z:-13.71 [[ 9.86226687e-01 1.62578857e-01 3.04144171e-02 4.16617292e+02] [-1.62480973e-01 9.86695333e-01 -5.67914041e-03 -8.09249737e+01] [-3.09330716e-02 6.59155741e-04 9.99521241e-01 -1.37069649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:416.65, Y:-80.93, Z:-13.71 [[ 9.86304583e-01 1.61949336e-01 3.12359046e-02 4.16645233e+02] [-1.61845843e-01 9.86798829e-01 -5.83044341e-03 -8.09305836e+01] [-3.17677906e-02 6.95191753e-04 9.99495035e-01 -1.37080580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.354012739 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:416.67, Y:-80.94, Z:-13.71 [[ 9.86273401e-01 1.61976176e-01 3.20701834e-02 4.16672302e+02] [-1.61867145e-01 9.86794412e-01 -5.98455028e-03 -8.09355790e+01] [-3.26160323e-02 7.11293719e-04 9.99467703e-01 -1.37086132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:416.70, Y:-80.94, Z:-13.71 [[ 9.86020424e-01 1.63437385e-01 3.24336841e-02 4.16699769e+02] [-1.63326728e-01 9.86553483e-01 -6.05024207e-03 -8.09394796e+01] [-3.29863998e-02 6.68374750e-04 9.99455577e-01 -1.37095184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.414012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:416.73, Y:-80.95, Z:-13.71 [[ 9.85878940e-01 1.64435914e-01 3.16788023e-02 4.16727776e+02] [-1.64330925e-01 9.86387575e-01 -5.90756858e-03 -8.09450106e+01] [-3.22189934e-02 6.18340555e-04 9.99480642e-01 -1.37100541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:416.75, Y:-80.95, Z:-13.71 [[ 9.85530015e-01 1.66645866e-01 3.09797509e-02 4.16754744e+02] [-1.66546597e-01 9.86016669e-01 -5.77576900e-03 -8.09509109e+01] [-3.15090588e-02 5.32621617e-04 9.99503324e-01 -1.37118100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.474012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:416.78, Y:-80.96, Z:-13.71 [[ 9.85240084e-01 1.68256249e-01 3.14930546e-02 4.16783439e+02] [-1.68154544e-01 9.85743170e-01 -5.86957591e-03 -8.09560477e+01] [-3.20316563e-02 4.87241207e-04 9.99486736e-01 -1.37124594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:416.81, Y:-80.96, Z:-13.71 [[ 9.84903630e-01 1.70117453e-01 3.20139414e-02 4.16812137e+02] [-1.70013388e-01 9.85423698e-01 -5.96511719e-03 -8.09609747e+01] [-3.25620671e-02 4.32266922e-04 9.99469622e-01 -1.37128873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.534012739 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:416.84, Y:-80.96, Z:-13.71 [[ 9.84406197e-01 1.73052100e-01 3.15817822e-02 4.16840846e+02] [-1.72952383e-01 9.84912617e-01 -5.88310329e-03 -8.09647887e+01] [-3.21233791e-02 3.29218837e-04 9.99483857e-01 -1.37141252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:416.87, Y:-80.97, Z:-13.72 [[ 9.84243640e-01 1.74015042e-01 3.13563811e-02 4.16869835e+02] [-1.73917280e-01 9.84742950e-01 -5.83962565e-03 -8.09686126e+01] [-3.18941580e-02 2.94197890e-04 9.99491209e-01 -1.37155628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.594012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:416.90, Y:-80.97, Z:-13.72 [[ 9.83961849e-01 1.75653451e-01 3.10635628e-02 4.16898085e+02] [-1.75558371e-01 9.84452035e-01 -5.78357632e-03 -8.09699393e+01] [-3.15964927e-02 2.37349988e-04 9.99500678e-01 -1.37172785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:416.93, Y:-80.97, Z:-13.72 [[ 9.83878713e-01 1.76151469e-01 3.08761688e-02 4.16925799e+02] [-1.76057837e-01 9.84363049e-01 -5.74679502e-03 -8.09741020e+01] [-3.14056660e-02 2.18157793e-04 9.99506697e-01 -1.37181650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.654012739 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:416.95, Y:-80.98, Z:-13.72 [[ 9.83884268e-01 1.76183314e-01 3.05153615e-02 4.16953687e+02] [-1.76091940e-01 9.84357351e-01 -5.67749796e-03 -8.09792344e+01] [-3.10383008e-02 2.12491726e-04 9.99518173e-01 -1.37198567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:416.98, Y:-80.98, Z:-13.72 [[ 9.84239331e-01 1.74336449e-01 2.96604408e-02 4.16980638e+02] [-1.74249346e-01 9.84686110e-01 -5.51642839e-03 -8.09838375e+01] [-3.01679386e-02 2.61173378e-04 9.99544810e-01 -1.37217308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.714012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:417.01, Y:-80.99, Z:-13.72 [[ 9.84615926e-01 1.72196737e-01 2.96607861e-02 4.17008054e+02] [-1.72108758e-01 9.85062525e-01 -5.51329142e-03 -8.09882400e+01] [-3.01670997e-02 3.23593477e-04 9.99544817e-01 -1.37227621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:417.04, Y:-80.99, Z:-13.72 [[ 9.85502075e-01 1.66855812e-01 3.07375646e-02 4.17035841e+02] [-1.66758800e-01 9.85981179e-01 -5.71114778e-03 -8.09941405e+01] [-3.12595984e-02 5.02588610e-04 9.99511173e-01 -1.37233501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.774012739 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:417.06, Y:-81.00, Z:-13.72 [[ 9.85960755e-01 1.63892801e-01 3.19458814e-02 4.17064045e+02] [-1.63786505e-01 9.86477961e-01 -5.93408485e-03 -8.10002643e+01] [-3.24864617e-02 6.18470508e-04 9.99471984e-01 -1.37240381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:417.09, Y:-81.01, Z:-13.73 [[ 9.87099687e-01 1.56608771e-01 3.32851446e-02 4.17090520e+02] [-1.56489287e-01 9.87660314e-01 -6.18120275e-03 -8.10077653e+01] [-3.38424470e-02 8.92694754e-04 9.99426782e-01 -1.37253806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.834012739 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:417.12, Y:-81.02, Z:-13.73 [[ 9.87695012e-01 1.52885459e-01 3.29332616e-02 4.17119075e+02] [-1.52766487e-01 9.88243402e-01 -6.11386109e-03 -8.10153635e+01] [-3.34807990e-02 1.00753144e-03 9.99438853e-01 -1.37255943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:417.15, Y:-81.02, Z:-13.73 [[ 9.88299725e-01 1.48998465e-01 3.26053953e-02 4.17147489e+02] [-1.48879763e-01 9.88836785e-01 -6.05221459e-03 -8.10229245e+01] [-3.31431849e-02 1.12711849e-03 9.99449978e-01 -1.37268292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.894012739 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:417.18, Y:-81.03, Z:-13.73 [[ 9.88867833e-01 1.45269064e-01 3.22072789e-02 4.17175556e+02] [-1.45151292e-01 9.89391415e-01 -5.97755498e-03 -8.10306910e+01] [-3.27339590e-02 1.23608370e-03 9.99463336e-01 -1.37275755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:417.21, Y:-81.04, Z:-13.72 [[ 9.89639975e-01 1.39771632e-01 3.28117380e-02 4.17205225e+02] [-1.39646391e-01 9.90182713e-01 -6.08938364e-03 -8.10421588e+01] [-3.33407389e-02 1.44425668e-03 9.99443000e-01 -1.37200812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.954012739 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:417.23, Y:-81.05, Z:-13.73 [[ 9.89992274e-01 1.37167973e-01 3.31699448e-02 4.17234341e+02] [-1.37038488e-01 9.90546589e-01 -6.15689632e-03 -8.10541355e+01] [-3.37009047e-02 1.54972071e-03 9.99430762e-01 -1.37292722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:417.26, Y:-81.06, Z:-13.73 [[ 9.90051777e-01 1.36945337e-01 3.23025408e-02 4.17264702e+02] [-1.36822254e-01 9.90577438e-01 -6.00093009e-03 -8.10633981e+01] [-3.28199675e-02 1.52152506e-03 9.99460122e-01 -1.37298287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.014012739 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:417.30, Y:-81.07, Z:-13.73 [[ 9.90062932e-01 1.36976199e-01 3.18262574e-02 4.17295455e+02] [-1.36856553e-01 9.90573198e-01 -5.91810876e-03 -8.10721837e+01] [-3.23368776e-02 1.50366821e-03 9.99475895e-01 -1.37309097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:417.33, Y:-81.08, Z:-13.73 [[ 9.89796592e-01 1.38674678e-01 3.27420382e-02 4.17326381e+02] [-1.38548790e-01 9.90336861e-01 -6.09384822e-03 -8.10839680e+01] [-3.32707098e-02 1.49530041e-03 9.99445258e-01 -1.37309696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.074012739 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:417.36, Y:-81.09, Z:-13.73 [[ 9.89498583e-01 1.40640023e-01 3.33607217e-02 4.17357928e+02] [-1.40510253e-01 9.90059719e-01 -6.21463974e-03 -8.10940216e+01] [-3.39031338e-02 1.46185377e-03 9.99424054e-01 -1.37315184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:417.39, Y:-81.11, Z:-13.73 [[ 9.88893107e-01 1.45024177e-01 3.25332411e-02 4.17388822e+02] [-1.44902932e-01 9.89427277e-01 -6.06658872e-03 -8.11093723e+01] [-3.30690782e-02 1.28504574e-03 9.99452242e-01 -1.37332705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.134012739 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:417.42, Y:-81.12, Z:-13.73 [[ 9.88754415e-01 1.46847850e-01 2.82916199e-02 4.17419287e+02] [-1.46575192e-01 9.89132765e-01 -1.14928850e-02 -8.11157870e+01] [-2.96718736e-02 7.21679119e-03 9.99533640e-01 -1.37338530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:417.45, Y:-81.13, Z:-13.74 [[ 9.88513506e-01 1.47907396e-01 3.10556126e-02 4.17448952e+02] [-1.47982965e-01 9.88989901e-01 1.36505736e-04 -8.11329486e+01] [-3.06934970e-02 -4.73063941e-03 9.99517649e-01 -1.37362246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.194012739 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:417.48, Y:-81.14, Z:-13.74 [[ 9.87868269e-01 1.52211104e-01 3.07906165e-02 4.17479670e+02] [-1.52105476e-01 9.88347495e-01 -5.75791828e-03 -8.11447046e+01] [-3.13082477e-02 1.00464340e-03 9.99509272e-01 -1.37358733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:417.51, Y:-81.15, Z:-13.74 [[ 9.87306470e-01 1.55566247e-01 3.20168200e-02 4.17510819e+02] [-1.55453661e-01 9.87825016e-01 -5.99141102e-03 -8.11549095e+01] [-3.25590770e-02 9.38227000e-04 9.99469372e-01 -1.37361203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.254012739 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:417.54, Y:-81.16, Z:-13.74 [[ 9.85991523e-01 1.63573836e-01 3.26238514e-02 4.17540751e+02] [-1.63461127e-01 9.86530851e-01 -6.11058513e-03 -8.11642908e+01] [-3.31839678e-02 6.92253634e-04 9.99449021e-01 -1.37358058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:417.57, Y:-81.16, Z:-13.74 [[ 9.85380508e-01 1.68261216e-01 2.67098683e-02 4.17571693e+02] [-1.67847498e-01 9.85665389e-01 -1.70575281e-02 -8.11639520e+01] [-2.91971132e-02 1.23249711e-02 9.99497686e-01 -1.37354982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.314012739 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:417.60, Y:-81.18, Z:-13.74 [[ 9.84510777e-01 1.72059743e-01 3.36745520e-02 4.17597763e+02] [-1.72337826e-01 9.85022463e-01 5.51561030e-03 -8.11836573e+01] [-3.22211756e-02 -1.12335769e-02 9.99417632e-01 -1.37385692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:417.63, Y:-81.18, Z:-13.74 [[ 9.83318857e-01 1.79001921e-01 3.22852570e-02 4.17628758e+02] [-1.78899577e-01 9.83848708e-01 -6.05480128e-03 -8.11830753e+01] [-3.28476294e-02 1.77981451e-04 9.99460355e-01 -1.37400182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.374012739 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:417.66, Y:-81.18, Z:-13.74 [[ 9.82535114e-01 1.83327415e-01 3.18717639e-02 4.17658721e+02] [-1.83229950e-01 9.83051910e-01 -5.97724576e-03 -8.11848057e+01] [-3.24273914e-02 3.29921309e-05 9.99474093e-01 -1.37413299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:417.69, Y:-81.19, Z:-13.74 [[ 9.82257755e-01 1.84894539e-01 3.13641778e-02 4.17687904e+02] [-1.84800966e-01 9.82758368e-01 -5.88167894e-03 -8.11882405e+01] [-3.19108984e-02 -1.88055750e-05 9.99490717e-01 -1.37421762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.434012739 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:417.72, Y:-81.19, Z:-13.74 [[ 9.82063689e-01 1.85928937e-01 3.13263555e-02 4.17717090e+02] [-1.85836139e-01 9.82563193e-01 -5.87383263e-03 -8.11921798e+01] [-3.18722393e-02 -5.30912119e-05 9.99491950e-01 -1.37430548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:417.75, Y:-81.19, Z:-13.74 [[ 9.82096488e-01 1.85531910e-01 3.26251093e-02 4.17746200e+02] [-1.85431064e-01 9.82638239e-01 -6.11651582e-03 -8.11940052e+01] [-3.31934889e-02 -4.27000493e-05 9.99448943e-01 -1.37435909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.494012739 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:417.77, Y:-81.20, Z:-13.74 [[ 9.82269294e-01 1.84643663e-01 3.24615557e-02 4.17774641e+02] [-1.84543380e-01 9.82805534e-01 -6.08468120e-03 -8.11972011e+01] [-3.30268944e-02 -1.37697207e-05 9.99454463e-01 -1.37447575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:417.80, Y:-81.20, Z:-13.75 [[ 9.82646128e-01 1.82635102e-01 3.24192445e-02 4.17803866e+02] [-1.82534025e-01 9.83180765e-01 -6.07560252e-03 -8.12010226e+01] [-3.29835959e-02 5.25520918e-05 9.99455892e-01 -1.37472546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55401273900003 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:417.83, Y:-81.21, Z:-13.75 [[ 9.82872951e-01 1.81567802e-01 3.15261021e-02 4.17832358e+02] [-1.81471693e-01 9.83378425e-01 -5.90748971e-03 -8.12062137e+01] [-3.20746986e-02 8.52167025e-05 9.99485471e-01 -1.37482361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:417.86, Y:-81.21, Z:-13.75 [[ 9.83010311e-01 1.81025398e-01 3.03402948e-02 4.17861388e+02] [-1.80936148e-01 9.83478417e-01 -5.68458963e-03 -8.12116092e+01] [-3.08680802e-02 9.83541478e-05 9.99523462e-01 -1.37485944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.614012739 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:417.89, Y:-81.22, Z:-13.75 [[ 9.83121182e-01 1.80601116e-01 2.92570968e-02 4.17889598e+02] [-1.80517957e-01 9.83556417e-01 -5.48102205e-03 -8.12163401e+01] [-2.97658840e-02 1.07077534e-04 9.99556892e-01 -1.37501822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:417.92, Y:-81.22, Z:-13.75 [[ 9.83088667e-01 1.80737592e-01 2.95058638e-02 4.17918800e+02] [-1.80653118e-01 9.83531348e-01 -5.52618550e-03 -8.12225657e+01] [-3.00187314e-02 1.02404052e-04 9.99549331e-01 -1.37507102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.674012739 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:417.95, Y:-81.23, Z:-13.75 [[ 9.83034620e-01 1.80960418e-01 2.99376652e-02 4.17946702e+02] [-1.80873578e-01 9.83490375e-01 -5.60633285e-03 -8.12289523e+01] [-3.04579299e-02 9.62866569e-05 9.99536045e-01 -1.37518497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:417.97, Y:-81.24, Z:-13.75 [[ 9.82837984e-01 1.81889758e-01 3.07508360e-02 4.17974025e+02] [-1.81798625e-01 9.83318927e-01 -5.75747234e-03 -8.12363617e+01] [-3.12851043e-02 6.82027832e-05 9.99510499e-01 -1.37527831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.734012739 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:418.00, Y:-81.24, Z:-13.75 [[ 9.82731966e-01 1.82400942e-01 3.11091474e-02 4.18003411e+02] [-1.82307987e-01 9.83224234e-01 -5.82272096e-03 -8.12436798e+01] [-3.16493374e-02 5.07279741e-05 9.99499033e-01 -1.37535203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:418.03, Y:-81.25, Z:-13.76 [[ 9.82423822e-01 1.84250438e-01 2.99200620e-02 4.18031339e+02] [-1.84165311e-01 9.82879329e-01 -5.60017433e-03 -8.12542800e+01] [-3.04396450e-02 -8.49285991e-06 9.99536607e-01 -1.37551952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.794012739 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:418.06, Y:-81.26, Z:-13.76 [[ 9.82217943e-01 1.85522320e-01 2.87989822e-02 4.18059881e+02] [-1.85444011e-01 9.82640049e-01 -5.38999578e-03 -8.12627150e+01] [-2.92989978e-02 -4.64482126e-05 9.99570691e-01 -1.37560153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:418.09, Y:-81.27, Z:-13.76 [[ 9.81956245e-01 1.86938887e-01 2.85619434e-02 4.18087277e+02] [-1.86862470e-01 9.82371541e-01 -5.34534521e-03 -8.12702264e+01] [-2.90576932e-02 -8.82601759e-05 9.99577732e-01 -1.37561619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.854012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:418.12, Y:-81.28, Z:-13.76 [[ 9.81039737e-01 1.91496952e-01 2.98320448e-02 4.18116227e+02] [-1.91415726e-01 9.81493180e-01 -5.58189761e-03 -8.12784280e+01] [-3.03488649e-02 -2.34259143e-04 9.99539340e-01 -1.37556927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:418.15, Y:-81.28, Z:-13.76 [[ 9.80357026e-01 1.94828306e-01 3.06925671e-02 4.18145097e+02] [-1.94743979e-01 9.80837301e-01 -5.74213715e-03 -8.12844571e+01] [-3.12231455e-02 -3.47848154e-04 9.99512378e-01 -1.37561857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.914012739 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:418.17, Y:-81.29, Z:-13.76 [[ 9.78590251e-01 2.03283814e-01 3.21995625e-02 4.18173674e+02] [-2.03195596e-01 9.79119641e-01 -6.02322049e-03 -8.12906364e+01] [-3.27516473e-02 -6.48544451e-04 9.99463310e-01 -1.37571668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:418.20, Y:-81.30, Z:-13.76 [[ 9.77709168e-01 2.07422071e-01 3.25709726e-02 4.18201188e+02] [-2.07334154e-01 9.78251219e-01 -6.09103541e-03 -8.12956197e+01] [-3.31260088e-02 -7.97813865e-04 9.99450865e-01 -1.37578070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.974012739 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:418.23, Y:-81.30, Z:-13.76 [[ 9.76178953e-01 2.14422963e-01 3.31277079e-02 4.18229391e+02] [-2.14336105e-01 9.76740334e-01 -6.19308387e-03 -8.12970546e+01] [-3.36851078e-02 -1.05490574e-03 9.99431939e-01 -1.37580189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:418.26, Y:-81.30, Z:-13.76 [[ 9.75577058e-01 2.17152351e-01 3.30795957e-02 4.18258516e+02] [-2.17067376e-01 9.76137048e-01 -6.18214480e-03 -8.12997758e+01] [-3.36326861e-02 -1.14934239e-03 9.99433600e-01 -1.37585953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.034012739 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:418.29, Y:-81.30, Z:-13.76 [[ 9.75129394e-01 2.19175122e-01 3.29382929e-02 4.18287034e+02] [-2.19092074e-01 9.75684779e-01 -6.15420781e-03 -8.13024291e+01] [-3.34862403e-02 -1.21536999e-03 9.99438440e-01 -1.37601658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:418.32, Y:-81.30, Z:-13.76 [[ 9.74386581e-01 2.22511131e-01 3.25512951e-02 4.18316054e+02] [-2.22431932e-01 9.74929262e-01 -6.08033361e-03 -8.13012892e+01] [-3.30881521e-02 -1.31585199e-03 9.99451571e-01 -1.37608744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.094012739 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:418.34, Y:-81.31, Z:-13.76 [[ 9.74399351e-01 2.22455142e-01 3.25517118e-02 4.18344073e+02] [-2.22375987e-01 9.74942038e-01 -6.07810239e-03 -8.13063938e+01] [-3.30881373e-02 -1.31622001e-03 9.99451571e-01 -1.37617774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:418.37, Y:-81.31, Z:-13.76 [[ 9.74131224e-01 2.23559356e-01 3.30086844e-02 4.18372530e+02] [-2.23478661e-01 9.74689348e-01 -6.16144225e-03 -8.13068487e+01] [-3.35506611e-02 -1.37468332e-03 9.99436073e-01 -1.37627097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.154012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:418.40, Y:-81.30, Z:-13.76 [[ 9.73708262e-01 2.25210242e-01 3.42427682e-02 4.18400947e+02] [-2.25124493e-01 9.74309055e-01 -6.38966237e-03 -8.13048812e+01] [-3.48020566e-02 -1.48721879e-03 9.99393118e-01 -1.37638897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:418.43, Y:-81.31, Z:-13.77 [[ 9.73702159e-01 2.25232132e-01 3.42723358e-02 4.18427628e+02] [-2.25146336e-01 9.74303988e-01 -6.39264886e-03 -8.13078736e+01] [-3.48315033e-02 -1.49175483e-03 9.99392086e-01 -1.37652584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.214012739 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:418.46, Y:-81.31, Z:-13.77 [[ 9.73854870e-01 2.24678478e-01 3.35600050e-02 4.18455737e+02] [-2.24595977e-01 9.74431884e-01 -6.25703407e-03 -8.13105875e+01] [-3.41077598e-02 -1.44399901e-03 9.99417118e-01 -1.37664827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:418.48, Y:-81.31, Z:-13.77 [[ 9.74318265e-01 2.23033156e-01 3.09859616e-02 4.18484109e+02] [-2.22962060e-01 9.74810016e-01 -5.77508735e-03 -8.13063627e+01] [-3.14934617e-02 -1.28192076e-03 9.99503136e-01 -1.37672377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.274012739 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:418.51, Y:-81.31, Z:-13.77 [[ 9.74490337e-01 2.22362118e-01 3.03919648e-02 4.18512526e+02] [-2.22293473e-01 9.74963361e-01 -5.66190854e-03 -8.13065078e+01] [-3.08900461e-02 -1.23846026e-03 9.99522021e-01 -1.37680233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:418.54, Y:-81.30, Z:-13.77 [[ 9.74637831e-01 2.21553355e-01 3.15469480e-02 4.18541394e+02] [-2.21479045e-01 9.75147435e-01 -5.87471599e-03 -8.13040605e+01] [-3.20644885e-02 -1.26126749e-03 9.99485006e-01 -1.37684975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.334012739 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:418.57, Y:-81.30, Z:-13.77 [[ 9.74921046e-01 2.20835918e-01 2.75762826e-02 4.18571177e+02] [-2.20460911e-01 9.75264444e-01 -1.60078413e-02 -8.12986320e+01] [-3.04292742e-02 9.52688904e-03 9.99491520e-01 -1.37677107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:418.60, Y:-81.31, Z:-13.77 [[ 9.75158520e-01 2.18840235e-01 3.42755387e-02 4.18597044e+02] [-2.19133394e-01 9.75682110e-01 4.99758368e-03 -8.13112162e+01] [-3.23483575e-02 -1.23843514e-02 9.99399926e-01 -1.37718268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.394012739 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:418.63, Y:-81.30, Z:-13.77 [[ 9.76175178e-01 2.14868243e-01 3.02268140e-02 4.18627263e+02] [-2.14796985e-01 9.76642530e-01 -5.62347450e-03 -8.13018680e+01] [-3.07290982e-02 -1.00313229e-03 9.99527246e-01 -1.37731442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:418.65, Y:-81.31, Z:-13.77 [[ 9.76869902e-01 2.11745817e-01 2.98144976e-02 4.18653993e+02] [-2.11675101e-01 9.77324362e-01 -5.54464461e-03 -8.13050219e+01] [-3.03124902e-02 -8.94590342e-04 9.99540071e-01 -1.37748504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.454012739 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:418.68, Y:-81.31, Z:-13.78 [[ 9.78356338e-01 2.04618941e-01 3.08214899e-02 4.18681297e+02] [-2.04539912e-01 9.78841458e-01 -5.72921051e-03 -8.13076160e+01] [-3.13416571e-02 -6.99015431e-04 9.99508485e-01 -1.37752397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:418.71, Y:-81.31, Z:-13.78 [[ 9.79083436e-01 2.01035952e-01 3.13076759e-02 4.18709409e+02] [-2.00952661e-01 9.79583682e-01 -5.81700102e-03 -8.13110124e+01] [-3.18379148e-02 -5.96031423e-04 9.99492867e-01 -1.37760217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.514012739 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:418.74, Y:-81.31, Z:-13.78 [[ 9.79710213e-01 1.98014108e-01 3.09566184e-02 4.18736479e+02] [-1.97931235e-01 9.80199045e-01 -5.74956430e-03 -8.13145927e+01] [-3.14821427e-02 -4.94374859e-04 9.99504192e-01 -1.37768028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:418.76, Y:-81.32, Z:-13.78 [[ 9.80323619e-01 1.95084172e-01 3.01291734e-02 4.18762943e+02] [-1.95004362e-01 9.80786425e-01 -5.59341724e-03 -8.13172867e+01] [-3.06414715e-02 -3.91961218e-04 9.99530363e-01 -1.37775602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.574012739 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:418.79, Y:-81.32, Z:-13.78 [[ 9.80315844e-01 1.95054732e-01 3.05695599e-02 4.18790893e+02] [-1.94972638e-01 9.80792278e-01 -5.67259471e-03 -8.13205301e+01] [-3.10888547e-02 -3.99293267e-04 9.99516545e-01 -1.37778365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:418.82, Y:-81.32, Z:-13.78 [[ 9.80103512e-01 1.95906109e-01 3.19045719e-02 4.18818488e+02] [-1.95817217e-01 9.80622556e-01 -5.91786640e-03 -8.13214176e+01] [-3.24456890e-02 -4.47342830e-04 9.99473400e-01 -1.37785848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.634012739 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:418.85, Y:-81.32, Z:-13.78 [[ 9.80175934e-01 1.95405825e-01 3.27368491e-02 4.18846017e+02] [-1.95312050e-01 9.80722369e-01 -6.06937386e-03 -8.13249550e+01] [-3.32917512e-02 -4.44846912e-04 9.99445577e-01 -1.37794177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:418.87, Y:-81.33, Z:-13.78 [[ 9.80454839e-01 1.93922982e-01 3.31991868e-02 4.18873995e+02] [-1.93825771e-01 9.81016674e-01 -6.15265214e-03 -8.13296181e+01] [-3.37620964e-02 -4.02460419e-04 9.99429817e-01 -1.37803620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.694012739 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:418.90, Y:-81.34, Z:-13.78 [[ 9.81571465e-01 1.88123900e-01 3.35686830e-02 4.18900377e+02] [-1.88021204e-01 9.82145282e-01 -6.21865132e-03 -8.13361126e+01] [-3.41392006e-02 -2.07573503e-04 9.99417066e-01 -1.37812275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:418.93, Y:-81.34, Z:-13.78 [[ 9.82375689e-01 1.83920900e-01 3.33332892e-02 4.18927439e+02] [-1.83817312e-01 9.82941045e-01 -6.17228040e-03 -8.13426277e+01] [-3.38998695e-02 -6.37374178e-05 9.99425232e-01 -1.37819449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.754012739 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:418.95, Y:-81.35, Z:-13.78 [[ 9.83862131e-01 1.75947487e-01 3.25236747e-02 4.18954489e+02] [-1.75844589e-01 9.84399533e-01 -6.01998234e-03 -8.13514844e+01] [-3.30754909e-02 2.03720435e-04 9.99452836e-01 -1.37828126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:418.98, Y:-81.36, Z:-13.78 [[ 9.84381649e-01 1.73069605e-01 3.22440798e-02 4.18982178e+02] [-1.72966996e-01 9.84909551e-01 -5.96607319e-03 -8.13577034e+01] [-3.27900481e-02 2.95731346e-04 9.99462218e-01 -1.37835625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.814012739 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:419.01, Y:-81.36, Z:-13.78 [[ 9.84695703e-01 1.71236862e-01 3.24393164e-02 4.19008860e+02] [-1.71132084e-01 9.85229826e-01 -5.99997480e-03 -8.13636810e+01] [-3.29875989e-02 3.56741578e-04 9.99455697e-01 -1.37843246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:419.04, Y:-81.37, Z:-13.79 [[ 9.84830945e-01 1.70342477e-01 3.30371046e-02 4.19036247e+02] [-1.70233362e-01 9.85384842e-01 -6.10864814e-03 -8.13717583e+01] [-3.35948243e-02 3.91968358e-04 9.99435458e-01 -1.37852704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.874012739 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:419.06, Y:-81.38, Z:-13.79 [[ 9.84824269e-01 1.70424132e-01 3.28142307e-02 4.19063912e+02] [-1.70316579e-01 9.85370726e-01 -6.06595855e-03 -8.13787892e+01] [-3.33679680e-02 3.85095684e-04 9.99443060e-01 -1.37866524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:419.09, Y:-81.39, Z:-13.79 [[ 9.85001456e-01 1.69831894e-01 3.04837490e-02 4.19091127e+02] [-1.69738835e-01 9.85472976e-01 -5.63387691e-03 -8.13880340e+01] [-3.09977229e-02 3.75100907e-04 9.99519385e-01 -1.37895745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.934012739 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:419.12, Y:-81.40, Z:-13.79 [[ 9.85204879e-01 1.68815330e-01 2.95420275e-02 4.19118786e+02] [-1.68727515e-01 9.85647620e-01 -5.45855139e-03 -8.13955083e+01] [-3.00395162e-02 3.93238566e-04 9.99548635e-01 -1.37907118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:419.15, Y:-81.40, Z:-13.79 [[ 9.85413345e-01 1.67611347e-01 2.94444622e-02 4.19145500e+02] [-1.67523616e-01 9.85853059e-01 -5.43913831e-03 -8.14031941e+01] [-2.99395744e-02 4.27156701e-04 9.99551619e-01 -1.37914331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.994012739 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:419.17, Y:-81.41, Z:-13.79 [[ 9.85761019e-01 1.65421612e-01 3.01811853e-02 4.19172300e+02] [-1.65328471e-01 9.86222813e-01 -5.57320036e-03 -8.14136952e+01] [-3.06873013e-02 5.04034449e-04 9.99528907e-01 -1.37917457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:419.20, Y:-81.42, Z:-13.79 [[ 9.85854715e-01 1.64841355e-01 3.02953597e-02 4.19200605e+02] [-1.64747289e-01 9.86319956e-01 -5.59246270e-03 -8.14215309e+01] [-3.08027870e-02 5.22277334e-04 9.99525345e-01 -1.37927354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05401273900003 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:419.23, Y:-81.43, Z:-13.79 [[ 9.85748933e-01 1.65663689e-01 2.92332550e-02 4.19227822e+02] [-1.65576507e-01 9.86182191e-01 -5.39503063e-03 -8.14329860e+01] [-2.97230761e-02 4.77805437e-04 9.99558058e-01 -1.37943080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:419.26, Y:-81.44, Z:-13.79 [[ 9.85639929e-01 1.66447725e-01 2.84444242e-02 4.19255003e+02] [-1.66365527e-01 9.86050181e-01 -5.24891870e-03 -8.14406639e+01] [-2.89213002e-02 4.41372219e-04 9.99581594e-01 -1.37949116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.114012739 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:419.28, Y:-81.45, Z:-13.80 [[ 9.85457646e-01 1.67466194e-01 2.87802292e-02 4.19282754e+02] [-1.67382528e-01 9.85877732e-01 -5.30917278e-03 -8.14484428e+01] [-2.92628940e-02 4.14657382e-04 9.99571664e-01 -1.37959848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:419.31, Y:-81.46, Z:-13.80 [[ 9.85124260e-01 1.69648691e-01 2.73772374e-02 4.19311068e+02] [-1.69396256e-01 9.85483156e-01 -1.13074247e-02 -8.14555085e+01] [-2.88980961e-02 6.50161688e-03 9.99561218e-01 -1.37952528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.174012739 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:419.34, Y:-81.47, Z:-13.80 [[ 9.84900476e-01 1.70285539e-01 3.12071566e-02 4.19337287e+02] [-1.70384427e-01 9.85377531e-01 5.17787183e-04 -8.14704677e+01] [-3.06626593e-02 -5.82718233e-03 9.99512804e-01 -1.37970872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:419.37, Y:-81.48, Z:-13.80 [[ 9.84522333e-01 1.72800715e-01 2.92521720e-02 4.19365916e+02] [-1.72716742e-01 9.84956774e-01 -5.39259478e-03 -8.14770344e+01] [-2.97439692e-02 2.56790145e-04 9.99557517e-01 -1.37981354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.234012739 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:419.40, Y:-81.48, Z:-13.79 [[ 9.84255425e-01 1.74502045e-01 2.81121795e-02 4.19395182e+02] [-1.74425203e-01 9.84656792e-01 -5.18180663e-03 -8.14849708e+01] [-2.85850844e-02 1.96748674e-04 9.99591344e-01 -1.37895287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:419.42, Y:-81.49, Z:-13.80 [[ 9.83938512e-01 1.76153269e-01 2.88968923e-02 4.19423403e+02] [-1.76072809e-01 9.84362739e-01 -5.32572164e-03 -8.14923437e+01] [-2.93831674e-02 1.52225606e-04 9.99568210e-01 -1.38001342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.294012739 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:419.45, Y:-81.50, Z:-13.80 [[ 9.83201805e-01 1.79913546e-01 3.07461538e-02 4.19450921e+02] [-1.79824317e-01 9.83682426e-01 -5.66573743e-03 -8.15021645e+01] [-3.12637941e-02 4.16571552e-05 9.99511167e-01 -1.37995234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:419.48, Y:-81.51, Z:-13.80 [[ 9.82832573e-01 1.81565716e-01 3.27723246e-02 4.19480129e+02] [-1.81465297e-01 9.83378813e-01 -6.03782919e-03 -8.15092527e+01] [-3.33238725e-02 -1.28644229e-05 9.99444605e-01 -1.38002682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.354012739 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:419.51, Y:-81.52, Z:-13.80 [[ 9.82386183e-01 1.83450645e-01 3.55422170e-02 4.19507786e+02] [-1.83333795e-01 9.83028918e-01 -6.54720949e-03 -8.15174118e+01] [-3.61401169e-02 -8.42013629e-05 9.99346729e-01 -1.38005757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:419.54, Y:-81.52, Z:-13.80 [[ 9.82248070e-01 1.84145303e-01 3.57664118e-02 4.19537358e+02] [-1.84027462e-01 9.82899026e-01 -6.58772905e-03 -8.15240164e+01] [-3.63678707e-02 -1.11217828e-04 9.99338464e-01 -1.38014687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.414012739 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:419.57, Y:-81.53, Z:-13.80 [[ 9.82166849e-01 1.84734314e-01 3.49501618e-02 4.19566473e+02] [-1.84622166e-01 9.82788490e-01 -6.43734683e-03 -8.15300006e+01] [-3.55378156e-02 -1.30025927e-04 9.99368324e-01 -1.38026216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:419.60, Y:-81.54, Z:-13.80 [[ 9.82144207e-01 1.85294712e-01 3.25365399e-02 4.19595436e+02] [-1.85197842e-01 9.82682986e-01 -5.99241588e-03 -8.15352422e+01] [-3.30834672e-02 -1.40280452e-04 9.99452582e-01 -1.38045307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.474012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:419.62, Y:-81.54, Z:-13.81 [[ 9.82309939e-01 1.84490091e-01 3.21027992e-02 4.19623865e+02] [-1.84395383e-01 9.82834367e-01 -5.91177168e-03 -8.15400747e+01] [-3.26423977e-02 -1.12415878e-04 9.99467089e-01 -1.38061367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:419.65, Y:-81.55, Z:-13.81 [[ 9.83048802e-01 1.80351578e-01 3.29903100e-02 4.19653271e+02] [-1.80249255e-01 9.83602210e-01 -6.07439588e-03 -8.15463990e+01] [-3.35448687e-02 2.49488030e-05 9.99437212e-01 -1.38072349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.534012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:419.68, Y:-81.55, Z:-13.81 [[ 9.83518503e-01 1.77778233e-01 3.29583715e-02 4.19682940e+02] [-1.77674689e-01 9.84070570e-01 -6.06775669e-03 -8.15533615e+01] [-3.35120785e-02 1.11882580e-04 9.99438306e-01 -1.38084063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:419.71, Y:-81.56, Z:-13.81 [[ 9.84024364e-01 1.75103281e-01 3.21697426e-02 4.19712530e+02] [-1.75003204e-01 9.84550050e-01 -5.92257293e-03 -8.15605145e+01] [-3.27097837e-02 1.98148026e-04 9.99464872e-01 -1.38095589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.594012739 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:419.74, Y:-81.57, Z:-13.81 [[ 9.84866878e-01 1.70643977e-01 3.02963058e-02 4.19742807e+02] [-1.70553099e-01 9.85332698e-01 -5.57799049e-03 -8.15682749e+01] [-3.08037913e-02 3.26449243e-04 9.99525397e-01 -1.38107967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:419.77, Y:-81.57, Z:-13.81 [[ 9.85011866e-01 1.70435458e-01 2.65213021e-02 4.19772799e+02] [-1.70109580e-01 9.85324129e-01 -1.41099599e-02 -8.15696991e+01] [-2.85369163e-02 9.38695037e-03 9.99548663e-01 -1.38104821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.654012739 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:419.80, Y:-81.59, Z:-13.81 [[ 9.85197872e-01 1.68410726e-01 3.19840589e-02 4.19798763e+02] [-1.68624728e-01 9.85671812e-01 4.09633395e-03 -8.15887697e+01] [-3.08359187e-02 -9.42900271e-03 9.99479985e-01 -1.38130884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:419.83, Y:-81.59, Z:-13.81 [[ 9.85173312e-01 1.69086576e-01 2.90391922e-02 4.19829674e+02] [-1.69002361e-01 9.85601136e-01 -5.34815357e-03 -8.15906882e+01] [-2.95253618e-02 3.61166127e-04 9.99563966e-01 -1.38145036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.714012739 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:419.86, Y:-81.60, Z:-13.82 [[ 9.84985685e-01 1.70401095e-01 2.76887686e-02 4.19857949e+02] [-1.70325049e-01 9.85374737e-01 -5.09949863e-03 -8.15982165e+01] [-2.81527732e-02 3.06842280e-04 9.99603585e-01 -1.38164835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:419.89, Y:-81.60, Z:-13.82 [[ 9.84928654e-01 1.70817962e-01 2.71435201e-02 4.19888670e+02] [-1.70745054e-01 9.85302563e-01 -4.99859030e-03 -8.16049869e+01] [-2.75984289e-02 2.88633010e-04 9.99619049e-01 -1.38177525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.774012739 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:419.92, Y:-81.61, Z:-13.82 [[ 9.84847765e-01 1.71296509e-01 2.70626268e-02 4.19917970e+02] [-1.71224196e-01 9.85219483e-01 -4.98440953e-03 -8.16119113e+01] [-2.75164391e-02 2.75108078e-04 9.99621313e-01 -1.38191483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:419.95, Y:-81.62, Z:-13.82 [[ 9.84485448e-01 1.73329205e-01 2.73018294e-02 4.19947826e+02] [-1.73256378e-01 9.84863919e-01 -5.02885863e-03 -8.16197171e+01] [-2.77602348e-02 2.20622071e-04 9.99614586e-01 -1.38195310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.834012739 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:419.98, Y:-81.62, Z:-13.82 [[ 9.84188175e-01 1.74968390e-01 2.75626492e-02 4.19977753e+02] [-1.74894807e-01 9.84574036e-01 -5.07690033e-03 -8.16249509e+01] [-2.80257659e-02 1.76061044e-04 9.99607186e-01 -1.38193464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:420.01, Y:-81.63, Z:-13.82 [[ 9.83257189e-01 1.79579209e-01 3.09290659e-02 4.20005748e+02] [-1.79488826e-01 9.83743516e-01 -5.69702441e-03 -8.16291061e+01] [-3.14493352e-02 5.02184778e-05 9.99505346e-01 -1.38193334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.894012739 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:420.03, Y:-81.63, Z:-13.82 [[ 9.82691085e-01 1.82429951e-01 3.22109352e-02 4.20034782e+02] [-1.82333487e-01 9.83218852e-01 -5.93196264e-03 -8.16338698e+01] [-3.27525664e-02 -4.38453448e-05 9.99463490e-01 -1.38190106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:420.06, Y:-81.64, Z:-13.82 [[ 9.81412489e-01 1.89124384e-01 3.25805778e-02 4.20063919e+02] [-1.89029402e-01 9.81953102e-01 -5.99926543e-03 -8.16366054e+01] [-3.31272068e-02 -2.70933124e-04 9.99451107e-01 -1.38194313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.954012739 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:420.09, Y:-81.64, Z:-13.82 [[ 9.80790210e-01 1.92489182e-01 3.15987086e-02 4.20094060e+02] [-1.92401620e-01 9.81299024e-01 -5.81737576e-03 -8.16398370e+01] [-3.21275638e-02 -3.74017521e-04 9.99483707e-01 -1.38203897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:420.12, Y:-81.65, Z:-13.82 [[ 9.80787880e-01 1.92501056e-01 3.15987101e-02 4.20124531e+02] [-1.92413500e-01 9.81296695e-01 -5.81736757e-03 -8.16454521e+01] [-3.21275592e-02 -3.74414817e-04 9.99483707e-01 -1.38214070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.014012739 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:420.15, Y:-81.65, Z:-13.82 [[ 9.80167599e-01 1.95805008e-01 3.05266547e-02 4.20153007e+02] [-1.95724879e-01 9.80642739e-01 -5.62045650e-03 -8.16489089e+01] [-3.10362558e-02 -4.65836458e-04 9.99518151e-01 -1.38233546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:420.18, Y:-81.65, Z:-13.83 [[ 9.79061693e-01 2.01512463e-01 2.88258234e-02 4.20182756e+02] [-2.01443516e-01 9.79485760e-01 -5.30625512e-03 -8.16506677e+01] [-2.93037601e-02 -6.11624115e-04 9.99570365e-01 -1.38255297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.074012739 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:420.21, Y:-81.65, Z:-13.83 [[ 9.78573762e-01 2.03889818e-01 2.86763724e-02 4.20210765e+02] [-2.03822621e-01 9.78993606e-01 -5.27816412e-03 -8.16536261e+01] [-2.91501491e-02 -6.79820473e-04 9.99574813e-01 -1.38263214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:420.24, Y:-81.65, Z:-13.83 [[ 9.77873480e-01 2.06926865e-01 3.07364533e-02 4.20239437e+02] [-2.06851235e-01 9.78356063e-01 -5.65504917e-03 -8.16537824e+01] [-3.12413771e-02 -8.27950721e-04 9.99511526e-01 -1.38255109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.134012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:420.27, Y:-81.66, Z:-13.83 [[ 9.77737307e-01 2.07460607e-01 3.14619702e-02 4.20268661e+02] [-2.07381703e-01 9.78242989e-01 -5.78657965e-03 -8.16562444e+01] [-3.19779391e-02 -8.66882152e-04 9.99488199e-01 -1.38262183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:420.30, Y:-81.66, Z:-13.83 [[ 9.77825204e-01 2.06997500e-01 3.17790070e-02 4.20297568e+02] [-2.06916802e-01 9.78341092e-01 -5.84333750e-03 -8.16578079e+01] [-3.23002647e-02 -8.61847833e-04 9.99477839e-01 -1.38269628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.194012739 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:420.33, Y:-81.66, Z:-13.83 [[ 9.78413131e-01 2.04201962e-01 3.17695492e-02 4.20326834e+02] [-2.04119889e-01 9.78928478e-01 -5.84005045e-03 -8.16565765e+01] [-3.22926662e-02 -7.70814827e-04 9.99478159e-01 -1.38296731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:420.35, Y:-81.66, Z:-13.83 [[ 9.78798848e-01 2.02408120e-01 3.13650742e-02 4.20354539e+02] [-2.02327252e-01 9.79301004e-01 -5.76418721e-03 -8.16587121e+01] [-3.18825670e-02 -7.04029473e-04 9.99491374e-01 -1.38304759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.254012739 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:420.38, Y:-81.66, Z:-13.83 [[ 9.79480873e-01 1.99140068e-01 3.09911644e-02 4.20384255e+02] [-1.99059528e-01 9.79970858e-01 -5.69399088e-03 -8.16574851e+01] [-3.15043397e-02 -5.91931402e-04 9.99503440e-01 -1.38320835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:420.41, Y:-81.66, Z:-13.83 [[ 9.79826839e-01 1.97466440e-01 3.07631374e-02 4.20413428e+02] [-1.97386302e-01 9.80309501e-01 -5.65060937e-03 -8.16584049e+01] [-3.12732016e-02 -5.35603219e-04 9.99510730e-01 -1.38325757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.314012739 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:420.44, Y:-81.66, Z:-13.83 [[ 9.80168351e-01 1.95658294e-01 3.14298529e-02 4.20441772e+02] [-1.95573766e-01 9.80672010e-01 -5.77148577e-03 -8.16591126e+01] [-3.19516161e-02 -4.89827001e-04 9.99489297e-01 -1.38328044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:420.47, Y:-81.66, Z:-13.83 [[ 9.80829489e-01 1.92101115e-01 3.27211648e-02 4.20469299e+02] [-1.92007588e-01 9.81375060e-01 -6.00649354e-03 -8.16563367e+01] [-3.32655892e-02 -3.91365922e-04 9.99446471e-01 -1.38333272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.374012739 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:420.50, Y:-81.66, Z:-13.84 [[ 9.81898271e-01 1.86921219e-01 3.05981009e-02 4.20497758e+02] [-1.86836996e-01 9.82374886e-01 -5.61432170e-03 -8.16550932e+01] [-3.11082417e-02 -2.04164476e-04 9.99516001e-01 -1.38359583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:420.52, Y:-81.66, Z:-13.84 [[ 9.82461362e-01 1.84075865e-01 2.97615177e-02 4.20524641e+02] [-1.83994942e-01 9.82912032e-01 -5.45876745e-03 -8.16569273e+01] [-3.02577812e-02 -1.12940640e-04 9.99542122e-01 -1.38370238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.434012739 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:420.55, Y:-81.66, Z:-13.84 [[ 9.82980140e-01 1.81232753e-01 3.00788001e-02 4.20552618e+02] [-1.81148842e-01 9.83440231e-01 -5.51439523e-03 -8.16586355e+01] [-3.05800911e-02 -2.81988006e-05 9.99532319e-01 -1.38373010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:420.58, Y:-81.66, Z:-13.84 [[ 9.83405239e-01 1.78758762e-01 3.09748448e-02 4.20581120e+02] [-1.78668621e-01 9.83892932e-01 -5.67638877e-03 -8.16600032e+01] [-3.14906351e-02 4.79576532e-05 9.99504046e-01 -1.38378628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.494012739 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:420.61, Y:-81.66, Z:-13.84 [[ 9.83993319e-01 1.75209785e-01 3.25373477e-02 4.20609042e+02] [-1.75108458e-01 9.84531108e-01 -5.96027422e-03 -8.16594828e+01] [-3.30783293e-02 1.67305249e-04 9.99452748e-01 -1.38382263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:420.64, Y:-81.66, Z:-13.84 [[ 9.84261869e-01 1.73561916e-01 3.32390588e-02 4.20637744e+02] [-1.73455298e-01 9.84822934e-01 -6.08680992e-03 -8.16628904e+01] [-3.37910258e-02 2.25524074e-04 9.99428895e-01 -1.38396869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55401273900003 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:420.67, Y:-81.66, Z:-13.84 [[ 9.84899649e-01 1.70041904e-01 3.25335538e-02 4.20666071e+02] [-1.69937895e-01 9.85436775e-01 -5.95605813e-03 -8.16641055e+01] [-3.30725398e-02 3.37435907e-04 9.99452897e-01 -1.38405268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:420.69, Y:-81.67, Z:-13.84 [[ 9.85351347e-01 1.67426668e-01 3.24196685e-02 4.20694967e+02] [-1.67322035e-01 9.85884442e-01 -5.93325025e-03 -8.16669463e+01] [-3.29554311e-02 4.21811196e-04 9.99456733e-01 -1.38421833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.614012739 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:420.72, Y:-81.67, Z:-13.84 [[ 9.85855259e-01 1.64475163e-01 3.22075996e-02 4.20722365e+02] [-1.64370371e-01 9.86381090e-01 -5.89289627e-03 -8.16703065e+01] [-3.27382023e-02 5.15567692e-04 9.99463828e-01 -1.38430926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:420.75, Y:-81.68, Z:-13.84 [[ 9.87126199e-01 1.56427029e-01 3.33534295e-02 4.20751049e+02] [-1.56310118e-01 9.87689188e-01 -6.10049363e-03 -8.16758372e+01] [-3.38971038e-02 8.08478598e-04 9.99425001e-01 -1.38441663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.674012739 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:420.78, Y:-81.68, Z:-13.84 [[ 9.87800786e-01 1.52078826e-01 3.34908517e-02 4.20778916e+02] [-1.51958505e-01 9.88367902e-01 -6.12404288e-03 -8.16817531e+01] [-3.40326201e-02 9.60114625e-04 9.99420261e-01 -1.38449053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:420.81, Y:-81.69, Z:-13.85 [[ 9.88793532e-01 1.45754275e-01 3.22961645e-02 4.20808232e+02] [-1.45639051e-01 9.89320173e-01 -5.90448863e-03 -8.16883605e+01] [-3.28118515e-02 1.13473740e-03 9.99460902e-01 -1.38471015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.734012739 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:420.84, Y:-81.69, Z:-13.85 [[ 9.89033595e-01 1.44298917e-01 3.14701561e-02 4.20836942e+02] [-1.44188802e-01 9.89533474e-01 -5.75276160e-03 -8.16939356e+01] [-3.19708901e-02 1.15203040e-03 9.99488137e-01 -1.38478073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:420.87, Y:-81.70, Z:-13.85 [[ 9.89072301e-01 1.44188035e-01 3.07537750e-02 4.20865213e+02] [-1.44082845e-01 9.89549664e-01 -5.62111703e-03 -8.16999556e+01] [-3.12428856e-02 1.12859975e-03 9.99511185e-01 -1.38484585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.794012739 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:420.89, Y:-81.71, Z:-13.85 [[ 9.89098647e-01 1.44048848e-01 3.05580846e-02 4.20893054e+02] [-1.43944959e-01 9.89569939e-01 -5.58429947e-03 -8.17062062e+01] [-3.10437738e-02 1.12474081e-03 9.99517393e-01 -1.38495354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:420.92, Y:-81.71, Z:-13.85 [[ 9.89210802e-01 1.43535391e-01 2.93185910e-02 4.20920524e+02] [-1.43439576e-01 9.89644581e-01 -5.35645728e-03 -8.17136049e+01] [-2.97838259e-02 1.09321913e-03 9.99555766e-01 -1.38511873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.854012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:420.95, Y:-81.72, Z:-13.85 [[ 9.89273034e-01 1.42999954e-01 2.98307993e-02 4.20949976e+02] [-1.42900552e-01 9.89722053e-01 -5.44890521e-03 -8.17211704e+01] [-3.03033931e-02 1.12761731e-03 9.99540111e-01 -1.38534761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:420.98, Y:-81.73, Z:-13.85 [[ 9.89297351e-01 1.42814629e-01 2.99120756e-02 4.20978598e+02] [-1.42714599e-01 9.89748802e-01 -5.46378046e-03 -8.17292974e+01] [-3.03857488e-02 1.13641367e-03 9.99537601e-01 -1.38538333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.914012739 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:421.01, Y:-81.74, Z:-13.85 [[ 9.89297923e-01 1.42763244e-01 3.01376250e-02 4.21005525e+02] [-1.42661686e-01 9.89756203e-01 -5.50465043e-03 -8.17405479e+01] [-3.06147631e-02 1.14625485e-03 9.99530601e-01 -1.38543939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:421.03, Y:-81.75, Z:-13.85 [[ 9.89239162e-01 1.43268727e-01 2.96639848e-02 4.21034074e+02] [-1.43170594e-01 9.89683200e-01 -5.41712152e-03 -8.17491379e+01] [-3.01340515e-02 1.11181843e-03 9.99545248e-01 -1.38547477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.974012739 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:421.06, Y:-81.76, Z:-13.86 [[ 9.89187162e-01 1.43598500e-01 2.98031906e-02 4.21062995e+02] [-1.43499616e-01 9.89635411e-01 -5.44180799e-03 -8.17581202e+01] [-3.02757282e-02 1.10622021e-03 9.99540973e-01 -1.38558890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:421.09, Y:-81.77, Z:-13.86 [[ 9.88940718e-01 1.45190228e-01 3.02663935e-02 4.21090340e+02] [-1.45088989e-01 9.89403176e-01 -5.52636191e-03 -8.17725538e+01] [-3.07480396e-02 1.07392387e-03 9.99526590e-01 -1.38571924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.034012739 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:421.12, Y:-81.78, Z:-13.86 [[ 9.88734836e-01 1.46536262e-01 3.05048764e-02 4.21119965e+02] [-1.46434050e-01 9.89204752e-01 -5.57027740e-03 -8.17816644e+01] [-3.09918163e-02 1.04057471e-03 9.99519097e-01 -1.38579243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:421.15, Y:-81.79, Z:-13.86 [[ 9.88221003e-01 1.49951684e-01 3.05571748e-02 4.21148846e+02] [-1.49850751e-01 9.88692884e-01 -5.57980740e-03 -8.17935723e+01] [-3.10483628e-02 9.35067277e-04 9.99517446e-01 -1.38593519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.094012739 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:421.18, Y:-81.80, Z:-13.86 [[ 9.87917789e-01 1.51901876e-01 3.07288476e-02 4.21178593e+02] [-1.51800736e-01 9.88395188e-01 -5.61151050e-03 -8.18023839e+01] [-3.12246441e-02 8.79049363e-04 9.99512005e-01 -1.38608658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:421.21, Y:-81.81, Z:-13.86 [[ 9.87604727e-01 1.53916697e-01 3.07661121e-02 4.21208315e+02] [-1.53816276e-01 9.88083490e-01 -5.61868420e-03 -8.18108969e+01] [-3.12642967e-02 8.16710269e-04 9.99510819e-01 -1.38610475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.154012739 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:421.24, Y:-81.82, Z:-13.86 [[ 9.86943442e-01 1.57932417e-01 3.16226747e-02 4.21238104e+02] [-1.57828384e-01 9.87449669e-01 -5.77511644e-03 -8.18195207e+01] [-3.21378778e-02 7.08757666e-04 9.99483194e-01 -1.38606345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:421.27, Y:-81.83, Z:-13.86 [[ 9.86677869e-01 1.59526647e-01 3.19066069e-02 4.21267236e+02] [-1.59421573e-01 9.87193400e-01 -5.82685650e-03 -8.18260594e+01] [-3.24275307e-02 6.62628888e-04 9.99473870e-01 -1.38617313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.214012739 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:421.30, Y:-81.83, Z:-13.86 [[ 9.86531289e-01 1.60392579e-01 3.20972923e-02 4.21296532e+02] [-1.60286642e-01 9.87053094e-01 -5.86354301e-03 -8.18328298e+01] [-3.26222004e-02 6.39801430e-04 9.99467550e-01 -1.38628565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:421.33, Y:-81.84, Z:-13.86 [[ 9.86414701e-01 1.61070050e-01 3.22874217e-02 4.21326864e+02] [-1.60963203e-01 9.86942781e-01 -5.89866902e-03 -8.18403099e+01] [-3.28159367e-02 6.21447021e-04 9.99461219e-01 -1.38640556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.274012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:421.36, Y:-81.85, Z:-13.86 [[ 9.86233344e-01 1.62199789e-01 3.21717114e-02 4.21355828e+02] [-1.62094283e-01 9.86757766e-01 -5.87828920e-03 -8.18479547e+01] [-3.26991433e-02 5.82514339e-04 9.99465070e-01 -1.38649867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:421.39, Y:-81.85, Z:-13.87 [[ 9.86074552e-01 1.63274333e-01 3.15985672e-02 4.21387148e+02] [-1.63173050e-01 9.86580560e-01 -5.77530168e-03 -8.18535473e+01] [-3.21174907e-02 5.38843436e-04 9.99483955e-01 -1.38658175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.334012739 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:421.42, Y:-81.86, Z:-13.87 [[ 9.85528014e-01 1.66812686e-01 3.01340617e-02 4.21415946e+02] [-1.66722205e-01 9.85988521e-01 -5.50838526e-03 -8.18576657e+01] [-3.06307074e-02 4.04650770e-04 9.99530688e-01 -1.38674915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:421.44, Y:-81.86, Z:-13.87 [[ 9.85250053e-01 1.68469331e-01 3.00069579e-02 4.21444796e+02] [-1.68380378e-01 9.85706833e-01 -5.48520468e-03 -8.18630319e+01] [-3.05021522e-02 3.51715292e-04 9.99534639e-01 -1.38686592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.394012739 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:421.48, Y:-81.87, Z:-13.87 [[ 9.85034052e-01 1.69609666e-01 3.06672140e-02 4.21475030e+02] [-1.69517331e-01 9.85511267e-01 -5.60512249e-03 -8.18688065e+01] [-3.11735679e-02 3.22612250e-04 9.99513934e-01 -1.38689194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:421.50, Y:-81.87, Z:-13.87 [[ 9.84962099e-01 1.69935771e-01 3.11688511e-02 4.21504009e+02] [-1.69840553e-01 9.85455089e-01 -5.69680793e-03 -8.18741913e+01] [-3.16835944e-02 3.17405003e-04 9.99497898e-01 -1.38688565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.454012739 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:421.53, Y:-81.88, Z:-13.87 [[ 9.85137375e-01 1.68924407e-01 3.11271256e-02 4.21533396e+02] [-1.68828939e-01 9.85628948e-01 -5.68918167e-03 -8.18805971e+01] [-3.16408377e-02 3.49465898e-04 9.99499242e-01 -1.38698350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:421.56, Y:-81.89, Z:-13.87 [[ 9.85375614e-01 1.67445588e-01 3.15733128e-02 4.21562162e+02] [-1.67346603e-01 9.85881237e-01 -5.77074068e-03 -8.18877034e+01] [-3.20938217e-02 4.02660488e-04 9.99484780e-01 -1.38713391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.514012739 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:421.59, Y:-81.90, Z:-13.87 [[ 9.85477756e-01 1.66743132e-01 3.20986124e-02 4.21590197e+02] [-1.66651441e-01 9.86000364e-01 -5.52985561e-03 -8.18961119e+01] [-3.25713090e-02 1.00269692e-04 9.99469409e-01 -1.38722449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:421.62, Y:-81.91, Z:-13.87 [[ 9.85805072e-01 1.64639785e-01 3.28953103e-02 4.21620598e+02] [-1.64521328e-01 9.86353442e-01 -6.29450644e-03 -8.19055640e+01] [-3.34827288e-02 7.93176248e-04 9.99438982e-01 -1.38737506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.574012739 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:421.65, Y:-81.91, Z:-13.87 [[ 9.85801722e-01 1.64769075e-01 3.23437192e-02 4.21651727e+02] [-1.64663625e-01 9.86332041e-01 -5.91561731e-03 -8.19134379e+01] [-3.28763574e-02 5.05791674e-04 9.99459298e-01 -1.38744034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:421.68, Y:-81.92, Z:-13.88 [[ 9.85612445e-01 1.66369519e-01 2.98209887e-02 4.21681716e+02] [-1.66280475e-01 9.86063388e-01 -5.45876600e-03 -8.19227356e+01] [-3.03135574e-02 4.21579526e-04 9.99540350e-01 -1.38754540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.634012739 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:421.71, Y:-81.93, Z:-13.88 [[ 9.85379152e-01 1.67894851e-01 2.89697558e-02 4.21711595e+02] [-1.67811337e-01 9.85804840e-01 -5.30772757e-03 -8.19306915e+01] [-2.94496656e-02 3.68670632e-04 9.99566197e-01 -1.38765847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:421.74, Y:-81.94, Z:-13.88 [[ 9.85095103e-01 1.69605437e-01 2.86641463e-02 4.21740120e+02] [-1.69524399e-01 9.85511997e-01 -5.25177703e-03 -8.19383868e+01] [-2.91395900e-02 3.14227658e-04 9.99575303e-01 -1.38769958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.694012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:421.77, Y:-81.95, Z:-13.88 [[ 9.84484193e-01 1.72823823e-01 3.03776139e-02 4.21769466e+02] [-1.72734348e-01 9.84952726e-01 -5.56531669e-03 -8.19471359e+01] [-3.08823329e-02 2.31709003e-04 9.99523000e-01 -1.38773611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:421.80, Y:-81.95, Z:-13.88 [[ 9.84275276e-01 1.73855433e-01 3.12485181e-02 4.21800172e+02] [-1.73761272e-01 9.84771165e-01 -5.72484491e-03 -8.19536376e+01] [-3.17679350e-02 2.05041044e-04 9.99495251e-01 -1.38779525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.754012739 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:421.83, Y:-81.96, Z:-13.88 [[ 9.84146285e-01 1.74369127e-01 3.24267949e-02 4.21830297e+02] [-1.74267980e-01 9.84680339e-01 -5.94154780e-03 -8.19604716e+01] [-3.29660499e-02 1.96400135e-04 9.99456453e-01 -1.38782197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:421.86, Y:-81.97, Z:-13.87 [[ 9.84156295e-01 1.74307455e-01 3.24545635e-02 4.21862301e+02] [-1.74205998e-01 9.84691256e-01 -5.94977518e-03 -8.19661984e+01] [-3.29948150e-02 2.01729083e-04 9.99455503e-01 -1.38714103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.814012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:421.89, Y:-81.97, Z:-13.88 [[ 9.83980832e-01 1.75217488e-01 3.28717850e-02 4.21892917e+02] [-1.75113725e-01 9.84529735e-01 -6.03184899e-03 -8.19738561e+01] [-3.34201352e-02 1.78923069e-04 9.99441375e-01 -1.38798365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:421.92, Y:-81.98, Z:-13.88 [[ 9.83792938e-01 1.76267578e-01 3.28815309e-02 4.21924505e+02] [-1.76164153e-01 9.84342277e-01 -6.03923812e-03 -8.19802826e+01] [-3.34312029e-02 1.48812765e-04 9.99441010e-01 -1.38807411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.874012739 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:421.96, Y:-81.99, Z:-13.88 [[ 9.83298815e-01 1.79015836e-01 3.28142003e-02 4.21955317e+02] [-1.78914178e-01 9.83846191e-01 -6.03241749e-03 -8.19869164e+01] [-3.33640242e-02 6.07432924e-05 9.99443264e-01 -1.38824739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:421.99, Y:-81.99, Z:-13.88 [[ 9.83292882e-01 1.79048585e-01 3.28132932e-02 4.21986601e+02] [-1.78946781e-01 9.83840231e-01 -6.03734793e-03 -8.19927238e+01] [-3.33640165e-02 6.46480736e-05 9.99443264e-01 -1.38835187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.934012739 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:422.02, Y:-82.00, Z:-13.89 [[ 9.83038679e-01 1.80434223e-01 3.28397162e-02 4.22017455e+02] [-1.80332990e-01 9.83587053e-01 -6.04332980e-03 -8.19987477e+01] [-3.33911432e-02 1.87427093e-05 9.99442360e-01 -1.38853103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:422.05, Y:-82.00, Z:-13.89 [[ 9.82729608e-01 1.82252263e-01 3.20410781e-02 4.22047526e+02] [-1.82156838e-01 9.83251804e-01 -5.89708042e-03 -8.20045657e+01] [-3.25792041e-02 -4.12659493e-05 9.99469156e-01 -1.38871072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.994012739 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:422.08, Y:-82.01, Z:-13.89 [[ 9.82663687e-01 1.82868848e-01 3.05133274e-02 4.22077628e+02] [-1.82782605e-01 9.83137315e-01 -5.61590172e-03 -8.20110822e+01] [-3.10257643e-02 -5.87627934e-05 9.99518583e-01 -1.38885277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:422.11, Y:-82.02, Z:-13.89 [[ 9.82596423e-01 1.83465423e-01 2.90638482e-02 4.22107510e+02] [-1.83387442e-01 9.83026161e-01 -5.34912869e-03 -8.20181504e+01] [-2.95519033e-02 -7.39100514e-05 9.99563244e-01 -1.38898038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05401273900003 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:422.14, Y:-82.03, Z:-13.89 [[ 9.82395084e-01 1.84557602e-01 2.89549686e-02 4.22135705e+02] [-1.84480677e-01 9.82821693e-01 -5.32912866e-03 -8.20268803e+01] [-2.94411025e-02 -1.06322404e-04 9.99566511e-01 -1.38895367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:422.17, Y:-82.03, Z:-13.89 [[ 9.82301904e-01 1.84940416e-01 2.96650074e-02 4.22165729e+02] [-1.84859858e-01 9.82749728e-01 -5.45942221e-03 -8.20332576e+01] [-3.01629458e-02 -1.21068220e-04 9.99544988e-01 -1.38894833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.114012739 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:422.20, Y:-82.04, Z:-13.89 [[ 9.82226663e-01 1.85198427e-01 3.05340025e-02 4.22195830e+02] [-1.85113204e-01 9.82701137e-01 -5.61932736e-03 -8.20397587e+01] [-3.10464895e-02 -1.32793867e-04 9.99517933e-01 -1.38909174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:422.23, Y:-82.05, Z:-13.89 [[ 9.82264188e-01 1.85129009e-01 2.97374265e-02 4.22225290e+02] [-1.85048133e-01 9.82714218e-01 -5.47307895e-03 -8.20488461e+01] [-3.02366175e-02 -1.26845796e-04 9.99542761e-01 -1.38931632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.174012739 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:422.25, Y:-82.06, Z:-13.89 [[ 9.82253098e-01 1.85325962e-01 2.88641480e-02 4.22254482e+02] [-1.85249843e-01 9.82677094e-01 -5.31268113e-03 -8.20562560e+01] [-2.93487148e-02 -1.28681382e-04 9.99569225e-01 -1.38942307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:422.28, Y:-82.06, Z:-13.89 [[ 9.81794851e-01 1.87996222e-01 2.71346818e-02 4.22284442e+02] [-1.87929962e-01 9.82169732e-01 -4.99471020e-03 -8.20635991e+01] [-2.75898498e-02 -1.95638967e-04 9.99619308e-01 -1.38940369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.234012739 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:422.31, Y:-82.07, Z:-13.89 [[ 9.81325818e-01 1.90388842e-01 2.74176400e-02 4.22313000e+02] [-1.90322122e-01 9.81708724e-01 -5.04696196e-03 -8.20691152e+01] [-2.78770216e-02 -2.65469333e-04 9.99611325e-01 -1.38939984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:422.34, Y:-82.08, Z:-13.89 [[ 9.80724929e-01 1.93317030e-01 2.84102018e-02 4.22342962e+02] [-1.93246651e-01 9.81136277e-01 -5.22851783e-03 -8.20750289e+01] [-2.88850412e-02 -3.62438574e-04 9.99582674e-01 -1.38942007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.294012739 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:422.37, Y:-82.08, Z:-13.89 [[ 9.79280152e-01 2.00312058e-01 2.97567447e-02 4.22371869e+02] [-2.00238070e-01 9.79731966e-01 -5.47636245e-03 -8.20789657e+01] [-3.02506154e-02 -5.95540063e-04 9.99542168e-01 -1.38939587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:422.40, Y:-82.08, Z:-13.90 [[ 9.78471962e-01 2.04317235e-01 2.91047760e-02 4.22402396e+02] [-2.04248235e-01 9.78904475e-01 -5.35598197e-03 -8.20819999e+01] [-2.95851149e-02 -7.03920947e-04 9.99562017e-01 -1.38953797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.354012739 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:422.43, Y:-82.08, Z:-13.90 [[ 9.77633812e-01 2.08402146e-01 2.82962066e-02 4.22431280e+02] [-2.08338631e-01 9.78042892e-01 -5.20733545e-03 -8.20839769e+01] [-2.87601236e-02 -8.04325722e-04 9.99586018e-01 -1.38965420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:422.46, Y:-82.09, Z:-13.90 [[ 9.76881722e-01 2.11940504e-01 2.79879327e-02 4.22459501e+02] [-2.11879841e-01 9.77282157e-01 -5.14967992e-03 -8.20869436e+01] [-2.84435330e-02 -8.99450539e-04 9.99594996e-01 -1.38978388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.414012739 meters Centerline goodness : 0.996256 Centerline is valid? [True, True] Translation: X:422.49, Y:-82.09, Z:-13.90 [[ 9.75950292e-01 2.16102413e-01 2.86491809e-02 4.22487827e+02] [-2.16040696e-01 9.76370141e-01 -5.26938192e-03 -8.20899610e+01] [-2.91109310e-02 -1.04673416e-03 9.99575639e-01 -1.38980420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:422.52, Y:-82.09, Z:-13.90 [[ 9.75874362e-01 2.16418998e-01 2.88452280e-02 4.22515161e+02] [-2.16356610e-01 9.76299997e-01 -5.30408946e-03 -8.20933676e+01] [-2.93095018e-02 -1.06473085e-03 9.99569817e-01 -1.38989366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.474012739 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:422.54, Y:-82.09, Z:-13.90 [[ 9.76210235e-01 2.14905058e-01 2.87991885e-02 4.22544346e+02] [-2.14842262e-01 9.76634413e-01 -5.29388212e-03 -8.20938994e+01] [-2.92639606e-02 -1.01934090e-03 9.99571199e-01 -1.38997777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:422.57, Y:-82.10, Z:-13.90 [[ 9.76394012e-01 2.14038623e-01 2.90207199e-02 4.22571660e+02] [-2.13974516e-01 9.76824684e-01 -5.33323806e-03 -8.20967966e+01] [-2.94896745e-02 -1.00235279e-03 9.99564582e-01 -1.39004139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.534012739 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:422.60, Y:-82.10, Z:-13.90 [[ 9.76606963e-01 2.13056803e-01 2.90798465e-02 4.22599839e+02] [-2.12992051e-01 9.77039326e-01 -5.34236314e-03 -8.20999623e+01] [-2.95503804e-02 -9.76387106e-04 9.99562815e-01 -1.39010082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:422.63, Y:-82.10, Z:-13.90 [[ 9.77010591e-01 2.11286322e-01 2.84322841e-02 4.22628840e+02] [-2.11223722e-01 9.77423794e-01 -5.22170527e-03 -8.21026233e+01] [-2.88936659e-02 -9.03911529e-04 9.99582082e-01 -1.39016762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.594012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:422.66, Y:-82.10, Z:-13.90 [[ 9.77148120e-01 2.11293376e-01 2.31659397e-02 4.22657017e+02] [-2.10941695e-01 9.77355537e-01 -1.67258984e-02 -8.20997907e+01] [-2.61754310e-02 1.14570176e-02 9.99591708e-01 -1.39004376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:422.68, Y:-82.12, Z:-13.90 [[ 9.77327891e-01 2.09640054e-01 2.96857154e-02 4.22684744e+02] [-2.09909157e-01 9.77701083e-01 6.22406901e-03 -8.21174781e+01] [-2.77189419e-02 -1.23142597e-02 9.99539904e-01 -1.39027736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.654012739 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:422.71, Y:-82.11, Z:-13.90 [[ 9.77695166e-01 2.08345755e-01 2.65369442e-02 4.22713949e+02] [-2.08290179e-01 9.78054939e-01 -4.87221201e-03 -8.21134447e+01] [-2.69696940e-02 -7.63846735e-04 9.99635960e-01 -1.39043076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:422.74, Y:-82.12, Z:-13.90 [[ 9.77994599e-01 2.06941881e-01 2.64881691e-02 4.22742766e+02] [-2.06886041e-01 9.78352969e-01 -4.86154480e-03 -8.21172738e+01] [-2.69208361e-02 -7.25467885e-04 9.99637305e-01 -1.39047486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.714012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:422.77, Y:-82.12, Z:-13.90 [[ 9.78822472e-01 2.02705287e-01 2.85855694e-02 4.22770217e+02] [-2.02638491e-01 9.79239569e-01 -5.24495495e-03 -8.21208850e+01] [-2.90553007e-02 -6.58656859e-04 9.99577589e-01 -1.39039987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:422.80, Y:-82.13, Z:-13.90 [[ 9.79187417e-01 2.00835338e-01 2.92774534e-02 4.22797440e+02] [-2.00764489e-01 9.79624818e-01 -5.37000173e-03 -8.21256979e+01] [-2.97594061e-02 -6.19634841e-04 9.99556899e-01 -1.39038619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.774012739 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:422.83, Y:-82.13, Z:-13.90 [[ 9.79463828e-01 1.99462936e-01 2.94133897e-02 4.22825904e+02] [-1.99390864e-01 9.79905198e-01 -5.39311410e-03 -8.21303383e+01] [-2.98980599e-02 -5.82401005e-04 9.99552783e-01 -1.39037985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:422.85, Y:-82.13, Z:-13.91 [[ 9.79767735e-01 1.98095458e-01 2.85197498e-02 4.22854412e+02] [-1.98027159e-01 9.80182592e-01 -5.22788756e-03 -8.21339500e+01] [-2.89901831e-02 -5.25569478e-04 9.99579558e-01 -1.39058328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.834012739 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:422.88, Y:-82.14, Z:-13.91 [[ 9.79909580e-01 1.97487470e-01 2.78552537e-02 4.22882017e+02] [-1.97422097e-01 9.80305285e-01 -5.10517911e-03 -8.21384936e+01] [-2.83148613e-02 -4.96628690e-04 9.99598931e-01 -1.39070806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:422.91, Y:-82.14, Z:-13.91 [[ 9.79987702e-01 1.97127780e-01 2.76539736e-02 4.22910386e+02] [-1.97063255e-01 9.80377684e-01 -5.06656357e-03 -8.21429418e+01] [-2.81100990e-02 -4.84412049e-04 9.99604716e-01 -1.39077665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.894012739 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:422.94, Y:-82.14, Z:-13.91 [[ 9.79762534e-01 1.98164282e-01 2.82186835e-02 4.22939503e+02] [-1.98097561e-01 9.80168680e-01 -5.16870497e-03 -8.21446162e+01] [-2.86833225e-02 -5.25948904e-04 9.99588410e-01 -1.39067840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:422.97, Y:-82.15, Z:-13.91 [[ 9.79489472e-01 1.99543163e-01 2.79803533e-02 4.22967833e+02] [-1.99478165e-01 9.79888876e-01 -5.12368833e-03 -8.21474731e+01] [-2.84400340e-02 -5.62870773e-04 9.99595342e-01 -1.39080740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.954012739 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:423.00, Y:-82.15, Z:-13.91 [[ 9.78620054e-01 2.04002203e-01 2.61895078e-02 4.22995805e+02] [-2.03946885e-01 9.78970214e-01 -4.79462127e-03 -8.21491239e+01] [-2.66168613e-02 -6.49156018e-04 9.99645498e-01 -1.39101430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:423.02, Y:-82.15, Z:-13.91 [[ 9.78251895e-01 2.05897131e-01 2.50918513e-02 4.23023557e+02] [-2.05847011e-01 9.78573410e-01 -4.59228760e-03 -8.21520645e+01] [-2.54997573e-02 -6.72668547e-04 9.99674602e-01 -1.39106076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.014012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:423.05, Y:-82.15, Z:-13.91 [[ 9.77922210e-01 2.07503313e-01 2.47088307e-02 4.23051148e+02] [-2.07455266e-01 9.78234061e-01 -4.52049324e-03 -8.21538239e+01] [-2.51090371e-02 -7.05286313e-04 9.99684470e-01 -1.39112937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:423.08, Y:-82.15, Z:-13.91 [[ 9.77759136e-01 2.08178475e-01 2.54714608e-02 4.23078261e+02] [-2.08127703e-01 9.78090571e-01 -4.65777426e-03 -8.21549151e+01] [-2.58830440e-02 -7.47135285e-04 9.99664699e-01 -1.39111018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.074012739 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:423.11, Y:-82.16, Z:-13.91 [[ 9.77641374e-01 2.08413639e-01 2.79481543e-02 4.23106094e+02] [-2.08352683e-01 9.78040422e-01 -5.10802087e-03 -8.21560235e+01] [-2.83990059e-02 -8.29260404e-04 9.99596323e-01 -1.39112042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:423.13, Y:-82.16, Z:-13.91 [[ 9.77770576e-01 2.07906434e-01 2.71958723e-02 4.23132116e+02] [-2.07848572e-01 9.78148395e-01 -4.96867938e-03 -8.21608764e+01] [-2.76346193e-02 -7.94394719e-04 9.99617775e-01 -1.39124579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.134012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:423.16, Y:-82.17, Z:-13.91 [[ 9.77904236e-01 2.07564116e-01 2.49087096e-02 4.23159837e+02] [-2.07515515e-01 9.78221150e-01 -4.54889196e-03 -8.21658862e+01] [-2.53104133e-02 -7.20562989e-04 9.99679380e-01 -1.39133196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:423.19, Y:-82.17, Z:-13.92 [[ 9.77729567e-01 2.08763292e-01 2.15123567e-02 4.23186597e+02] [-2.08727357e-01 9.77965984e-01 -3.92749538e-03 -8.21677368e+01] [-2.18582700e-02 -6.50188994e-04 9.99760868e-01 -1.39156958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.194012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:423.21, Y:-82.17, Z:-13.92 [[ 9.77367719e-01 2.10401282e-01 2.19918900e-02 4.23213569e+02] [-2.10364185e-01 9.77614855e-01 -4.01309753e-03 -8.21711799e+01] [-2.23439593e-02 -7.04034039e-04 9.99750095e-01 -1.39157952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:423.24, Y:-82.17, Z:-13.91 [[ 9.76675127e-01 2.13345124e-01 2.42807542e-02 4.23241442e+02] [-2.13300870e-01 9.76976524e-01 -4.42834846e-03 -8.21737738e+01] [-2.46664933e-02 -8.54048180e-04 9.99695371e-01 -1.39145676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.254012739 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:423.27, Y:-82.18, Z:-13.92 [[ 9.76467507e-01 2.14264646e-01 2.45330374e-02 4.23269125e+02] [-2.14219802e-01 9.76775242e-01 -4.47257900e-03 -8.21774190e+01] [-2.49215791e-02 -8.88134346e-04 9.99689015e-01 -1.39153027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:423.30, Y:-82.18, Z:-13.92 [[ 9.76208874e-01 2.15491241e-01 2.40781966e-02 4.23297346e+02] [-2.15448447e-01 9.76505355e-01 -4.38839845e-03 -8.21795152e+01] [-2.44581494e-02 -9.03616563e-04 9.99700446e-01 -1.39163559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.314012739 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:423.32, Y:-82.18, Z:-13.92 [[ 9.76187530e-01 2.15442171e-01 2.53491159e-02 4.23324109e+02] [-2.15394772e-01 9.76516137e-01 -4.61814225e-03 -8.21834744e+01] [-2.57487634e-02 -9.51894176e-04 9.99667992e-01 -1.39166446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:423.35, Y:-82.19, Z:-13.92 [[ 9.76157004e-01 2.15321851e-01 2.74591277e-02 4.23351237e+02] [-2.15266255e-01 9.76542595e-01 -5.00002886e-03 -8.21873388e+01] [-2.78916233e-02 -1.03021040e-03 9.99610422e-01 -1.39166146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.374012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:423.38, Y:-82.19, Z:-13.92 [[ 9.76163915e-01 2.15133760e-01 2.86614138e-02 4.23379199e+02] [-2.15073178e-01 9.76584004e-01 -5.21651466e-03 -8.21906609e+01] [-2.91125267e-02 -1.07212799e-03 9.99575566e-01 -1.39161973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:423.41, Y:-82.19, Z:-13.92 [[ 9.76601477e-01 2.13071430e-01 2.91568210e-02 4.23408640e+02] [-2.13044859e-01 9.77034021e-01 -4.05091937e-03 -8.21916681e+01] [-2.93503412e-02 -2.25557696e-03 9.99566641e-01 -1.39180562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.434012739 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:423.44, Y:-82.19, Z:-13.92 [[ 9.77000619e-01 2.11945639e-01 2.34272694e-02 4.23438901e+02] [-2.11703601e-01 9.77255279e-01 -1.23977634e-02 -8.21895380e+01] [-2.55220746e-02 7.15298523e-03 9.99648668e-01 -1.39183011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:423.46, Y:-82.20, Z:-13.92 [[ 9.77113426e-01 2.11123334e-01 2.60056049e-02 4.23462634e+02] [-2.11248590e-01 9.77430034e-01 2.13592429e-03 -8.22007936e+01] [-2.49677158e-02 -7.58068766e-03 9.99659515e-01 -1.39212393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.494012739 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:423.49, Y:-82.20, Z:-13.92 [[ 9.77650614e-01 2.08935294e-01 2.33521004e-02 4.23490492e+02] [-2.08893604e-01 9.77929191e-01 -4.23787300e-03 -8.21960061e+01] [-2.37221419e-02 -7.34945271e-04 9.99718320e-01 -1.39213818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:423.52, Y:-82.20, Z:-13.92 [[ 9.77828208e-01 2.08075494e-01 2.35920528e-02 4.23518168e+02] [-2.08032742e-01 9.78112501e-01 -4.27936463e-03 -8.21980291e+01] [-2.39661127e-02 -7.23435987e-04 9.99712510e-01 -1.39216334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55401273900003 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:423.55, Y:-82.20, Z:-13.92 [[ 9.78219244e-01 2.06013966e-01 2.54038635e-02 4.23545822e+02] [-2.05963747e-01 9.78548782e-01 -4.60615032e-03 -8.21974963e+01] [-2.58078509e-02 -7.26450028e-04 9.99666658e-01 -1.39219273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:423.57, Y:-82.20, Z:-13.92 [[ 9.78412518e-01 2.05020389e-01 2.59920141e-02 4.23573715e+02] [-2.04967526e-01 9.78757439e-01 -4.71059570e-03 -8.21993112e+01] [-2.64056453e-02 -7.18613020e-04 9.99651052e-01 -1.39221164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.614012739 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:423.60, Y:-82.20, Z:-13.92 [[ 9.78542118e-01 2.04341166e-01 2.64577196e-02 4.23601129e+02] [-2.04286194e-01 9.78899473e-01 -4.79310515e-03 -8.22002376e+01] [-2.68788765e-02 -7.14691564e-04 9.99638442e-01 -1.39230147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:423.63, Y:-82.20, Z:-13.92 [[ 9.78806446e-01 2.03084696e-01 2.63542585e-02 4.23629489e+02] [-2.03029759e-01 9.79160939e-01 -4.77210388e-03 -8.22012103e+01] [-2.67742017e-02 -6.79732707e-04 9.99641276e-01 -1.39234820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.674012739 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:423.66, Y:-82.20, Z:-13.93 [[ 9.79303817e-01 2.00780829e-01 2.55165156e-02 4.23657467e+02] [-2.00728585e-01 9.79636004e-01 -4.61895139e-03 -8.22000818e+01] [-2.59242943e-02 -5.98537343e-04 9.99663730e-01 -1.39250270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:423.69, Y:-82.20, Z:-13.93 [[ 9.79693033e-01 1.99030779e-01 2.42551111e-02 4.23686012e+02] [-1.98975642e-01 9.79993212e-01 -4.69023153e-03 -8.22024628e+01] [-2.47033447e-02 -2.31189142e-04 9.99694799e-01 -1.39260296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.734012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:423.71, Y:-82.20, Z:-13.93 [[ 9.80382361e-01 1.95682499e-01 2.36386644e-02 4.23714549e+02] [-1.95696538e-01 9.80662957e-01 -1.74052813e-03 -8.22029081e+01] [-2.35221534e-02 -2.91962171e-03 9.99719053e-01 -1.39277758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:423.74, Y:-82.20, Z:-13.93 [[ 9.80660349e-01 1.94500821e-01 2.17878631e-02 4.23742378e+02] [-1.94408604e-01 9.80900444e-01 -6.29398966e-03 -8.22013506e+01] [-2.25959108e-02 1.93651805e-03 9.99742804e-01 -1.39277705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.794012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:423.77, Y:-82.21, Z:-13.93 [[ 9.80698804e-01 1.94260142e-01 2.22003098e-02 4.23770174e+02] [-1.94219111e-01 9.80949975e-01 -4.01034760e-03 -8.22075116e+01] [-2.25564441e-02 -3.78781349e-04 9.99745499e-01 -1.39288821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:423.80, Y:-82.21, Z:-13.93 [[ 9.80976772e-01 1.92846068e-01 2.22478590e-02 4.23798491e+02] [-1.92804609e-01 9.81228959e-01 -4.01403256e-03 -8.22089350e+01] [-2.26043340e-02 -3.51817071e-04 9.99744427e-01 -1.39296399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.854012739 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:423.83, Y:-82.21, Z:-13.93 [[ 9.81251203e-01 1.91217720e-01 2.41217859e-02 4.23826399e+02] [-1.91168536e-01 9.81547587e-01 -4.35024882e-03 -8.22076561e+01] [-2.45085254e-02 -3.42639601e-04 9.99699562e-01 -1.39300602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:423.85, Y:-82.21, Z:-13.93 [[ 9.81358355e-01 1.90598913e-01 2.46542785e-02 4.23853754e+02] [-1.90547393e-01 9.81667938e-01 -4.44410834e-03 -8.22092231e+01] [-2.50493569e-02 -3.36545644e-04 9.99686159e-01 -1.39308130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.914012739 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:423.88, Y:-82.21, Z:-13.93 [[ 9.81566530e-01 1.89219904e-01 2.68882152e-02 4.23883319e+02] [-1.89280255e-01 9.81923058e-01 -3.05824781e-04 -8.22132813e+01] [-2.64600267e-02 -4.78922088e-03 9.99638400e-01 -1.39320612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:423.91, Y:-82.21, Z:-13.93 [[ 9.81945763e-01 1.87749329e-01 2.30804739e-02 4.23912072e+02] [-1.87593859e-01 9.82207748e-01 -8.74550512e-03 -8.22060103e+01] [-2.43117830e-02 4.25785653e-03 9.99695358e-01 -1.39311533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.974012739 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:423.94, Y:-82.21, Z:-13.93 [[ 9.82256234e-01 1.85916144e-01 2.46552000e-02 4.23939451e+02] [-1.85863342e-01 9.82565589e-01 -4.43635699e-03 -8.22101705e+01] [-2.50501415e-02 -2.24858558e-04 9.99686171e-01 -1.39323509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:423.97, Y:-82.21, Z:-13.93 [[ 9.82582635e-01 1.83955681e-01 2.62996824e-02 4.23967598e+02] [-1.83894952e-01 9.82934521e-01 -4.73020157e-03 -8.22130252e+01] [-2.67210132e-02 -1.88564912e-04 9.99642912e-01 -1.39324688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.034012739 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:423.99, Y:-82.21, Z:-13.93 [[ 9.83298243e-01 1.79631109e-01 2.92784915e-02 4.23994288e+02] [-1.79553993e-01 9.83734038e-01 -5.26360792e-03 -8.22143565e+01] [-2.97477564e-02 -8.13736421e-05 9.99557434e-01 -1.39327705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:424.02, Y:-82.22, Z:-13.93 [[ 9.83628987e-01 1.77761487e-01 2.95782075e-02 4.24020915e+02] [-1.77682012e-01 9.84073601e-01 -5.31504810e-03 -8.22169018e+01] [-3.00519440e-02 -2.74800410e-05 9.99548338e-01 -1.39339093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.094012739 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:424.05, Y:-82.22, Z:-13.94 [[ 9.84101302e-01 1.75521307e-01 2.71458630e-02 4.24048642e+02] [-1.75453608e-01 9.84475632e-01 -4.87461163e-03 -8.22195638e+01] [-2.75800388e-02 3.42720617e-05 9.99619598e-01 -1.39362322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:424.08, Y:-82.23, Z:-13.94 [[ 9.84342533e-01 1.74136017e-01 2.73207725e-02 4.24076726e+02] [-1.74170856e-01 9.84714814e-01 -1.11763603e-03 -8.22265790e+01] [-2.70977901e-02 -3.65834564e-03 9.99626093e-01 -1.39384540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.154012739 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:424.10, Y:-82.23, Z:-13.94 [[ 9.84325558e-01 1.74751237e-01 2.37739747e-02 4.24103415e+02] [-1.74601140e-01 9.84604554e-01 -8.26528375e-03 -8.22275484e+01] [-2.48523323e-02 3.98476696e-03 9.99683191e-01 -1.39381413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:424.13, Y:-82.23, Z:-13.94 [[ 9.84248392e-01 1.75020372e-01 2.49594029e-02 4.24130783e+02] [-1.74963107e-01 9.84564811e-01 -4.47700320e-03 -8.22333819e+01] [-2.53577165e-02 3.95085245e-05 9.99678441e-01 -1.39390992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.214012739 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:424.16, Y:-82.24, Z:-13.94 [[ 9.84142609e-01 1.75461932e-01 2.60083668e-02 4.24157276e+02] [-1.75399950e-01 9.84486216e-01 -4.66348512e-03 -8.22365414e+01] [-2.64231427e-02 2.76681777e-05 9.99650847e-01 -1.39391181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:424.19, Y:-82.24, Z:-13.94 [[ 9.84029824e-01 1.75983215e-01 2.67434687e-02 4.24185436e+02] [-1.75917978e-01 9.84393167e-01 -4.79138609e-03 -8.22405643e+01] [-2.71692914e-02 1.02098830e-05 9.99630847e-01 -1.39392869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.274012739 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:424.21, Y:-82.25, Z:-13.94 [[ 9.84029696e-01 1.75863362e-01 2.75251923e-02 4.24212929e+02] [-1.75794264e-01 9.84414586e-01 -4.92941476e-03 -8.22468020e+01] [-2.79631042e-02 1.19196005e-05 9.99608956e-01 -1.39412990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:424.24, Y:-82.25, Z:-13.94 [[ 9.84179614e-01 1.74990358e-01 2.77283757e-02 4.24239092e+02] [-1.74919945e-01 9.84570147e-01 -4.96381043e-03 -8.22528471e+01] [-2.81691499e-02 3.50350793e-05 9.99603170e-01 -1.39435023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.334012739 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:424.27, Y:-82.26, Z:-13.94 [[ 9.84427910e-01 1.73644689e-01 2.73717381e-02 4.24266150e+02] [-1.73575621e-01 9.84808366e-01 -4.89763473e-03 -8.22587965e+01] [-2.78063649e-02 7.03018971e-05 9.99613326e-01 -1.39445468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:424.29, Y:-82.26, Z:-13.95 [[ 9.84501477e-01 1.73266432e-01 2.71216621e-02 4.24293847e+02] [-1.73198529e-01 9.84874986e-01 -4.85099437e-03 -8.22634607e+01] [-2.75519611e-02 7.83791379e-05 9.99620370e-01 -1.39452256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.394012739 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:424.32, Y:-82.27, Z:-13.95 [[ 9.84570471e-01 1.73087560e-01 2.57232115e-02 4.24320154e+02] [-1.73026463e-01 9.84906437e-01 -4.59920063e-03 -8.22680913e+01] [-2.61310210e-02 7.74408405e-05 9.99658524e-01 -1.39456261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:424.35, Y:-82.27, Z:-13.95 [[ 9.84554751e-01 1.73389711e-01 2.42476886e-02 4.24347125e+02] [-1.73335563e-01 9.84853291e-01 -4.33340796e-03 -8.22737794e+01] [-2.46317843e-02 6.34906446e-05 9.99696590e-01 -1.39466716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.454012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:424.37, Y:-82.28, Z:-13.95 [[ 9.84332797e-01 1.74780016e-01 2.32570788e-02 4.24374467e+02] [-1.74730626e-01 9.84607508e-01 -4.15488920e-03 -8.22801846e+01] [-2.36252860e-02 2.60697710e-05 9.99720884e-01 -1.39485004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:424.40, Y:-82.28, Z:-13.95 [[ 9.84178399e-01 1.75492635e-01 2.43970019e-02 4.24401317e+02] [-1.75438540e-01 9.84480744e-01 -4.35703662e-03 -8.22848033e+01] [-2.47830064e-02 7.92693236e-06 9.99692854e-01 -1.39492187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.514012739 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:424.43, Y:-82.29, Z:-13.95 [[ 9.84019337e-01 1.76093432e-01 2.64016570e-02 4.24428363e+02] [-1.76030409e-01 9.84373457e-01 -4.71083689e-03 -8.22899148e+01] [-2.68186378e-02 -1.19398988e-05 9.99640316e-01 -1.39501811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:424.46, Y:-82.29, Z:-13.95 [[ 9.84469197e-01 1.73705706e-01 2.54308361e-02 4.24458665e+02] [-1.73535549e-01 9.84788569e-01 -8.76855276e-03 -8.22938398e+01] [-2.65671443e-02 4.21921601e-03 9.99638127e-01 -1.39499619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.574012739 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:424.48, Y:-82.30, Z:-13.95 [[ 9.84775349e-01 1.71747425e-01 2.68390590e-02 4.24482437e+02] [-1.71791638e-01 9.85133082e-01 -6.66925896e-04 -8.23037967e+01] [-2.65545877e-02 -3.95395372e-03 9.99639545e-01 -1.39529602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:424.51, Y:-82.31, Z:-13.95 [[ 9.85838094e-01 1.66033806e-01 2.35802539e-02 4.24509856e+02] [-1.65980821e-01 9.86120035e-01 -4.20040749e-03 -8.23075455e+01] [-2.39503705e-02 2.27051812e-04 9.99713123e-01 -1.39541433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.634012739 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:424.54, Y:-82.31, Z:-13.96 [[ 9.86291620e-01 1.63280303e-01 2.38407945e-02 4.24537481e+02] [-1.63225375e-01 9.86579675e-01 -4.24515611e-03 -8.23131705e+01] [-2.42139937e-02 2.95539265e-04 9.99706755e-01 -1.39551521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:424.56, Y:-82.32, Z:-13.96 [[ 9.86630194e-01 1.61107162e-01 2.46037294e-02 4.24563389e+02] [-1.61048032e-01 9.86936854e-01 -4.37921601e-03 -8.23188131e+01] [-2.49878504e-02 3.58284533e-04 9.99687691e-01 -1.39554902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.694012739 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:424.59, Y:-82.33, Z:-13.96 [[ 9.87089354e-01 1.57866656e-01 2.70689259e-02 4.24590411e+02] [-1.57793933e-01 9.87460322e-01 -4.81539361e-03 -8.23251536e+01] [-2.74896804e-02 4.81911480e-04 9.99621971e-01 -1.39564122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:424.62, Y:-82.33, Z:-13.96 [[ 9.87401233e-01 1.55848760e-01 2.73855807e-02 4.24616828e+02] [-1.55773601e-01 9.87780780e-01 -4.86985704e-03 -8.23302908e+01] [-2.78099115e-02 5.42552316e-04 9.99613082e-01 -1.39570528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.754012739 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:424.64, Y:-82.34, Z:-13.96 [[ 9.87666613e-01 1.54103418e-01 2.76911066e-02 4.24644635e+02] [-1.54025976e-01 9.88054544e-01 -4.92103753e-03 -8.23360371e+01] [-2.81186724e-02 5.95194766e-04 9.99604415e-01 -1.39580044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:424.67, Y:-82.34, Z:-13.96 [[ 9.88167039e-01 1.50713229e-01 2.84855325e-02 4.24670332e+02] [-1.50629930e-01 9.88577270e-01 -5.06012505e-03 -8.23444617e+01] [-2.89227778e-02 7.09475006e-04 9.99581397e-01 -1.39594658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.814012739 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:424.70, Y:-82.35, Z:-13.96 [[ 9.88440280e-01 1.48937542e-01 2.83446871e-02 4.24698774e+02] [-1.48854407e-01 9.88846317e-01 -5.03264529e-03 -8.23517627e+01] [-2.87780893e-02 7.55237739e-04 9.99585540e-01 -1.39602652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:424.73, Y:-82.36, Z:-13.96 [[ 9.89083825e-01 1.44821355e-01 2.72022540e-02 4.24726305e+02] [-1.44743265e-01 9.89457464e-01 -4.82857348e-03 -8.23614633e+01] [-2.76147538e-02 8.38520869e-04 9.99618288e-01 -1.39618757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.874012739 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:424.75, Y:-82.37, Z:-13.96 [[ 9.89369862e-01 1.42940750e-01 2.67435675e-02 4.24754604e+02] [-1.42864620e-01 9.89730861e-01 -4.74590969e-03 -8.23689980e+01] [-2.71473179e-02 8.74750425e-04 9.99631061e-01 -1.39627773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:424.78, Y:-82.38, Z:-13.96 [[ 9.89551850e-01 1.41604614e-01 2.71158412e-02 4.24781917e+02] [-1.41525883e-01 9.89922867e-01 -4.81070800e-03 -8.23760581e+01] [-2.75238097e-02 9.22851639e-04 9.99620722e-01 -1.39631476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.934012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:424.81, Y:-82.38, Z:-13.96 [[ 9.89607272e-01 1.40914351e-01 2.86459902e-02 4.24809824e+02] [-1.40826245e-01 9.90021292e-01 -5.08034612e-03 -8.23837875e+01] [-2.90760340e-02 9.93440231e-04 9.99576709e-01 -1.39635018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:424.84, Y:-82.39, Z:-13.96 [[ 9.89536392e-01 1.41049661e-01 3.03763427e-02 4.24837525e+02] [-1.40950696e-01 9.90001967e-01 -5.38570115e-03 -8.23944467e+01] [-3.08322904e-02 1.04778062e-03 9.99524023e-01 -1.39640392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.994012739 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:424.87, Y:-82.40, Z:-13.97 [[ 9.89510777e-01 1.41223140e-01 3.04047129e-02 4.24865269e+02] [-1.41124117e-01 9.89977242e-01 -5.38929439e-03 -8.24020121e+01] [-3.08610669e-02 1.04192664e-03 9.99523141e-01 -1.39658375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:424.89, Y:-82.41, Z:-13.97 [[ 9.89544885e-01 1.41227208e-01 2.92539959e-02 4.24891963e+02] [-1.41135582e-01 9.89976704e-01 -5.18400743e-03 -8.24121897e+01] [-2.96928973e-02 1.00102831e-03 9.99558567e-01 -1.39668872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05401273900003 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:424.92, Y:-82.42, Z:-13.97 [[ 9.89546765e-01 1.41051234e-01 3.00291347e-02 4.24919744e+02] [-1.40954662e-01 9.90001761e-01 -5.31951498e-03 -8.24205794e+01] [-3.04792204e-02 1.03116231e-03 9.99534869e-01 -1.39688879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:424.95, Y:-82.43, Z:-13.97 [[ 9.89516343e-01 1.41315446e-01 2.97884599e-02 4.24946949e+02] [-1.41220578e-01 9.89964099e-01 -5.27546388e-03 -8.24328444e+01] [-3.02350104e-02 1.01341419e-03 9.99542304e-01 -1.39693684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.114012739 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:424.98, Y:-82.44, Z:-13.97 [[ 9.89465480e-01 1.41817154e-01 2.90853601e-02 4.24975304e+02] [-1.41726959e-01 9.89892392e-01 -5.14994281e-03 -8.24398774e+01] [-2.95217269e-02 9.73510995e-04 9.99563665e-01 -1.39699567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:425.00, Y:-82.45, Z:-13.97 [[ 9.89403767e-01 1.42585120e-01 2.73800933e-02 4.25002598e+02] [-1.42505511e-01 9.89782140e-01 -4.84718951e-03 -8.24454432e+01] [-2.77914644e-02 8.94013382e-04 9.99613343e-01 -1.39703791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.174012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:425.03, Y:-82.45, Z:-13.97 [[ 9.89262699e-01 1.43743641e-01 2.64022488e-02 4.25030445e+02] [-1.43670070e-01 9.89614611e-01 -4.67259514e-03 -8.24508784e+01] [-2.67997071e-02 8.29211149e-04 9.99640479e-01 -1.39718638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:425.06, Y:-82.46, Z:-13.97 [[ 9.88854895e-01 1.46515790e-01 2.64408778e-02 4.25057815e+02] [-1.46443023e-01 9.89208044e-01 -4.67826139e-03 -8.24582031e+01] [-2.68409682e-02 7.54039591e-04 9.99639432e-01 -1.39736062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.234012739 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:425.09, Y:-82.46, Z:-13.97 [[ 9.88663286e-01 1.47402637e-01 2.85896698e-02 4.25086154e+02] [-1.47317988e-01 9.89076257e-01 -5.05644135e-03 -8.24646370e+01] [-2.90226964e-02 7.87345285e-04 9.99578443e-01 -1.39749302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:425.11, Y:-82.47, Z:-13.98 [[ 9.88543643e-01 1.47668752e-01 3.12314822e-02 4.25113170e+02] [-1.47567914e-01 9.89036510e-01 -5.52210506e-03 -8.24718482e+01] [-3.17045185e-02 8.50077182e-04 9.99496924e-01 -1.39755221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.294012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:425.14, Y:-82.48, Z:-13.98 [[ 9.88579626e-01 1.47435195e-01 3.11959469e-02 4.25141957e+02] [-1.47334527e-01 9.89071349e-01 -5.51403464e-03 -8.24788035e+01] [-3.16679800e-02 8.54822230e-04 9.99498078e-01 -1.39765937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:425.17, Y:-82.49, Z:-13.98 [[ 9.88618301e-01 1.47406847e-01 3.00844986e-02 4.25170620e+02] [-1.47313234e-01 9.89075600e-01 -5.31691926e-03 -8.24858544e+01] [-3.05395938e-02 8.24558908e-04 9.99533218e-01 -1.39782428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.354012739 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:425.20, Y:-82.49, Z:-13.98 [[ 9.88566043e-01 1.48234865e-01 2.76333585e-02 4.25198074e+02] [-1.48156228e-01 9.88951913e-01 -4.88312956e-03 -8.24933843e+01] [-2.80519128e-02 7.33241898e-04 9.99606199e-01 -1.39802379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:425.23, Y:-82.50, Z:-13.98 [[ 9.88405581e-01 1.49273030e-01 2.77843513e-02 4.25225992e+02] [-1.49193957e-01 9.88795764e-01 -4.90923756e-03 -8.24986660e+01] [-2.82058657e-02 7.07060468e-04 9.99601885e-01 -1.39814061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.414012739 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:425.25, Y:-82.50, Z:-13.98 [[ 9.88154752e-01 1.50841502e-01 2.82316651e-02 4.25254486e+02] [-1.50760540e-01 9.88557732e-01 -4.98691919e-03 -8.25041560e+01] [-2.86608652e-02 6.71626840e-04 9.99588967e-01 -1.39819725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:425.28, Y:-82.51, Z:-13.98 [[ 9.87537499e-01 1.54324026e-01 3.08833878e-02 4.25281968e+02] [-1.54228886e-01 9.88020095e-01 -5.45374669e-03 -8.25111682e+01] [-3.13550519e-02 6.22668859e-04 9.99508116e-01 -1.39832803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.474012739 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:425.31, Y:-82.52, Z:-13.98 [[ 9.87203663e-01 1.56513670e-01 3.05352211e-02 4.25310692e+02] [-1.56421769e-01 9.87675642e-01 -5.39034856e-03 -8.25170564e+01] [-3.10025573e-02 5.44998533e-04 9.99519157e-01 -1.39839646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:425.34, Y:-82.52, Z:-13.99 [[ 9.86597279e-01 1.60343542e-01 3.02614874e-02 4.25338624e+02] [-1.60255126e-01 9.87061180e-01 -5.34061426e-03 -8.25222219e+01] [-3.07262724e-02 4.19477040e-04 9.99527749e-01 -1.39850501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.534012739 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:425.37, Y:-82.53, Z:-13.99 [[ 9.86293513e-01 1.62246706e-01 3.00185349e-02 4.25366290e+02] [-1.62160628e-01 9.86750161e-01 -5.29633062e-03 -8.25267799e+01] [-3.04801063e-02 3.55912077e-04 9.99535310e-01 -1.39850934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:425.39, Y:-82.53, Z:-13.99 [[ 9.86004224e-01 1.63858362e-01 3.07588651e-02 4.25394387e+02] [-1.63768826e-01 9.86483827e-01 -5.42507200e-03 -8.25313206e+01] [-3.12320663e-02 3.11800674e-04 9.99512111e-01 -1.39861183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.594012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:425.42, Y:-82.54, Z:-13.99 [[ 9.85781125e-01 1.65124682e-01 3.11353901e-02 4.25422612e+02] [-1.65033615e-01 9.86272662e-01 -5.49009418e-03 -8.25358770e+01] [-3.16145342e-02 2.73645224e-04 9.99500098e-01 -1.39862418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:425.45, Y:-82.54, Z:-13.99 [[ 9.85664351e-01 1.65766948e-01 3.14182304e-02 4.25451378e+02] [-1.65674591e-01 9.86164923e-01 -5.53854072e-03 -8.25408497e+01] [-3.19016637e-02 2.53939680e-04 9.99490980e-01 -1.39878212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.654012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:425.48, Y:-82.55, Z:-13.99 [[ 9.85875277e-01 1.64715501e-01 3.03107429e-02 4.25478948e+02] [-1.64629088e-01 9.86341081e-01 -5.34191599e-03 -8.25464920e+01] [-3.07766272e-02 2.76432950e-04 9.99526249e-01 -1.39892852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:425.51, Y:-82.55, Z:-13.99 [[ 9.86389299e-01 1.61633723e-01 3.01776415e-02 4.25507547e+02] [-1.61546681e-01 9.86850750e-01 -5.31662397e-03 -8.25534247e+01] [-3.06401739e-02 3.69163151e-04 9.99530411e-01 -1.39909873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.714012739 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:425.54, Y:-82.56, Z:-13.99 [[ 9.86395014e-01 1.61598823e-01 3.01777650e-02 4.25536431e+02] [-1.61511787e-01 9.86856466e-01 -5.31592301e-03 -8.25584307e+01] [-3.06401694e-02 3.69535211e-04 9.99530411e-01 -1.39919167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:425.56, Y:-82.56, Z:-13.99 [[ 9.86592404e-01 1.60317942e-01 3.05546383e-02 4.25564691e+02] [-1.60228138e-01 9.87065341e-01 -5.38118183e-03 -8.25642610e+01] [-3.10221244e-02 4.13320333e-04 9.99518613e-01 -1.39920486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.774012739 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:425.59, Y:-82.57, Z:-13.99 [[ 9.86803771e-01 1.58788961e-01 3.16919971e-02 4.25593482e+02] [-1.58691594e-01 9.87312432e-01 -5.58030331e-03 -8.25703521e+01] [-3.21759933e-02 4.77410805e-04 9.99482105e-01 -1.39927178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:425.62, Y:-82.58, Z:-13.99 [[ 9.87280335e-01 1.55545641e-01 3.29103828e-02 4.25621564e+02] [-1.55438866e-01 9.87828521e-01 -5.79407570e-03 -8.25797773e+01] [-3.34110580e-02 6.04824423e-04 9.99441512e-01 -1.39937024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.834012739 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:425.65, Y:-82.59, Z:-13.99 [[ 9.87558562e-01 1.53846690e-01 3.25466302e-02 4.25651232e+02] [-1.53741328e-01 9.88094513e-01 -5.73040302e-03 -8.25876931e+01] [-3.30407503e-02 6.55346395e-04 9.99453790e-01 -1.39947761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:425.68, Y:-82.60, Z:-14.00 [[ 9.88109642e-01 1.50559047e-01 3.11658297e-02 4.25681279e+02] [-1.50460804e-01 9.88600747e-01 -5.48728796e-03 -8.25982195e+01] [-3.16367233e-02 7.32806368e-04 9.99499165e-01 -1.39966118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.894012739 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:425.71, Y:-82.61, Z:-14.00 [[ 9.88304260e-01 1.49109892e-01 3.19519799e-02 4.25711518e+02] [-1.49005845e-01 9.88820308e-01 -5.62647821e-03 -8.26059879e+01] [-3.24337302e-02 7.99640604e-04 9.99473568e-01 -1.39980731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:425.74, Y:-82.61, Z:-14.00 [[ 9.88375865e-01 1.48482580e-01 3.26507744e-02 4.25742208e+02] [-1.48373557e-01 9.88914667e-01 -5.75051642e-03 -8.26140534e+01] [-3.31426812e-02 8.39160103e-04 9.99450278e-01 -1.39984499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.954012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:425.77, Y:-82.63, Z:-14.00 [[ 9.88549547e-01 1.47045453e-01 3.38737002e-02 4.25772794e+02] [-1.46927076e-01 9.89129303e-01 -5.97135902e-03 -8.26252106e+01] [-3.43835307e-02 9.26020537e-04 9.99408283e-01 -1.39994887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:425.80, Y:-82.63, Z:-14.00 [[ 9.88648731e-01 1.46722002e-01 3.23471790e-02 4.25803342e+02] [-1.46613712e-01 9.89177357e-01 -5.70752266e-03 -8.26340018e+01] [-3.28345162e-02 9.00195059e-04 9.99460397e-01 -1.40009936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.014012739 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:425.83, Y:-82.65, Z:-14.00 [[ 9.88538050e-01 1.48001174e-01 2.98022741e-02 4.25834335e+02] [-1.47909689e-01 9.88986866e-01 -5.26341362e-03 -8.26457387e+01] [-3.02530491e-02 7.95039552e-04 9.99541956e-01 -1.40020352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:425.87, Y:-82.65, Z:-14.00 [[ 9.88245345e-01 1.49730471e-01 3.08532745e-02 4.25865277e+02] [-1.49633070e-01 9.88726548e-01 -5.45509332e-03 -8.26537048e+01] [-3.13222453e-02 7.74300399e-04 9.99509038e-01 -1.40031441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.074012739 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:425.90, Y:-82.66, Z:-14.00 [[ 9.87824000e-01 1.52345641e-01 3.15365133e-02 4.25896038e+02] [-1.52245035e-01 9.88327020e-01 -5.58126027e-03 -8.26611423e+01] [-3.20186689e-02 7.12025271e-04 9.99487017e-01 -1.40029575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:425.93, Y:-82.67, Z:-14.00 [[ 9.87320538e-01 1.55340041e-01 3.26745689e-02 4.25927743e+02] [-1.55233492e-01 9.87860850e-01 -5.78829691e-03 -8.26682264e+01] [-3.31770817e-02 6.42716983e-04 9.99449282e-01 -1.40040135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.134012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:425.96, Y:-82.68, Z:-14.01 [[ 9.86515202e-01 1.60456737e-01 3.22706150e-02 4.25958733e+02] [-1.60355367e-01 9.87042762e-01 -5.72203439e-03 -8.26753236e+01] [-3.27706160e-02 4.70107578e-04 9.99462789e-01 -1.40060787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:425.99, Y:-82.68, Z:-14.01 [[ 9.86274974e-01 1.62005809e-01 3.18715021e-02 4.25989068e+02] [-1.61907575e-01 9.86789716e-01 -5.65635982e-03 -8.26818643e+01] [-3.23668336e-02 4.18488515e-04 9.99475969e-01 -1.40079222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.194012739 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:426.02, Y:-82.69, Z:-14.01 [[ 9.85899093e-01 1.64351174e-01 3.14908052e-02 4.26018942e+02] [-1.64256445e-01 9.86401834e-01 -5.58953434e-03 -8.26927556e+01] [-3.19812345e-02 3.38149114e-04 9.99488412e-01 -1.40100356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:426.05, Y:-82.70, Z:-14.01 [[ 9.85765528e-01 1.65090861e-01 3.18014493e-02 4.26050330e+02] [-1.64994611e-01 9.86278311e-01 -5.64552128e-03 -8.27011471e+01] [-3.22971036e-02 3.18092500e-04 9.99478262e-01 -1.40102095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.254012739 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:426.08, Y:-82.71, Z:-14.01 [[ 9.85381441e-01 1.67113847e-01 3.31116035e-02 4.26080210e+02] [-1.67010449e-01 9.85937569e-01 -5.88382618e-03 -8.27100214e+01] [-3.36292427e-02 2.67829335e-04 9.99434341e-01 -1.40102941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:426.11, Y:-82.72, Z:-14.01 [[ 9.85128853e-01 1.68694111e-01 3.26104172e-02 4.26112080e+02] [-1.68594520e-01 9.85668428e-01 -5.79975874e-03 -8.27163918e+01] [-3.31214438e-02 2.15572027e-04 9.99451311e-01 -1.40119553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.314012739 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:426.14, Y:-82.72, Z:-14.01 [[ 9.84793794e-01 1.70839676e-01 3.15434335e-02 4.26142919e+02] [-1.70747433e-01 9.85298830e-01 -5.61514174e-03 -8.27225078e+01] [-3.20389971e-02 1.43796446e-04 9.99486609e-01 -1.40132343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:426.17, Y:-82.73, Z:-14.01 [[ 9.84373401e-01 1.73278001e-01 3.13646434e-02 4.26173870e+02] [-1.73187884e-01 9.84872951e-01 -5.58815169e-03 -8.27289189e+01] [-3.18584927e-02 6.88516648e-05 9.99492387e-01 -1.40140553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.374012739 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:426.20, Y:-82.73, Z:-14.01 [[ 9.83300999e-01 1.79112388e-01 3.22164227e-02 4.26204288e+02] [-1.79020409e-01 9.83828612e-01 -5.74071300e-03 -8.27345554e+01] [-3.27236713e-02 -1.22548330e-04 9.99464430e-01 -1.40134953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:426.23, Y:-82.74, Z:-14.01 [[ 9.82707207e-01 1.82206301e-01 3.29759013e-02 4.26234582e+02] [-1.82111646e-01 9.83260297e-01 -5.87686227e-03 -8.27389188e+01] [-3.34946959e-02 -2.30060762e-04 9.99438869e-01 -1.40138553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.434012739 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:426.27, Y:-82.74, Z:-14.01 [[ 9.81505868e-01 1.88298814e-01 3.44932945e-02 4.26265282e+02] [-1.88198987e-01 9.82111678e-01 -6.14769314e-03 -8.27406925e+01] [-3.50338707e-02 -4.57606205e-04 9.99386021e-01 -1.40148617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:426.29, Y:-82.74, Z:-14.02 [[ 9.80980238e-01 1.91042769e-01 3.43574392e-02 4.26294319e+02] [-1.90945409e-01 9.81581558e-01 -6.12344056e-03 -8.27435344e+01] [-3.48944677e-02 -5.53421112e-04 9.99390849e-01 -1.40160903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.494012739 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:426.32, Y:-82.75, Z:-14.02 [[ 9.80548429e-01 1.93355792e-01 3.37389523e-02 4.26324004e+02] [-1.93263290e-01 9.81128507e-01 -6.01276773e-03 -8.27459582e+01] [-3.42648513e-02 -6.24690963e-04 9.99412592e-01 -1.40178028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:426.35, Y:-82.75, Z:-14.02 [[ 9.80031564e-01 1.96333244e-01 3.14863611e-02 4.26353118e+02] [-1.96254241e-01 9.80536993e-01 -5.61061086e-03 -8.27453158e+01] [-3.19750912e-02 -6.80756160e-04 9.99488434e-01 -1.40193000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55401273900003 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:426.38, Y:-82.75, Z:-14.02 [[ 9.79979764e-01 1.96598894e-01 3.14410134e-02 4.26381815e+02] [-1.96520304e-01 9.80483758e-01 -5.60101456e-03 -8.27481175e+01] [-3.19285562e-02 -6.89916584e-04 9.99489916e-01 -1.40205616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:426.41, Y:-82.75, Z:-14.02 [[ 9.80089983e-01 1.96022465e-01 3.16041028e-02 4.26409873e+02] [-1.95942809e-01 9.80599172e-01 -5.62847984e-03 -8.27503784e+01] [-3.20942656e-02 -6.76179973e-04 9.99484618e-01 -1.40207972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.614012739 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:426.44, Y:-82.75, Z:-14.02 [[ 9.80660283e-01 1.93072240e-01 3.20705528e-02 4.26438711e+02] [-1.92988702e-01 9.81184367e-01 -5.70953400e-03 -8.27481389e+01] [-3.25694776e-02 -5.90141148e-04 9.99469300e-01 -1.40219947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:426.47, Y:-82.75, Z:-14.02 [[ 9.80990788e-01 1.91372851e-01 3.21481883e-02 4.26468063e+02] [-1.91288060e-01 9.81517266e-01 -5.72140819e-03 -8.27498833e+01] [-3.26489240e-02 -5.36915818e-04 9.99466738e-01 -1.40228763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.674012739 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:426.50, Y:-82.75, Z:-14.02 [[ 9.81528301e-01 1.88561990e-01 3.23507260e-02 4.26497515e+02] [-1.88474652e-01 9.82061187e-01 -5.75588380e-03 -8.27515071e+01] [-3.28557333e-02 -4.47728979e-04 9.99460004e-01 -1.40234842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:426.53, Y:-82.75, Z:-14.02 [[ 9.81704784e-01 1.87612300e-01 3.25167851e-02 4.26525082e+02] [-1.87523597e-01 9.82243070e-01 -5.78376706e-03 -8.27547261e+01] [-3.30244927e-02 -4.19712709e-04 9.99454455e-01 -1.40248324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.734012739 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:426.55, Y:-82.76, Z:-14.03 [[ 9.81899528e-01 1.86626975e-01 3.23061793e-02 4.26553132e+02] [-1.86538950e-01 9.82430773e-01 -5.74429986e-03 -8.27574937e+01] [-3.28106260e-02 -3.86035447e-04 9.99461512e-01 -1.40252383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:426.58, Y:-82.76, Z:-14.03 [[ 9.82247359e-01 1.84485777e-01 3.39871115e-02 4.26582315e+02] [-1.84387143e-01 9.82835127e-01 -6.04105918e-03 -8.27585540e+01] [-3.45182165e-02 -3.32971948e-04 9.99404013e-01 -1.40265811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.794012739 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:426.61, Y:-82.76, Z:-14.03 [[ 9.82453378e-01 1.83198290e-01 3.49820823e-02 4.26609944e+02] [-1.83093044e-01 9.83075937e-01 -6.21604953e-03 -8.27620799e+01] [-3.55288130e-02 -2.97997077e-04 9.99368608e-01 -1.40273258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:426.64, Y:-82.77, Z:-14.03 [[ 9.82715879e-01 1.81693342e-01 3.54546207e-02 4.26638227e+02] [-1.81584333e-01 9.83355209e-01 -6.29781829e-03 -8.27665696e+01] [-3.60087576e-02 -2.49037621e-04 9.99351443e-01 -1.40278703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.854012739 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:426.67, Y:-82.77, Z:-14.03 [[ 9.83310376e-01 1.78651221e-01 3.44157619e-02 4.26666677e+02] [-1.78546702e-01 9.83912457e-01 -6.11166449e-03 -8.27699919e+01] [-3.49539532e-02 -1.35157666e-04 9.99388915e-01 -1.40286725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:426.70, Y:-82.78, Z:-14.03 [[ 9.83589154e-01 1.77224707e-01 3.38198160e-02 4.26695207e+02] [-1.77122975e-01 9.84170410e-01 -6.00460834e-03 -8.27750432e+01] [-3.43486271e-02 -8.41987971e-05 9.99409908e-01 -1.40303939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.914012739 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:426.72, Y:-82.78, Z:-14.03 [[ 9.84078741e-01 1.74720297e-01 3.25860134e-02 4.26723843e+02] [-1.74624520e-01 9.84618108e-01 -5.78439992e-03 -8.27806819e+01] [-3.30954309e-02 1.98804542e-06 9.99452196e-01 -1.40322211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:426.75, Y:-82.79, Z:-14.03 [[ 9.84310629e-01 1.73525347e-01 3.19615436e-02 4.26751645e+02] [-1.73432624e-01 9.84829403e-01 -5.67208403e-03 -8.27862625e+01] [-3.24609182e-02 3.99182330e-05 9.99473005e-01 -1.40331357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.974012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:426.78, Y:-82.79, Z:-14.03 [[ 9.84438658e-01 1.72880615e-01 3.15090589e-02 4.26779435e+02] [-1.72790217e-01 9.84942785e-01 -5.59030275e-03 -8.27915678e+01] [-3.20010752e-02 5.88530108e-05 9.99487833e-01 -1.40342058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:426.81, Y:-82.80, Z:-14.03 [[ 9.84489240e-01 1.72680149e-01 3.10242256e-02 4.26807971e+02] [-1.72592470e-01 9.84977950e-01 -5.50247314e-03 -8.27959965e+01] [-3.15083460e-02 6.25778894e-05 9.99503487e-01 -1.40340561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.034012739 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:426.84, Y:-82.80, Z:-14.03 [[ 9.84383608e-01 1.73192715e-01 3.15150043e-02 4.26835164e+02] [-1.73102551e-01 9.84887954e-01 -5.58799372e-03 -8.28007429e+01] [-3.20065479e-02 4.54017887e-05 9.99487658e-01 -1.40343816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:426.86, Y:-82.81, Z:-14.04 [[ 9.84260476e-01 1.73659513e-01 3.27671878e-02 4.26863862e+02] [-1.73562364e-01 9.84805754e-01 -5.80802741e-03 -8.28057975e+01] [-3.32779343e-02 2.94612596e-05 9.99446136e-01 -1.40353697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.094012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:426.89, Y:-82.81, Z:-14.04 [[ 9.84177592e-01 1.74161301e-01 3.25930861e-02 4.26892285e+02] [-1.74065507e-01 9.84717138e-01 -5.77564324e-03 -8.28106851e+01] [-3.31008640e-02 1.09265946e-05 9.99452016e-01 -1.40361668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:426.92, Y:-82.82, Z:-14.04 [[ 9.84039328e-01 1.75021401e-01 3.21575894e-02 4.26920803e+02] [-1.74928658e-01 9.84564629e-01 -5.69698276e-03 -8.28156155e+01] [-3.26583190e-02 -1.92288781e-05 9.99466575e-01 -1.40375521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.154012739 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:426.95, Y:-82.82, Z:-14.04 [[ 9.83620115e-01 1.77345341e-01 3.22505753e-02 4.26949062e+02] [-1.77253360e-01 9.84148678e-01 -5.71192707e-03 -8.28209980e+01] [-3.27523447e-02 -9.81564483e-05 9.99463493e-01 -1.40383788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:426.98, Y:-82.83, Z:-14.04 [[ 9.83379970e-01 1.78617058e-01 3.25542976e-02 4.26976218e+02] [-1.78524084e-01 9.83918658e-01 -5.76415358e-03 -8.28254073e+01] [-3.30603569e-02 -1.43372961e-04 9.99453347e-01 -1.40392867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.214012739 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:427.00, Y:-82.83, Z:-14.04 [[ 9.83058657e-01 1.80436693e-01 3.22222907e-02 4.27003595e+02] [-1.80346644e-01 9.83586579e-01 -5.70349922e-03 -8.28298449e+01] [-3.27225332e-02 -2.04307720e-04 9.99464454e-01 -1.40395820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:427.03, Y:-82.83, Z:-14.04 [[ 9.82776090e-01 1.81984238e-01 3.21386693e-02 4.27032338e+02] [-1.81895544e-01 9.83301414e-01 -5.68683915e-03 -8.28344993e+01] [-3.26369141e-02 -2.56991198e-04 9.99467241e-01 -1.40409812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.274012739 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:427.06, Y:-82.84, Z:-14.04 [[ 9.82113511e-01 1.85589297e-01 3.17752007e-02 4.27059997e+02] [-1.85504531e-01 9.82627332e-01 -5.62104632e-03 -8.28401020e+01] [-3.22663867e-02 -3.73938161e-04 9.99479235e-01 -1.40423480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:427.09, Y:-82.85, Z:-14.04 [[ 9.81824968e-01 1.87125069e-01 3.16850175e-02 4.27088040e+02] [-1.87041641e-01 9.82336006e-01 -5.60326565e-03 -8.28455430e+01] [-3.21738450e-02 -4.24991564e-04 9.99482197e-01 -1.40430027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.334012739 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:427.12, Y:-82.85, Z:-14.04 [[ 9.81253200e-01 1.90114629e-01 3.16004083e-02 4.27115289e+02] [-1.90033241e-01 9.81761761e-01 -5.58684105e-03 -8.28504149e+01] [-3.20862127e-02 -5.23022360e-04 9.99484968e-01 -1.40440775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:427.14, Y:-82.85, Z:-14.04 [[ 9.80846551e-01 1.92223648e-01 3.14660397e-02 4.27142292e+02] [-1.92144105e-01 9.81350966e-01 -5.56092150e-03 -8.28547094e+01] [-3.19481691e-02 -5.91603352e-04 9.99489352e-01 -1.40448952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.394012739 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:427.17, Y:-82.86, Z:-14.04 [[ 9.80402651e-01 1.94407593e-01 3.18799262e-02 4.27170377e+02] [-1.94327180e-01 9.80920605e-01 -5.63148288e-03 -8.28588352e+01] [-3.23664795e-02 -6.74015419e-04 9.99475841e-01 -1.40449440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:427.20, Y:-82.86, Z:-14.05 [[ 9.79652954e-01 1.97994689e-01 3.28358344e-02 4.27196971e+02] [-1.97911470e-01 9.80202751e-01 -5.79801658e-03 -8.28625554e+01] [-3.33337517e-02 -8.18544179e-04 9.99443941e-01 -1.40455254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.454012739 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:427.23, Y:-82.87, Z:-14.05 [[ 9.79425016e-01 1.99073699e-01 3.31104195e-02 4.27225057e+02] [-1.98989786e-01 9.79984140e-01 -5.84387778e-03 -8.28667890e+01] [-3.36110483e-02 -8.64995206e-04 9.99434615e-01 -1.40468689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:427.25, Y:-82.87, Z:-14.05 [[ 9.79441377e-01 1.98965565e-01 3.32760093e-02 4.27251526e+02] [-1.98880827e-01 9.80006097e-01 -5.87077761e-03 -8.28705029e+01] [-3.37787746e-02 -8.67877734e-04 9.99428958e-01 -1.40478899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.514012739 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:427.28, Y:-82.88, Z:-14.05 [[ 9.79712574e-01 1.97748467e-01 3.25394435e-02 4.27278309e+02] [-1.97666873e-01 9.80252461e-01 -5.73767170e-03 -8.28760803e+01] [-3.30314853e-02 -8.10700922e-04 9.99453983e-01 -1.40497003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:427.30, Y:-82.88, Z:-14.05 [[ 9.80071225e-01 1.96122341e-01 3.15661435e-02 4.27304370e+02] [-1.96044789e-01 9.80579159e-01 -5.56365925e-03 -8.28817533e+01] [-3.20442603e-02 -7.35595610e-04 9.99486180e-01 -1.40505809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.574012739 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:427.33, Y:-82.89, Z:-14.05 [[ 9.80550932e-01 1.93691405e-01 3.16782158e-02 4.27332470e+02] [-1.93612113e-01 9.81062283e-01 -5.58095323e-03 -8.28862249e+01] [-3.21592854e-02 -6.60877386e-04 9.99482538e-01 -1.40502338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:427.36, Y:-82.89, Z:-14.05 [[ 9.80561268e-01 1.93639016e-01 3.16785718e-02 4.27360540e+02] [-1.93559761e-01 9.81072624e-01 -5.57893143e-03 -8.28910317e+01] [-3.21592784e-02 -6.61212716e-04 9.99482538e-01 -1.40511368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.634012739 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:427.39, Y:-82.89, Z:-14.05 [[ 9.80627198e-01 1.93183179e-01 3.24123235e-02 4.27388926e+02] [-1.93100021e-01 9.81162484e-01 -5.70631564e-03 -8.28940657e+01] [-3.29041200e-02 -6.63052032e-04 9.99458293e-01 -1.40513993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:427.42, Y:-82.90, Z:-14.05 [[ 9.80555460e-01 1.93498620e-01 3.26997489e-02 4.27417053e+02] [-1.93414228e-01 9.81100311e-01 -5.75473973e-03 -8.28971359e+01] [-3.31952680e-02 -6.81755217e-04 9.99448653e-01 -1.40518085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.694012739 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:427.44, Y:-82.90, Z:-14.05 [[ 9.80142537e-01 1.95509200e-01 3.31173750e-02 4.27443837e+02] [-1.95423860e-01 9.80701572e-01 -5.82601519e-03 -8.28995845e+01] [-3.36173013e-02 -7.61599949e-04 9.99434489e-01 -1.40540393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:427.47, Y:-82.90, Z:-14.06 [[ 9.79995041e-01 1.96273017e-01 3.29639696e-02 4.27471934e+02] [-1.96188981e-01 9.80548971e-01 -5.79654506e-03 -8.29032598e+01] [-3.34604919e-02 -7.86582185e-04 9.99439731e-01 -1.40550484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.754012739 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:427.50, Y:-82.90, Z:-14.05 [[ 9.79869062e-01 1.96902627e-01 3.29541487e-02 4.27499018e+02] [-1.96819070e-01 9.80422715e-01 -5.79261611e-03 -8.29035581e+01] [-3.34495773e-02 -8.09999600e-04 9.99440078e-01 -1.40547584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:427.53, Y:-82.91, Z:-14.06 [[ 9.79780092e-01 1.97330097e-01 3.30424562e-02 4.27527126e+02] [-1.97246447e-01 9.80336750e-01 -5.80477277e-03 -8.29058574e+01] [-3.35381905e-02 -8.30106277e-04 9.99437092e-01 -1.40555056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.814012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:427.56, Y:-82.91, Z:-14.06 [[ 9.79657254e-01 1.97960011e-01 3.29165529e-02 4.27555215e+02] [-1.97877426e-01 9.80209728e-01 -5.78045677e-03 -8.29088959e+01] [-3.34094247e-02 -8.50576350e-04 9.99441387e-01 -1.40569519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:427.58, Y:-82.91, Z:-14.06 [[ 9.79612682e-01 1.98218748e-01 3.26851710e-02 4.27583466e+02] [-1.98137541e-01 9.80157434e-01 -5.73749729e-03 -8.29110173e+01] [-3.31738929e-02 -8.55634293e-04 9.99449229e-01 -1.40571593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.874012739 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:427.61, Y:-82.91, Z:-14.06 [[ 9.79711384e-01 1.97823326e-01 3.21175364e-02 4.27610554e+02] [-1.97744778e-01 9.80237340e-01 -5.63557693e-03 -8.29137720e+01] [-3.25976570e-02 -8.29836237e-04 9.99468211e-01 -1.40579786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:427.64, Y:-82.91, Z:-14.06 [[ 9.79930194e-01 1.97000708e-01 3.04554717e-02 4.27638939e+02] [-1.96929758e-01 9.80403049e-01 -5.34152236e-03 -8.29148500e+01] [-3.09109210e-02 -7.63269627e-04 9.99521852e-01 -1.40598733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.934012739 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:427.67, Y:-82.92, Z:-14.06 [[ 9.80080198e-01 1.96238340e-01 3.05502823e-02 4.27666988e+02] [-1.96166640e-01 9.80555945e-01 -5.35614830e-03 -8.29181947e+01] [-3.10073426e-02 -7.43491355e-04 9.99518880e-01 -1.40609411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:427.69, Y:-82.92, Z:-14.06 [[ 9.80200293e-01 1.95564262e-01 3.10162046e-02 4.27694910e+02] [-1.95490085e-01 9.80690613e-01 -5.43578101e-03 -8.29221190e+01] [-3.14803452e-02 -7.35206345e-04 9.99504101e-01 -1.40615771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.994012739 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:427.72, Y:-82.92, Z:-14.06 [[ 9.80415275e-01 1.94365393e-01 3.17487488e-02 4.27721975e+02] [-1.94287117e-01 9.80928938e-01 -5.56185465e-03 -8.29234377e+01] [-3.22242986e-02 -7.15445624e-04 9.99480406e-01 -1.40614888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:427.75, Y:-82.93, Z:-14.06 [[ 9.80504682e-01 1.93941708e-01 3.15782103e-02 4.27750212e+02] [-1.93864134e-01 9.81012805e-01 -5.52939682e-03 -8.29261150e+01] [-3.20510093e-02 -7.00282905e-04 9.99485989e-01 -1.40619083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05401273900003 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:427.78, Y:-82.93, Z:-14.06 [[ 9.80655760e-01 1.93285370e-01 3.09038284e-02 4.27776903e+02] [-1.93210810e-01 9.81142355e-01 -5.40936056e-03 -8.29276438e+01] [-3.13666053e-02 -6.66233128e-04 9.99507725e-01 -1.40633966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:427.81, Y:-82.93, Z:-14.06 [[ 9.80659020e-01 1.93327652e-01 3.05336744e-02 4.27805008e+02] [-1.93254959e-01 9.81134028e-01 -5.34229095e-03 -8.29312518e+01] [-3.09904395e-02 -6.61818172e-04 9.99519462e-01 -1.40641801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.114012739 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:427.83, Y:-82.93, Z:-14.07 [[ 9.80693703e-01 1.93085244e-01 3.09507571e-02 4.27832951e+02] [-1.93010494e-01 9.81181760e-01 -5.41324308e-03 -8.29336390e+01] [-3.14135357e-02 -6.65087511e-04 9.99506252e-01 -1.40653193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:427.86, Y:-82.93, Z:-14.06 [[ 9.80754664e-01 1.92617650e-01 3.19175396e-02 4.27861259e+02] [-1.92537977e-01 9.81273656e-01 -5.58020577e-03 -8.29324255e+01] [-3.23946869e-02 -6.72525665e-04 9.99474928e-01 -1.40643599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.174012739 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:427.89, Y:-82.94, Z:-14.06 [[ 9.80852204e-01 1.91988324e-01 3.27022394e-02 4.27888119e+02] [-1.91904419e-01 9.81396981e-01 -5.71486962e-03 -8.29357505e+01] [-3.31910673e-02 -6.70261789e-04 9.99448800e-01 -1.40648764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:427.92, Y:-82.94, Z:-14.07 [[ 9.81349840e-01 1.89362388e-01 3.30813674e-02 4.27915377e+02] [-1.89275168e-01 9.81907091e-01 -5.77713665e-03 -8.29401321e+01] [-3.35768016e-02 -5.92089252e-04 9.99435965e-01 -1.40655191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.234012739 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:427.94, Y:-82.94, Z:-14.07 [[ 9.81699394e-01 1.87679355e-01 3.22917858e-02 4.27942080e+02] [-1.87595418e-01 9.82230210e-01 -5.63685414e-03 -8.29442464e+01] [-3.27758887e-02 -5.24094757e-04 9.99462589e-01 -1.40671922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:427.97, Y:-82.95, Z:-14.07 [[ 9.82055800e-01 1.85924651e-01 3.15979373e-02 4.27968734e+02] [-1.85843462e-01 9.82563898e-01 -5.51302041e-03 -8.29478648e+01] [-3.20719989e-02 -4.58176386e-04 9.99485456e-01 -1.40685970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.294012739 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:428.00, Y:-82.95, Z:-14.07 [[ 9.82667656e-01 1.82856488e-01 3.04595369e-02 4.27996352e+02] [-1.82779682e-01 9.83139554e-01 -5.31079954e-03 -8.29514747e+01] [-3.09170897e-02 -3.48633534e-04 9.99521892e-01 -1.40699031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:428.02, Y:-82.96, Z:-14.07 [[ 9.82955898e-01 1.81374334e-01 3.00175407e-02 4.28023687e+02] [-1.81299113e-01 9.83414084e-01 -5.23168746e-03 -8.29564225e+01] [-3.04685662e-02 -2.99635448e-04 9.99535681e-01 -1.40704536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.354012739 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:428.05, Y:-82.96, Z:-14.07 [[ 9.83255732e-01 1.79707392e-01 3.02228301e-02 4.28050589e+02] [-1.79630418e-01 9.83720077e-01 -5.26526279e-03 -8.29605074e+01] [-3.06770114e-02 -2.51839779e-04 9.99529318e-01 -1.40696455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:428.08, Y:-82.96, Z:-14.07 [[ 9.83228113e-01 1.79666687e-01 3.13426106e-02 4.28078753e+02] [-1.79583969e-01 9.83727509e-01 -5.45760093e-03 -8.29641523e+01] [-3.18131374e-02 -2.62563759e-04 9.99493800e-01 -1.40697985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.414012739 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:428.11, Y:-82.97, Z:-14.07 [[ 9.83239767e-01 1.79499858e-01 3.19274353e-02 4.28106978e+02] [-1.79414013e-01 9.83757964e-01 -5.55706786e-03 -8.29677418e+01] [-3.24063616e-02 -2.64299159e-04 9.99474741e-01 -1.40703289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:428.13, Y:-82.97, Z:-14.07 [[ 9.83224048e-01 1.79527465e-01 3.22546081e-02 4.28133179e+02] [-1.79439945e-01 9.83752924e-01 -5.61158926e-03 -8.29719219e+01] [-3.27379995e-02 -2.70315603e-04 9.99463931e-01 -1.40716285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.474012739 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:428.16, Y:-82.98, Z:-14.07 [[ 9.83228248e-01 1.79580613e-01 3.18278955e-02 4.28160559e+02] [-1.79495529e-01 9.83743223e-01 -5.53403017e-03 -8.29757488e+01] [-3.23042811e-02 -2.71750155e-04 9.99478044e-01 -1.40734444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:428.19, Y:-82.98, Z:-14.07 [[ 9.83226563e-01 1.79720522e-01 3.10814986e-02 4.28188977e+02] [-1.79639521e-01 9.83717673e-01 -5.40207827e-03 -8.29768132e+01] [-3.15462838e-02 -2.71998667e-04 9.99502255e-01 -1.40741601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.534012739 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:428.22, Y:-82.98, Z:-14.07 [[ 9.83118246e-01 1.80380954e-01 3.06793932e-02 4.28216763e+02] [-1.80302426e-01 9.83596780e-01 -5.33000002e-03 -8.29790270e+01] [-3.11375829e-02 -2.91548758e-04 9.99515065e-01 -1.40748589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:428.24, Y:-82.98, Z:-14.08 [[ 9.82965758e-01 1.81301431e-01 3.01348554e-02 4.28243378e+02] [-1.81226164e-01 9.83427522e-01 -5.23325889e-03 -8.29812107e+01] [-3.05842435e-02 -3.17109968e-04 9.99532142e-01 -1.40757717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.594012739 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:428.27, Y:-82.98, Z:-14.08 [[ 9.82731090e-01 1.82665860e-01 2.95429893e-02 4.28271677e+02] [-1.82594248e-01 9.83174988e-01 -5.12677664e-03 -8.29837073e+01] [-2.99824152e-02 -3.56137109e-04 9.99550363e-01 -1.40765313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:428.30, Y:-82.98, Z:-14.08 [[ 9.82394233e-01 1.84508603e-01 2.92941360e-02 4.28298905e+02] [-1.84439074e-01 9.82830813e-01 -5.08147592e-03 -8.29821498e+01] [-2.97287556e-02 -4.10970685e-04 9.99557918e-01 -1.40772228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.654012739 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:428.33, Y:-82.98, Z:-14.08 [[ 9.82280090e-01 1.85086326e-01 2.94767184e-02 4.28327499e+02] [-1.85016266e-01 9.82722170e-01 -5.11055358e-03 -8.29837278e+01] [-2.99133183e-02 -4.33677340e-04 9.99552402e-01 -1.40787449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:428.36, Y:-82.98, Z:-14.08 [[ 9.82330788e-01 1.84545982e-01 3.11288195e-02 4.28355511e+02] [-1.84467638e-01 9.82823781e-01 -5.39497244e-03 -8.29832917e+01] [-3.15897646e-02 -4.42612292e-04 9.99500821e-01 -1.40792527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.714012739 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:428.38, Y:-82.99, Z:-14.08 [[ 9.82554014e-01 1.83197762e-01 3.20341935e-02 4.28382688e+02] [-1.83114157e-01 9.83075994e-01 -5.54944872e-03 -8.29857848e+01] [-3.25086932e-02 -4.13281211e-04 9.99471367e-01 -1.40799416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:428.41, Y:-82.99, Z:-14.08 [[ 9.82953674e-01 1.80956395e-01 3.25093396e-02 4.28410833e+02] [-1.80869157e-01 9.83491059e-01 -5.62896492e-03 -8.29875779e+01] [-3.29912421e-02 -3.46925104e-04 9.99455581e-01 -1.40804902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.774012739 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:428.44, Y:-82.99, Z:-14.08 [[ 9.83359708e-01 1.78705542e-01 3.26804905e-02 4.28438063e+02] [-1.78616219e-01 9.83902563e-01 -5.65619867e-03 -8.29889979e+01] [-3.31652124e-02 -2.75187787e-04 9.99449845e-01 -1.40812819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:428.47, Y:-82.99, Z:-14.08 [[ 9.84245684e-01 1.73996706e-01 3.13939559e-02 4.28466282e+02] [-1.73911964e-01 9.84746228e-01 -5.43099093e-03 -8.29897651e+01] [-3.18600542e-02 -1.14355138e-04 9.99492333e-01 -1.40825740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.834012739 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:428.49, Y:-82.99, Z:-14.08 [[ 9.84661793e-01 1.71780243e-01 3.05401557e-02 4.28493323e+02] [-1.71699047e-01 9.85135293e-01 -5.28119234e-03 -8.29925181e+01] [-3.09933898e-02 -4.35273157e-05 9.99519589e-01 -1.40827211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:428.52, Y:-82.99, Z:-14.08 [[ 9.85121401e-01 1.69222395e-01 2.99934477e-02 4.28521756e+02] [-1.69143005e-01 9.85577891e-01 -5.18303085e-03 -8.29916396e+01] [-3.04379638e-02 3.27327293e-05 9.99536657e-01 -1.40839214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.894012739 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:428.55, Y:-82.99, Z:-14.09 [[ 9.85182909e-01 1.68886495e-01 2.98661620e-02 4.28549492e+02] [-1.68807687e-01 9.85635506e-01 -5.15893251e-03 -8.29933699e+01] [-3.03084237e-02 4.08544071e-05 9.99540593e-01 -1.40850886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:428.58, Y:-83.00, Z:-14.09 [[ 9.85241618e-01 1.68505461e-01 3.00809633e-02 4.28577415e+02] [-1.68425402e-01 9.85700719e-01 -5.19391295e-03 -8.29956837e+01] [-3.05260298e-02 5.08608538e-05 9.99533971e-01 -1.40865949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.954012739 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:428.61, Y:-83.00, Z:-14.09 [[ 9.85692558e-01 1.65834970e-01 3.01487015e-02 4.28605748e+02] [-1.65753366e-01 9.86153510e-01 -5.20349829e-03 -8.29959538e+01] [-3.05941698e-02 1.31800768e-04 9.99531880e-01 -1.40874393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:428.63, Y:-83.00, Z:-14.09 [[ 9.86050504e-01 1.63770190e-01 2.97275814e-02 4.28632473e+02] [-1.63689974e-01 9.86498499e-01 -5.12874692e-03 -8.29978491e+01] [-3.01661503e-02 1.91096472e-04 9.99544880e-01 -1.40882120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.014012739 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:428.66, Y:-83.00, Z:-14.09 [[ 9.86755577e-01 1.59636072e-01 2.88054775e-02 4.28661169e+02] [-1.59559062e-01 9.87175887e-01 -4.96734335e-03 -8.29978855e+01] [-2.92290399e-02 3.05378801e-04 9.99572694e-01 -1.40902726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:428.69, Y:-83.00, Z:-14.09 [[ 9.87085847e-01 1.57570611e-01 2.88623004e-02 4.28688266e+02] [-1.57492470e-01 9.87507655e-01 -4.97522743e-03 -8.30009676e+01] [-2.92856922e-02 3.65381604e-04 9.99571015e-01 -1.40914544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.074012739 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:428.72, Y:-83.00, Z:-14.09 [[ 9.88022116e-01 1.51299883e-01 3.03421246e-02 4.28715567e+02] [-1.51210691e-01 9.88487741e-01 -5.22616990e-03 -8.30027431e+01] [-3.07835371e-02 5.75517818e-04 9.99525909e-01 -1.40920147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:428.74, Y:-83.01, Z:-14.09 [[ 9.88566744e-01 1.47442663e-01 3.15666628e-02 4.28743428e+02] [-1.47344241e-01 9.89070342e-01 -5.43448919e-03 -8.30062312e+01] [-3.20229255e-02 7.21189307e-04 9.99486874e-01 -1.40915869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.134012739 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:428.77, Y:-83.01, Z:-14.09 [[ 9.89158638e-01 1.43238248e-01 3.23727364e-02 4.28769827e+02] [-1.43132561e-01 9.89687847e-01 -5.57087132e-03 -8.30111650e+01] [-3.28368657e-02 8.76882805e-04 9.99460340e-01 -1.40927547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:428.80, Y:-83.02, Z:-14.10 [[ 9.90333616e-01 1.34999063e-01 3.18525105e-02 4.28796897e+02] [-1.34892569e-01 9.90845083e-01 -5.47877483e-03 -8.30212445e+01] [-3.23005328e-02 1.12914792e-03 9.99477564e-01 -1.40951855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.194012739 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:428.82, Y:-83.03, Z:-14.10 [[ 9.90877503e-01 1.31214689e-01 3.07323950e-02 4.28823910e+02] [-1.31113780e-01 9.91353241e-01 -5.28471654e-03 -8.30290708e+01] [-3.11600918e-02 1.20706625e-03 9.99513678e-01 -1.40967370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:428.85, Y:-83.04, Z:-14.10 [[ 9.91563678e-01 1.26247225e-01 2.93787391e-02 4.28850140e+02] [-1.26152884e-01 9.91997956e-01 -5.05030514e-03 -8.30385031e+01] [-2.97812361e-02 1.30148648e-03 9.99555593e-01 -1.40972647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.254012739 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:428.88, Y:-83.05, Z:-14.10 [[ 9.91664725e-01 1.25353911e-01 2.97904458e-02 4.28878130e+02] [-1.25256556e-01 9.92111177e-01 -5.11934839e-03 -8.30466415e+01] [-3.01971646e-02 1.34522856e-03 9.99543056e-01 -1.40981200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:428.91, Y:-83.06, Z:-14.10 [[ 9.91667971e-01 1.25252947e-01 3.01053973e-02 4.28905792e+02] [-1.25153519e-01 9.92123907e-01 -5.17205738e-03 -8.30557554e+01] [-3.05160998e-02 1.36116723e-03 9.99533349e-01 -1.40982222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.314012739 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:428.93, Y:-83.07, Z:-14.10 [[ 9.91510393e-01 1.26659010e-01 2.94046908e-02 4.28932329e+02] [-1.26564814e-01 9.91945483e-01 -5.05037274e-03 -8.30681411e+01] [-2.98075255e-02 1.28589785e-03 9.99554830e-01 -1.40994387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:428.96, Y:-83.08, Z:-14.10 [[ 9.91367466e-01 1.28006022e-01 2.83726246e-02 4.28960115e+02] [-1.27918920e-01 9.91772665e-01 -4.87150765e-03 -8.30759503e+01] [-2.87627758e-02 1.20005870e-03 9.99585545e-01 -1.41012215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.374012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:428.99, Y:-83.09, Z:-14.10 [[ 9.91019224e-01 1.30903449e-01 2.72980598e-02 4.28987807e+02] [-1.30823952e-01 9.91394541e-01 -4.68581058e-03 -8.30870402e+01] [-2.76765362e-02 1.07248831e-03 9.99616356e-01 -1.41033325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:429.02, Y:-83.10, Z:-14.10 [[ 9.90871224e-01 1.31912122e-01 2.78102459e-02 4.29015678e+02] [-1.31830046e-01 9.91260845e-01 -4.77242978e-03 -8.30959601e+01] [-2.81967492e-02 1.06263733e-03 9.99601828e-01 -1.41044479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.434012739 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:429.04, Y:-83.10, Z:-14.10 [[ 9.90722248e-01 1.32881857e-01 2.84927973e-02 4.29042520e+02] [-1.32796140e-01 9.91131318e-01 -4.88825119e-03 -8.31042582e+01] [-2.88896637e-02 1.05916571e-03 9.99582045e-01 -1.41042945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:429.07, Y:-83.11, Z:-14.10 [[ 9.90279954e-01 1.36021001e-01 2.90499460e-02 4.29069122e+02] [-1.35933295e-01 9.90705464e-01 -4.98216498e-03 -8.31145559e+01] [-2.94576193e-02 9.84883224e-04 9.99565545e-01 -1.41044719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.494012739 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:429.10, Y:-83.12, Z:-14.11 [[ 9.89967456e-01 1.38338512e-01 2.87557235e-02 4.29097566e+02] [-1.38253602e-01 9.90384591e-01 -4.92993316e-03 -8.31218620e+01] [-2.91612251e-02 9.04891036e-04 9.99574311e-01 -1.41055481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:429.13, Y:-83.13, Z:-14.11 [[ 9.89972018e-01 1.38305819e-01 2.87559444e-02 4.29126471e+02] [-1.38220933e-01 9.90389157e-01 -4.92864483e-03 -8.31267327e+01] [-2.91612357e-02 9.04547014e-04 9.99574311e-01 -1.41064775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55401273900003 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:429.15, Y:-83.13, Z:-14.11 [[ 9.89285078e-01 1.43271062e-01 2.80791289e-02 4.29152937e+02] [-1.43192146e-01 9.89683210e-01 -4.81178333e-03 -8.31346377e+01] [-2.84788317e-02 7.39514705e-04 9.99594122e-01 -1.41077457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:429.18, Y:-83.14, Z:-14.11 [[ 9.88867960e-01 1.46111802e-01 2.81335961e-02 4.29181047e+02] [-1.46033774e-01 9.89267865e-01 -4.81949291e-03 -8.31400348e+01] [-2.85358473e-02 6.57386892e-04 9.99592554e-01 -1.41088071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.614012739 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:429.21, Y:-83.14, Z:-14.11 [[ 9.88443682e-01 1.48938746e-01 2.82194397e-02 4.29209024e+02] [-1.48861428e-01 9.88846256e-01 -4.83292658e-03 -8.31448448e+01] [-2.86244973e-02 5.76289637e-04 9.99590069e-01 -1.41096582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:429.24, Y:-83.15, Z:-14.11 [[ 9.87924691e-01 1.52320043e-01 2.83444793e-02 4.29235132e+02] [-1.52243463e-01 9.88331106e-01 -4.85316064e-03 -8.31501415e+01] [-2.87529642e-02 4.79295537e-04 9.99586433e-01 -1.41097849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.674012739 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:429.26, Y:-83.15, Z:-14.11 [[ 9.87994314e-01 1.51677237e-01 2.93470825e-02 4.29262517e+02] [-1.51594931e-01 9.88429943e-01 -5.02240385e-03 -8.31540489e+01] [-2.97693194e-02 5.13237508e-04 9.99556664e-01 -1.41094042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:429.29, Y:-83.16, Z:-14.11 [[ 9.88240514e-01 1.49862724e-01 3.03619917e-02 4.29290641e+02] [-1.49773828e-01 9.88706640e-01 -5.19419203e-03 -8.31587979e+01] [-3.07975186e-02 5.85679285e-04 9.99525472e-01 -1.41105113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.734012739 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:429.32, Y:-83.16, Z:-14.11 [[ 9.88517493e-01 1.47924413e-01 3.08469524e-02 4.29318457e+02] [-1.47831753e-01 9.88998452e-01 -5.27577774e-03 -8.31646665e+01] [-3.12880045e-02 6.55039541e-04 9.99510196e-01 -1.41119131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:429.35, Y:-83.17, Z:-14.11 [[ 9.88798736e-01 1.45943276e-01 3.12669003e-02 4.29346663e+02] [-1.45847130e-01 9.89292693e-01 -5.34620665e-03 -8.31708495e+01] [-3.17123589e-02 7.26134725e-04 9.99496773e-01 -1.41124968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.794012739 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:429.37, Y:-83.18, Z:-14.11 [[ 9.89209631e-01 1.42943349e-01 3.21170490e-02 4.29374052e+02] [-1.42840368e-01 9.89730513e-01 -5.49011565e-03 -8.31760627e+01] [-3.25719989e-02 8.43264176e-04 9.99469036e-01 -1.41127901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:429.40, Y:-83.18, Z:-14.11 [[ 9.89262800e-01 1.42366968e-01 3.30266519e-02 4.29403011e+02] [-1.42257810e-01 9.89813550e-01 -5.64376636e-03 -8.31791837e+01] [-3.34937134e-02 8.84868937e-04 9.99438536e-01 -1.41123824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.854012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:429.43, Y:-83.18, Z:-14.11 [[ 9.89205244e-01 1.42753451e-01 3.30822845e-02 4.29430194e+02] [-1.42644196e-01 9.89757896e-01 -5.65161800e-03 -8.31833626e+01] [-3.35502403e-02 8.71614280e-04 9.99436652e-01 -1.41127901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:429.46, Y:-83.18, Z:-14.11 [[ 9.89162911e-01 1.45180953e-01 2.18912215e-02 4.29457540e+02] [-1.44544893e-01 9.89093946e-01 -2.82832211e-02 -8.31756583e+01] [-2.57586596e-02 2.48124491e-02 9.99360212e-01 -1.41064635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.914012739 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:429.49, Y:-83.21, Z:-14.11 [[ 9.89186034e-01 1.42806689e-01 3.34251280e-02 4.29485149e+02] [-1.43408260e-01 9.89528734e-01 1.63387720e-02 -8.32064789e+01] [-3.07418387e-02 -2.09555245e-02 9.99307663e-01 -1.41146156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:429.52, Y:-83.20, Z:-14.12 [[ 9.89628026e-01 1.40449957e-01 3.01691919e-02 4.29515023e+02] [-1.40357617e-01 9.90087388e-01 -5.16752117e-03 -8.32019322e+01] [-3.05959145e-02 8.79447898e-04 9.99531449e-01 -1.41160008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.974012739 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:429.54, Y:-83.21, Z:-14.12 [[ 9.90009052e-01 1.37635258e-01 3.06367722e-02 4.29542268e+02] [-1.37538733e-01 9.90482496e-01 -5.24609384e-03 -8.32098392e+01] [-3.10672341e-02 9.79937550e-04 9.99516817e-01 -1.41174436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:429.57, Y:-83.22, Z:-14.12 [[ 9.90819184e-01 1.31639810e-01 3.07945695e-02 4.29571118e+02] [-1.31539448e-01 9.91296921e-01 -5.27138083e-03 -8.32232892e+01] [-3.12204855e-02 1.17228457e-03 9.99511834e-01 -1.41176347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.034012739 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:429.60, Y:-83.23, Z:-14.12 [[ 9.91185661e-01 1.29054760e-01 2.99308430e-02 4.29599922e+02] [-1.28958773e-01 9.91636720e-01 -5.12354109e-03 -8.32319090e+01] [-3.03417403e-02 1.21853567e-03 9.99538841e-01 -1.41189441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:429.63, Y:-83.24, Z:-14.12 [[ 9.91684215e-01 1.25949389e-01 2.64418038e-02 4.29627768e+02] [-1.25873371e-01 9.92035990e-01 -4.52658401e-03 -8.32444903e+01] [-2.68013415e-02 1.16062293e-03 9.99640106e-01 -1.41209699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.094012739 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:429.66, Y:-83.25, Z:-14.12 [[ 9.91755644e-01 1.25657417e-01 2.51188392e-02 4.29657295e+02] [-1.25588733e-01 9.92073073e-01 -4.29979838e-03 -8.32545457e+01] [-2.54600256e-02 1.10970613e-03 9.99675225e-01 -1.41228244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:429.69, Y:-83.27, Z:-14.12 [[ 9.91655371e-01 1.26643799e-01 2.41033748e-02 4.29686061e+02] [-1.26580847e-01 9.91947713e-01 -4.12597299e-03 -8.32650055e+01] [-2.44318165e-02 1.04051767e-03 9.99700957e-01 -1.41236673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.154012739 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:429.71, Y:-83.28, Z:-14.12 [[ 9.91131182e-01 1.30530824e-01 2.49135346e-02 4.29713665e+02] [-1.30464792e-01 9.91443771e-01 -4.26470035e-03 -8.32794182e+01] [-2.52570435e-02 9.76538401e-04 9.99680513e-01 -1.41229143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:429.74, Y:-83.29, Z:-14.12 [[ 9.90807449e-01 1.32732210e-01 2.61296789e-02 4.29742316e+02] [-1.32660346e-01 9.91151466e-01 -4.47255544e-03 -8.32880890e+01] [-2.64921217e-02 9.65069010e-04 9.99648556e-01 -1.41229721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.214012739 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:429.77, Y:-83.30, Z:-14.12 [[ 9.90154576e-01 1.37116595e-01 2.81594614e-02 4.29771614e+02] [-1.37034908e-01 9.90554494e-01 -4.81961017e-03 -8.33007294e+01] [-2.85543296e-02 9.13329851e-04 9.99591825e-01 -1.41237738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:429.80, Y:-83.31, Z:-14.12 [[ 9.89845677e-01 1.39406070e-01 2.77756051e-02 4.29802124e+02] [-1.39327479e-01 9.90234946e-01 -4.75449647e-03 -8.33101355e+01] [-2.81671805e-02 8.36312729e-04 9.99602876e-01 -1.41246431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.274012739 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:429.83, Y:-83.32, Z:-14.13 [[ 9.89576190e-01 1.41392222e-01 2.73350141e-02 4.29832325e+02] [-1.41316790e-01 9.89953356e-01 -4.68168428e-03 -8.33185800e+01] [-2.77223427e-02 7.69986858e-04 9.99615365e-01 -1.41252193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:429.86, Y:-83.33, Z:-14.13 [[ 9.89079367e-01 1.44939095e-01 2.67331985e-02 4.29861122e+02] [-1.44868225e-01 9.89440361e-01 -4.57925713e-03 -8.33276255e+01] [-2.71146189e-02 6.56457742e-04 9.99632116e-01 -1.41254927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.334012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:429.89, Y:-83.33, Z:-14.13 [[ 9.88770240e-01 1.47013283e-01 2.68422548e-02 4.29890035e+02] [-1.46942588e-01 9.89134335e-01 -4.59826030e-03 -8.33343149e+01] [-2.72266012e-02 6.02352555e-04 9.99629106e-01 -1.41261020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:429.92, Y:-83.34, Z:-14.13 [[ 9.88228759e-01 1.50495914e-01 2.74754417e-02 4.29919339e+02] [-1.50423179e-01 9.88610495e-01 -4.70705853e-03 -8.33418286e+01] [-2.78709031e-02 5.18707320e-04 9.99611396e-01 -1.41261655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.394012739 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:429.95, Y:-83.35, Z:-14.13 [[ 9.88009739e-01 1.51765255e-01 2.83560134e-02 4.29948501e+02] [-1.51688304e-01 9.88416440e-01 -4.85792207e-03 -8.33468935e+01] [-2.87648136e-02 4.98398749e-04 9.99586083e-01 -1.41267917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:429.98, Y:-83.35, Z:-14.13 [[ 9.87823624e-01 1.52779070e-01 2.93776217e-02 4.29978443e+02] [-1.52696931e-01 9.88260249e-01 -5.03259183e-03 -8.33516981e+01] [-2.98016105e-02 4.85440408e-04 9.99555715e-01 -1.41268730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.454012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:430.01, Y:-83.36, Z:-14.13 [[ 9.87418380e-01 1.55253090e-01 3.00236810e-02 4.30008631e+02] [-1.55168441e-01 9.87874639e-01 -5.14326630e-03 -8.33562283e+01] [-3.04581410e-02 4.19827901e-04 9.99535955e-01 -1.41271352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:430.04, Y:-83.36, Z:-14.13 [[ 9.87019146e-01 1.57888467e-01 2.94013329e-02 4.30037394e+02] [-1.57808460e-01 9.87456896e-01 -5.03664663e-03 -8.33604162e+01] [-2.98277774e-02 3.31487573e-04 9.99554998e-01 -1.41283119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.514012739 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:430.07, Y:-83.36, Z:-14.13 [[ 9.86852755e-01 1.59032199e-01 2.88166552e-02 4.30067942e+02] [-1.58955840e-01 9.87273354e-01 -4.93616069e-03 -8.33642130e+01] [-2.92349244e-02 2.90688125e-04 9.99572526e-01 -1.41297318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:430.10, Y:-83.37, Z:-14.13 [[ 9.86705566e-01 1.60097537e-01 2.79446830e-02 4.30098705e+02] [-1.60026157e-01 9.87101168e-01 -4.78679584e-03 -8.33675647e+01] [-2.83505834e-02 2.51277867e-04 9.99598010e-01 -1.41301483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.574012739 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:430.13, Y:-83.37, Z:-14.13 [[ 9.86587635e-01 1.60888131e-01 2.75653256e-02 4.30127682e+02] [-1.60818984e-01 9.86972623e-01 -4.72185810e-03 -8.33709144e+01] [-2.79659127e-02 2.25499152e-04 9.99608852e-01 -1.41314427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:430.16, Y:-83.37, Z:-14.13 [[ 9.86514292e-01 1.61329384e-01 2.76112402e-02 4.30157368e+02] [-1.61260208e-01 9.86900595e-01 -4.72870390e-03 -8.33737637e+01] [-2.80124283e-02 2.12339640e-04 9.99607552e-01 -1.41329891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.634012739 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:430.19, Y:-83.38, Z:-14.13 [[ 9.86578180e-01 1.60825826e-01 2.82586138e-02 4.30186055e+02] [-1.60753180e-01 9.86982776e-01 -4.83889028e-03 -8.33755262e+01] [-2.86689837e-02 2.31281517e-04 9.99588933e-01 -1.41339190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:430.22, Y:-83.38, Z:-14.13 [[ 9.86647524e-01 1.60316299e-01 2.87288478e-02 4.30215068e+02] [-1.60241029e-01 9.87065663e-01 -4.91837034e-03 -8.33789827e+01] [-2.91457541e-02 2.49157784e-04 9.99575141e-01 -1.41341250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.694012739 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:430.24, Y:-83.38, Z:-14.14 [[ 9.86732180e-01 1.59714574e-01 2.91694889e-02 4.30244954e+02] [-1.59636735e-01 9.87163199e-01 -4.99309970e-03 -8.33830706e+01] [-2.95925168e-02 2.70330196e-04 9.99562009e-01 -1.41350722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:430.27, Y:-83.39, Z:-14.14 [[ 9.87228313e-01 1.56840213e-01 2.79536462e-02 4.30273778e+02] [-1.56767596e-01 9.87623932e-01 -4.78432293e-03 -8.33867117e+01] [-2.83580642e-02 3.40993139e-04 9.99597771e-01 -1.41370865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.754012739 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:430.30, Y:-83.39, Z:-14.14 [[ 9.87523822e-01 1.55170857e-01 2.68086799e-02 4.30303575e+02] [-1.55103460e-01 9.87887578e-01 -4.58807780e-03 -8.33909720e+01] [-2.71958978e-02 3.72717121e-04 9.99630054e-01 -1.41386441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:430.33, Y:-83.39, Z:-14.14 [[ 9.87799262e-01 1.53529010e-01 2.61048201e-02 4.30333079e+02] [-1.53464549e-01 9.88144057e-01 -4.46701621e-03 -8.33946249e+01] [-2.64811395e-02 4.06350876e-04 9.99649231e-01 -1.41395647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.814012739 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:430.36, Y:-83.40, Z:-14.14 [[ 9.88047962e-01 1.51870945e-01 2.63901728e-02 4.30362332e+02] [-1.51804493e-01 9.88400227e-01 -4.51520513e-03 -8.33978546e+01] [-2.67697812e-02 4.55092430e-04 9.99641522e-01 -1.41402003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:430.39, Y:-83.40, Z:-14.14 [[ 9.88185018e-01 1.50916298e-01 2.67327641e-02 4.30391246e+02] [-1.50847777e-01 9.88546425e-01 -4.57317515e-03 -8.34018134e+01] [-2.71167450e-02 4.86565147e-04 9.99632155e-01 -1.41405558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.874012739 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:430.42, Y:-83.41, Z:-14.14 [[ 9.88476900e-01 1.48922157e-01 2.71221070e-02 4.30419630e+02] [-1.48850893e-01 9.88848770e-01 -4.63914298e-03 -8.34053132e+01] [-2.75105333e-02 5.48535846e-04 9.99621363e-01 -1.41406495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:430.45, Y:-83.41, Z:-14.14 [[ 9.88590539e-01 1.48074074e-01 2.76190873e-02 4.30449352e+02] [-1.47999871e-01 9.88976102e-01 -4.72313635e-03 -8.34101926e+01] [-2.80139914e-02 5.81626550e-04 9.99607362e-01 -1.41414861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.934012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:430.48, Y:-83.42, Z:-14.14 [[ 9.88729512e-01 1.47065841e-01 2.80283839e-02 4.30478061e+02] [-1.46989036e-01 9.89126511e-01 -4.79246015e-03 -8.34155599e+01] [-2.84284248e-02 6.18581651e-04 9.99595639e-01 -1.41428284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:430.51, Y:-83.42, Z:-14.14 [[ 9.89173517e-01 1.43986563e-01 2.83482290e-02 4.30506947e+02] [-1.43906750e-01 9.89579385e-01 -4.84646714e-03 -8.34228375e+01] [-2.87506492e-02 7.14495454e-04 9.99586359e-01 -1.41437213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.994012739 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:430.54, Y:-83.43, Z:-14.14 [[ 9.89487380e-01 1.41908538e-01 2.78691733e-02 4.30535518e+02] [-1.41830586e-01 9.89879481e-01 -4.76424613e-03 -8.34299711e+01] [-2.82632100e-02 7.61460244e-04 9.99600226e-01 -1.41441315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:430.56, Y:-83.44, Z:-14.14 [[ 9.90288478e-01 1.36256401e-01 2.76210544e-02 4.30564215e+02] [-1.36177643e-01 9.90673184e-01 -4.72148690e-03 -8.34408701e+01] [-2.80067707e-02 9.14264003e-04 9.99607315e-01 -1.41447877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05401273900003 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:430.59, Y:-83.45, Z:-14.15 [[ 9.90638602e-01 1.33566129e-01 2.82001796e-02 4.30594899e+02] [-1.33482936e-01 9.91039387e-01 -4.82072363e-03 -8.34495191e+01] [-2.85913741e-02 1.01135214e-03 9.99590671e-01 -1.41455410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:430.63, Y:-83.46, Z:-14.15 [[ 9.90825387e-01 1.32045176e-01 2.87945042e-02 4.30625457e+02] [-1.31957660e-01 9.91243109e-01 -4.92703243e-03 -8.34588158e+01] [-2.91929447e-02 1.08217342e-03 9.99573209e-01 -1.41460004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.114012739 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:430.66, Y:-83.47, Z:-14.15 [[ 9.90749198e-01 1.32052853e-01 3.12741272e-02 4.30655026e+02] [-1.31949441e-01 9.91241974e-01 -5.35673370e-03 -8.34729568e+01] [-3.17075995e-02 1.18057601e-03 9.99496490e-01 -1.41466754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:430.69, Y:-83.48, Z:-14.15 [[ 9.90533017e-01 1.33690242e-01 3.11650592e-02 4.30687070e+02] [-1.33588199e-01 9.91022525e-01 -5.34313505e-03 -8.34833022e+01] [-3.15996007e-02 1.12926756e-03 9.99499970e-01 -1.41469586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.174012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:430.72, Y:-83.50, Z:-14.15 [[ 9.89853391e-01 1.39150381e-01 2.87651714e-02 4.30717242e+02] [-1.39065692e-01 9.90270867e-01 -4.93378783e-03 -8.34979013e+01] [-2.91718497e-02 8.83478141e-04 9.99574021e-01 -1.41488984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:430.75, Y:-83.51, Z:-14.15 [[ 9.89383315e-01 1.42651930e-01 2.77683646e-02 4.30749434e+02] [-1.42574260e-01 9.89772627e-01 -4.76734093e-03 -8.35070328e+01] [-2.81644375e-02 7.57673551e-04 9.99603016e-01 -1.41502996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.234012739 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:430.78, Y:-83.52, Z:-14.15 [[ 9.88358859e-01 1.49712383e-01 2.70733925e-02 4.30780833e+02] [-1.49641061e-01 9.88729438e-01 -4.65300999e-03 -8.35203578e+01] [-2.74648734e-02 5.47552482e-04 9.99622619e-01 -1.41517902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:430.81, Y:-83.53, Z:-14.15 [[ 9.87792859e-01 1.53391291e-01 2.71363268e-02 4.30811859e+02] [-1.53320880e-01 9.88165426e-01 -4.66899141e-03 -8.35295973e+01] [-2.75313625e-02 4.51430865e-04 9.99620838e-01 -1.41520187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.294012739 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:430.84, Y:-83.54, Z:-14.15 [[ 9.87210494e-01 1.56928002e-01 2.80899055e-02 4.30842909e+02] [-1.56853838e-01 9.87609976e-01 -4.83821841e-03 -8.35386010e+01] [-2.85011228e-02 3.70330494e-04 9.99593692e-01 -1.41527034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:430.87, Y:-83.55, Z:-14.15 [[ 9.85975266e-01 1.64324750e-01 2.91573449e-02 4.30873036e+02] [-1.64247931e-01 9.86406280e-01 -5.02676987e-03 -8.35491284e+01] [-2.95870108e-02 1.67237180e-04 9.99562195e-01 -1.41529582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.354012739 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:430.90, Y:-83.56, Z:-14.15 [[ 9.85403103e-01 1.67710523e-01 2.92216385e-02 4.30903247e+02] [-1.67634824e-01 9.85836283e-01 -5.03882953e-03 -8.35553671e+01] [-2.96528162e-02 6.67140234e-05 9.99560256e-01 -1.41541719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:430.93, Y:-83.56, Z:-14.16 [[ 9.84386270e-01 1.73693940e-01 2.85322090e-02 4.30933442e+02] [-1.73624264e-01 9.84799677e-01 -4.92057083e-03 -8.35618028e+01] [-2.89531835e-02 -1.10141414e-04 9.99580763e-01 -1.41551435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.414012739 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:430.96, Y:-83.57, Z:-14.16 [[ 9.84380442e-01 1.73726981e-01 2.85320997e-02 4.30964791e+02] [-1.73657300e-01 9.84793848e-01 -4.92120426e-03 -8.35672643e+01] [-2.89531822e-02 -1.10470173e-04 9.99580763e-01 -1.41560734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:430.99, Y:-83.57, Z:-14.16 [[ 9.83829902e-01 1.76884622e-01 2.81167878e-02 4.30994416e+02] [-1.76818216e-01 9.84231574e-01 -4.85054403e-03 -8.35736387e+01] [-2.85314169e-02 -1.99449988e-04 9.99592876e-01 -1.41572431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.474012739 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:431.02, Y:-83.58, Z:-14.16 [[ 9.83281890e-01 1.80048107e-01 2.71919955e-02 4.31021941e+02] [-1.79987197e-01 9.83657766e-01 -4.69137619e-03 -8.35796599e+01] [-2.75922910e-02 -2.81265801e-04 9.99619221e-01 -1.41586631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:431.05, Y:-83.58, Z:-14.16 [[ 9.82154037e-01 1.86222540e-01 2.63555236e-02 4.31049631e+02] [-1.86167560e-01 9.82507492e-01 -4.54626996e-03 -8.35840662e+01] [-2.67411173e-02 -4.41406131e-04 9.99642295e-01 -1.41596616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.534012739 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:431.08, Y:-83.59, Z:-14.16 [[ 9.81751575e-01 1.88306230e-01 2.65444649e-02 4.31079605e+02] [-1.88251263e-01 9.82110233e-01 -4.57727689e-03 -8.35881359e+01] [-2.69315204e-02 -5.03280256e-04 9.99637154e-01 -1.41606597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:431.11, Y:-83.59, Z:-14.16 [[ 9.81277814e-01 1.90606154e-01 2.76251019e-02 4.31108342e+02] [-1.90547529e-01 9.81666413e-01 -4.76366149e-03 -8.35909645e+01] [-2.80266179e-02 -5.89419558e-04 9.99607003e-01 -1.41599676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.594012739 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:431.14, Y:-83.59, Z:-14.16 [[ 9.81092028e-01 1.91422096e-01 2.85659739e-02 4.31138737e+02] [-1.91359785e-01 9.81507605e-01 -4.92483526e-03 -8.35947993e+01] [-2.89804429e-02 -6.34662016e-04 9.99579777e-01 -1.41606924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:431.17, Y:-83.60, Z:-14.16 [[ 9.80817533e-01 1.92795156e-01 2.87575033e-02 4.31168429e+02] [-1.92732597e-01 9.81238791e-01 -4.95785566e-03 -8.35978868e+01] [-2.91738283e-02 -6.79756537e-04 9.99574122e-01 -1.41616014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.654012739 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:431.20, Y:-83.60, Z:-14.16 [[ 9.80066437e-01 1.96654873e-01 2.82247927e-02 4.31198037e+02] [-1.96596218e-01 9.80472464e-01 -4.86568911e-03 -8.35988060e+01] [-2.86304935e-02 -7.80188909e-04 9.99589759e-01 -1.41633581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:431.23, Y:-83.60, Z:-14.16 [[ 9.79651224e-01 1.98850970e-01 2.72354596e-02 4.31227199e+02] [-1.98797219e-01 9.80029401e-01 -4.69455441e-03 -8.36017671e+01] [-2.76250678e-02 -8.15307646e-04 9.99618022e-01 -1.41646073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.714012739 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:431.26, Y:-83.60, Z:-14.17 [[ 9.79268626e-01 2.00743519e-01 2.71108370e-02 4.31256987e+02] [-2.00691018e-01 9.79643450e-01 -4.67179844e-03 -8.36013362e+01] [-2.74967872e-02 -8.65955830e-04 9.99621517e-01 -1.41656589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:431.28, Y:-83.60, Z:-14.17 [[ 9.79264582e-01 2.00625352e-01 2.81131009e-02 4.31284835e+02] [-2.00568887e-01 9.79667630e-01 -4.84312385e-03 -8.36027032e+01] [-2.85131484e-02 -8.95913721e-04 9.99593016e-01 -1.41663423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.774012739 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:431.31, Y:-83.60, Z:-14.17 [[ 9.79332776e-01 2.00190895e-01 2.88256752e-02 4.31313196e+02] [-2.00131399e-01 9.79756491e-01 -4.96398322e-03 -8.36046021e+01] [-2.92358866e-02 -9.07531251e-04 9.99572128e-01 -1.41672199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:431.34, Y:-83.61, Z:-14.17 [[ 9.79929857e-01 1.97216717e-01 2.90351847e-02 4.31342084e+02] [-1.97155097e-01 9.80359569e-01 -4.99838910e-03 -8.36064426e+01] [-2.94506871e-02 -8.26363947e-04 9.99565893e-01 -1.41687855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.834012739 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:431.37, Y:-83.61, Z:-14.17 [[ 9.80394247e-01 1.94843694e-01 2.93778070e-02 4.31370570e+02] [-1.94779587e-01 9.80834007e-01 -5.05599282e-03 -8.36093518e+01] [-2.97998804e-02 -7.65330844e-04 9.99555592e-01 -1.41698310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:431.40, Y:-83.61, Z:-14.17 [[ 9.81254091e-01 1.90443867e-01 2.95218900e-02 4.31399102e+02] [-1.90377181e-01 9.81697881e-01 -5.07937614e-03 -8.36092341e+01] [-2.99489128e-02 -6.36135589e-04 9.99551228e-01 -1.41707086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.894012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:431.43, Y:-83.61, Z:-14.17 [[ 9.81568752e-01 1.88853765e-01 2.92752667e-02 4.31427492e+02] [-1.88787533e-01 9.82005048e-01 -5.03523693e-03 -8.36118848e+01] [-2.96993831e-02 -5.84374137e-04 9.99558705e-01 -1.41715732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:431.46, Y:-83.61, Z:-14.17 [[ 9.81797812e-01 1.87701235e-01 2.90052288e-02 4.31456053e+02] [-1.87635756e-01 9.82226017e-01 -4.98743830e-03 -8.36145221e+01] [-2.94258386e-02 -5.45762032e-04 9.99566817e-01 -1.41728330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.954012739 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:431.48, Y:-83.61, Z:-14.17 [[ 9.82113712e-01 1.86142121e-01 2.83508116e-02 4.31484790e+02] [-1.86078952e-01 9.82522708e-01 -4.87360543e-03 -8.36127009e+01] [-2.87624994e-02 -4.89054589e-04 9.99586154e-01 -1.41732388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:431.52, Y:-83.60, Z:-14.17 [[ 9.82323461e-01 1.85985572e-01 2.12128733e-02 4.31515057e+02] [-1.85589420e-01 9.82437024e-01 -1.93406571e-02 -8.36049398e+01] [-2.44373953e-02 1.50618964e-02 9.99587892e-01 -1.41711038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.014012739 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:431.54, Y:-83.62, Z:-14.18 [[ 9.82404101e-01 1.84397413e-01 2.96610126e-02 4.31539858e+02] [-1.84779305e-01 9.82722098e-01 1.06717252e-02 -8.36224515e+01] [-2.71806940e-02 -1.59646879e-02 9.99503046e-01 -1.41761059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:431.57, Y:-83.62, Z:-14.18 [[ 9.82562900e-01 1.83966111e-01 2.69558368e-02 4.31570235e+02] [-1.83908309e-01 9.82932502e-01 -4.62938089e-03 -8.36170403e+01] [-2.73474173e-02 -4.08744437e-04 9.99625906e-01 -1.41769457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.074012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:431.60, Y:-83.62, Z:-14.18 [[ 9.82800300e-01 1.82642661e-01 2.72988753e-02 4.31598879e+02] [-1.82582902e-01 9.83179290e-01 -4.68703256e-03 -8.36195540e+01] [-2.76957409e-02 -3.77890875e-04 9.99616328e-01 -1.41770698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:431.63, Y:-83.62, Z:-14.18 [[ 9.83298910e-01 1.79609209e-01 2.93902279e-02 4.31628056e+02] [-1.79538630e-01 9.83737990e-01 -5.04465288e-03 -8.36195634e+01] [-2.98183498e-02 -3.16279561e-04 9.99555284e-01 -1.41774764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.134012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:431.66, Y:-83.62, Z:-14.18 [[ 9.83522437e-01 1.78360141e-01 2.95173831e-02 4.31655845e+02] [-1.78288428e-01 9.83965234e-01 -5.06508176e-03 -8.36227099e+01] [-2.99474875e-02 -2.80986293e-04 9.99551434e-01 -1.41780303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:431.68, Y:-83.62, Z:-14.18 [[ 9.83853340e-01 1.76716054e-01 2.83556441e-02 4.31684671e+02] [-1.76649239e-01 9.84261848e-01 -4.86414291e-03 -8.36242472e+01] [-2.87689508e-02 -2.23399711e-04 9.99586063e-01 -1.41795385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.194012739 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:431.71, Y:-83.63, Z:-14.18 [[ 9.83959270e-01 1.76155749e-01 2.81656917e-02 4.31712445e+02] [-1.76089638e-01 9.84362285e-01 -4.83015152e-03 -8.36271309e+01] [-2.85761037e-02 -2.07014096e-04 9.99591598e-01 -1.41807157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:431.74, Y:-83.63, Z:-14.18 [[ 9.84087621e-01 1.75375351e-01 2.85489147e-02 4.31740412e+02] [-1.75307152e-01 9.84501626e-01 -4.89404830e-03 -8.36303735e+01] [-2.89647483e-02 -1.88656571e-04 9.99580416e-01 -1.41817493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.254012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:431.77, Y:-83.63, Z:-14.18 [[ 9.84429865e-01 1.73167882e-01 3.01782384e-02 4.31769222e+02] [-1.73090697e-01 9.84892312e-01 -5.17141888e-03 -8.36340088e+01] [-3.06178387e-02 -1.32673125e-04 9.99531155e-01 -1.41815010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:431.80, Y:-83.64, Z:-14.18 [[ 9.84591282e-01 1.72062005e-01 3.12197575e-02 4.31797381e+02] [-1.71978888e-01 9.85086116e-01 -5.34846230e-03 -8.36381610e+01] [-3.16744168e-02 -1.03089827e-04 9.99498234e-01 -1.41817747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.314012739 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:431.83, Y:-83.64, Z:-14.18 [[ 9.85209086e-01 1.68255770e-01 3.24507669e-02 4.31826228e+02] [-1.68163953e-01 9.85743372e-01 -5.55782272e-03 -8.36410714e+01] [-3.29232641e-02 1.85681967e-05 9.99457882e-01 -1.41823969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:431.86, Y:-83.65, Z:-14.18 [[ 9.85619683e-01 1.65822401e-01 3.25080181e-02 4.31855607e+02] [-1.65728985e-01 9.86155627e-01 -5.56614281e-03 -8.36457129e+01] [-3.29809561e-02 9.85790746e-05 9.99455975e-01 -1.41841762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.374012739 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:431.88, Y:-83.65, Z:-14.19 [[ 9.86054316e-01 1.63288797e-01 3.21504928e-02 4.31884203e+02] [-1.63196103e-01 9.86578297e-01 -5.50415714e-03 -8.36518553e+01] [-3.26177457e-02 1.80562747e-04 9.99467883e-01 -1.41863744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:431.91, Y:-83.66, Z:-14.19 [[ 9.86992021e-01 1.58017449e-01 2.96181769e-02 4.31912661e+02] [-1.57936430e-01 9.87436266e-01 -5.06997668e-03 -8.36620723e+01] [-3.00472068e-02 3.26237405e-04 9.99548428e-01 -1.41879982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.434012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:431.94, Y:-83.67, Z:-14.19 [[ 9.87389007e-01 1.55815500e-01 2.80085590e-02 4.31941178e+02] [-1.55742173e-01 9.87786106e-01 -4.79412892e-03 -8.36693364e+01] [-2.84134650e-02 3.71556359e-04 9.99596187e-01 -1.41887605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:431.97, Y:-83.68, Z:-14.19 [[ 9.88028753e-01 1.52108698e-01 2.57318239e-02 4.31970220e+02] [-1.52045560e-01 9.88363674e-01 -4.40411429e-03 -8.36798854e+01] [-2.61023041e-02 4.38981964e-04 9.99659180e-01 -1.41898587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.494012739 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:432.00, Y:-83.69, Z:-14.19 [[ 9.88126932e-01 1.51444213e-01 2.58808122e-02 4.31998297e+02] [-1.51380111e-01 9.88465700e-01 -4.42972274e-03 -8.36880916e+01] [-2.62531510e-02 4.59288111e-04 9.99655221e-01 -1.41911309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:432.03, Y:-83.70, Z:-14.19 [[ 9.88050012e-01 1.51801785e-01 2.67093855e-02 4.32027464e+02] [-1.51733670e-01 9.88410848e-01 -4.57052608e-03 -8.36962365e+01] [-2.70936603e-02 4.63195260e-04 9.99632792e-01 -1.41917844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55401273900003 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:432.06, Y:-83.70, Z:-14.19 [[ 9.87800317e-01 1.53238729e-01 2.77205064e-02 4.32055780e+02] [-1.53165944e-01 9.88189101e-01 -4.74282678e-03 -8.37031830e+01] [-2.81198870e-02 4.39128267e-04 9.99604461e-01 -1.41920972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:432.08, Y:-83.71, Z:-14.19 [[ 9.86906259e-01 1.58781686e-01 2.83621503e-02 4.32083245e+02] [-1.58707768e-01 9.87313675e-01 -4.85297284e-03 -8.37099723e+01] [-2.87729020e-02 2.88135716e-04 9.99585933e-01 -1.41918483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.614012739 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:432.11, Y:-83.72, Z:-14.19 [[ 9.86129883e-01 1.63535802e-01 2.83530518e-02 4.32112020e+02] [-1.63463923e-01 9.86537389e-01 -4.85042481e-03 -8.37190403e+01] [-2.87645638e-02 1.48447776e-04 9.99586203e-01 -1.41932741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:432.14, Y:-83.73, Z:-14.19 [[ 9.85897876e-01 1.64960981e-01 2.81647611e-02 4.32142164e+02] [-1.64890654e-01 9.86300088e-01 -4.81752792e-03 -8.37259448e+01] [-2.85736105e-02 1.05484677e-04 9.99591685e-01 -1.41939356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.674012739 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:432.17, Y:-83.73, Z:-14.20 [[ 9.85671130e-01 1.66269520e-01 2.84054543e-02 4.32171152e+02] [-1.66198529e-01 9.86080343e-01 -4.85869180e-03 -8.37323050e+01] [-2.88179124e-02 6.81275289e-05 9.99584675e-01 -1.41953946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:432.20, Y:-83.74, Z:-14.20 [[ 9.85400785e-01 1.67641222e-01 2.96936748e-02 4.32200111e+02] [-1.67564256e-01 9.85848071e-01 -5.07938816e-03 -8.37411098e+01] [-3.01249668e-02 2.96345542e-05 9.99546140e-01 -1.41964607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.734012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:432.23, Y:-83.75, Z:-14.20 [[ 9.85366613e-01 1.67775468e-01 3.00671104e-02 4.32229380e+02] [-1.67696638e-01 9.85825234e-01 -5.14256159e-03 -8.37484207e+01] [-3.05037118e-02 2.51551812e-05 9.99534653e-01 -1.41969756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:432.26, Y:-83.75, Z:-14.20 [[ 9.85318106e-01 1.68194917e-01 2.93035666e-02 4.32258253e+02] [-1.68120226e-01 9.85753757e-01 -5.01196333e-03 -8.37541996e+01] [-2.97290876e-02 1.18559676e-05 9.99557993e-01 -1.41974425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.794012739 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:432.29, Y:-83.76, Z:-14.20 [[ 9.85104017e-01 1.69571464e-01 2.85586275e-02 4.32286944e+02] [-1.69501111e-01 9.85517893e-01 -4.88421308e-03 -8.37586575e+01] [-2.89732616e-02 -2.92611616e-05 9.99580187e-01 -1.41989265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:432.32, Y:-83.76, Z:-14.20 [[ 9.84812759e-01 1.71338095e-01 2.80550884e-02 4.32317395e+02] [-1.71270928e-01 9.85212287e-01 -4.79775365e-03 -8.37635116e+01] [-2.84622558e-02 -8.01320156e-05 9.99594865e-01 -1.42001887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.854012739 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:432.35, Y:-83.77, Z:-14.20 [[ 9.84302062e-01 1.74460885e-01 2.66992670e-02 4.32346318e+02] [-1.74401201e-01 9.84664092e-01 -4.56594549e-03 -8.37687082e+01] [-2.70863884e-02 -1.62114670e-04 9.99633083e-01 -1.42011668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:432.37, Y:-83.77, Z:-14.20 [[ 9.84223415e-01 1.74977567e-01 2.62129938e-02 4.32374808e+02] [-1.74920237e-01 9.84572405e-01 -4.48216734e-03 -8.37731274e+01] [-2.65928691e-02 -1.73729044e-04 9.99646332e-01 -1.42020038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.914012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:432.40, Y:-83.78, Z:-14.20 [[ 9.84365948e-01 1.74022137e-01 2.72025066e-02 4.32403910e+02] [-1.73960050e-01 9.84741729e-01 -4.65068303e-03 -8.37779455e+01] [-2.75967651e-02 -1.54175401e-04 9.99619125e-01 -1.42020975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:432.43, Y:-83.78, Z:-14.20 [[ 9.84477975e-01 1.73148624e-01 2.86822412e-02 4.32432233e+02] [-1.73079248e-01 9.84895698e-01 -4.90294176e-03 -8.37833944e+01] [-2.90979536e-02 -1.37462572e-04 9.99576555e-01 -1.42021930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.974012739 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:432.46, Y:-83.79, Z:-14.20 [[ 9.84592696e-01 1.72234747e-01 3.02061927e-02 4.32461320e+02] [-1.72157406e-01 9.85055926e-01 -5.16232404e-03 -8.37885768e+01] [-3.06439207e-02 -1.17433237e-04 9.99530358e-01 -1.42026882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:432.49, Y:-83.79, Z:-14.20 [[ 9.84779337e-01 1.71090632e-01 3.06211221e-02 4.32490589e+02] [-1.71010619e-01 9.85255291e-01 -5.23253663e-03 -8.37933860e+01] [-3.10648605e-02 -8.36430936e-05 9.99517367e-01 -1.42040189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.034012739 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:432.52, Y:-83.80, Z:-14.21 [[ 9.84933173e-01 1.70343183e-01 2.98302645e-02 4.32520634e+02] [-1.70266908e-01 9.85384796e-01 -5.09739490e-03 -8.37982837e+01] [-3.02625955e-02 -5.85135723e-05 9.99541981e-01 -1.42050255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:432.55, Y:-83.81, Z:-14.21 [[ 9.85354616e-01 1.68052696e-01 2.88889631e-02 4.32549282e+02] [-1.67980175e-01 9.85778013e-01 -4.93654499e-03 -8.38050329e+01] [-2.93077043e-02 1.14743196e-05 9.99570437e-01 -1.42055091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.094012739 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:432.58, Y:-83.81, Z:-14.21 [[ 9.85621566e-01 1.66434208e-01 2.91510249e-02 4.32579457e+02] [-1.66359647e-01 9.86052560e-01 -4.98167484e-03 -8.38113449e+01] [-2.95735639e-02 6.04919228e-05 9.99562605e-01 -1.42063440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:432.61, Y:-83.82, Z:-14.21 [[ 9.85918766e-01 1.64543665e-01 2.98256392e-02 4.32609088e+02] [-1.64464747e-01 9.86369793e-01 -5.09696097e-03 -8.38173244e+01] [-3.02577822e-02 1.19923271e-04 9.99542121e-01 -1.42071297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.154012739 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:432.64, Y:-83.83, Z:-14.21 [[ 9.86334749e-01 1.61885101e-01 3.06100924e-02 4.32639610e+02] [-1.61800688e-01 9.86809592e-01 -5.23127991e-03 -8.38255989e+01] [-3.10531991e-02 2.07059144e-04 9.99517712e-01 -1.42072052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:432.67, Y:-83.84, Z:-14.21 [[ 9.86457857e-01 1.60958448e-01 3.15162549e-02 4.32669728e+02] [-1.60868328e-01 9.86961153e-01 -5.39115507e-03 -8.38358233e+01] [-3.19730712e-02 2.48180043e-04 9.99488700e-01 -1.42069691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.214012739 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:432.70, Y:-83.84, Z:-14.21 [[ 9.86450266e-01 1.60894934e-01 3.20732344e-02 4.32701632e+02] [-1.60801403e-01 9.86971506e-01 -5.49145355e-03 -8.38430488e+01] [-3.25389155e-02 2.59624737e-04 9.99470436e-01 -1.42076564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:432.73, Y:-83.85, Z:-14.21 [[ 9.86374568e-01 1.61394339e-01 3.18916912e-02 4.32733146e+02] [-1.61301955e-01 9.86889967e-01 -5.46559201e-03 -8.38494772e+01] [-3.23557057e-02 2.46928810e-04 9.99476387e-01 -1.42080532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.274012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:432.76, Y:-83.86, Z:-14.21 [[ 9.86234630e-01 1.62375532e-01 3.12320476e-02 4.32764755e+02] [-1.62287254e-01 9.86729011e-01 -5.35787096e-03 -8.38557413e+01] [-3.16875546e-02 2.15554636e-04 9.99497800e-01 -1.42093889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:432.79, Y:-83.86, Z:-14.21 [[ 9.85963605e-01 1.64362187e-01 2.93400802e-02 4.32794666e+02] [-1.64285029e-01 9.86400046e-01 -5.03779529e-03 -8.38643548e+01] [-2.97690795e-02 1.46946882e-04 9.99556792e-01 -1.42103949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.334012739 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:432.83, Y:-83.87, Z:-14.21 [[ 9.85958060e-01 1.64395577e-01 2.93393487e-02 4.32826020e+02] [-1.64318307e-01 9.86394481e-01 -5.04205184e-03 -8.38697934e+01] [-2.97690627e-02 1.50259531e-04 9.99556792e-01 -1.42113289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:432.86, Y:-83.88, Z:-14.21 [[ 9.85958046e-01 1.64543736e-01 2.84972115e-02 4.32855725e+02] [-1.64470875e-01 9.86369778e-01 -4.89824167e-03 -8.38785712e+01] [-2.89147632e-02 1.42499469e-04 9.99581871e-01 -1.42125444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.394012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:432.89, Y:-83.89, Z:-14.21 [[ 9.86118099e-01 1.63551367e-01 2.86713197e-02 4.32886169e+02] [-1.63477067e-01 9.86534804e-01 -4.93249471e-03 -8.38856301e+01] [-2.90919710e-02 1.76919070e-04 9.99576723e-01 -1.42140933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:432.92, Y:-83.89, Z:-14.22 [[ 9.86343930e-01 1.62262914e-01 2.82205282e-02 4.32917081e+02] [-1.62190287e-01 9.86747536e-01 -4.85907857e-03 -8.38936072e+01] [-2.86349849e-02 2.15627100e-04 9.99589911e-01 -1.42151708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.454012739 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:432.95, Y:-83.90, Z:-14.22 [[ 9.86563245e-01 1.60958469e-01 2.80238430e-02 4.32948704e+02] [-1.60886198e-01 9.86961147e-01 -4.82966140e-03 -8.39020797e+01] [-2.84358191e-02 2.56116879e-04 9.99595588e-01 -1.42169568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:432.98, Y:-83.91, Z:-14.22 [[ 9.86760735e-01 1.59713774e-01 2.81915276e-02 4.32979510e+02] [-1.59639998e-01 9.87163321e-01 -4.86306843e-03 -8.39135989e+01] [-2.86063410e-02 2.98189556e-04 9.99590710e-01 -1.42174916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.514012739 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:433.01, Y:-83.92, Z:-14.22 [[ 9.86682461e-01 1.60143313e-01 2.84928232e-02 4.33010301e+02] [-1.60067989e-01 9.87093731e-01 -4.91994204e-03 -8.39218594e+01] [-2.89129829e-02 2.93631602e-04 9.99581889e-01 -1.42180208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:433.04, Y:-83.93, Z:-14.22 [[ 9.86180545e-01 1.63065442e-01 2.92847198e-02 4.33041755e+02] [-1.62987018e-01 9.86615231e-01 -5.06141197e-03 -8.39323079e+01] [-2.97180920e-02 2.18436850e-04 9.99558296e-01 -1.42182094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.574012739 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:433.07, Y:-83.94, Z:-14.22 [[ 9.85760274e-01 1.65595655e-01 2.92363076e-02 4.33072439e+02] [-1.65518447e-01 9.86193722e-01 -5.05827362e-03 -8.39398578e+01] [-2.96702911e-02 1.47096962e-04 9.99559729e-01 -1.42190336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:433.10, Y:-83.95, Z:-14.22 [[ 9.85331153e-01 1.68183938e-01 2.89254544e-02 4.33104779e+02] [-1.68109338e-01 9.85755628e-01 -5.00927965e-03 -8.39471631e+01] [-2.93559098e-02 7.31603110e-05 9.99569020e-01 -1.42199455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.634012739 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:433.14, Y:-83.95, Z:-14.22 [[ 9.84375460e-01 1.73780475e-01 2.83777948e-02 4.33135475e+02] [-1.73710853e-01 9.84784412e-01 -4.91943165e-03 -8.39544119e+01] [-2.88009111e-02 -8.69631366e-05 9.99585164e-01 -1.42208841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:433.17, Y:-83.96, Z:-14.22 [[ 9.83823249e-01 1.76883813e-01 2.83536949e-02 4.33167766e+02] [-1.76815479e-01 9.84231724e-01 -4.91931537e-03 -8.39607049e+01] [-2.87767533e-02 -1.73635326e-04 9.99585848e-01 -1.42220071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.694012739 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:433.20, Y:-83.97, Z:-14.22 [[ 9.82796936e-01 1.82461984e-01 2.85973165e-02 4.33198964e+02] [-1.82394669e-01 9.83212852e-01 -4.96710209e-03 -8.39658113e+01] [-2.90235564e-02 -3.34345348e-04 9.99578672e-01 -1.42221402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:433.23, Y:-83.97, Z:-14.22 [[ 9.82348706e-01 1.84792280e-01 2.90315965e-02 4.33230459e+02] [-1.84723787e-01 9.82777518e-01 -5.04707463e-03 -8.39705298e+01] [-2.94642608e-02 -4.04839233e-04 9.99565752e-01 -1.42230001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.754012739 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:433.26, Y:-83.97, Z:-14.22 [[ 9.82052843e-01 1.86308969e-01 2.93458873e-02 4.33261544e+02] [-1.86239513e-01 9.82491102e-01 -5.10670142e-03 -8.39739262e+01] [-2.97834974e-02 -4.50313115e-04 9.99556272e-01 -1.42241754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:433.29, Y:-83.98, Z:-14.23 [[ 9.81719042e-01 1.87995162e-01 2.97580488e-02 4.33292735e+02] [-1.87924377e-01 9.82169825e-01 -5.18300493e-03 -8.39755871e+01] [-3.02018374e-02 -5.04008139e-04 9.99543693e-01 -1.42251796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.814012739 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:433.32, Y:-83.98, Z:-14.23 [[ 9.81641372e-01 1.88341054e-01 3.01307739e-02 4.33323955e+02] [-1.88268625e-01 9.82103547e-01 -5.24863307e-03 -8.39800004e+01] [-3.05800730e-02 -5.20404005e-04 9.99532185e-01 -1.42256263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:433.35, Y:-83.98, Z:-14.23 [[ 9.81625462e-01 1.88434126e-01 3.00671242e-02 4.33353838e+02] [-1.88362025e-01 9.82085693e-01 -5.23822919e-03 -8.39842490e+01] [-3.05155536e-02 -5.21525254e-04 9.99534156e-01 -1.42261912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.874012739 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:433.38, Y:-83.99, Z:-14.23 [[ 9.81914444e-01 1.86951777e-01 2.98840742e-02 4.33383544e+02] [-1.86879856e-01 9.82368979e-01 -5.20668403e-03 -8.39866722e+01] [-3.03305863e-02 -4.72213233e-04 9.99539810e-01 -1.42275082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:433.41, Y:-83.99, Z:-14.23 [[ 9.82292555e-01 1.84951423e-01 2.99049762e-02 4.33413594e+02] [-1.84878462e-01 9.82747578e-01 -5.21068785e-03 -8.39906249e+01] [-3.03527670e-02 -4.10366127e-04 9.99539164e-01 -1.42291603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.934012739 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:433.44, Y:-84.00, Z:-14.23 [[ 9.83249609e-01 1.79763246e-01 3.00895517e-02 4.33443107e+02] [-1.79686951e-01 9.83709872e-01 -5.24286173e-03 -8.39970701e+01] [-3.05418629e-02 -2.51658074e-04 9.99533457e-01 -1.42300262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:433.47, Y:-84.00, Z:-14.23 [[ 9.83773171e-01 1.76823497e-01 3.03940444e-02 4.33473318e+02] [-1.76744236e-01 9.84242564e-01 -5.29627460e-03 -8.40035438e+01] [-3.08516180e-02 -1.61639288e-04 9.99523962e-01 -1.42314653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.994012739 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:433.51, Y:-84.01, Z:-14.23 [[ 9.84223216e-01 1.74340875e-01 3.01648789e-02 4.33505434e+02] [-1.74261610e-01 9.84685357e-01 -5.25724023e-03 -8.40104283e+01] [-3.06194664e-02 -8.22824777e-05 9.99531111e-01 -1.42326447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:433.54, Y:-84.02, Z:-14.23 [[ 9.85001415e-01 1.70038985e-01 2.93079633e-02 4.33536462e+02] [-1.69962097e-01 9.85437335e-01 -5.11323750e-03 -8.40183359e+01] [-2.97506110e-02 5.53032774e-05 9.99557351e-01 -1.42335901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05401273900003 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:433.57, Y:-84.03, Z:-14.23 [[ 9.85265077e-01 1.68540367e-01 2.91010721e-02 4.33568932e+02] [-1.68463757e-01 9.85694747e-01 -5.08219529e-03 -8.40260489e+01] [-2.95413289e-02 1.04833595e-04 9.99563554e-01 -1.42346636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:433.60, Y:-84.04, Z:-14.24 [[ 9.85604574e-01 1.66491867e-01 2.93952748e-02 4.33600551e+02] [-1.66412625e-01 9.86042813e-01 -5.13907646e-03 -8.40358741e+01] [-2.98406138e-02 1.73352421e-04 9.99554655e-01 -1.42353504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.114012739 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:433.63, Y:-84.04, Z:-14.24 [[ 9.85563087e-01 1.66721488e-01 2.94847030e-02 4.33631946e+02] [-1.66641703e-01 9.86004014e-01 -5.16015830e-03 -8.40428758e+01] [-2.99323448e-02 1.72280427e-04 9.99551912e-01 -1.42357650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:433.66, Y:-84.05, Z:-14.24 [[ 9.85440004e-01 1.67455001e-01 2.94418387e-02 4.33663772e+02] [-1.67375624e-01 9.85879708e-01 -5.15771296e-03 -8.40497227e+01] [-2.98897962e-02 1.54770565e-04 9.99553188e-01 -1.42373056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.174012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:433.70, Y:-84.06, Z:-14.24 [[ 9.85130563e-01 1.69365674e-01 2.88624826e-02 4.33695342e+02] [-1.69290054e-01 9.85553275e-01 -5.06153271e-03 -8.40582409e+01] [-2.93027642e-02 1.00139326e-04 9.99570577e-01 -1.42390887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:433.73, Y:-84.07, Z:-14.24 [[ 9.85005468e-01 1.70082550e-01 2.89163197e-02 4.33727001e+02] [-1.70006793e-01 9.85429814e-01 -5.07655016e-03 -8.40654211e+01] [-2.93584362e-02 8.44588946e-05 9.99568945e-01 -1.42393171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.234012739 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:433.76, Y:-84.07, Z:-14.24 [[ 9.84894897e-01 1.70657842e-01 2.92906486e-02 4.33758605e+02] [-1.70580206e-01 9.85330348e-01 -5.14759465e-03 -8.40727821e+01] [-2.97394424e-02 7.34348214e-05 9.99557682e-01 -1.42400637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:433.79, Y:-84.08, Z:-14.24 [[ 9.84781686e-01 1.71191417e-01 2.99754756e-02 4.33791122e+02] [-1.71110190e-01 9.85237786e-01 -5.27333561e-03 -8.40808603e+01] [-3.04357210e-02 6.39750011e-05 9.99536724e-01 -1.42402772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.294012739 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:433.82, Y:-84.09, Z:-14.24 [[ 9.84809106e-01 1.71122542e-01 2.94635446e-02 4.33822116e+02] [-1.71043869e-01 9.85249750e-01 -5.18885525e-03 -8.40873376e+01] [-2.99168801e-02 7.04732389e-05 9.99552387e-01 -1.42410695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:433.85, Y:-84.09, Z:-14.24 [[ 9.84935704e-01 1.70634203e-01 2.80290429e-02 4.33853693e+02] [-1.70562718e-01 9.85334442e-01 -4.93939111e-03 -8.40932404e+01] [-2.84608104e-02 8.42729115e-05 9.99594906e-01 -1.42422495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.354012739 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:433.89, Y:-84.10, Z:-14.24 [[ 9.84946418e-01 1.70635085e-01 2.76445443e-02 4.33886413e+02] [-1.70565413e-01 9.85334289e-01 -4.87643597e-03 -8.40993531e+01] [-2.80712085e-02 8.78250174e-05 9.99605922e-01 -1.42430549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:433.92, Y:-84.10, Z:-14.24 [[ 9.84951752e-01 1.70632822e-01 2.74679174e-02 4.33918203e+02] [-1.70563888e-01 9.85334680e-01 -4.85062957e-03 -8.41049270e+01] [-2.78927683e-02 9.26012849e-05 9.99610917e-01 -1.42442505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.414012739 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:433.95, Y:-84.11, Z:-14.24 [[ 9.84803612e-01 1.71458661e-01 2.76364346e-02 4.33950274e+02] [-1.71389113e-01 9.85191312e-01 -4.88364276e-03 -8.41100321e+01] [-2.80645182e-02 7.28450267e-05 9.99606111e-01 -1.42438471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:433.98, Y:-84.12, Z:-14.24 [[ 9.84667053e-01 1.72118926e-01 2.83878426e-02 4.33982628e+02] [-1.72045668e-01 9.85076175e-01 -5.02160929e-03 -8.41151017e+01] [-2.88285014e-02 6.06078752e-05 9.99584371e-01 -1.42445782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.474012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:434.01, Y:-84.12, Z:-14.25 [[ 9.84578730e-01 1.72326982e-01 3.01352974e-02 4.34014769e+02] [-1.72244326e-01 9.85039800e-01 -5.33714058e-03 -8.41189077e+01] [-3.06042007e-02 6.42011168e-05 9.99531580e-01 -1.42455161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:434.05, Y:-84.12, Z:-14.25 [[ 9.84664402e-01 1.71675113e-01 3.10430375e-02 4.34046626e+02] [-1.71586893e-01 9.85153616e-01 -5.50374304e-03 -8.41237610e+01] [-3.15270164e-02 9.27614927e-05 9.99502896e-01 -1.42463678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.534012739 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:434.08, Y:-84.13, Z:-14.25 [[ 9.84733791e-01 1.71192068e-01 3.15061293e-02 4.34078898e+02] [-1.71100824e-01 9.85237668e-01 -5.58971468e-03 -8.41288567e+01] [-3.19979402e-02 1.13656241e-04 9.99487928e-01 -1.42472442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:434.11, Y:-84.14, Z:-14.25 [[ 9.84863619e-01 1.70347827e-01 3.20198474e-02 4.34111503e+02] [-1.70252942e-01 9.85383984e-01 -5.68684550e-03 -8.41353043e+01] [-3.25205866e-02 1.49294010e-04 9.99471055e-01 -1.42482004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.594012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:434.14, Y:-84.14, Z:-14.25 [[ 9.84992289e-01 1.69661085e-01 3.17065835e-02 4.34143181e+02] [-1.69567512e-01 9.85502453e-01 -5.63679909e-03 -8.41411677e+01] [-3.22032612e-02 1.75797154e-04 9.99481325e-01 -1.42492392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:434.17, Y:-84.15, Z:-14.25 [[ 9.85225095e-01 1.68666311e-01 2.97184828e-02 4.34174905e+02] [-1.68583557e-01 9.85673189e-01 -5.28659658e-03 -8.41460286e+01] [-3.01843825e-02 1.98440068e-04 9.99544328e-01 -1.42509569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.654012739 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:434.21, Y:-84.15, Z:-14.25 [[ 9.85274573e-01 1.68378456e-01 2.97104706e-02 4.34207132e+02] [-1.68295463e-01 9.85722400e-01 -5.29023448e-03 -8.41517334e+01] [-3.01770379e-02 2.12196106e-04 9.99544547e-01 -1.42524440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters Centerline goodness : 0.996773 Centerline is valid? [True, True] Translation: X:434.24, Y:-84.16, Z:-14.25 [[ 9.85409585e-01 1.67533434e-01 3.00083031e-02 4.34238832e+02] [-1.67448212e-01 9.85866364e-01 -5.34868199e-03 -8.41576353e+01] [-3.04802598e-02 2.45805804e-04 9.99535339e-01 -1.42535371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.714012739 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:434.27, Y:-84.16, Z:-14.25 [[ 9.85691950e-01 1.65862863e-01 3.00148529e-02 4.34271084e+02] [-1.65776722e-01 9.86148782e-01 -5.35333886e-03 -8.41649047e+01] [-3.04870307e-02 3.00979092e-04 9.99535117e-01 -1.42533064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:434.30, Y:-84.17, Z:-14.25 [[ 9.85783172e-01 1.65406085e-01 2.95358333e-02 4.34302666e+02] [-1.65322294e-01 9.86225495e-01 -5.27366979e-03 -8.41712348e+01] [-3.00012888e-02 3.15763207e-04 9.99549810e-01 -1.42542235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.774012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:434.33, Y:-84.18, Z:-14.26 [[ 9.85883394e-01 1.64879581e-01 2.91317267e-02 4.34334757e+02] [-1.64797681e-01 9.86313649e-01 -5.20683294e-03 -8.41779905e+01] [-2.95915201e-02 3.32489128e-04 9.99562020e-01 -1.42553228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:434.37, Y:-84.19, Z:-14.26 [[ 9.86159878e-01 1.63302675e-01 2.86519183e-02 4.34365755e+02] [-1.63222638e-01 9.86575944e-01 -5.12611904e-03 -8.41875329e+01] [-2.91044023e-02 3.78531227e-04 9.99576305e-01 -1.42574326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.834012739 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:434.40, Y:-84.20, Z:-14.26 [[ 9.86338245e-01 1.62308972e-01 2.81542863e-02 4.34397315e+02] [-1.62231201e-01 9.86739902e-01 -5.04011242e-03 -8.41963838e+01] [-2.85990132e-02 4.03751947e-04 9.99590883e-01 -1.42586804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:434.43, Y:-84.21, Z:-14.26 [[ 9.86521178e-01 1.61351979e-01 2.72305903e-02 4.34428424e+02] [-1.61278737e-01 9.86896834e-01 -4.87934450e-03 -8.42074677e+01] [-2.76610753e-02 4.21861457e-04 9.99617270e-01 -1.42590940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.894012739 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:434.46, Y:-84.22, Z:-14.26 [[ 9.86410082e-01 1.62085775e-01 2.68951986e-02 4.34460893e+02] [-1.62014460e-01 9.86776591e-01 -4.82432851e-03 -8.42152208e+01] [-2.73215074e-02 4.01355202e-04 9.99626617e-01 -1.42594856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:434.49, Y:-84.22, Z:-14.26 [[ 9.86077311e-01 1.64087773e-01 2.69580925e-02 4.34491885e+02] [-1.64016729e-01 9.86445680e-01 -4.84082179e-03 -8.42231672e+01] [-2.73870135e-02 3.51846378e-04 9.99624843e-01 -1.42603790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.954012739 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:434.52, Y:-84.23, Z:-14.26 [[ 9.84801286e-01 1.71686394e-01 2.62718506e-02 4.34523573e+02] [-1.71621500e-01 9.85151644e-01 -4.72213981e-03 -8.42323225e+01] [-2.66924840e-02 1.41554947e-04 9.99643682e-01 -1.42612992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:434.56, Y:-84.24, Z:-14.26 [[ 9.83939768e-01 1.76651455e-01 2.56280206e-02 4.34556033e+02] [-1.76591263e-01 9.84273470e-01 -4.61114880e-03 -8.42390774e+01] [-2.60395469e-02 1.14081584e-05 9.99660913e-01 -1.42622983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.014012739 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:434.59, Y:-84.24, Z:-14.26 [[ 9.82100118e-01 1.86501835e-01 2.63898595e-02 4.34588653e+02] [-1.86441420e-01 9.82454580e-01 -4.75341165e-03 -8.42441910e+01] [-2.68133583e-02 -2.51836730e-04 9.99640426e-01 -1.42635396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:434.62, Y:-84.25, Z:-14.26 [[ 9.81253929e-01 1.90787997e-01 2.72151848e-02 4.34620167e+02] [-1.90725236e-01 9.81631193e-01 -4.90761781e-03 -8.42492021e+01] [-2.76515889e-02 -3.75003292e-04 9.99617551e-01 -1.42638788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.074012739 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:434.65, Y:-84.25, Z:-14.26 [[ 9.80609450e-01 1.94000282e-01 2.77307988e-02 4.34651675e+02] [-1.93936309e-01 9.81001360e-01 -5.00392864e-03 -8.42536324e+01] [-2.81747149e-02 -4.71109058e-04 9.99602903e-01 -1.42639668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:434.68, Y:-84.25, Z:-14.26 [[ 9.79730605e-01 1.98367861e-01 2.78950315e-02 4.34682781e+02] [-1.98304763e-01 9.80127460e-01 -5.03824594e-03 -8.42529082e+01] [-2.83401124e-02 -5.95593867e-04 9.99598161e-01 -1.42644540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.134012739 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:434.71, Y:-84.25, Z:-14.27 [[ 9.79269775e-01 2.00554255e-01 2.84376352e-02 4.34713849e+02] [-2.00489553e-01 9.79682368e-01 -5.13782988e-03 -8.42544363e+01] [-2.88902634e-02 -6.70127261e-04 9.99582365e-01 -1.42660284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:434.74, Y:-84.26, Z:-14.27 [[ 9.78748687e-01 2.02975395e-01 2.91889702e-02 4.34744631e+02] [-2.02908283e-01 9.79183543e-01 -5.27426128e-03 -8.42562956e+01] [-2.96519045e-02 -7.60507536e-04 9.99559996e-01 -1.42667248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.194012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:434.77, Y:-84.25, Z:-14.27 [[ 9.78083791e-01 2.06114133e-01 2.94798509e-02 4.34774034e+02] [-2.06047101e-01 9.78527576e-01 -5.32680515e-03 -8.42541367e+01] [-2.99447769e-02 -8.64176045e-04 9.99551181e-01 -1.42673178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:434.80, Y:-84.26, Z:-14.27 [[ 9.78086081e-01 2.06103246e-01 2.94799881e-02 4.34803714e+02] [-2.06036231e-01 9.78529869e-01 -5.32604584e-03 -8.42594593e+01] [-2.99447642e-02 -8.64614349e-04 9.99551181e-01 -1.42682027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.254012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:434.83, Y:-84.26, Z:-14.27 [[ 9.78116715e-01 2.06310190e-01 2.69034970e-02 4.34833309e+02] [-2.06103207e-01 9.78476236e-01 -1.02822049e-02 -8.42570237e+01] [-2.84457562e-02 4.51229942e-03 9.99585153e-01 -1.42683685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:434.86, Y:-84.26, Z:-14.27 [[ 9.78284678e-01 2.04909197e-01 3.11658583e-02 4.34861050e+02] [-2.05000010e-01 9.78761929e-01 -2.87242393e-04 -8.42613097e+01] [-3.05628142e-02 -6.10799643e-03 9.99514185e-01 -1.42701513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.314012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:434.89, Y:-84.26, Z:-14.27 [[ 9.78725280e-01 2.02895841e-01 3.04976161e-02 4.34891428e+02] [-2.02822564e-01 9.79200005e-01 -5.50987283e-03 -8.42612709e+01] [-3.09811961e-02 -7.92952869e-04 9.99519653e-01 -1.42712206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:434.92, Y:-84.26, Z:-14.27 [[ 9.79249618e-01 2.00402151e-01 3.01523438e-02 4.34920264e+02] [-2.00329364e-01 9.79713468e-01 -5.44679840e-03 -8.42647774e+01] [-3.06322074e-02 -7.06624599e-04 9.99530474e-01 -1.42725746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.374012739 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:434.95, Y:-84.27, Z:-14.28 [[ 9.80454601e-01 1.94858561e-01 2.71830261e-02 4.34949695e+02] [-1.94797298e-01 9.80831234e-01 -4.90954687e-03 -8.42659612e+01] [-2.76186282e-02 -4.81592194e-04 9.99618417e-01 -1.42751141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:434.98, Y:-84.27, Z:-14.28 [[ 9.80938553e-01 1.92547448e-01 2.61731649e-02 4.34979411e+02] [-1.92489837e-01 9.81287582e-01 -4.72689741e-03 -8.42696383e+01] [-2.65935537e-02 -4.01272328e-04 9.99646248e-01 -1.42764385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.434012739 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:435.01, Y:-84.27, Z:-14.28 [[ 9.81532382e-01 1.89327166e-01 2.73752979e-02 4.35007468e+02] [-1.89262905e-01 9.81914006e-01 -4.94335972e-03 -8.42742504e+01] [-2.78161007e-02 -3.29060764e-04 9.99613003e-01 -1.42760305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:435.04, Y:-84.28, Z:-14.28 [[ 9.81662401e-01 1.88500248e-01 2.84004652e-02 4.35037609e+02] [-1.88430766e-01 9.82073091e-01 -5.12745081e-03 -8.42794853e+01] [-2.88578584e-02 -3.18095750e-04 9.99583475e-01 -1.42757264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.494012739 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:435.07, Y:-84.28, Z:-14.28 [[ 9.81716409e-01 1.88219756e-01 2.83939207e-02 4.35066739e+02] [-1.88150190e-01 9.82126890e-01 -5.12627483e-03 -8.42842847e+01] [-2.88512992e-02 -3.09773459e-04 9.99583667e-01 -1.42765275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters Centerline goodness : 0.996642 Centerline is valid? [True, True] Translation: X:435.10, Y:-84.29, Z:-14.28 [[ 9.81651740e-01 1.88944620e-01 2.56864235e-02 4.35095645e+02] [-1.88887942e-01 9.81987699e-01 -4.63728634e-03 -8.42878495e+01] [-2.60999422e-02 -2.99655471e-04 9.99659294e-01 -1.42787043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55401273900003 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:435.12, Y:-84.29, Z:-14.28 [[ 9.81601355e-01 1.89323316e-01 2.48085146e-02 4.35124718e+02] [-1.89270597e-01 9.81914758e-01 -4.47762142e-03 -8.42926824e+01] [-2.52075647e-02 -3.00283116e-04 9.99682194e-01 -1.42803887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:435.15, Y:-84.30, Z:-14.28 [[ 9.81568569e-01 1.89463701e-01 2.50329924e-02 4.35152828e+02] [-1.89410085e-01 9.81887678e-01 -4.51752249e-03 -8.42970435e+01] [-2.54354933e-02 -3.07243132e-04 9.99676418e-01 -1.42812730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.614012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:435.18, Y:-84.30, Z:-14.28 [[ 9.81874956e-01 1.87448407e-01 2.80118903e-02 4.35182857e+02] [-1.87380471e-01 9.82274408e-01 -5.05433743e-03 -8.43001654e+01] [-2.84627905e-02 -2.86153855e-04 9.99594812e-01 -1.42808119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:435.21, Y:-84.30, Z:-14.28 [[ 9.82233867e-01 1.85404702e-01 2.90125437e-02 4.35213100e+02] [-1.85330954e-01 9.82662221e-01 -5.23416413e-03 -8.43048576e+01] [-2.94799693e-02 -2.35749138e-04 9.99565343e-01 -1.42815845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.674012739 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:435.24, Y:-84.31, Z:-14.28 [[ 9.83163597e-01 1.80332828e-01 2.94858078e-02 4.35242392e+02] [-1.80254371e-01 9.83605645e-01 -5.31958175e-03 -8.43114442e+01] [-2.99617022e-02 -8.49265995e-05 9.99551044e-01 -1.42834846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:435.27, Y:-84.32, Z:-14.28 [[ 9.83677501e-01 1.77593074e-01 2.89702368e-02 4.35273200e+02] [-1.77516101e-01 9.84104009e-01 -5.22817347e-03 -8.43187333e+01] [-2.94382136e-02 1.53123105e-07 9.99566602e-01 -1.42839644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.734012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:435.30, Y:-84.33, Z:-14.29 [[ 9.84129375e-01 1.75139657e-01 2.85565012e-02 4.35304045e+02] [-1.75063814e-01 9.84543597e-01 -5.15418694e-03 -8.43264290e+01] [-2.90178229e-02 7.31767457e-05 9.99578892e-01 -1.42854363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:435.33, Y:-84.34, Z:-14.29 [[ 9.84563577e-01 1.72892388e-01 2.72540896e-02 4.35334358e+02] [-1.72822435e-01 9.84940711e-01 -4.91952808e-03 -8.43350970e+01] [-2.76942114e-02 1.33470045e-04 9.99616433e-01 -1.42866640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.794012739 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:435.37, Y:-84.34, Z:-14.29 [[ 9.84491518e-01 1.73260558e-01 2.75178156e-02 4.35365141e+02] [-1.73189262e-01 9.84876014e-01 -4.97164101e-03 -8.43422152e+01] [-2.79630258e-02 1.28748248e-04 9.99608950e-01 -1.42874228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:435.40, Y:-84.35, Z:-14.29 [[ 9.84052529e-01 1.75693876e-01 2.77899569e-02 4.35395610e+02] [-1.75622113e-01 9.84444848e-01 -5.02148173e-03 -8.43518064e+01] [-2.82399235e-02 6.08708376e-05 9.99601172e-01 -1.42885638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.854012739 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:435.43, Y:-84.36, Z:-14.29 [[ 9.83813226e-01 1.77056646e-01 2.76130568e-02 4.35426784e+02] [-1.76986317e-01 9.84200662e-01 -4.98999184e-03 -8.43591537e+01] [-2.80603000e-02 2.20867499e-05 9.99606232e-01 -1.42893234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:435.46, Y:-84.37, Z:-14.29 [[ 9.83510687e-01 1.78807651e-01 2.71026477e-02 4.35458505e+02] [-1.78740439e-01 9.83884050e-01 -4.90225858e-03 -8.43667970e+01] [-2.75424241e-02 -2.29154424e-05 9.99620635e-01 -1.42908920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.914012739 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:435.49, Y:-84.38, Z:-14.29 [[ 9.82704540e-01 1.83342113e-01 2.60279997e-02 4.35488947e+02] [-1.83281592e-01 9.83049160e-01 -4.71250864e-03 -8.43767466e+01] [-2.64508046e-02 -1.39449595e-04 9.99650107e-01 -1.42922596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:435.52, Y:-84.38, Z:-14.29 [[ 9.82217840e-01 1.85889387e-01 2.63296402e-02 4.35518441e+02] [-1.85828352e-01 9.82570655e-01 -4.76780242e-03 -8.43841354e+01] [-2.67570157e-02 -2.09773049e-04 9.99641945e-01 -1.42931183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.974012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:435.55, Y:-84.39, Z:-14.29 [[ 9.81323356e-01 1.90569719e-01 2.62231500e-02 4.35547407e+02] [-1.90510836e-01 9.81673606e-01 -4.74889842e-03 -8.43923972e+01] [-2.66475705e-02 -3.35589301e-04 9.99644834e-01 -1.42936383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:435.58, Y:-84.40, Z:-14.29 [[ 9.80907655e-01 1.92745185e-01 2.58740424e-02 4.35577641e+02] [-1.92688626e-01 9.81248766e-01 -4.68526811e-03 -8.43994291e+01] [-2.62919351e-02 -3.89818324e-04 9.99654231e-01 -1.42945946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.034012739 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:435.61, Y:-84.41, Z:-14.30 [[ 9.80562256e-01 1.94534386e-01 2.55741205e-02 4.35607670e+02] [-1.94479722e-01 9.80895604e-01 -4.63160776e-03 -8.44065288e+01] [-2.59865494e-02 -4.32068103e-04 9.99662199e-01 -1.42953857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:435.64, Y:-84.41, Z:-14.30 [[ 9.79821430e-01 1.98181084e-01 2.59658298e-02 4.35637196e+02] [-1.98126001e-01 9.80165277e-01 -4.70290021e-03 -8.44148178e+01] [-2.63828306e-02 -5.36503625e-04 9.99651769e-01 -1.42960983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.094012739 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:435.67, Y:-84.42, Z:-14.30 [[ 9.79482385e-01 1.99839397e-01 2.60474983e-02 4.35667546e+02] [-1.99784553e-01 9.79828493e-01 -4.71769191e-03 -8.44207632e+01] [-2.64648617e-02 -5.82991685e-04 9.99649574e-01 -1.42966084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:435.70, Y:-84.43, Z:-14.30 [[ 9.79079576e-01 2.01728674e-01 2.66218964e-02 4.35697909e+02] [-2.01672083e-01 9.79441230e-01 -4.82172621e-03 -8.44263819e+01] [-2.70472633e-02 -6.48039633e-04 9.99633946e-01 -1.42969861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.154012739 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:435.73, Y:-84.43, Z:-14.30 [[ 9.78397343e-01 2.04825767e-01 2.80186462e-02 4.35728130e+02] [-2.04764349e-01 9.78798145e-01 -5.07470387e-03 -8.44322549e+01] [-2.84640290e-02 -7.72143061e-04 9.99594519e-01 -1.42978242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:435.76, Y:-84.44, Z:-14.30 [[ 9.78180057e-01 2.05805503e-01 2.84230880e-02 4.35759283e+02] [-2.05742711e-01 9.78592579e-01 -5.14794545e-03 -8.44383601e+01] [-2.88740985e-02 -8.12225625e-04 9.99582726e-01 -1.42985076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.214012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:435.79, Y:-84.44, Z:-14.30 [[ 9.77867741e-01 2.07216504e-01 2.89136885e-02 4.35789377e+02] [-2.07152121e-01 9.78294724e-01 -5.23752418e-03 -8.44446667e+01] [-2.93714103e-02 -8.67925951e-04 9.99568190e-01 -1.42995706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:435.82, Y:-84.45, Z:-14.30 [[ 9.77694888e-01 2.08020608e-01 2.89850364e-02 4.35819085e+02] [-2.07956249e-01 9.78124035e-01 -5.25080239e-03 -8.44506679e+01] [-2.94432359e-02 -8.93936812e-04 9.99566054e-01 -1.43005753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.274012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:435.85, Y:-84.46, Z:-14.30 [[ 9.77468082e-01 2.09004857e-01 2.95485826e-02 4.35847816e+02] [-2.08938419e-01 9.77914149e-01 -5.35290100e-03 -8.44560169e+01] [-3.00147593e-02 -9.41544259e-04 9.99549012e-01 -1.43008574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:435.88, Y:-84.46, Z:-14.30 [[ 9.76973477e-01 2.11182111e-01 3.04128545e-02 4.35876910e+02] [-2.11112772e-01 9.77446182e-01 -5.50981687e-03 -8.44605786e+01] [-3.08905033e-02 -1.03759708e-03 9.99522236e-01 -1.43012230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.334012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:435.91, Y:-84.46, Z:-14.30 [[ 9.76817334e-01 2.11793520e-01 3.11673077e-02 4.35906188e+02] [-2.11721031e-01 9.77313834e-01 -5.64579283e-03 -8.44649778e+01] [-3.16559833e-02 -1.08386622e-03 9.99498236e-01 -1.43020081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:435.94, Y:-84.47, Z:-14.30 [[ 9.76555116e-01 2.12812941e-01 3.24153951e-02 4.35936159e+02] [-2.12735101e-01 9.77092269e-01 -5.87153342e-03 -8.44679056e+01] [-3.29223703e-02 -1.16201635e-03 9.99457236e-01 -1.43035136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.394012739 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:435.97, Y:-84.47, Z:-14.30 [[ 9.76596242e-01 2.12527703e-01 3.30417192e-02 4.35965837e+02] [-2.12446664e-01 9.77154336e-01 -5.98493299e-03 -8.44718649e+01] [-3.35588232e-02 -1.17473996e-03 9.99436054e-01 -1.43039982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:435.99, Y:-84.48, Z:-14.30 [[ 9.76742412e-01 2.11801688e-01 3.33812037e-02 4.35994492e+02] [-2.11718568e-01 9.77311974e-01 -6.04597154e-03 -8.44755435e+01] [-3.39043970e-02 -1.16206380e-03 9.99424405e-01 -1.43047655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.454012739 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:436.02, Y:-84.48, Z:-14.31 [[ 9.77201481e-01 2.09929118e-01 3.17337360e-02 4.36024473e+02] [-2.09853038e-01 9.77716051e-01 -5.74684156e-03 -8.44784268e+01] [-3.22330124e-02 -1.04359882e-03 9.99479837e-01 -1.43066405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:436.05, Y:-84.48, Z:-14.31 [[ 9.77508347e-01 2.08726157e-01 3.01798405e-02 4.36053657e+02] [-2.08656793e-01 9.77973659e-01 -5.46479963e-03 -8.44820507e+01] [-3.06557357e-02 -9.55341489e-04 9.99529546e-01 -1.43073383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.514012739 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:436.08, Y:-84.49, Z:-14.31 [[ 9.77842144e-01 2.07298099e-01 2.91931572e-02 4.36082716e+02] [-2.07232580e-01 9.78277426e-01 -5.28550199e-03 -8.44852051e+01] [-2.96546811e-02 -8.81386675e-04 9.99559815e-01 -1.43089629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:436.11, Y:-84.49, Z:-14.31 [[ 9.78579627e-01 2.04055575e-01 2.72623588e-02 4.36111166e+02] [-2.03997211e-01 9.78959032e-01 -4.93479924e-03 -8.44859792e+01] [-2.76957057e-02 -7.32351151e-04 9.99616132e-01 -1.43095846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.574012739 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:436.14, Y:-84.49, Z:-14.31 [[ 9.78951757e-01 2.02274802e-01 2.71728264e-02 4.36140058e+02] [-2.02216168e-01 9.79328566e-01 -4.91739755e-03 -8.44897685e+01] [-2.76057907e-02 -6.80889845e-04 9.99618656e-01 -1.43111333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:436.17, Y:-84.49, Z:-14.31 [[ 9.79217954e-01 2.00887750e-01 2.78623636e-02 4.36168400e+02] [-2.00825576e-01 9.79614045e-01 -5.04091907e-03 -8.44945472e+01] [-2.83070216e-02 -6.59316743e-04 9.99599059e-01 -1.43121859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.634012739 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:436.20, Y:-84.50, Z:-14.31 [[ 9.79743876e-01 1.98047589e-01 2.96494417e-02 4.36197245e+02] [-1.97975923e-01 9.80192213e-01 -5.36286712e-03 -8.44996456e+01] [-3.01242548e-02 -6.15639369e-04 9.99545972e-01 -1.43131435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:436.23, Y:-84.50, Z:-14.31 [[ 9.79902531e-01 1.97308383e-01 2.93331205e-02 4.36225868e+02] [-1.97237927e-01 9.80341296e-01 -5.30497720e-03 -8.45038311e+01] [-2.98031858e-02 -5.87243292e-04 9.99555614e-01 -1.43135736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.694012739 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:436.26, Y:-84.51, Z:-14.31 [[ 9.79963250e-01 1.97127648e-01 2.85082153e-02 4.36255224e+02] [-1.97061051e-01 9.80377667e-01 -5.15483233e-03 -8.45078710e+01] [-2.89649776e-02 -5.66312642e-04 9.99580267e-01 -1.43141989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:436.28, Y:-84.51, Z:-14.32 [[ 9.80089250e-01 1.96735027e-01 2.68401225e-02 4.36283414e+02] [-1.96675865e-01 9.80456555e-01 -4.85265188e-03 -8.45115834e+01] [-2.72702606e-02 -5.22772368e-04 9.99627961e-01 -1.43160034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.754012739 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:436.31, Y:-84.52, Z:-14.32 [[ 9.80234201e-01 1.95970981e-01 2.71346006e-02 4.36311849e+02] [-1.95910246e-01 9.80609564e-01 -4.90496216e-03 -8.45162080e+01] [-2.75696791e-02 -5.07934636e-04 9.99619755e-01 -1.43166617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:436.34, Y:-84.52, Z:-14.32 [[ 9.80461858e-01 1.94686408e-01 2.81380201e-02 4.36340432e+02] [-1.94620606e-01 9.80865415e-01 -5.08503582e-03 -8.45209884e+01] [-2.85895981e-02 -4.90554867e-04 9.99591114e-01 -1.43165525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.814012739 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:436.37, Y:-84.53, Z:-14.32 [[ 9.80805706e-01 1.92590186e-01 3.04825910e-02 4.36369467e+02] [-1.92511992e-01 9.81279166e-01 -5.50730221e-03 -8.45270526e+01] [-3.09725838e-02 -4.66670886e-04 9.99520125e-01 -1.43165294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:436.40, Y:-84.53, Z:-14.32 [[ 9.80972379e-01 1.91651808e-01 3.10286209e-02 4.36397569e+02] [-1.91570341e-01 9.81462881e-01 -5.60522467e-03 -8.45334901e+01] [-3.15276911e-02 -4.45592898e-04 9.99502779e-01 -1.43165374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.874012739 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:436.43, Y:-84.54, Z:-14.32 [[ 9.81330022e-01 1.89778145e-01 3.12352935e-02 4.36425864e+02] [-1.89694671e-01 9.81826922e-01 -5.64156189e-03 -8.45409953e+01] [-3.17382972e-02 -3.88934684e-04 9.99496138e-01 -1.43175758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:436.46, Y:-84.55, Z:-14.32 [[ 9.81473288e-01 1.89106374e-01 3.08052630e-02 4.36455937e+02] [-1.89024863e-01 9.81956541e-01 -5.56357736e-03 -8.45474543e+01] [-3.13015375e-02 -3.62458051e-04 9.99509921e-01 -1.43189299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.934012739 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:436.48, Y:-84.55, Z:-14.32 [[ 9.81527344e-01 1.88831839e-01 3.07670096e-02 4.36484845e+02] [-1.88750397e-01 9.82009375e-01 -5.55662642e-03 -8.45538707e+01] [-3.12627598e-02 -3.53304499e-04 9.99511138e-01 -1.43198783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:436.51, Y:-84.56, Z:-14.32 [[ 9.81511700e-01 1.88803585e-01 3.14322872e-02 4.36514650e+02] [-1.88718588e-01 9.82014805e-01 -5.67612895e-03 -8.45623431e+01] [-3.19386448e-02 -3.60669857e-04 9.99489766e-01 -1.43206332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.994012739 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:436.54, Y:-84.57, Z:-14.32 [[ 9.81495566e-01 1.88926773e-01 3.11950001e-02 4.36543459e+02] [-1.88843115e-01 9.81991112e-01 -5.63330760e-03 -8.45694916e+01] [-3.16974954e-02 -3.61894565e-04 9.99497443e-01 -1.43215052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:436.57, Y:-84.58, Z:-14.32 [[ 9.81498218e-01 1.89277574e-01 2.89006623e-02 4.36572697e+02] [-1.89205915e-01 9.81923561e-01 -5.21931378e-03 -8.45784063e+01] [-2.93661403e-02 -3.45429084e-04 9.99568662e-01 -1.43232578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05401273900003 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:436.60, Y:-84.59, Z:-14.32 [[ 9.81559256e-01 1.89098419e-01 2.79859711e-02 4.36601701e+02] [-1.89031152e-01 9.81958084e-01 -5.05413447e-03 -8.45855275e+01] [-2.84367794e-02 -3.29287876e-04 9.99595539e-01 -1.43247402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:436.63, Y:-84.59, Z:-14.33 [[ 9.81588256e-01 1.89018804e-01 2.75024892e-02 4.36632730e+02] [-1.88953824e-01 9.81973415e-01 -4.96628821e-03 -8.45930492e+01] [-2.79454351e-02 -3.21850323e-04 9.99609398e-01 -1.43259168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.114012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:436.66, Y:-84.60, Z:-14.33 [[ 9.81581688e-01 1.89053033e-01 2.75016494e-02 4.36664035e+02] [-1.88987937e-01 9.81966827e-01 -4.97093385e-03 -8.45987564e+01] [-2.79454776e-02 -3.18102358e-04 9.99609398e-01 -1.43268504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:436.69, Y:-84.61, Z:-14.33 [[ 9.81260901e-01 1.90642554e-01 2.79724959e-02 4.36693971e+02] [-1.90575828e-01 9.81659453e-01 -5.05695666e-03 -8.46071428e+01] [-2.84235361e-02 -3.68687729e-04 9.99595902e-01 -1.43274085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.174012739 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:436.72, Y:-84.61, Z:-14.33 [[ 9.80887449e-01 1.92543752e-01 2.80484565e-02 4.36722744e+02] [-1.92477312e-01 9.81288300e-01 -5.07518470e-03 -8.46138361e+01] [-2.85008173e-02 -4.20506541e-04 9.99593681e-01 -1.43281059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:436.75, Y:-84.62, Z:-14.33 [[ 9.80392489e-01 1.95046920e-01 2.80582732e-02 4.36751461e+02] [-1.94981475e-01 9.80793788e-01 -5.07635976e-03 -8.46200354e+01] [-2.85095084e-02 -4.94018531e-04 9.99593399e-01 -1.43286566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.234012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:436.78, Y:-84.62, Z:-14.33 [[ 9.79067818e-01 2.01559148e-01 2.82863662e-02 4.36782022e+02] [-2.01495365e-01 9.79476102e-01 -5.11700550e-03 -8.46241359e+01] [-2.87371989e-02 -6.89676261e-04 9.99586763e-01 -1.43284133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:436.81, Y:-84.63, Z:-14.33 [[ 9.78337608e-01 2.05101538e-01 2.80870714e-02 4.36812564e+02] [-2.05040108e-01 9.78740383e-01 -5.08095307e-03 -8.46271960e+01] [-2.85320624e-02 -7.88088695e-04 9.99592567e-01 -1.43299206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.294012739 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:436.84, Y:-84.63, Z:-14.33 [[ 9.77069489e-01 2.11324096e-01 2.60257646e-02 4.36842771e+02] [-2.11273553e-01 9.77415633e-01 -4.70813027e-03 -8.46279566e+01] [-2.64329305e-02 -8.98385307e-04 9.99650185e-01 -1.43322436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:436.87, Y:-84.63, Z:-14.33 [[ 9.76672855e-01 2.13225950e-01 2.53934561e-02 4.36872166e+02] [-2.13178491e-01 9.77002474e-01 -4.59315125e-03 -8.46310164e+01] [-2.57888485e-02 -9.27332492e-04 9.99666982e-01 -1.43337835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.354012739 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:436.90, Y:-84.63, Z:-14.33 [[ 9.76547322e-01 2.13818734e-01 2.52364388e-02 4.36901435e+02] [-2.13772072e-01 9.76872904e-01 -4.56415133e-03 -8.46343055e+01] [-2.56286943e-02 -9.37736057e-04 9.99671091e-01 -1.43342507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:436.93, Y:-84.63, Z:-14.33 [[ 9.76671278e-01 2.13152834e-01 2.60592481e-02 4.36929995e+02] [-2.13102857e-01 9.77018406e-01 -4.71241960e-03 -8.46331648e+01] [-2.64648306e-02 -9.50815353e-04 9.99649293e-01 -1.43341148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.414012739 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:436.96, Y:-84.63, Z:-14.33 [[ 9.76720159e-01 2.12860232e-01 2.66130096e-02 4.36958434e+02] [-2.12808048e-01 9.77082182e-01 -4.81079005e-03 -8.46341903e+01] [-2.70271234e-02 -9.64666988e-04 9.99634235e-01 -1.43346499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:436.99, Y:-84.63, Z:-14.34 [[ 9.76707318e-01 2.12771952e-01 2.77652901e-02 4.36987499e+02] [-2.12715168e-01 9.77101369e-01 -5.01720594e-03 -8.46348667e+01] [-2.81970237e-02 -1.00575661e-03 9.99601879e-01 -1.43355352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.474012739 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:437.02, Y:-84.63, Z:-14.34 [[ 9.76454211e-01 2.13664115e-01 2.97459209e-02 4.37016346e+02] [-2.13599399e-01 9.76906557e-01 -5.37357612e-03 -8.46310955e+01] [-3.02071255e-02 -1.10665980e-03 9.99543048e-01 -1.43365335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:437.04, Y:-84.63, Z:-14.34 [[ 9.76367022e-01 2.14054819e-01 2.97988584e-02 4.37044392e+02] [-2.13990108e-01 9.76821004e-01 -5.38136682e-03 -8.46318371e+01] [-3.02600583e-02 -1.12247185e-03 9.99541429e-01 -1.43369159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.534012739 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:437.07, Y:-84.63, Z:-14.34 [[ 9.76250551e-01 2.14907678e-01 2.73779356e-02 4.37073698e+02] [-2.14748139e-01 9.76630936e-01 -8.67480983e-03 -8.46266636e+01] [-2.86024221e-02 2.58942717e-03 9.99587513e-01 -1.43366808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:437.10, Y:-84.63, Z:-14.34 [[ 9.76271637e-01 2.14455732e-01 3.00404551e-02 4.37101102e+02] [-2.14502509e-01 9.76721967e-01 -1.69465563e-03 -8.46319455e+01] [-2.97046011e-02 -4.78930879e-03 9.99547247e-01 -1.43382985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.594012739 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:437.13, Y:-84.63, Z:-14.34 [[ 9.76360853e-01 2.14041640e-01 3.00942219e-02 4.37129055e+02] [-2.13975802e-01 9.76823874e-01 -5.42918056e-03 -8.46313747e+01] [-3.05588252e-02 -1.13859592e-03 9.99532322e-01 -1.43383106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:437.16, Y:-84.63, Z:-14.34 [[ 9.76548195e-01 2.13027858e-01 3.11890098e-02 4.37157269e+02] [-2.12956687e-01 9.77045450e-01 -5.62479344e-03 -8.46335505e+01] [-3.16713178e-02 -1.14902632e-03 9.99497678e-01 -1.43390799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.654012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:437.18, Y:-84.63, Z:-14.34 [[ 9.77365681e-01 2.09031885e-01 3.25882962e-02 4.37184944e+02] [-2.08952044e-01 9.77908243e-01 -5.87469430e-03 -8.46340273e+01] [-3.30963619e-02 -1.06766651e-03 9.99451595e-01 -1.43393145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:437.21, Y:-84.64, Z:-14.34 [[ 9.77896785e-01 2.06603445e-01 3.21386682e-02 4.37212555e+02] [-2.06524580e-01 9.78424277e-01 -5.79062764e-03 -8.46375033e+01] [-3.26416169e-02 -9.74788814e-04 9.99466645e-01 -1.43409225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.714012739 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:437.24, Y:-84.64, Z:-14.34 [[ 9.79178711e-01 2.00644665e-01 3.08345536e-02 4.37241073e+02] [-2.00569168e-01 9.79663800e-01 -5.55401670e-03 -8.46422433e+01] [-3.13218798e-02 -7.46085846e-04 9.99509071e-01 -1.43431701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:437.27, Y:-84.65, Z:-14.34 [[ 9.79874738e-01 1.97261312e-01 3.05527947e-02 4.37268682e+02] [-1.97185578e-01 9.80350740e-01 -5.50218864e-03 -8.46479063e+01] [-3.10378239e-02 -6.33114834e-04 9.99518010e-01 -1.43440977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.774012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:437.30, Y:-84.65, Z:-14.35 [[ 9.80508095e-01 1.94122939e-01 3.03341563e-02 4.37296378e+02] [-1.94046836e-01 9.80977065e-01 -5.46110285e-03 -8.46540965e+01] [-3.08172370e-02 -5.31591496e-04 9.99524895e-01 -1.43451889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:437.32, Y:-84.66, Z:-14.35 [[ 9.81472326e-01 1.89218265e-01 3.01416934e-02 4.37323844e+02] [-1.89140856e-01 9.81934981e-01 -5.42497079e-03 -8.46615865e+01] [-3.06236867e-02 -3.76566980e-04 9.99530914e-01 -1.43458101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.834012739 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:437.35, Y:-84.67, Z:-14.35 [[ 9.81728864e-01 1.87852835e-01 3.03273652e-02 4.37351463e+02] [-1.87773843e-01 9.82197128e-01 -5.45755499e-03 -8.46674341e+01] [-3.08126682e-02 -3.36846654e-04 9.99525120e-01 -1.43464165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:437.38, Y:-84.67, Z:-14.35 [[ 9.81797950e-01 1.87539677e-01 3.00275645e-02 4.37379363e+02] [-1.87462151e-01 9.82256974e-01 -5.40171402e-03 -8.46731387e+01] [-3.05078204e-02 -3.25640087e-04 9.99534475e-01 -1.43464854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.894012739 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:437.41, Y:-84.68, Z:-14.35 [[ 9.81698595e-01 1.88315193e-01 2.83770323e-02 4.37408008e+02] [-1.88246316e-01 9.82108588e-01 -5.10355860e-03 -8.46793830e+01] [-2.88304047e-02 -3.31715489e-04 9.99584262e-01 -1.43472202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:437.44, Y:-84.69, Z:-14.35 [[ 9.81545392e-01 1.89217787e-01 2.76635560e-02 4.37436625e+02] [-1.89152724e-01 9.81935083e-01 -4.97400018e-03 -8.46850611e+01] [-2.81049854e-02 -3.50430009e-04 9.99604915e-01 -1.43480157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.954012739 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:437.46, Y:-84.69, Z:-14.35 [[ 9.81369268e-01 1.90144447e-01 2.75581159e-02 4.37464185e+02] [-1.90080281e-01 9.81756053e-01 -4.95373386e-03 -8.46905511e+01] [-2.79972721e-02 -3.76812233e-04 9.99607929e-01 -1.43493900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:437.49, Y:-84.70, Z:-14.35 [[ 9.80949972e-01 1.92122878e-01 2.87393944e-02 4.37492283e+02] [-1.92053993e-01 9.81370773e-01 -5.16427821e-03 -8.46971078e+01] [-2.91961777e-02 -4.53616903e-04 9.99573598e-01 -1.43502317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.014012739 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:437.52, Y:-84.70, Z:-14.35 [[ 9.80695185e-01 1.93349322e-01 2.92060629e-02 4.37520756e+02] [-1.93278768e-01 9.81129854e-01 -5.24668221e-03 -8.47031130e+01] [-2.96693827e-02 -4.99515876e-04 9.99559642e-01 -1.43509372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:437.55, Y:-84.71, Z:-14.35 [[ 9.80181551e-01 1.95991390e-01 2.88357939e-02 4.37548369e+02] [-1.95923796e-01 9.80605449e-01 -5.17877442e-03 -8.47079250e+01] [-2.92915318e-02 -5.73479075e-04 9.99570747e-01 -1.43507823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.074012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:437.58, Y:-84.71, Z:-14.35 [[ 9.79938608e-01 1.97297193e-01 2.81805321e-02 4.37577392e+02] [-1.97233228e-01 9.80343540e-01 -5.05928129e-03 -8.47117433e+01] [-2.86247846e-02 -6.00352259e-04 9.99590047e-01 -1.43516859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:437.60, Y:-84.71, Z:-14.35 [[ 9.79690624e-01 1.98677660e-01 2.70826223e-02 4.37604730e+02] [-1.98619145e-01 9.80064695e-01 -4.86092724e-03 -8.47145857e+01] [-2.75084796e-02 -6.16922447e-04 9.99621380e-01 -1.43528959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.134012739 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:437.63, Y:-84.72, Z:-14.35 [[ 9.79442850e-01 1.99984842e-01 2.64152707e-02 4.37633004e+02] [-1.99929693e-01 9.79798783e-01 -4.73955610e-03 -8.47172766e+01] [-2.68294895e-02 -6.39072621e-04 9.99639820e-01 -1.43549546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:437.66, Y:-84.72, Z:-14.36 [[ 9.78806849e-01 2.03118725e-01 2.60755692e-02 4.37661269e+02] [-2.03066128e-01 9.79153854e-01 -4.67736927e-03 -8.47192849e+01] [-2.64820553e-02 -7.16823793e-04 9.99649032e-01 -1.43556733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.194012739 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:437.69, Y:-84.72, Z:-14.36 [[ 9.78576223e-01 2.04149092e-01 2.66781680e-02 4.37688993e+02] [-2.04094464e-01 9.78939511e-01 -4.78378424e-03 -8.47221065e+01] [-2.70929179e-02 -7.63568884e-04 9.99632628e-01 -1.43560452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:437.72, Y:-84.72, Z:-14.36 [[ 9.78434801e-01 2.04652980e-01 2.79731514e-02 4.37718687e+02] [-2.04613219e-01 9.78833428e-01 -4.30710542e-03 -8.47231634e+01] [-2.82625177e-02 -1.50945473e-03 9.99599396e-01 -1.43564457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.254012739 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:437.75, Y:-84.73, Z:-14.36 [[ 9.78318232e-01 2.05282300e-01 2.74338270e-02 4.37745561e+02] [-2.05204157e-01 9.78702800e-01 -5.66430462e-03 -8.47250017e+01] [-2.80123447e-02 -8.80428524e-05 9.99607573e-01 -1.43569713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:437.77, Y:-84.73, Z:-14.36 [[ 9.78356012e-01 2.05075907e-01 2.76294344e-02 4.37773561e+02] [-2.05017835e-01 9.78745726e-01 -4.94892549e-03 -8.47262670e+01] [-2.80570962e-02 -8.22715813e-04 9.99605984e-01 -1.43582436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.314012739 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:437.80, Y:-84.73, Z:-14.36 [[ 9.78467002e-01 2.04538931e-01 2.76794588e-02 4.37801991e+02] [-2.04480488e-01 9.78858094e-01 -4.95595066e-03 -8.47291265e+01] [-2.81079471e-02 -8.10675056e-04 9.99604565e-01 -1.43586758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:437.83, Y:-84.73, Z:-14.36 [[ 9.78724672e-01 2.03297938e-01 2.77121723e-02 4.37828871e+02] [-2.03238917e-01 9.79116614e-01 -4.95977449e-03 -8.47317130e+01] [-2.81417603e-02 -7.77938226e-04 9.99603640e-01 -1.43600665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.374012739 meters Centerline goodness : 0.996546 Centerline is valid? [True, True] Translation: X:437.86, Y:-84.73, Z:-14.36 [[ 9.79527194e-01 1.99474020e-01 2.71402257e-02 4.37856087e+02] [-1.99416007e-01 9.79902895e-01 -4.85509270e-03 -8.47347569e+01] [-2.75632506e-02 -6.56500108e-04 9.99619846e-01 -1.43615693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:437.88, Y:-84.74, Z:-14.36 [[ 9.80034252e-01 1.97000076e-01 2.69041720e-02 4.37883425e+02] [-1.96942178e-01 9.80403300e-01 -4.81131581e-03 -8.47388105e+01] [-2.73247686e-02 -5.83311942e-04 9.99626439e-01 -1.43629274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.434012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:437.91, Y:-84.74, Z:-14.36 [[ 9.80532947e-01 1.94478734e-01 2.70769629e-02 4.37909852e+02] [-1.94419182e-01 9.80906598e-01 -4.84024380e-03 -8.47422242e+01] [-2.75012961e-02 -5.18262478e-04 9.99621633e-01 -1.43635274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:437.94, Y:-84.75, Z:-14.36 [[ 9.81307744e-01 1.90309213e-01 2.85922174e-02 4.37936567e+02] [-1.90241114e-01 9.81724107e-01 -5.10853197e-03 -8.47466018e+01] [-2.90418698e-02 -4.26373299e-04 9.99578105e-01 -1.43642868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.494012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:437.96, Y:-84.75, Z:-14.36 [[ 9.81735963e-01 1.88103817e-01 2.84860294e-02 4.37963705e+02] [-1.88035363e-01 9.82149084e-01 -5.08716380e-03 -8.47520429e+01] [-2.89344426e-02 -3.62129246e-04 9.99581246e-01 -1.43646350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:437.99, Y:-84.76, Z:-14.37 [[ 9.82252994e-01 1.85518166e-01 2.76055565e-02 4.37992085e+02] [-1.85452911e-01 9.82640795e-01 -4.92804020e-03 -8.47581417e+01] [-2.80405869e-02 -2.78948556e-04 9.99606747e-01 -1.43657849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55401273900003 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:438.02, Y:-84.77, Z:-14.37 [[ 9.83472485e-01 1.79187883e-01 2.59533180e-02 4.38018697e+02] [-1.79128030e-01 9.83814868e-01 -4.63194640e-03 -8.47658897e+01] [-2.63632488e-02 -9.35749012e-05 9.99652425e-01 -1.43665815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:438.05, Y:-84.77, Z:-14.37 [[ 9.84075302e-01 1.75770649e-01 2.64665653e-02 4.38046485e+02] [-1.75707213e-01 9.84431145e-01 -4.72188679e-03 -8.47733880e+01] [-2.68844803e-02 -3.67426371e-06 9.99638547e-01 -1.43679130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.614012739 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:438.07, Y:-84.78, Z:-14.37 [[ 9.84621507e-01 1.72570038e-01 2.72042198e-02 4.38073864e+02] [-1.72501833e-01 9.84997246e-01 -4.85207178e-03 -8.47814780e+01] [-2.76334038e-02 8.46764489e-05 9.99618121e-01 -1.43687857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:438.10, Y:-84.79, Z:-14.37 [[ 9.85584853e-01 1.66763735e-01 2.85018375e-02 4.38101655e+02] [-1.66686469e-01 9.85996851e-01 -5.08240213e-03 -8.47947696e+01] [-2.89502823e-02 2.58267903e-04 9.99580819e-01 -1.43690018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.674012739 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:438.13, Y:-84.80, Z:-14.37 [[ 9.85960676e-01 1.64622432e-01 2.79463869e-02 4.38129472e+02] [-1.64547308e-01 9.86356607e-01 -4.98270648e-03 -8.48041180e+01] [-2.83853686e-02 3.14249931e-04 9.99597005e-01 -1.43700048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:438.16, Y:-84.82, Z:-14.37 [[ 9.86191077e-01 1.63463257e-01 2.65880475e-02 4.38156815e+02] [-1.63394846e-01 9.86549367e-01 -4.74022839e-03 -8.48172038e+01] [-2.70052747e-02 3.30420995e-04 9.99635236e-01 -1.43714599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.734012739 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:438.19, Y:-84.83, Z:-14.37 [[ 9.86023215e-01 1.64508703e-01 2.63648707e-02 4.38185929e+02] [-1.64441818e-01 9.86375586e-01 -4.70012267e-03 -8.48265238e+01] [-2.67788759e-02 2.98942802e-04 9.99641337e-01 -1.43721819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:438.22, Y:-84.84, Z:-14.37 [[ 9.85696077e-01 1.66379597e-01 2.68528312e-02 4.38215380e+02] [-1.66310907e-01 9.86061745e-01 -4.78711245e-03 -8.48357396e+01] [-2.72750275e-02 2.52719252e-04 9.99627935e-01 -1.43723530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.794012739 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:438.24, Y:-84.84, Z:-14.37 [[ 9.85200495e-01 1.69085482e-01 2.81084546e-02 4.38244540e+02] [-1.69011317e-01 9.85601372e-01 -5.01094604e-03 -8.48448322e+01] [-2.85510097e-02 1.86139600e-04 9.99592319e-01 -1.43724105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:438.27, Y:-84.86, Z:-14.37 [[ 9.84037942e-01 1.75453279e-01 2.97569552e-02 4.38273061e+02] [-1.75373054e-01 9.84487759e-01 -5.30519435e-03 -8.48564915e+01] [-3.02261719e-02 1.94441211e-06 9.99543085e-01 -1.43728062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.854012739 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:438.30, Y:-84.86, Z:-14.37 [[ 9.83470083e-01 1.78699440e-01 2.92079666e-02 4.38302974e+02] [-1.78623579e-01 9.83903705e-01 -5.20733730e-03 -8.48642272e+01] [-2.96683748e-02 -9.59710676e-05 9.99559792e-01 -1.43741270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:438.33, Y:-84.87, Z:-14.38 [[ 9.82436705e-01 1.84701537e-01 2.65228561e-02 4.38332269e+02] [-1.84641130e-01 9.82794627e-01 -4.73007873e-03 -8.48731299e+01] [-2.69401733e-02 -2.50207152e-04 9.99637016e-01 -1.43769215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.914012739 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:438.36, Y:-84.88, Z:-14.38 [[ 9.82038835e-01 1.86897973e-01 2.58626133e-02 4.38361707e+02] [-1.86841298e-01 9.82379283e-01 -4.61233122e-03 -8.48793561e+01] [-2.62689309e-02 -3.02715859e-04 9.99654866e-01 -1.43777081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:438.39, Y:-84.89, Z:-14.38 [[ 9.81739181e-01 1.88419882e-01 2.61940572e-02 4.38390961e+02] [-1.88362284e-01 9.82088503e-01 -4.67150464e-03 -8.48857004e+01] [-2.66050868e-02 -3.47773306e-04 9.99645962e-01 -1.43787292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.974012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:438.42, Y:-84.89, Z:-14.38 [[ 9.81620163e-01 1.88796788e-01 2.78860030e-02 4.38419516e+02] [-1.88731680e-01 9.82016103e-01 -4.97250397e-03 -8.48934876e+01] [-2.83232968e-02 -3.81862045e-04 9.99598742e-01 -1.43784928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:438.45, Y:-84.90, Z:-14.38 [[ 9.81728669e-01 1.88130206e-01 2.85630159e-02 4.38449861e+02] [-1.88061606e-01 9.82144026e-01 -5.09358610e-03 -8.49003857e+01] [-2.90112529e-02 -3.71087129e-04 9.99579016e-01 -1.43786202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.034012739 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:438.48, Y:-84.91, Z:-14.38 [[ 9.81722042e-01 1.88164801e-01 2.85628972e-02 4.38481179e+02] [-1.88096196e-01 9.82137399e-01 -5.09425196e-03 -8.49060226e+01] [-2.90112484e-02 -3.71432875e-04 9.99579016e-01 -1.43795537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:438.51, Y:-84.91, Z:-14.38 [[ 9.81922866e-01 1.86959493e-01 2.95572726e-02 4.38511357e+02] [-1.86885448e-01 9.82367562e-01 -5.27270374e-03 -8.49148086e+01] [-3.00218879e-02 -3.46435778e-04 9.99549181e-01 -1.43800614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.094012739 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:438.54, Y:-84.92, Z:-14.38 [[ 9.82067602e-01 1.86157956e-01 2.98067083e-02 4.38542394e+02] [-1.86082260e-01 9.82519776e-01 -5.31808217e-03 -8.49225692e+01] [-3.02756837e-02 -3.23783448e-04 9.99541534e-01 -1.43814171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:438.57, Y:-84.93, Z:-14.38 [[ 9.82213491e-01 1.85390132e-01 2.97851720e-02 4.38574763e+02] [-1.85314028e-01 9.82664954e-01 -5.31967439e-03 -8.49310645e+01] [-3.02550598e-02 -2.94554234e-04 9.99542167e-01 -1.43828297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.154012739 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:438.61, Y:-84.94, Z:-14.38 [[ 9.82301905e-01 1.84922431e-01 2.97768629e-02 4.38606950e+02] [-1.84845980e-01 9.82753081e-01 -5.32395006e-03 -8.49400009e+01] [-3.02478216e-02 -2.74407129e-04 9.99542392e-01 -1.43842074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:438.64, Y:-84.95, Z:-14.38 [[ 9.82268400e-01 1.85235413e-01 2.89246067e-02 4.38638475e+02] [-1.85163251e-01 9.82694138e-01 -5.17705833e-03 -8.49512059e+01] [-2.93830160e-02 -2.70513398e-04 9.99568189e-01 -1.43844793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.214012739 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:438.67, Y:-84.96, Z:-14.38 [[ 9.82071050e-01 1.86452759e-01 2.77816673e-02 4.38669807e+02] [-1.86386525e-01 9.82463885e-01 -4.97780654e-03 -8.49597728e+01] [-2.82226105e-02 -2.89568732e-04 9.99601621e-01 -1.43848126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:438.70, Y:-84.97, Z:-14.39 [[ 9.81585301e-01 1.89220749e-01 2.61878632e-02 4.38701061e+02] [-1.89162761e-01 9.81934514e-01 -4.69676866e-03 -8.49705706e+01] [-2.66034928e-02 -3.43489436e-04 9.99646005e-01 -1.43862717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.274012739 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:438.73, Y:-84.98, Z:-14.39 [[ 9.81231271e-01 1.90976351e-01 2.67062890e-02 4.38731749e+02] [-1.90916545e-01 9.81594559e-01 -4.79525963e-03 -8.49789854e+01] [-2.71305292e-02 -3.93413718e-04 9.99631822e-01 -1.43872062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:438.76, Y:-84.99, Z:-14.39 [[ 9.80747211e-01 1.93242131e-01 2.81493863e-02 4.38763397e+02] [-1.93176516e-01 9.81150983e-01 -5.05793603e-03 -8.49872115e+01] [-2.85962044e-02 -4.77243708e-04 9.99590931e-01 -1.43875221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.334012739 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:438.79, Y:-85.00, Z:-14.39 [[ 9.79562994e-01 1.98860871e-01 3.01777088e-02 4.38794118e+02] [-1.98787927e-01 9.80027494e-01 -5.42865272e-03 -8.49952433e+01] [-3.06545310e-02 -6.81256876e-04 9.99529807e-01 -1.43874431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:438.83, Y:-85.00, Z:-14.39 [[ 9.78933147e-01 2.02005201e-01 2.97286399e-02 4.38826856e+02] [-2.01935699e-01 9.79384152e-01 -5.35320068e-03 -8.50019029e+01] [-3.01971332e-02 -7.62848092e-04 9.99543671e-01 -1.43889957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.394012739 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:438.86, Y:-85.01, Z:-14.39 [[ 9.78446560e-01 2.04541270e-01 2.83760271e-02 4.38859322e+02] [-2.04478865e-01 9.78857616e-01 -5.11481269e-03 -8.50087330e+01] [-2.88222805e-02 -7.97726939e-04 9.99584233e-01 -1.43900862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:438.89, Y:-85.02, Z:-14.39 [[ 9.78024790e-01 2.06773489e-01 2.66877348e-02 4.38890366e+02] [-2.06718989e-01 9.78388508e-01 -4.81530655e-03 -8.50156829e+01] [-2.71066507e-02 -8.07372383e-04 9.99632221e-01 -1.43922593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.454012739 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:438.92, Y:-85.02, Z:-14.39 [[ 9.78087104e-01 2.06511415e-01 2.64320519e-02 4.38921319e+02] [-2.06412186e-01 9.78443812e-01 -6.45877560e-03 -8.50199292e+01] [-2.71960885e-02 8.61347492e-04 9.99629747e-01 -1.43931899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:438.95, Y:-85.03, Z:-14.39 [[ 9.77963460e-01 2.06860978e-01 2.82135811e-02 4.38951279e+02] [-2.06846208e-01 9.78367306e-01 -3.47294212e-03 -8.50270792e+01] [-2.83216615e-02 -2.43946177e-03 9.99595885e-01 -1.43938942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.514012739 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:438.98, Y:-85.03, Z:-14.39 [[ 9.77679762e-01 2.08126206e-01 2.87361424e-02 4.38981415e+02] [-2.08063321e-01 9.78101565e-01 -5.19451223e-03 -8.50301044e+01] [-2.91879800e-02 -9.00367734e-04 9.99573535e-01 -1.43945836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:439.01, Y:-85.03, Z:-14.40 [[ 9.77407248e-01 2.09434771e-01 2.84981980e-02 4.39012823e+02] [-2.09373469e-01 9.77822177e-01 -5.15182722e-03 -8.50343412e+01] [-2.89451417e-02 -9.31333302e-04 9.99580568e-01 -1.43955211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.574012739 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:439.04, Y:-85.03, Z:-14.40 [[ 9.76650233e-01 2.13167117e-01 2.67227063e-02 4.39044372e+02] [-2.13114593e-01 9.77015265e-01 -4.83148475e-03 -8.50337987e+01] [-2.71384057e-02 -9.76327970e-04 9.99631209e-01 -1.43967385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:439.07, Y:-85.04, Z:-14.40 [[ 9.76245102e-01 2.15054057e-01 2.64055737e-02 4.39073287e+02] [-2.15003459e-01 9.76601618e-01 -4.77423367e-03 -8.50352844e+01] [-2.68144443e-02 -1.01646744e-03 9.99639911e-01 -1.43990044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.634012739 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:439.10, Y:-85.04, Z:-14.40 [[ 9.75953665e-01 2.16425737e-01 2.59681381e-02 4.39102220e+02] [-2.16377309e-01 9.76298532e-01 -4.69426726e-03 -8.50370946e+01] [-2.63686154e-02 -1.03752849e-03 9.99651749e-01 -1.43998315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:439.13, Y:-85.04, Z:-14.40 [[ 9.75815499e-01 2.17047240e-01 2.59731887e-02 4.39130693e+02] [-2.16999045e-01 9.76160530e-01 -4.69399151e-03 -8.50394973e+01] [-2.63728196e-02 -1.05568747e-03 9.99651619e-01 -1.44001098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.694012739 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:439.16, Y:-85.04, Z:-14.40 [[ 9.76217317e-01 2.15076790e-01 2.72346071e-02 4.39158899e+02] [-2.15023069e-01 9.76596573e-01 -4.92066858e-03 -8.50410973e+01] [-2.76555456e-02 -1.05242692e-03 9.99616958e-01 -1.44005922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:439.19, Y:-85.05, Z:-14.40 [[ 9.76785153e-01 2.12434789e-01 2.76084358e-02 4.39187850e+02] [-2.12378574e-01 9.77174741e-01 -4.98659897e-03 -8.50453938e+01] [-2.80375932e-02 -9.92604399e-04 9.99606377e-01 -1.44016632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.754012739 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:439.22, Y:-85.05, Z:-14.40 [[ 9.78341642e-01 2.05104765e-01 2.79225279e-02 4.39215724e+02] [-2.05044313e-01 9.78739704e-01 -5.04204321e-03 -8.50507040e+01] [-2.83630338e-02 -7.92514725e-04 9.99597374e-01 -1.44033456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:439.25, Y:-85.06, Z:-14.40 [[ 9.79102024e-01 2.01490998e-01 2.75790593e-02 4.39246356e+02] [-2.01430612e-01 9.79490130e-01 -4.97928957e-03 -8.50568280e+01] [-2.80166984e-02 -6.80034278e-04 9.99607224e-01 -1.44042785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.814012739 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:439.28, Y:-85.06, Z:-14.41 [[ 9.79674112e-01 1.98752192e-01 2.71330306e-02 4.39276430e+02] [-1.98692682e-01 9.80049599e-01 -4.89918646e-03 -8.50633168e+01] [-2.75654398e-02 -5.91528477e-04 9.99619826e-01 -1.44054311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:439.30, Y:-85.07, Z:-14.41 [[ 9.80432672e-01 1.95123044e-01 2.60532949e-02 4.39304918e+02] [-1.95066776e-01 9.80778661e-01 -4.70870237e-03 -8.50706385e+01] [-2.64712920e-02 -4.65566585e-04 9.99649466e-01 -1.44056597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.874012739 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:439.33, Y:-85.08, Z:-14.41 [[ 9.80534574e-01 1.94579717e-01 2.62808501e-02 4.39333713e+02] [-1.94522274e-01 9.80886602e-01 -4.74956346e-03 -8.50768958e+01] [-2.67027025e-02 -4.55099545e-04 9.99643316e-01 -1.44062051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:439.36, Y:-85.08, Z:-14.41 [[ 9.80497755e-01 1.94729790e-01 2.65417041e-02 4.39362644e+02] [-1.94671271e-01 9.80856816e-01 -4.79611418e-03 -8.50831681e+01] [-2.69675577e-02 -4.64328099e-04 9.99636201e-01 -1.44066338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.934012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:439.39, Y:-85.09, Z:-14.41 [[ 9.80096824e-01 1.96673717e-01 2.70122937e-02 4.39390201e+02] [-1.96613858e-01 9.80468853e-01 -4.88056462e-03 -8.50907486e+01] [-2.74445914e-02 -5.27565392e-04 9.99623187e-01 -1.44074242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:439.42, Y:-85.10, Z:-14.41 [[ 9.79854425e-01 1.97819824e-01 2.74339871e-02 4.39418718e+02] [-1.97758556e-01 9.80238233e-01 -4.95582544e-03 -8.50972912e+01] [-2.78722035e-02 -5.69318185e-04 9.99611333e-01 -1.44080422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.994012739 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:439.45, Y:-85.10, Z:-14.41 [[ 9.79642135e-01 1.98808052e-01 2.78683684e-02 4.39447310e+02] [-1.98745246e-01 9.80038259e-01 -5.03367778e-03 -8.51036042e+01] [-2.83128029e-02 -6.07502866e-04 9.99598928e-01 -1.44090425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:439.48, Y:-85.11, Z:-14.41 [[ 9.79322118e-01 2.00335616e-01 2.81749771e-02 4.39476546e+02] [-2.00272069e-01 9.79727108e-01 -5.08844158e-03 -8.51112363e+01] [-2.86231849e-02 -6.59437573e-04 9.99590055e-01 -1.44094698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05401273900003 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:439.51, Y:-85.12, Z:-14.41 [[ 9.79215022e-01 2.00868601e-01 2.81024071e-02 4.39508655e+02] [-2.00805622e-01 9.79617962e-01 -5.07456840e-03 -8.51184817e+01] [-2.85489443e-02 -6.74027740e-04 9.99592169e-01 -1.44103713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:439.54, Y:-85.13, Z:-14.41 [[ 9.79138080e-01 2.01273382e-01 2.78863034e-02 4.39540145e+02] [-2.01211380e-01 9.79534874e-01 -5.04092858e-03 -8.51257275e+01] [-2.83302114e-02 -6.75276458e-04 9.99598391e-01 -1.44116685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.114012739 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:439.57, Y:-85.13, Z:-14.41 [[ 9.79009115e-01 2.01853353e-01 2.82201361e-02 4.39572405e+02] [-2.01789950e-01 9.79415510e-01 -5.10642466e-03 -8.51323948e+01] [-2.86699880e-02 -6.95303570e-04 9.99588690e-01 -1.44127276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:439.60, Y:-85.14, Z:-14.41 [[ 9.78801595e-01 2.02787679e-01 2.87157611e-02 4.39603194e+02] [-2.02722264e-01 9.79222459e-01 -5.20181337e-03 -8.51395487e+01] [-2.91739819e-02 -7.29780882e-04 9.99574082e-01 -1.44140714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.174012739 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:439.63, Y:-85.15, Z:-14.41 [[ 9.78532320e-01 2.04016292e-01 2.91864872e-02 4.39634284e+02] [-2.03949100e-01 9.78967187e-01 -5.29247919e-03 -8.51469879e+01] [-2.96523653e-02 -7.73695871e-04 9.99559973e-01 -1.44149011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:439.67, Y:-85.15, Z:-14.42 [[ 9.77972763e-01 2.06551340e-01 3.00968218e-02 4.39666810e+02] [-2.06480918e-01 9.78435376e-01 -5.46316096e-03 -8.51545793e+01] [-3.05762184e-02 -8.71596794e-04 9.99532058e-01 -1.44153009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.234012739 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:439.70, Y:-85.16, Z:-14.42 [[ 9.77661218e-01 2.08035885e-01 2.99935583e-02 4.39698269e+02] [-2.07966469e-01 9.78120772e-01 -5.45013944e-03 -8.51602185e+01] [-3.04711470e-02 -9.09264437e-04 9.99535233e-01 -1.44155291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:439.73, Y:-85.17, Z:-14.42 [[ 9.77160429e-01 2.10651449e-01 2.79903963e-02 4.39728157e+02] [-2.10591931e-01 9.77560802e-01 -5.09094982e-03 -8.51656974e+01] [-2.84347302e-02 -9.19876897e-04 9.99595228e-01 -1.44171294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.294012739 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:439.76, Y:-85.17, Z:-14.42 [[ 9.76929457e-01 2.11848991e-01 2.69970386e-02 4.39758710e+02] [-2.11794072e-01 9.77301979e-01 -4.91055510e-03 -8.51720577e+01] [-2.74245553e-02 -9.20546800e-04 9.99623452e-01 -1.44183182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:439.79, Y:-85.18, Z:-14.42 [[ 9.76730496e-01 2.12792699e-01 2.67732302e-02 4.39789453e+02] [-2.12739024e-01 9.77096918e-01 -4.87047515e-03 -8.51780176e+01] [-2.71964423e-02 -9.38569253e-04 9.99629668e-01 -1.44186619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.354012739 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:439.82, Y:-85.18, Z:-14.42 [[ 9.76189913e-01 2.15044915e-01 2.84418553e-02 4.39820411e+02] [-2.14985273e-01 9.76603581e-01 -5.17475160e-03 -8.51824768e+01] [-2.88892217e-02 -1.06303970e-03 9.99582054e-01 -1.44177714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:439.85, Y:-85.19, Z:-14.42 [[ 9.75831925e-01 2.16538740e-01 2.93773505e-02 4.39850950e+02] [-2.16475763e-01 9.76273357e-01 -5.34568156e-03 -8.51880689e+01] [-2.98378717e-02 -1.14299765e-03 9.99554098e-01 -1.44186894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.414012739 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:439.88, Y:-85.19, Z:-14.42 [[ 9.75401758e-01 2.18520725e-01 2.89845244e-02 4.39880850e+02] [-2.18460274e-01 9.75831586e-01 -5.27488941e-03 -8.51933735e+01] [-2.94366870e-02 -1.18683074e-03 9.99565942e-01 -1.44200441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:439.91, Y:-85.20, Z:-14.42 [[ 9.75348469e-01 2.18812108e-01 2.85766683e-02 4.39913310e+02] [-2.18753427e-01 9.75766302e-01 -5.20218983e-03 -8.51982906e+01] [-2.90224521e-02 -1.17729624e-03 9.99578067e-01 -1.44218755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.474012739 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:439.95, Y:-85.20, Z:-14.42 [[ 9.75281407e-01 2.19156542e-01 2.82238672e-02 4.39946136e+02] [-2.19099286e-01 9.75689012e-01 -5.14348968e-03 -8.52026557e+01] [-2.86649465e-02 -1.16747930e-03 9.99588394e-01 -1.44224506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:439.98, Y:-85.20, Z:-14.42 [[ 9.75188118e-01 2.19600285e-01 2.79973170e-02 4.39977534e+02] [-2.19543965e-01 9.75589236e-01 -5.10791767e-03 -8.52047379e+01] [-2.84355812e-02 -1.16546136e-03 9.99594948e-01 -1.44224331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.534012739 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:440.01, Y:-85.21, Z:-14.42 [[ 9.75107685e-01 2.19989967e-01 2.77383751e-02 4.40007406e+02] [-2.19934821e-01 9.75501439e-01 -5.06137493e-03 -8.52084573e+01] [-2.81722765e-02 -1.16524899e-03 9.99602403e-01 -1.44232523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:440.04, Y:-85.21, Z:-14.42 [[ 9.75099648e-01 2.20017687e-01 2.78009847e-02 4.40037703e+02] [-2.19962294e-01 9.75495183e-01 -5.07314445e-03 -8.52101207e+01] [-2.82359082e-02 -1.16834702e-03 9.99600604e-01 -1.44241410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.594012739 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:440.07, Y:-85.21, Z:-14.43 [[ 9.75397541e-01 2.18588008e-01 2.86167609e-02 4.40067291e+02] [-2.18528691e-01 9.75816549e-01 -5.22237403e-03 -8.52133256e+01] [-2.90662572e-02 -1.15969252e-03 9.99576814e-01 -1.44253025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:440.10, Y:-85.22, Z:-14.43 [[ 9.75897323e-01 2.16278329e-01 2.91221287e-02 4.40097445e+02] [-2.16215892e-01 9.76331117e-01 -5.31390804e-03 -8.52171157e+01] [-2.95821236e-02 -1.11083840e-03 9.99561736e-01 -1.44261303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.654012739 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:440.13, Y:-85.22, Z:-14.43 [[ 9.76498313e-01 2.13502805e-01 2.94550071e-02 4.40128342e+02] [-2.13437670e-01 9.76941899e-01 -5.37466329e-03 -8.52216515e+01] [-2.99233363e-02 -1.03845846e-03 9.99551657e-01 -1.44279224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:440.16, Y:-85.23, Z:-14.43 [[ 9.77795673e-01 2.07580378e-01 2.87403523e-02 4.40158038e+02] [-2.07515788e-01 9.78217608e-01 -5.24494179e-03 -8.52265893e+01] [-2.92030657e-02 -8.35595457e-04 9.99573150e-01 -1.44284243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.714012739 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:440.19, Y:-85.23, Z:-14.43 [[ 9.78466175e-01 2.04432001e-01 2.84868673e-02 4.40187836e+02] [-2.04367191e-01 9.78880492e-01 -5.19937276e-03 -8.52318460e+01] [-2.89481568e-02 -7.34370671e-04 9.99580645e-01 -1.44290502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:440.22, Y:-85.24, Z:-14.43 [[ 9.79730281e-01 1.98341991e-01 2.80897097e-02 4.40219028e+02] [-1.98276462e-01 9.80132724e-01 -5.12721075e-03 -8.52378150e+01] [-2.85485849e-02 -5.46244631e-04 9.99592257e-01 -1.44292412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.774012739 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:440.25, Y:-85.24, Z:-14.43 [[ 9.80325292e-01 1.95396144e-01 2.79762083e-02 4.40249403e+02] [-1.95329925e-01 9.80724292e-01 -5.10716498e-03 -8.52440759e+01] [-2.84348675e-02 -4.57907687e-04 9.99595543e-01 -1.44300893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:440.28, Y:-85.25, Z:-14.43 [[ 9.80784866e-01 1.93094017e-01 2.78522251e-02 4.40281181e+02] [-1.93027441e-01 9.81180182e-01 -5.08505608e-03 -8.52516044e+01] [-2.83099452e-02 -3.88897690e-04 9.99599118e-01 -1.44309252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.834012739 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:440.31, Y:-85.26, Z:-14.43 [[ 9.81437534e-01 1.89642257e-01 2.85688688e-02 4.40312360e+02] [-1.89570604e-01 9.81853212e-01 -5.22081756e-03 -8.52620105e+01] [-2.90405232e-02 -2.91911417e-04 9.99578192e-01 -1.44311167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:440.34, Y:-85.27, Z:-14.43 [[ 9.81587248e-01 1.88848695e-01 2.86817932e-02 4.40343950e+02] [-1.88775975e-01 9.82006161e-01 -5.24696457e-03 -8.52701027e+01] [-2.91565800e-02 -2.64079967e-04 9.99574822e-01 -1.44315185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.894012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:440.38, Y:-85.28, Z:-14.43 [[ 9.81639685e-01 1.88516462e-01 2.90701162e-02 4.40376214e+02] [-1.88441447e-01 9.82069998e-01 -5.32364653e-03 -8.52779432e+01] [-2.95524840e-02 -2.52112055e-04 9.99563198e-01 -1.44320626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:440.41, Y:-85.28, Z:-14.43 [[ 9.81624352e-01 1.88596442e-01 2.90691332e-02 4.40409128e+02] [-1.88521303e-01 9.82054642e-01 -5.32900878e-03 -8.52841192e+01] [-2.95525093e-02 -2.49066066e-04 9.99563198e-01 -1.44330450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.954012739 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:440.44, Y:-85.29, Z:-14.43 [[ 9.81581947e-01 1.88811289e-01 2.91063357e-02 4.40441276e+02] [-1.88735979e-01 9.82013357e-01 -5.33830862e-03 -8.52914834e+01] [-2.95907434e-02 -2.53425390e-04 9.99562066e-01 -1.44338331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:440.47, Y:-85.30, Z:-14.44 [[ 9.81276336e-01 1.90502526e-01 2.83820425e-02 4.40473530e+02] [-1.90431472e-01 9.81686662e-01 -5.21075478e-03 -8.52998489e+01] [-2.88549345e-02 -2.91643782e-04 9.99583567e-01 -1.44351450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.014012739 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:440.51, Y:-85.31, Z:-14.44 [[ 9.81000579e-01 1.91932023e-01 2.82836024e-02 4.40505763e+02] [-1.91861901e-01 9.81408168e-01 -5.19803099e-03 -8.53072004e+01] [-2.87554270e-02 -3.27274324e-04 9.99586424e-01 -1.44367493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:440.54, Y:-85.32, Z:-14.44 [[ 9.80639357e-01 1.93485111e-01 3.01655910e-02 4.40536293e+02] [-1.93405895e-01 9.81103133e-01 -5.54987767e-03 -8.53155134e+01] [-3.06693745e-02 -3.91774652e-04 9.99529507e-01 -1.44372310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.074012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:440.57, Y:-85.32, Z:-14.44 [[ 9.80549091e-01 1.93790497e-01 3.11243113e-02 4.40568930e+02] [-1.93706195e-01 9.81042851e-01 -5.73019725e-03 -8.53229642e+01] [-3.16447409e-02 -4.10232204e-04 9.99499096e-01 -1.44381792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:440.60, Y:-85.33, Z:-14.44 [[ 9.80673031e-01 1.93089651e-01 3.15720321e-02 4.40599608e+02] [-1.93002352e-01 9.81181042e-01 -5.81855535e-03 -8.53317735e+01] [-3.21013822e-02 -3.87376147e-04 9.99484543e-01 -1.44386739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.134012739 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:440.63, Y:-85.34, Z:-14.44 [[ 9.80803308e-01 1.92442864e-01 3.14740566e-02 4.40630475e+02] [-1.92355603e-01 9.81308114e-01 -5.80578286e-03 -8.53388353e+01] [-3.20030286e-02 -3.59880111e-04 9.99487707e-01 -1.44396834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:440.66, Y:-85.35, Z:-14.44 [[ 9.80883557e-01 1.92030406e-01 3.14923884e-02 4.40662870e+02] [-1.91942710e-01 9.81388917e-01 -5.81297876e-03 -8.53464848e+01] [-3.20225496e-02 -3.42879078e-04 9.99487088e-01 -1.44408923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.194012739 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:440.69, Y:-85.35, Z:-14.44 [[ 9.80949563e-01 1.91764030e-01 3.10565906e-02 4.40693861e+02] [-1.91678437e-01 9.81441008e-01 -5.73801390e-03 -8.53539312e+01] [-3.15805563e-02 -3.24176534e-04 9.99501157e-01 -1.44415708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:440.73, Y:-85.36, Z:-14.44 [[ 9.80738444e-01 1.92996746e-01 3.00725909e-02 4.40725563e+02] [-1.92916967e-01 9.81199335e-01 -5.55964055e-03 -8.53639948e+01] [-3.05801987e-02 -3.48959824e-04 9.99532255e-01 -1.44429669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.254012739 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:440.76, Y:-85.37, Z:-14.44 [[ 9.80468694e-01 1.94508796e-01 2.91112955e-02 4.40757048e+02] [-1.94434542e-01 9.80900701e-01 -5.38733848e-03 -8.53718737e+01] [-2.96031749e-02 -3.78124694e-04 9.99561658e-01 -1.44435445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:440.79, Y:-85.38, Z:-14.45 [[ 9.80094717e-01 1.96474854e-01 2.84951993e-02 4.40788950e+02] [-1.96404396e-01 9.80508772e-01 -5.27832554e-03 -8.53789167e+01] [-2.89768511e-02 -4.23323447e-04 9.99579993e-01 -1.44451913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.314012739 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:440.82, Y:-85.39, Z:-14.45 [[ 9.79400026e-01 1.99866830e-01 2.87895606e-02 4.40819609e+02] [-1.99796206e-01 9.79822931e-01 -5.33850765e-03 -8.53868895e+01] [-2.92756623e-02 -5.23510451e-04 9.99571239e-01 -1.44462951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:440.85, Y:-85.39, Z:-14.45 [[ 9.79170132e-01 2.00853136e-01 2.97299551e-02 4.40850812e+02] [-2.00778110e-01 9.79621201e-01 -5.51841514e-03 -8.53948253e+01] [-3.02324854e-02 -5.65656918e-04 9.99542734e-01 -1.44476872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.374012739 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:440.88, Y:-85.40, Z:-14.45 [[ 9.79234855e-01 2.00559699e-01 2.95788245e-02 4.40881763e+02] [-2.00485164e-01 9.79681329e-01 -5.49488768e-03 -8.54044536e+01] [-3.00798751e-02 -5.49329930e-04 9.99547347e-01 -1.44481754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:440.91, Y:-85.41, Z:-14.45 [[ 9.79297968e-01 2.00283241e-01 2.93617840e-02 4.40913831e+02] [-2.00209574e-01 9.79737893e-01 -5.45782527e-03 -8.54118115e+01] [-2.98599633e-02 -5.33673063e-04 9.99553949e-01 -1.44491989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.434012739 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:440.95, Y:-85.42, Z:-14.45 [[ 9.79384985e-01 1.99908514e-01 2.90109826e-02 4.40945839e+02] [-1.99836283e-01 9.79814434e-01 -5.39767350e-03 -8.54194560e+01] [-2.95044204e-02 -5.11046569e-04 9.99564519e-01 -1.44502981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:440.98, Y:-85.43, Z:-14.45 [[ 9.79168084e-01 2.00825728e-01 2.99814906e-02 4.40977354e+02] [-2.00748828e-01 9.79626829e-01 -5.58429925e-03 -8.54257380e+01] [-3.04921435e-02 -5.50781503e-04 9.99534855e-01 -1.44510044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.494012739 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:441.01, Y:-85.43, Z:-14.45 [[ 9.78780117e-01 2.02536770e-01 3.11181517e-02 4.41009382e+02] [-2.02454603e-01 9.79274462e-01 -5.80194703e-03 -8.54315908e+01] [-3.16483188e-02 -6.21182650e-04 9.99498873e-01 -1.44509655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:441.04, Y:-85.44, Z:-14.45 [[ 9.78237779e-01 2.05050185e-01 3.17059857e-02 4.41040846e+02] [-2.04965996e-01 9.78751203e-01 -5.91796177e-03 -8.54366849e+01] [-3.22457508e-02 -7.09475146e-04 9.99479719e-01 -1.44513644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55401273900003 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:441.07, Y:-85.44, Z:-14.45 [[ 9.77118731e-01 2.10397278e-01 3.11764659e-02 4.41072596e+02] [-2.10318417e-01 9.77615587e-01 -5.82470960e-03 -8.54397774e+01] [-3.17041021e-02 -8.65552104e-04 9.99496924e-01 -1.44519885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:441.11, Y:-85.44, Z:-14.45 [[ 9.76533099e-01 2.13178806e-01 3.06252057e-02 4.41105125e+02] [-2.13103958e-01 9.77012754e-01 -5.72549510e-03 -8.54437230e+01] [-3.11417708e-02 -9.35217063e-04 9.99514540e-01 -1.44533824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.614012739 meters Centerline goodness : 0.996240 Centerline is valid? [True, True] Translation: X:441.14, Y:-85.44, Z:-14.45 [[ 9.75630223e-01 2.17153062e-01 3.14676835e-02 4.41138965e+02] [-2.17075904e-01 9.76136963e-01 -5.88916224e-03 -8.54447255e+01] [-3.19956186e-02 -1.08523116e-03 9.99487420e-01 -1.44539787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:441.17, Y:-85.45, Z:-14.46 [[ 9.75382431e-01 2.18134853e-01 3.23465503e-02 4.41171644e+02] [-2.18053653e-01 9.75917968e-01 -6.06003583e-03 -8.54478990e+01] [-3.28894847e-02 -1.14243097e-03 9.99458342e-01 -1.44551251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.674012739 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:441.20, Y:-85.45, Z:-14.46 [[ 9.75235259e-01 2.18742762e-01 3.26771175e-02 4.41203610e+02] [-2.18660029e-01 9.75781860e-01 -6.12810780e-03 -8.54508174e+01] [-3.32262177e-02 -1.16883267e-03 9.99447173e-01 -1.44563333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:441.24, Y:-85.45, Z:-14.46 [[ 9.75241983e-01 2.18654847e-01 3.30625445e-02 4.41235254e+02] [-2.18569979e-01 9.75801555e-01 -6.20401264e-03 -8.54533430e+01] [-3.36190197e-02 -1.17606604e-03 9.99434029e-01 -1.44575278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.734012739 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:441.27, Y:-85.45, Z:-14.46 [[ 9.75455246e-01 2.17694284e-01 3.31098452e-02 4.41268546e+02] [-2.17608569e-01 9.76016338e-01 -6.21438588e-03 -8.54530077e+01] [-3.36685862e-02 -1.14313074e-03 9.99432399e-01 -1.44575017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:441.30, Y:-85.45, Z:-14.46 [[ 9.75726530e-01 2.16681387e-01 3.17319203e-02 4.41300086e+02] [-2.16601936e-01 9.76241805e-01 -5.96158287e-03 -8.54519013e+01] [-3.22697912e-02 -1.05632080e-03 9.99478636e-01 -1.44587360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.794012739 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:441.33, Y:-85.45, Z:-14.46 [[ 9.75932180e-01 2.15836130e-01 3.11631999e-02 4.41330113e+02] [-2.15758926e-01 9.76429083e-01 -5.85932238e-03 -8.54540712e+01] [-3.16933082e-02 -1.00543729e-03 9.99497135e-01 -1.44600446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:441.36, Y:-85.46, Z:-14.46 [[ 9.76203875e-01 2.14617193e-01 3.10717584e-02 4.41360259e+02] [-2.14539774e-01 9.76697771e-01 -5.84376240e-03 -8.54569395e+01] [-3.16018891e-02 -9.61424514e-04 9.99500073e-01 -1.44613677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.854012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:441.39, Y:-85.46, Z:-14.46 [[ 9.76619916e-01 2.12706195e-01 3.11386239e-02 4.41390972e+02] [-2.12627458e-01 9.77115788e-01 -5.85673803e-03 -8.54603977e+01] [-3.16718055e-02 -9.01119445e-04 9.99497916e-01 -1.44627483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:441.42, Y:-85.46, Z:-14.46 [[ 9.77751623e-01 2.07415306e-01 3.13153928e-02 4.41421328e+02] [-2.07332936e-01 9.78252704e-01 -5.89071406e-03 -8.54621482e+01] [-3.18561920e-02 -7.33057088e-04 9.99492194e-01 -1.44637053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.914012739 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:441.45, Y:-85.47, Z:-14.46 [[ 9.78375587e-01 2.04319849e-01 3.21653581e-02 4.41451276e+02] [-2.04231261e-01 9.78903968e-01 -6.05095660e-03 -8.54660745e+01] [-3.27231272e-02 -6.49063437e-04 9.99464244e-01 -1.44647431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:441.48, Y:-85.47, Z:-14.47 [[ 9.79499478e-01 1.98779612e-01 3.26716698e-02 4.41481450e+02] [-1.98685127e-01 9.80044103e-01 -6.14624970e-03 -8.54690469e+01] [-3.32414265e-02 -4.71126511e-04 9.99447240e-01 -1.44659076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.974012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:441.51, Y:-85.47, Z:-14.47 [[ 9.79967787e-01 1.96490528e-01 3.24747553e-02 4.41512354e+02] [-1.96395907e-01 9.80505645e-01 -6.10963303e-03 -8.54728968e+01] [-3.30421659e-02 -3.90665475e-04 9.99453882e-01 -1.44669824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:441.54, Y:-85.48, Z:-14.47 [[ 9.80314917e-01 1.94838350e-01 3.19480831e-02 4.41542278e+02] [-1.94745874e-01 9.80835312e-01 -6.01127600e-03 -8.54763903e+01] [-3.25070351e-02 -3.28813822e-04 9.99471453e-01 -1.44680239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.034012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:441.57, Y:-85.48, Z:-14.47 [[ 9.80879438e-01 1.92012190e-01 3.17308558e-02 4.41572069e+02] [-1.91919472e-01 9.81392513e-01 -5.97090953e-03 -8.54799228e+01] [-3.22869117e-02 -2.33026686e-04 9.99478615e-01 -1.44689372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:441.60, Y:-85.49, Z:-14.47 [[ 9.81190448e-01 1.90343628e-01 3.21653126e-02 4.41603016e+02] [-1.90247401e-01 9.81717511e-01 -6.05433655e-03 -8.54855428e+01] [-3.27296550e-02 -1.78909914e-04 9.99464225e-01 -1.44696308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.094012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:441.63, Y:-85.49, Z:-14.47 [[ 9.81760983e-01 1.87393750e-01 3.20773295e-02 4.41632661e+02] [-1.87296451e-01 9.82284875e-01 -6.03850978e-03 -8.54892887e+01] [-3.26406546e-02 -7.95966705e-05 9.99467149e-01 -1.44704809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:441.66, Y:-85.49, Z:-14.47 [[ 9.81891922e-01 1.86731398e-01 3.19317682e-02 4.41663679e+02] [-1.86634615e-01 9.82411005e-01 -6.01152586e-03 -8.54941819e+01] [-3.24926611e-02 -5.69045951e-05 9.99471972e-01 -1.44719311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.154012739 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:441.70, Y:-85.50, Z:-14.47 [[ 9.81871275e-01 1.86873677e-01 3.17337026e-02 4.41695699e+02] [-1.86778128e-01 9.82383950e-01 -5.97540783e-03 -8.54999323e+01] [-3.22913265e-02 -6.00802631e-05 9.99478497e-01 -1.44732691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:441.73, Y:-85.51, Z:-14.47 [[ 9.81801353e-01 1.87264233e-01 3.15944497e-02 4.41726237e+02] [-1.87169551e-01 9.82309576e-01 -5.95455751e-03 -8.55055044e+01] [-3.21506061e-02 -6.73263455e-05 9.99483033e-01 -1.44745063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.214012739 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:441.76, Y:-85.51, Z:-14.47 [[ 9.81573037e-01 1.88374999e-01 3.20816735e-02 4.41757757e+02] [-1.88277812e-01 9.82097169e-01 -6.05109865e-03 -8.55090699e+01] [-3.26471964e-02 -1.00672012e-04 9.99466933e-01 -1.44746712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:441.79, Y:-85.51, Z:-14.48 [[ 9.81385259e-01 1.89261489e-01 3.26046268e-02 4.41787381e+02] [-1.89161574e-01 9.81926714e-01 -6.15039377e-03 -8.55129433e+01] [-3.31793867e-02 -1.31636728e-04 9.99449404e-01 -1.44750375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.274012739 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:441.82, Y:-85.52, Z:-14.48 [[ 9.80977708e-01 1.91274449e-01 3.31183058e-02 4.41818137e+02] [-1.91172519e-01 9.81536573e-01 -6.24694101e-03 -8.55168935e+01] [-3.37017085e-02 -2.03200046e-04 9.99431915e-01 -1.44757093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:441.85, Y:-85.52, Z:-14.48 [[ 9.80783122e-01 1.92381290e-01 3.24639203e-02 4.41847386e+02] [-1.92283953e-01 9.81320225e-01 -6.12355450e-03 -8.55223775e+01] [-3.30355589e-02 -2.36412029e-04 9.99454149e-01 -1.44772459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.334012739 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:441.88, Y:-85.53, Z:-14.48 [[ 9.80681574e-01 1.93005930e-01 3.18176375e-02 4.41877609e+02] [-1.92912748e-01 9.81197558e-01 -6.00201089e-03 -8.55275519e+01] [-3.23778119e-02 -2.51966403e-04 9.99475669e-01 -1.44780885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:441.91, Y:-85.53, Z:-14.48 [[ 9.80556287e-01 1.93684026e-01 3.15573489e-02 4.41905960e+02] [-1.93592717e-01 9.81063925e-01 -5.95281289e-03 -8.55309791e+01] [-3.21127413e-02 -2.72204795e-04 9.99484216e-01 -1.44798227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.394012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:441.94, Y:-85.54, Z:-14.48 [[ 9.80466279e-01 1.94214808e-01 3.10883363e-02 4.41935420e+02] [-1.94126494e-01 9.80958983e-01 -5.86327783e-03 -8.55359228e+01] [-3.16351181e-02 -2.86323536e-04 9.99499443e-01 -1.44813700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:441.96, Y:-85.54, Z:-14.48 [[ 9.80373798e-01 1.94765996e-01 3.05519619e-02 4.41964938e+02] [-1.94680994e-01 9.80849691e-01 -5.76139140e-03 -8.55416083e+01] [-3.10890055e-02 -2.99569137e-04 9.99516575e-01 -1.44825337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.454012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:441.99, Y:-85.55, Z:-14.48 [[ 9.80130028e-01 1.96076975e-01 2.99824793e-02 4.41993731e+02] [-1.95995748e-01 9.80588450e-01 -5.65326885e-03 -8.55453324e+01] [-3.05089487e-02 -3.35499900e-04 9.99534437e-01 -1.44837677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:442.02, Y:-85.55, Z:-14.48 [[ 9.79943419e-01 1.96910212e-01 3.06147696e-02 4.42023138e+02] [-1.96825964e-01 9.80421456e-01 -5.77137415e-03 -8.55493575e+01] [-3.11518195e-02 -3.70161399e-04 9.99514596e-01 -1.44848714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.514012739 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:442.05, Y:-85.55, Z:-14.49 [[ 9.79666623e-01 1.98328672e-01 3.03157715e-02 4.42052876e+02] [-1.98246763e-01 9.80135485e-01 -5.71427120e-03 -8.55528239e+01] [-3.08468673e-02 -4.11922799e-04 9.99524037e-01 -1.44856954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:442.08, Y:-85.56, Z:-14.49 [[ 9.79575802e-01 1.98803042e-01 3.01429629e-02 4.42082388e+02] [-1.98722311e-01 9.80039371e-01 -5.68096317e-03 -8.55576419e+01] [-3.06706832e-02 -4.25145205e-04 9.99529454e-01 -1.44864653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.574012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:442.11, Y:-85.56, Z:-14.49 [[ 9.79597610e-01 1.98707620e-01 3.00633524e-02 4.42110493e+02] [-1.98627293e-01 9.80058725e-01 -5.66522263e-03 -8.55614828e+01] [-3.05895737e-02 -4.21763744e-04 9.99531941e-01 -1.44873262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:442.14, Y:-85.56, Z:-14.49 [[ 9.79641036e-01 1.98454323e-01 3.03203441e-02 4.42139729e+02] [-1.98372519e-01 9.80110048e-01 -5.71286215e-03 -8.55644775e+01] [-3.08510161e-02 -4.18168844e-04 9.99523907e-01 -1.44869857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.634012739 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:442.17, Y:-85.56, Z:-14.49 [[ 9.79500419e-01 1.99069768e-01 3.08246134e-02 4.42169135e+02] [-1.98985571e-01 9.79985218e-01 -5.80640863e-03 -8.55648713e+01] [-3.13635459e-02 -4.46273590e-04 9.99507943e-01 -1.44869788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:442.20, Y:-85.57, Z:-14.49 [[ 9.79396362e-01 1.99553109e-01 3.10052098e-02 4.42198386e+02] [-1.99468211e-01 9.79886901e-01 -5.83892130e-03 -8.55677909e+01] [-3.15467738e-02 -4.65935461e-04 9.99502168e-01 -1.44875800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.694012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:442.23, Y:-85.57, Z:-14.49 [[ 9.79354564e-01 1.99742590e-01 3.11052350e-02 4.42226482e+02] [-1.99657288e-01 9.79848290e-01 -5.85621558e-03 -8.55663706e+01] [-3.16481470e-02 -4.75075405e-04 9.99498959e-01 -1.44883746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:442.26, Y:-85.57, Z:-14.49 [[ 9.79510871e-01 1.98931110e-01 3.13825867e-02 4.42255193e+02] [-1.98843923e-01 9.80013371e-01 -5.90659092e-03 -8.55675684e+01] [-3.19303593e-02 -4.54666628e-04 9.99489993e-01 -1.44891837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.754012739 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:442.29, Y:-85.57, Z:-14.49 [[ 9.80092489e-01 1.95830389e-01 3.26981916e-02 4.42285018e+02] [-1.95734051e-01 9.80637712e-01 -6.15296484e-03 -8.55672984e+01] [-3.32700173e-02 -3.69674892e-04 9.99446331e-01 -1.44901365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:442.31, Y:-85.57, Z:-14.49 [[ 9.80620896e-01 1.93133407e-01 3.28959843e-02 4.42313597e+02] [-1.93034437e-01 9.81172466e-01 -6.18856878e-03 -8.55707005e+01] [-3.34718534e-02 -2.81417925e-04 9.99439621e-01 -1.44903676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.814012739 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:442.34, Y:-85.57, Z:-14.49 [[ 9.81136433e-01 1.90543293e-01 3.26274899e-02 4.42341148e+02] [-1.90444554e-01 9.81678775e-01 -6.13641780e-03 -8.55741973e+01] [-3.31989675e-02 -1.93064673e-04 9.99448744e-01 -1.44902096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:442.37, Y:-85.58, Z:-14.49 [[ 9.81143133e-01 1.90508731e-01 3.26278349e-02 4.42369976e+02] [-1.90410034e-01 9.81685482e-01 -6.13458271e-03 -8.55795329e+01] [-3.31989634e-02 -1.93763447e-04 9.99448744e-01 -1.44910694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.874012739 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:442.40, Y:-85.58, Z:-14.49 [[ 9.81606557e-01 1.88171373e-01 3.22506006e-02 4.42397883e+02] [-1.88073725e-01 9.82136203e-01 -6.06241103e-03 -8.55826407e+01] [-3.28152547e-02 -1.14588162e-04 9.99461428e-01 -1.44915720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:442.43, Y:-85.58, Z:-14.49 [[ 9.82012443e-01 1.86175031e-01 3.14709365e-02 4.42427180e+02] [-1.86081081e-01 9.82516593e-01 -5.91402489e-03 -8.55835059e+01] [-3.20217610e-02 -4.84998441e-05 9.99487171e-01 -1.44928914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.934012739 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:442.46, Y:-85.59, Z:-14.49 [[ 9.82042981e-01 1.85935091e-01 3.19331316e-02 4.42455083e+02] [-1.85838286e-01 9.82562029e-01 -5.99927613e-03 -8.55861079e+01] [-3.24917585e-02 -4.28514357e-05 9.99472003e-01 -1.44939248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:442.48, Y:-85.59, Z:-14.49 [[ 9.81789615e-01 1.87033718e-01 3.32797194e-02 4.42484326e+02] [-1.86929277e-01 9.82353491e-01 -6.25011972e-03 -8.55861522e+01] [-3.38614317e-02 -8.46512671e-05 9.99426534e-01 -1.44945546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.994012739 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:442.51, Y:-85.59, Z:-14.50 [[ 9.81618230e-01 1.87921085e-01 3.33364241e-02 4.42513533e+02] [-1.87816853e-01 9.82184123e-01 -6.25920994e-03 -8.55890716e+01] [-3.39187440e-02 -1.16987676e-04 9.99424587e-01 -1.44955082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:442.54, Y:-85.59, Z:-14.50 [[ 9.81444676e-01 1.89012048e-01 3.22613479e-02 4.42541910e+02] [-1.88915070e-01 9.81974757e-01 -6.05587099e-03 -8.55920000e+01] [-3.28244618e-02 -1.51152432e-04 9.99461121e-01 -1.44963951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05401273900003 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:442.57, Y:-85.59, Z:-14.50 [[ 9.81227393e-01 1.90454627e-01 3.03288275e-02 4.42569565e+02] [-1.90369654e-01 9.81695981e-01 -5.69169312e-03 -8.55918739e+01] [-3.08576974e-02 -1.88843212e-04 9.99523770e-01 -1.44981735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:442.60, Y:-85.59, Z:-14.50 [[ 9.81260983e-01 1.90283781e-01 3.03144646e-02 4.42597265e+02] [-1.90198885e-01 9.81729111e-01 -5.68649270e-03 -8.55936990e+01] [-3.08426397e-02 -1.85843939e-04 9.99524235e-01 -1.44989450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.114012739 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:442.62, Y:-85.60, Z:-14.50 [[ 9.81373045e-01 1.89642759e-01 3.07013173e-02 4.42624990e+02] [-1.89555436e-01 9.81853143e-01 -5.75688695e-03 -8.55951409e+01] [-3.12359368e-02 -1.69947912e-04 9.99512025e-01 -1.44998499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:442.65, Y:-85.59, Z:-14.50 [[ 9.81871704e-01 1.86867955e-01 3.17541337e-02 4.42653856e+02] [-1.86773161e-01 9.82385036e-01 -5.95202306e-03 -8.55932128e+01] [-3.23070282e-02 -8.66968941e-05 9.99477988e-01 -1.45003416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.174012739 meters Centerline goodness : 0.997131 Centerline is valid? [True, True] Translation: X:442.68, Y:-85.59, Z:-14.50 [[ 9.82262893e-01 1.84835020e-01 3.15535233e-02 4.42681102e+02] [-1.84740444e-01 9.82769564e-01 -5.91213569e-03 -8.55946162e+01] [-3.21026120e-02 -2.19403961e-05 9.99484578e-01 -1.45011422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:442.71, Y:-85.59, Z:-14.50 [[ 9.83074858e-01 1.80764905e-01 2.97971844e-02 4.42709669e+02] [-1.80678767e-01 9.83526328e-01 -5.58071997e-03 -8.55936381e+01] [-3.03151137e-02 1.02546943e-04 9.99540386e-01 -1.45026831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.234012739 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:442.74, Y:-85.60, Z:-14.50 [[ 9.83488455e-01 1.78672448e-01 2.87509242e-02 4.42736595e+02] [-1.78591418e-01 9.83908599e-01 -5.38277262e-03 -8.55955970e+01] [-2.92500347e-02 1.59226399e-04 9.99572114e-01 -1.45041612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:442.76, Y:-85.60, Z:-14.51 [[ 9.83828060e-01 1.76756822e-01 2.89719526e-02 4.42764697e+02] [-1.76673783e-01 9.84254530e-01 -5.42171699e-03 -8.55977851e+01] [-2.94741011e-02 2.15452839e-04 9.99565521e-01 -1.45051534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.294012739 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:442.79, Y:-85.60, Z:-14.50 [[ 9.84437826e-01 1.73100007e-01 3.03076677e-02 4.42791861e+02] [-1.73007469e-01 9.84904195e-01 -5.66942642e-03 -8.55974360e+01] [-3.08315268e-02 3.37744939e-04 9.99524538e-01 -1.45044661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:442.82, Y:-85.60, Z:-14.51 [[ 9.84701285e-01 1.71560155e-01 3.05039675e-02 4.42819854e+02] [-1.71465752e-01 9.85173571e-01 -5.70364877e-03 -8.56004124e+01] [-3.10302214e-02 3.86004532e-04 9.99518372e-01 -1.45053636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.354012739 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:442.85, Y:-85.60, Z:-14.51 [[ 9.84940347e-01 1.70188256e-01 3.04708118e-02 4.42846998e+02] [-1.70093469e-01 9.85411475e-01 -5.69530627e-03 -8.56036499e+01] [-3.09955618e-02 4.26650870e-04 9.99519431e-01 -1.45065539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:442.87, Y:-85.61, Z:-14.51 [[ 9.85448263e-01 1.67286834e-01 3.01137376e-02 4.42874785e+02] [-1.67192974e-01 9.85908138e-01 -5.62617026e-03 -8.56068653e+01] [-3.06305632e-02 5.09494352e-04 9.99530644e-01 -1.45081372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.414012739 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:442.90, Y:-85.61, Z:-14.51 [[ 9.85792090e-01 1.65138861e-01 3.07101359e-02 4.42902258e+02] [-1.65040271e-01 9.86270152e-01 -5.73543877e-03 -8.56112448e+01] [-3.12356342e-02 5.85541017e-04 9.99511877e-01 -1.45088996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:442.93, Y:-85.62, Z:-14.51 [[ 9.86530348e-01 1.60336168e-01 3.24065686e-02 4.42931296e+02] [-1.60223864e-01 9.87062162e-01 -6.05000184e-03 -8.56153655e+01] [-3.29573318e-02 7.76204777e-04 9.99456458e-01 -1.45089685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.474012739 meters Centerline goodness : 0.997429 Centerline is valid? [True, True] Translation: X:442.96, Y:-85.62, Z:-14.51 [[ 9.86886594e-01 1.58027069e-01 3.28982607e-02 4.42959536e+02] [-1.57910102e-01 9.87434402e-01 -6.14021625e-03 -8.56210833e+01] [-3.34551947e-02 8.64729414e-04 9.99439844e-01 -1.45103021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:442.99, Y:-85.63, Z:-14.51 [[ 9.87266839e-01 1.55628495e-01 3.29235357e-02 4.42986192e+02] [-1.55510069e-01 9.87815204e-01 -6.14331862e-03 -8.56272872e+01] [-3.34784446e-02 9.45153466e-04 9.99438993e-01 -1.45117281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.534012739 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:443.01, Y:-85.64, Z:-14.51 [[ 9.88019798e-01 1.50961713e-01 3.20536969e-02 4.43014145e+02] [-1.50847067e-01 9.88539029e-01 -5.97920946e-03 -8.56367888e+01] [-3.25889621e-02 1.07237116e-03 9.99468263e-01 -1.45131354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:443.04, Y:-85.64, Z:-14.51 [[ 9.88434982e-01 1.48257140e-01 3.18764311e-02 4.43041615e+02] [-1.48142403e-01 9.88948173e-01 -5.94463313e-03 -8.56438963e+01] [-3.24054726e-02 1.15363223e-03 9.99474139e-01 -1.45139084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.594012739 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:443.07, Y:-85.65, Z:-14.52 [[ 9.88794239e-01 1.45873383e-01 3.17318282e-02 4.43069098e+02] [-1.45758516e-01 9.89302510e-01 -5.91590875e-03 -8.56514414e+01] [-3.22553509e-02 1.22443230e-03 9.99478911e-01 -1.45151352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:443.10, Y:-85.66, Z:-14.52 [[ 9.89441420e-01 1.41908548e-01 2.94557248e-02 4.43097118e+02] [-1.41807847e-01 9.89878976e-01 -5.49063514e-03 -8.56639159e+01] [-2.99367707e-02 1.25560891e-03 9.99551006e-01 -1.45163944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.654012739 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:443.12, Y:-85.67, Z:-14.52 [[ 9.89617903e-01 1.40922638e-01 2.82350251e-02 4.43124227e+02] [-1.40829729e-01 9.90019845e-01 -5.26248205e-03 -8.56733152e+01] [-2.86948380e-02 1.23151551e-03 9.99587460e-01 -1.45175584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:443.15, Y:-85.69, Z:-14.52 [[ 9.89512125e-01 1.41650865e-01 2.82981733e-02 4.43151586e+02] [-1.41557865e-01 9.89915938e-01 -5.27327722e-03 -8.56876206e+01] [-2.87597770e-02 1.21214275e-03 9.99585617e-01 -1.45185915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.714012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:443.18, Y:-85.70, Z:-14.52 [[ 9.89300935e-01 1.42957457e-01 2.91002677e-02 4.43179234e+02] [-1.42859694e-01 9.89728099e-01 -5.42205038e-03 -8.56967225e+01] [-2.95764752e-02 1.20678417e-03 9.99561792e-01 -1.45183138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:443.21, Y:-85.71, Z:-14.52 [[ 9.89051840e-01 1.44464475e-01 3.01077085e-02 4.43207767e+02] [-1.44360553e-01 9.89509259e-01 -5.60870204e-03 -8.57056303e+01] [-3.06021146e-02 1.20093162e-03 9.99530924e-01 -1.45185255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.774012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:443.24, Y:-85.72, Z:-14.52 [[ 9.88515341e-01 1.48154292e-01 2.97947553e-02 4.43236884e+02] [-1.48054211e-01 9.88963675e-01 -5.54976013e-03 -8.57185510e+01] [-3.02881515e-02 1.07478402e-03 9.99540631e-01 -1.45190569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:443.27, Y:-85.73, Z:-14.52 [[ 9.88194009e-01 1.50433534e-01 2.90233142e-02 4.43265734e+02] [-1.50339552e-01 9.88619641e-01 -5.40606902e-03 -8.57279249e+01] [-2.95062725e-02 9.78892966e-04 9.99564116e-01 -1.45206094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.834012739 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:443.29, Y:-85.74, Z:-14.52 [[ 9.87856322e-01 1.52779350e-01 2.82552069e-02 4.43294663e+02] [-1.52691227e-01 9.88259929e-01 -5.26332684e-03 -8.57372854e+01] [-2.87276164e-02 8.85088501e-04 9.99586885e-01 -1.45223712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:443.32, Y:-85.75, Z:-14.52 [[ 9.87273359e-01 1.56810191e-01 2.64929882e-02 4.43321850e+02] [-1.56734167e-01 9.87628496e-01 -4.93509262e-03 -8.57498715e+01] [-2.69391029e-02 7.19929028e-04 9.99636817e-01 -1.45241713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.894012739 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:443.35, Y:-85.76, Z:-14.53 [[ 9.86991958e-01 1.58648878e-01 2.60270747e-02 4.43349555e+02] [-1.58576151e-01 9.87334847e-01 -4.84804823e-03 -8.57577711e+01] [-2.64665752e-02 6.57711291e-04 9.99649482e-01 -1.45250169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:443.38, Y:-85.76, Z:-14.53 [[ 9.86695939e-01 1.60419567e-01 2.63948141e-02 4.43377049e+02] [-1.60345426e-01 9.87048723e-01 -4.91564995e-03 -8.57648852e+01] [-2.68415340e-02 6.17964130e-04 9.99639510e-01 -1.45254887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.954012739 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:443.41, Y:-85.77, Z:-14.53 [[ 9.86032520e-01 1.64104040e-01 2.84558116e-02 4.43405271e+02] [-1.64019428e-01 9.86442879e-01 -5.29846175e-03 -8.57730764e+01] [-2.89395317e-02 5.57149657e-04 9.99581009e-01 -1.45256223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:443.43, Y:-85.78, Z:-14.53 [[ 9.85652047e-01 1.66169249e-01 2.96280665e-02 4.43433476e+02] [-1.66078493e-01 9.86097112e-01 -5.51537411e-03 -8.57799905e+01] [-3.01326364e-02 5.15655133e-04 9.99545776e-01 -1.45263347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.014012739 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:443.46, Y:-85.79, Z:-14.53 [[ 9.85244270e-01 1.68447225e-01 3.03193150e-02 4.43462493e+02] [-1.68353303e-01 9.85710569e-01 -5.64271033e-03 -8.57864041e+01] [-3.08365681e-02 4.55091212e-04 9.99524336e-01 -1.45269348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:443.49, Y:-85.79, Z:-14.53 [[ 9.84425739e-01 1.73165762e-01 3.03246277e-02 4.43492066e+02] [-1.73074065e-01 9.84892646e-01 -5.64296694e-03 -8.57922365e+01] [-3.08436715e-02 3.06675311e-04 9.99524174e-01 -1.45280584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.074012739 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:443.52, Y:-85.80, Z:-14.53 [[ 9.84010324e-01 1.75602640e-01 2.97891890e-02 4.43519948e+02] [-1.75515291e-01 9.84461102e-01 -5.54261251e-03 -8.57974462e+01] [-3.02995952e-02 2.25529756e-04 9.99540836e-01 -1.45289038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:443.55, Y:-85.80, Z:-14.53 [[ 9.83352590e-01 1.79388051e-01 2.89415073e-02 4.43548849e+02] [-1.79307272e-01 9.83778388e-01 -5.38387891e-03 -8.58033808e+01] [-2.94378330e-02 1.04828540e-04 9.99566608e-01 -1.45300713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.134012739 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:443.58, Y:-85.81, Z:-14.53 [[ 9.83211891e-01 1.80141093e-01 2.90441750e-02 4.43575914e+02] [-1.80060088e-01 9.83640778e-01 -5.40227286e-03 -8.58075790e+01] [-2.95422063e-02 8.18821899e-05 9.99563530e-01 -1.45310222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:443.60, Y:-85.81, Z:-14.53 [[ 9.83063458e-01 1.80887737e-01 2.94255746e-02 4.43604177e+02] [-1.80804979e-01 9.83503748e-01 -5.47144549e-03 -8.58118353e+01] [-2.99298803e-02 5.84877453e-05 9.99551999e-01 -1.45318872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.194012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:443.63, Y:-85.82, Z:-14.53 [[ 9.82928799e-01 1.81235970e-01 3.16938516e-02 4.43632016e+02] [-1.81140190e-01 9.83439638e-01 -5.89159268e-03 -8.58173667e+01] [-3.22367585e-02 4.99858086e-05 9.99480259e-01 -1.45326936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:443.66, Y:-85.82, Z:-14.53 [[ 9.82938881e-01 1.81046636e-01 3.24541388e-02 4.43659856e+02] [-1.80946153e-01 9.83474510e-01 -6.03137052e-03 -8.58237808e+01] [-3.30097776e-02 5.60170347e-05 9.99455027e-01 -1.45332234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.254012739 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:443.69, Y:-85.83, Z:-14.53 [[ 9.83067755e-01 1.80420723e-01 3.20336201e-02 4.43688202e+02] [-1.80322533e-01 9.83589527e-01 -5.95205655e-03 -8.58301346e+01] [-3.25818076e-02 7.48913607e-05 9.99469069e-01 -1.45342815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:443.72, Y:-85.84, Z:-14.54 [[ 9.83511483e-01 1.78517406e-01 2.89257567e-02 4.43717466e+02] [-1.78436558e-01 9.83936746e-01 -5.37345678e-03 -8.58376404e+01] [-2.94203705e-02 1.23443966e-04 9.99567120e-01 -1.45367218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.314012739 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:443.75, Y:-85.84, Z:-14.54 [[ 9.83756202e-01 1.77417023e-01 2.73301271e-02 4.43746316e+02] [-1.77344426e-01 9.84135752e-01 -5.07705980e-03 -8.58449831e+01] [-2.77973120e-02 1.47743363e-04 9.99613569e-01 -1.45379939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:443.77, Y:-85.86, Z:-14.54 [[ 9.84078739e-01 1.75624634e-01 2.72951055e-02 4.43774787e+02] [-1.75551542e-01 9.84457185e-01 -5.07022887e-03 -8.58561584e+01] [-2.77613198e-02 1.97806573e-04 9.99614561e-01 -1.45394805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.374012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:443.80, Y:-85.86, Z:-14.54 [[ 9.84107037e-01 1.75300444e-01 2.83389144e-02 4.43802392e+02] [-1.75221539e-01 9.84514961e-01 -5.26344703e-03 -8.58633931e+01] [-2.88227698e-02 2.14207052e-04 9.99584515e-01 -1.45399937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:443.83, Y:-85.87, Z:-14.54 [[ 9.84036943e-01 1.75598371e-01 2.89224445e-02 4.43830603e+02] [-1.75516341e-01 9.84461867e-01 -5.37080654e-03 -8.58698799e+01] [-2.94161486e-02 2.08710405e-04 9.99567230e-01 -1.45407308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.434012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:443.86, Y:-85.88, Z:-14.54 [[ 9.83526347e-01 1.78329173e-01 2.95741707e-02 4.43859110e+02] [-1.78244668e-01 9.83970878e-01 -5.49080393e-03 -8.58789790e+01] [-3.00792932e-02 1.28912093e-04 9.99547507e-01 -1.45417026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:443.89, Y:-85.89, Z:-14.54 [[ 9.83199728e-01 1.80101958e-01 2.96914217e-02 4.43888476e+02] [-1.80017609e-01 9.83647945e-01 -5.51191173e-03 -8.58866417e+01] [-3.01986120e-02 7.43313648e-05 9.99543915e-01 -1.45429394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.494012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:443.92, Y:-85.89, Z:-14.54 [[ 9.82620182e-01 1.83272655e-01 2.94739249e-02 4.43916630e+02] [-1.83190963e-01 9.83062121e-01 -5.47152770e-03 -8.58947402e+01] [-2.99774805e-02 -2.29231311e-05 9.99550574e-01 -1.45433826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:443.95, Y:-85.90, Z:-14.54 [[ 9.82421461e-01 1.84322514e-01 2.95513677e-02 4.43945546e+02] [-1.84240877e-01 9.82865814e-01 -5.48555237e-03 -8.59009824e+01] [-3.00561399e-02 -5.54455426e-05 9.99548211e-01 -1.45446789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.554012739 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:443.97, Y:-85.91, Z:-14.55 [[ 9.82297065e-01 1.85056706e-01 2.90945296e-02 4.43974802e+02] [-1.84977897e-01 9.82727841e-01 -5.40075057e-03 -8.59079352e+01] [-2.95914494e-02 -7.67034750e-05 9.99562074e-01 -1.45456979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:444.00, Y:-85.92, Z:-14.55 [[ 9.82215501e-01 1.85607585e-01 2.83290328e-02 4.44003356e+02] [-1.85533097e-01 9.82623944e-01 -5.25865912e-03 -8.59175867e+01] [-2.88128330e-02 -9.08367039e-05 9.99584820e-01 -1.45469080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.614012739 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:444.03, Y:-85.92, Z:-14.55 [[ 9.82091116e-01 1.86197553e-01 2.87665072e-02 4.44032062e+02] [-1.86121010e-01 9.82512320e-01 -5.33951364e-03 -8.59243202e+01] [-2.92576521e-02 -1.10162475e-04 9.99571897e-01 -1.45471679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:444.06, Y:-85.93, Z:-14.55 [[ 9.81941035e-01 1.86903477e-01 2.93068819e-02 4.44060702e+02] [-1.86824367e-01 9.82378273e-01 -5.43910783e-03 -8.59304237e+01] [-2.98070322e-02 -1.34356484e-04 9.99555663e-01 -1.45478539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.674012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:444.09, Y:-85.94, Z:-14.55 [[ 9.81492744e-01 1.89094454e-01 3.02536044e-02 4.44090687e+02] [-1.89011199e-01 9.81958881e-01 -5.61445794e-03 -8.59375841e+01] [-3.07694584e-02 -2.07720323e-04 9.99526487e-01 -1.45488354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:444.12, Y:-85.94, Z:-14.55 [[ 9.81286145e-01 1.90107264e-01 3.06060486e-02 4.44119585e+02] [-1.90022552e-01 9.81763296e-01 -5.67984287e-03 -8.59438725e+01] [-3.11276746e-02 -2.42288336e-04 9.99515387e-01 -1.45493221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.734012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:444.15, Y:-85.95, Z:-14.55 [[ 9.81288305e-01 1.90096101e-01 3.06061150e-02 4.44149239e+02] [-1.90011394e-01 9.81765458e-01 -5.67948543e-03 -8.59493352e+01] [-3.11276745e-02 -2.42297937e-04 9.99515387e-01 -1.45502063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:444.18, Y:-85.96, Z:-14.55 [[ 9.80978860e-01 1.91561710e-01 3.13781272e-02 4.44178566e+02] [-1.91473437e-01 9.81480526e-01 -5.82233773e-03 -8.59565256e+01] [-3.19123577e-02 -2.96487612e-04 9.99490627e-01 -1.45509312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.794012739 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:444.21, Y:-85.96, Z:-14.55 [[ 9.80890121e-01 1.92130786e-01 3.06648141e-02 4.44207999e+02] [-1.92046780e-01 9.81369281e-01 -5.68931676e-03 -8.59630075e+01] [-3.11865995e-02 -3.08484202e-04 9.99513532e-01 -1.45517797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:444.24, Y:-85.97, Z:-14.55 [[ 9.80758423e-01 1.92977703e-01 2.95384674e-02 4.44237512e+02] [-1.92900139e-01 9.81203089e-01 -5.48038282e-03 -8.59696520e+01] [-3.00408272e-02 -3.23042852e-04 9.99548620e-01 -1.45532917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.854012739 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:444.27, Y:-85.98, Z:-14.55 [[ 9.80631179e-01 1.93796081e-01 2.83825717e-02 4.44266469e+02] [-1.93724768e-01 9.81041777e-01 -5.26746146e-03 -8.59759269e+01] [-2.88653020e-02 -3.32970176e-04 9.99583255e-01 -1.45545922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:444.30, Y:-85.98, Z:-14.56 [[ 9.80147193e-01 1.96345656e-01 2.75656152e-02 4.44295060e+02] [-1.96279386e-01 9.80534664e-01 -5.11625616e-03 -8.59814096e+01] [-2.80335959e-02 -3.95877889e-04 9.99606903e-01 -1.45553354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.914012739 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:444.32, Y:-85.99, Z:-14.56 [[ 9.79779728e-01 1.98122424e-01 2.79139574e-02 4.44322060e+02] [-1.98055216e-01 9.80177178e-01 -5.17993571e-03 -8.59858879e+01] [-2.83868854e-02 -4.53308864e-04 9.99596908e-01 -1.45559921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:444.35, Y:-85.99, Z:-14.56 [[ 9.79322286e-01 2.00295301e-01 2.84543847e-02 4.44350770e+02] [-2.00226427e-01 9.79735431e-01 -5.27865551e-03 -8.59901762e+01] [-2.89350588e-02 -5.27814788e-04 9.99581154e-01 -1.45567968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.974012739 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:444.38, Y:-85.99, Z:-14.56 [[ 9.78167630e-01 2.05806346e-01 2.88415750e-02 4.44379250e+02] [-2.05738015e-01 9.78592487e-01 -5.34911786e-03 -8.59933427e+01] [-2.93250310e-02 -7.01474467e-04 9.99569683e-01 -1.45584853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:444.41, Y:-86.00, Z:-14.56 [[ 9.77601254e-01 2.08408753e-01 2.93526656e-02 4.44406858e+02] [-2.08339192e-01 9.78041492e-01 -5.44251220e-03 -8.59968328e+01] [-2.98423921e-02 -7.94703897e-04 9.99554301e-01 -1.45592217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.034012739 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:444.43, Y:-86.00, Z:-14.56 [[ 9.76621263e-01 2.12797088e-01 3.04681457e-02 4.44434466e+02] [-2.12724327e-01 9.77095935e-01 -5.64752516e-03 -8.59978364e+01] [-3.09720782e-02 -9.65822617e-04 9.99519783e-01 -1.45604586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:444.46, Y:-86.00, Z:-14.56 [[ 9.76464118e-01 2.13524815e-01 3.04134683e-02 4.44463351e+02] [-2.13452719e-01 9.76937140e-01 -5.63566900e-03 -8.60009068e+01] [-3.09154019e-02 -9.88808949e-04 9.99521516e-01 -1.45607747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.094012739 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:444.49, Y:-86.00, Z:-14.56 [[ 9.76526649e-01 2.13274344e-01 3.01621854e-02 4.44492167e+02] [-2.13203357e-01 9.76991866e-01 -5.58774398e-03 -8.60040658e+01] [-3.06599322e-02 -9.74098286e-04 9.99529399e-01 -1.45616907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:444.52, Y:-86.00, Z:-14.56 [[ 9.77028810e-01 2.10929775e-01 3.03864166e-02 4.44520452e+02] [-2.10856640e-01 9.77500795e-01 -5.62787568e-03 -8.60048306e+01] [-3.08898330e-02 -9.08581021e-04 9.99522382e-01 -1.45625337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.154012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:444.55, Y:-86.01, Z:-14.56 [[ 9.77258049e-01 2.09802530e-01 3.08156490e-02 4.44548673e+02] [-2.09726808e-01 9.77743377e-01 -5.70563514e-03 -8.60079823e+01] [-3.13268534e-02 -8.86989834e-04 9.99508800e-01 -1.45633625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:444.58, Y:-86.01, Z:-14.56 [[ 9.77506389e-01 2.08577073e-01 3.12548278e-02 4.44577292e+02] [-2.08498597e-01 9.78005554e-01 -5.78551631e-03 -8.60110753e+01] [-3.17741213e-02 -8.61208609e-04 9.99494704e-01 -1.45637293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.214012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:444.61, Y:-86.01, Z:-14.57 [[ 9.78142046e-01 2.05485515e-01 3.18408764e-02 4.44605841e+02] [-2.05402482e-01 9.78659849e-01 -5.89240021e-03 -8.60121529e+01] [-3.23721902e-02 -7.76590655e-04 9.99475582e-01 -1.45653522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:444.63, Y:-86.02, Z:-14.57 [[ 9.78396276e-01 2.03827680e-01 3.45688235e-02 4.44632921e+02] [-2.03966617e-01 9.78977714e-01 5.03982770e-04 -8.60192979e+01] [-3.37393821e-02 -7.54398085e-03 9.99402193e-01 -1.45670238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.274012739 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:444.66, Y:-86.02, Z:-14.57 [[ 9.79390252e-01 1.99752883e-01 2.98917887e-02 4.44662937e+02] [-1.99464573e-01 9.79827020e-01 -1.23650610e-02 -8.60151251e+01] [-3.17587388e-02 6.14786732e-03 9.99476656e-01 -1.45679478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:444.69, Y:-86.02, Z:-14.57 [[ 9.80005513e-01 1.96471738e-01 3.14332727e-02 4.44690067e+02] [-1.96386214e-01 9.80509374e-01 -5.81575573e-03 -8.60241469e+01] [-3.19632502e-02 -4.73588747e-04 9.99488933e-01 -1.45688186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.334012739 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:444.72, Y:-86.03, Z:-14.57 [[ 9.80648146e-01 1.93258656e-01 3.13098301e-02 4.44718563e+02] [-1.93172209e-01 9.81147775e-01 -5.79153332e-03 -8.60300385e+01] [-3.18388341e-02 -3.68732625e-04 9.99492948e-01 -1.45692071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:444.75, Y:-86.04, Z:-14.57 [[ 9.81667437e-01 1.88079187e-01 3.09073148e-02 4.44747618e+02] [-1.87992423e-01 9.82153847e-01 -5.71570736e-03 -8.60374155e+01] [-3.14307438e-02 -1.99417206e-04 9.99505912e-01 -1.45694178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.394012739 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:444.78, Y:-86.04, Z:-14.57 [[ 9.81852960e-01 1.87106198e-01 3.09198284e-02 4.44775505e+02] [-1.87018906e-01 9.82339678e-01 -5.71724638e-03 -8.60435975e+01] [-3.14435065e-02 -1.69097192e-04 9.99505516e-01 -1.45698704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:444.81, Y:-86.05, Z:-14.57 [[ 9.81865593e-01 1.87064562e-01 3.07702107e-02 4.44805003e+02] [-1.86978126e-01 9.82347607e-01 -5.68849663e-03 -8.60494814e+01] [-3.12911590e-02 -1.68017232e-04 9.99510298e-01 -1.45707244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.454012739 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:444.83, Y:-86.05, Z:-14.57 [[ 9.81413242e-01 1.89474010e-01 3.04573006e-02 4.44833022e+02] [-1.89390506e-01 9.81885706e-01 -5.62988594e-03 -8.60549348e+01] [-3.09723052e-02 -2.43078959e-04 9.99520214e-01 -1.45718734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:444.86, Y:-86.06, Z:-14.57 [[ 9.81002287e-01 1.91629255e-01 3.02116012e-02 4.44862190e+02] [-1.91548148e-01 9.81467337e-01 -5.58338418e-03 -8.60599118e+01] [-3.07216395e-02 -3.09663610e-04 9.99527931e-01 -1.45725561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.514012739 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:444.89, Y:-86.06, Z:-14.57 [[ 9.80072365e-01 1.96447175e-01 2.94392023e-02 4.44889934e+02] [-1.96372355e-01 9.80514307e-01 -5.43991253e-03 -8.60634921e+01] [-2.99342145e-02 -4.49537560e-04 9.99551770e-01 -1.45739856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:444.92, Y:-86.07, Z:-14.58 [[ 9.79749596e-01 1.98048983e-01 2.94504659e-02 4.44918872e+02] [-1.97974882e-01 9.80191997e-01 -5.44021126e-03 -8.60678711e+01] [-2.99445393e-02 -5.00407734e-04 9.99551436e-01 -1.45752399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.574012739 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:444.95, Y:-86.07, Z:-14.58 [[ 9.79544772e-01 1.99069777e-01 2.93813586e-02 4.44946228e+02] [-1.98996526e-01 9.79985174e-01 -5.42600433e-03 -8.60722576e+01] [-2.98734493e-02 -5.31774134e-04 9.99553547e-01 -1.45761290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:444.97, Y:-86.08, Z:-14.58 [[ 9.79541691e-01 1.99065708e-01 2.95113486e-02 4.44974217e+02] [-1.98991859e-01 9.79985998e-01 -5.44822228e-03 -8.60770758e+01] [-3.00052626e-02 -5.35757250e-04 9.99549597e-01 -1.45770125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.634012739 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:445.00, Y:-86.08, Z:-14.58 [[ 9.79802056e-01 1.97755217e-01 2.96783648e-02 4.45001012e+02] [-1.97679972e-01 9.80251307e-01 -5.47760275e-03 -8.60826879e+01] [-3.01754804e-02 -4.99851900e-04 9.99544492e-01 -1.45771773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:445.03, Y:-86.09, Z:-14.58 [[ 9.79889871e-01 1.96852895e-01 3.26309424e-02 4.45028935e+02] [-1.96971977e-01 9.80409018e-01 4.44081254e-04 -8.60918690e+01] [-3.19042515e-02 -6.86253194e-03 9.99467370e-01 -1.45782849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.694012739 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:445.06, Y:-86.09, Z:-14.58 [[ 9.79855932e-01 1.97487508e-01 2.96822598e-02 4.45057692e+02] [-1.97213701e-01 9.80288124e-01 -1.19142938e-02 -8.60890495e+01] [-3.14500909e-02 5.82054310e-03 9.99488376e-01 -1.45787320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:445.09, Y:-86.10, Z:-14.58 [[ 9.79615662e-01 1.98428889e-01 3.12910640e-02 4.45085985e+02] [-1.98345753e-01 9.80115131e-01 -5.77002455e-03 -8.60971324e+01] [-3.18137848e-02 -5.54043224e-04 9.99493660e-01 -1.45795954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.754012739 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:445.11, Y:-86.10, Z:-14.58 [[ 9.79260921e-01 2.00235342e-01 3.08845754e-02 4.45113162e+02] [-2.00155296e-01 9.79747641e-01 -5.69362053e-03 -8.61006707e+01] [-3.13991539e-02 -6.06171232e-04 9.99506741e-01 -1.45797836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:445.14, Y:-86.10, Z:-14.58 [[ 9.78314963e-01 2.04945443e-01 2.99532867e-02 4.45142005e+02] [-2.04872407e-01 9.78773122e-01 -5.52025377e-03 -8.61014441e+01] [-3.04488228e-02 -7.36055093e-04 9.99536056e-01 -1.45812401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.814012739 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:445.17, Y:-86.10, Z:-14.58 [[ 9.77879316e-01 2.07066623e-01 2.95881289e-02 4.45170817e+02] [-2.06996371e-01 9.78326522e-01 -5.45150771e-03 -8.61044370e+01] [-3.00756765e-02 -7.93718682e-04 9.99547309e-01 -1.45824127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:445.20, Y:-86.11, Z:-14.58 [[ 9.77638411e-01 2.08242496e-01 2.92950558e-02 4.45198440e+02] [-2.08174199e-01 9.78076881e-01 -5.39607890e-03 -8.61079716e+01] [-2.97765098e-02 -8.23060765e-04 9.99556243e-01 -1.45840949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.874012739 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:445.23, Y:-86.11, Z:-14.59 [[ 9.77805205e-01 2.07601189e-01 2.82617582e-02 4.45225918e+02] [-2.07537405e-01 9.78213240e-01 -5.20408331e-03 -8.61106398e+01] [-2.87263999e-02 -7.76792212e-04 9.99587010e-01 -1.45857093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:445.25, Y:-86.11, Z:-14.59 [[ 9.78004187e-01 2.06627184e-01 2.85134477e-02 4.45252384e+02] [-2.06561895e-01 9.78419457e-01 -5.24868965e-03 -8.61134759e+01] [-2.89826340e-02 -7.56551338e-04 9.99579629e-01 -1.45864121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.934012739 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:445.28, Y:-86.12, Z:-14.59 [[ 9.78117633e-01 2.06019140e-01 2.90173952e-02 4.45279890e+02] [-2.05951329e-01 9.78547672e-01 -5.33897264e-03 -8.61161074e+01] [-2.94948350e-02 -7.54027817e-04 9.99564648e-01 -1.45867155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:445.31, Y:-86.12, Z:-14.59 [[ 9.78364483e-01 2.04779914e-01 2.94639554e-02 4.45308734e+02] [-2.04709502e-01 9.78807772e-01 -5.41899487e-03 -8.61156010e+01] [-2.99492499e-02 -7.29799538e-04 9.99551154e-01 -1.45875361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.994012739 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:445.34, Y:-86.12, Z:-14.59 [[ 9.78532094e-01 2.03994902e-01 2.93431756e-02 4.45337036e+02] [-2.03924765e-01 9.78971697e-01 -5.39502949e-03 -8.61172338e+01] [-2.98266970e-02 -7.04590707e-04 9.99554837e-01 -1.45887691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:445.37, Y:-86.12, Z:-14.59 [[ 9.78775399e-01 2.02794318e-01 2.95496775e-02 4.45365992e+02] [-2.02722709e-01 9.79221124e-01 -5.43085997e-03 -8.61157824e+01] [-3.00370160e-02 -6.74798538e-04 9.99548559e-01 -1.45896954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.054012739 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:445.39, Y:-86.12, Z:-14.59 [[ 9.78937110e-01 2.02080244e-01 2.90810773e-02 4.45393235e+02] [-2.02010634e-01 9.79368756e-01 -5.34268309e-03 -8.61186749e+01] [-2.95607492e-02 -6.44536121e-04 9.99562778e-01 -1.45902621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:445.42, Y:-86.12, Z:-14.59 [[ 9.79143065e-01 2.01132476e-01 2.87155895e-02 4.45420712e+02] [-2.01064285e-01 9.79563859e-01 -5.27253978e-03 -8.61220991e+01] [-2.91892326e-02 -6.11108707e-04 9.99573717e-01 -1.45912759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.114012739 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:445.45, Y:-86.12, Z:-14.59 [[ 9.79782863e-01 1.98056386e-01 2.82703052e-02 4.45449023e+02] [-1.97989069e-01 9.80190494e-01 -5.18881915e-03 -8.61233983e+01] [-2.87379632e-02 -5.13295333e-04 9.99586848e-01 -1.45917948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:445.48, Y:-86.13, Z:-14.59 [[ 9.80185062e-01 1.96009998e-01 2.85889009e-02 4.45475491e+02] [-1.95940347e-01 9.80601789e-01 -5.24517301e-03 -8.61266729e+01] [-2.90624337e-02 -4.60478922e-04 9.99577492e-01 -1.45928690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.174012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:445.50, Y:-86.13, Z:-14.59 [[ 9.80603959e-01 1.93841532e-01 2.90058041e-02 4.45502761e+02] [-1.93768960e-01 9.81032771e-01 -5.31914843e-03 -8.61302084e+01] [-2.94867162e-02 -4.04446484e-04 9.99565090e-01 -1.45933743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:445.53, Y:-86.13, Z:-14.59 [[ 9.80952180e-01 1.91973924e-01 2.96451305e-02 4.45530323e+02] [-1.91897338e-01 9.81399961e-01 -5.43392493e-03 -8.61334641e+01] [-3.01369018e-02 -3.58401130e-04 9.99545716e-01 -1.45943182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.234012739 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:445.56, Y:-86.13, Z:-14.59 [[ 9.81298645e-01 1.89927056e-01 3.13158476e-02 4.45557187e+02] [-1.89840629e-01 9.81798154e-01 -5.73770272e-03 -8.61348530e+01] [-3.18355863e-02 -3.14620302e-04 9.99493070e-01 -1.45941391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:445.58, Y:-86.14, Z:-14.59 [[ 9.81279024e-01 1.89945435e-01 3.18152213e-02 4.45584933e+02] [-1.89856326e-01 9.81794595e-01 -5.82647465e-03 -8.61380267e+01] [-3.23427245e-02 -3.22923671e-04 9.99476785e-01 -1.45944898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.294012739 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:445.61, Y:-86.14, Z:-14.60 [[ 9.81322833e-01 1.89728045e-01 3.17610959e-02 4.45612620e+02] [-1.89639200e-01 9.81836630e-01 -5.81427670e-03 -8.61399310e+01] [-3.22873388e-02 -3.17466340e-04 9.99478578e-01 -1.45964334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:445.64, Y:-86.14, Z:-14.60 [[ 9.81537834e-01 1.88779750e-01 3.07520233e-02 4.45639890e+02] [-1.88696066e-01 9.82019413e-01 -5.62732870e-03 -8.61434843e+01] [-3.12614096e-02 -2.79349788e-04 9.99511204e-01 -1.45975574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.354012739 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:445.67, Y:-86.15, Z:-14.60 [[ 9.81805931e-01 1.87556437e-01 2.96596803e-02 4.45667821e+02] [-1.87478109e-01 9.82253800e-01 -5.42500156e-03 -8.61473661e+01] [-3.01508277e-02 -2.34242071e-04 9.99545333e-01 -1.45984433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:445.69, Y:-86.15, Z:-14.60 [[ 9.82328913e-01 1.84853418e-01 2.93107742e-02 4.45694478e+02] [-1.84775782e-01 9.82766092e-01 -5.35903378e-03 -8.61500797e+01] [-2.97962707e-02 -1.51587412e-04 9.99555981e-01 -1.45994503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.414012739 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:445.72, Y:-86.15, Z:-14.60 [[ 9.82636965e-01 1.83037590e-01 3.03617397e-02 4.45721356e+02] [-1.82953504e-01 9.83105910e-01 -5.54845231e-03 -8.61537315e+01] [-3.08643811e-02 -1.02672316e-04 9.99523576e-01 -1.45999016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:445.75, Y:-86.16, Z:-14.60 [[ 9.82928579e-01 1.81360804e-01 3.09784890e-02 4.45748480e+02] [-1.81272539e-01 9.83416624e-01 -5.65782107e-03 -8.61576453e+01] [-3.14908680e-02 -5.43153234e-05 9.99504038e-01 -1.46007212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.474012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:445.78, Y:-86.16, Z:-14.60 [[ 9.83475387e-01 1.78429037e-01 3.06470443e-02 4.45776804e+02] [-1.78341299e-01 9.83952782e-01 -5.59496358e-03 -8.61603857e+01] [-3.11535484e-02 3.68752926e-05 9.99514610e-01 -1.46019940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:445.80, Y:-86.16, Z:-14.60 [[ 9.83666260e-01 1.77461071e-01 3.01372958e-02 4.45803553e+02] [-1.77375838e-01 9.84127819e-01 -5.49981310e-03 -8.61642088e+01] [-3.06349539e-02 6.43524948e-05 9.99530638e-01 -1.46036085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.534012739 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:445.83, Y:-86.17, Z:-14.60 [[ 9.83798055e-01 1.76868444e-01 2.93076940e-02 4.45831097e+02] [-1.76787646e-01 9.84234498e-01 -5.34609903e-03 -8.61690679e+01] [-2.97911997e-02 7.82435878e-05 9.99556141e-01 -1.46044966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:445.86, Y:-86.18, Z:-14.61 [[ 9.84152309e-01 1.74989231e-01 2.86880096e-02 4.45857521e+02] [-1.74911074e-01 9.84570339e-01 -5.23110575e-03 -8.61752728e+01] [-2.91607505e-02 1.30354244e-04 9.99574726e-01 -1.46057505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.594012739 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:445.89, Y:-86.18, Z:-14.61 [[ 9.84409023e-01 1.73585256e-01 2.84083555e-02 4.45886103e+02] [-1.73508112e-01 9.84818832e-01 -5.17726451e-03 -8.61811277e+01] [-2.88757802e-02 1.67465761e-04 9.99582994e-01 -1.46059733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:445.91, Y:-86.19, Z:-14.61 [[ 9.84599970e-01 1.72525916e-01 2.82437021e-02 4.45913338e+02] [-1.72449269e-01 9.85004959e-01 -5.14586451e-03 -8.61868671e+01] [-2.87079816e-02 1.96012273e-04 9.99587822e-01 -1.46067108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.654012739 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:445.94, Y:-86.19, Z:-14.61 [[ 9.84618656e-01 1.72419192e-01 2.82440053e-02 4.45941378e+02] [-1.72342548e-01 9.85023646e-01 -5.14419949e-03 -8.61918100e+01] [-2.87079718e-02 1.97430940e-04 9.99587822e-01 -1.46075457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:445.97, Y:-86.20, Z:-14.61 [[ 9.84808042e-01 1.71412398e-01 2.77652739e-02 4.45968347e+02] [-1.71338018e-01 9.85199341e-01 -5.05390521e-03 -8.61975608e+01] [-2.82206316e-02 2.19879484e-04 9.99601694e-01 -1.46086344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.714012739 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:445.99, Y:-86.21, Z:-14.61 [[ 9.85026812e-01 1.70123753e-01 2.79300518e-02 4.45994652e+02] [-1.70048024e-01 9.85422672e-01 -5.08196999e-03 -8.62058024e+01] [-2.83874701e-02 2.56426572e-04 9.99596962e-01 -1.46100886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:446.02, Y:-86.21, Z:-14.61 [[ 9.85120698e-01 1.69521705e-01 2.82772260e-02 4.46022130e+02] [-1.69443884e-01 9.85526416e-01 -5.14338272e-03 -8.62127316e+01] [-2.87398682e-02 2.75449770e-04 9.99586887e-01 -1.46104978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.774012739 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:446.05, Y:-86.22, Z:-14.61 [[ 9.85195752e-01 1.69072965e-01 2.83489565e-02 4.46050105e+02] [-1.68994609e-01 9.85603495e-01 -5.15483735e-03 -8.62189825e+01] [-2.88123743e-02 2.87703036e-04 9.99584796e-01 -1.46116692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:446.08, Y:-86.23, Z:-14.61 [[ 9.85227110e-01 1.68996226e-01 2.77095341e-02 4.46077643e+02] [-1.68921372e-01 9.85616658e-01 -5.03724277e-03 -8.62264764e+01] [-2.81622534e-02 2.82095604e-04 9.99603325e-01 -1.46127643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.834012739 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:446.10, Y:-86.23, Z:-14.61 [[ 9.85164213e-01 1.69342518e-01 2.78313697e-02 4.46104451e+02] [-1.69267181e-01 9.85557222e-01 -5.05804202e-03 -8.62335669e+01] [-2.82859490e-02 2.72064485e-04 9.99599835e-01 -1.46133819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:446.13, Y:-86.24, Z:-14.61 [[ 9.84988680e-01 1.70385043e-01 2.76809842e-02 4.46132388e+02] [-1.70310981e-01 9.85377532e-01 -5.02888755e-03 -8.62425607e+01] [-2.81330671e-02 2.39021731e-04 9.99604158e-01 -1.46138227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.894012739 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:446.16, Y:-86.25, Z:-14.61 [[ 9.84847442e-01 1.71236132e-01 2.74536645e-02 4.46160956e+02] [-1.71163649e-01 9.85229995e-01 -4.98627384e-03 -8.62486137e+01] [-2.79020039e-02 2.11649636e-04 9.99610641e-01 -1.46146952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:446.19, Y:-86.25, Z:-14.62 [[ 9.84659487e-01 1.72263889e-01 2.77641277e-02 4.46188446e+02] [-1.72190204e-01 9.85050821e-01 -5.04130707e-03 -8.62543510e+01] [-2.82175119e-02 1.83260030e-04 9.99601790e-01 -1.46158183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.954012739 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:446.22, Y:-86.26, Z:-14.62 [[ 9.84470627e-01 1.73279504e-01 2.81389210e-02 4.46216165e+02] [-1.73204280e-01 9.84872677e-01 -5.10761979e-03 -8.62608140e+01] [-2.85983003e-02 1.54520082e-04 9.99590973e-01 -1.46169673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:446.24, Y:-86.27, Z:-14.62 [[ 9.84000112e-01 1.75660896e-01 2.97830549e-02 4.46243950e+02] [-1.75577758e-01 9.84450731e-01 -5.40454743e-03 -8.62686541e+01] [-3.02693178e-02 8.88332766e-05 9.99541775e-01 -1.46164073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.014012739 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:446.27, Y:-86.27, Z:-14.62 [[ 9.83697885e-01 1.77291883e-01 3.01008261e-02 4.46271493e+02] [-1.77207769e-01 9.84158314e-01 -5.46072585e-03 -8.62734345e+01] [-3.05921207e-02 3.76042175e-05 9.99531951e-01 -1.46165169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:446.30, Y:-86.28, Z:-14.62 [[ 9.83154339e-01 1.80359294e-01 2.96322714e-02 4.46300156e+02] [-1.80279228e-01 9.83600794e-01 -5.37384560e-03 -8.62772667e+01] [-3.01155487e-02 -5.87634032e-05 9.99546422e-01 -1.46177200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.074012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:446.33, Y:-86.28, Z:-14.62 [[ 9.82952290e-01 1.81556474e-01 2.90179791e-02 4.46328551e+02] [-1.81480256e-01 9.83380515e-01 -5.26106461e-03 -8.62830229e+01] [-2.94908955e-02 -9.48147706e-05 9.99565044e-01 -1.46193224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:446.36, Y:-86.29, Z:-14.62 [[ 9.82830351e-01 1.82298318e-01 2.84925347e-02 4.46356911e+02] [-1.82225187e-01 9.83243261e-01 -5.16444851e-03 -8.62893559e+01] [-2.89565630e-02 -1.16280718e-04 9.99580664e-01 -1.46209061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.134012739 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:446.38, Y:-86.29, Z:-14.62 [[ 9.82816003e-01 1.82504759e-01 2.76535235e-02 4.46383672e+02] [-1.82435991e-01 9.83204963e-01 -5.01107406e-03 -8.62949037e+01] [-2.81036264e-02 -1.20034189e-04 9.99605008e-01 -1.46218965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:446.41, Y:-86.30, Z:-14.62 [[ 9.82957090e-01 1.81833634e-01 2.70534287e-02 4.46410910e+02] [-1.81767609e-01 9.83329304e-01 -4.90071984e-03 -8.62997206e+01] [-2.74935449e-02 -1.00239721e-04 9.99621976e-01 -1.46217994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.194012739 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:446.44, Y:-86.30, Z:-14.62 [[ 9.83062788e-01 1.81182518e-01 2.75762763e-02 4.46439309e+02] [-1.81113706e-01 9.83449484e-01 -4.99372931e-03 -8.63047733e+01] [-2.80246512e-02 -8.52921582e-05 9.99607229e-01 -1.46225989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:446.47, Y:-86.31, Z:-14.62 [[ 9.83283303e-01 1.79705064e-01 2.93263718e-02 4.46466978e+02] [-1.79626626e-01 9.83720533e-01 -5.30917509e-03 -8.63110130e+01] [-2.98030397e-02 -4.73740021e-05 9.99555790e-01 -1.46229576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.254012739 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:446.50, Y:-86.32, Z:-14.62 [[ 9.83369907e-01 1.79167574e-01 2.97086967e-02 4.46495522e+02] [-1.79086865e-01 9.83818570e-01 -5.37729137e-03 -8.63166885e+01] [-3.01914038e-02 -3.25708375e-05 9.99544135e-01 -1.46239994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:446.52, Y:-86.32, Z:-14.63 [[ 9.83432781e-01 1.78788383e-01 2.99112049e-02 4.46522425e+02] [-1.78706440e-01 9.83887551e-01 -5.41244794e-03 -8.63217648e+01] [-3.03969450e-02 -2.25462134e-05 9.99537906e-01 -1.46256901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.314012739 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:446.55, Y:-86.33, Z:-14.63 [[ 9.83519364e-01 1.78415000e-01 2.92873275e-02 4.46551198e+02] [-1.78336327e-01 9.83955328e-01 -5.29781360e-03 -8.63266174e+01] [-2.97626314e-02 -1.24921619e-05 9.99556995e-01 -1.46269122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:446.58, Y:-86.33, Z:-14.63 [[ 9.83795047e-01 1.77137569e-01 2.77414478e-02 4.46578138e+02] [-1.77066510e-01 9.84186101e-01 -5.01695838e-03 -8.63331751e+01] [-2.81914391e-02 2.35774547e-05 9.99602542e-01 -1.46285848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.374012739 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:446.61, Y:-86.34, Z:-14.63 [[ 9.84050751e-01 1.75799624e-01 2.71774045e-02 4.46605723e+02] [-1.75730949e-01 9.84425969e-01 -4.91373254e-03 -8.63401702e+01] [-2.76179751e-02 5.94511268e-05 9.99618549e-01 -1.46288286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:446.63, Y:-86.35, Z:-14.63 [[ 9.84237726e-01 1.74749861e-01 2.71769055e-02 4.46633133e+02] [-1.74680826e-01 9.84612857e-01 -4.91230791e-03 -8.63466863e+01] [-2.76171557e-02 8.75944755e-05 9.99618570e-01 -1.46295331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.434012739 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:446.66, Y:-86.35, Z:-14.63 [[ 9.84595109e-01 1.72601233e-01 2.79514818e-02 4.46661019e+02] [-1.72527390e-01 9.84991773e-01 -5.05051825e-03 -8.63526653e+01] [-2.84037052e-02 1.50319367e-04 9.99596522e-01 -1.46292141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:446.69, Y:-86.36, Z:-14.63 [[ 9.84648532e-01 1.72231337e-01 2.83484544e-02 4.46688876e+02] [-1.72155270e-01 9.85056516e-01 -5.12079184e-03 -8.63586509e+01] [-2.88067906e-02 1.61844339e-04 9.99584985e-01 -1.46300273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.494012739 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:446.72, Y:-86.37, Z:-14.63 [[ 9.84724786e-01 1.71750412e-01 2.86162789e-02 4.46717757e+02] [-1.71672730e-01 9.85140480e-01 -5.16808258e-03 -8.63652679e+01] [-2.90786751e-02 1.76504298e-04 9.99577110e-01 -1.46308916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:446.75, Y:-86.37, Z:-14.63 [[ 9.84778690e-01 1.71420236e-01 2.87408135e-02 4.46746128e+02] [-1.71341755e-01 9.85197984e-01 -5.18988333e-03 -8.63740035e+01] [-2.92050426e-02 1.86385074e-04 9.99573424e-01 -1.46324256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.554012739 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:446.77, Y:-86.38, Z:-14.63 [[ 9.84743654e-01 1.71670893e-01 2.84436267e-02 4.46773784e+02] [-1.71594151e-01 9.85154340e-01 -5.13553679e-03 -8.63802341e+01] [-2.89029844e-02 1.76427282e-04 9.99582206e-01 -1.46328716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:446.80, Y:-86.39, Z:-14.63 [[ 9.84663558e-01 1.72170763e-01 2.81940605e-02 4.46802921e+02] [-1.72095597e-01 9.85067106e-01 -5.08945252e-03 -8.63862463e+01] [-2.86492965e-02 1.59324761e-04 9.99589512e-01 -1.46336412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.614012739 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:446.83, Y:-86.39, Z:-14.63 [[ 9.84537084e-01 1.73015546e-01 2.74290079e-02 4.46830739e+02] [-1.72944750e-01 9.84919085e-01 -4.95071401e-03 -8.63917961e+01] [-2.78719038e-02 1.30458619e-04 9.99611495e-01 -1.46334617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:446.86, Y:-86.40, Z:-14.63 [[ 9.84423720e-01 1.73627903e-01 2.76277129e-02 4.46858688e+02] [-1.73556347e-01 9.84811321e-01 -4.98556126e-03 -8.63971628e+01] [-2.80737170e-02 1.12939827e-04 9.99605849e-01 -1.46339163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.674012739 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:446.89, Y:-86.40, Z:-14.63 [[ 9.84330310e-01 1.74022261e-01 2.84621331e-02 4.46887709e+02] [-1.73946512e-01 9.84741713e-01 -5.13506431e-03 -8.64027225e+01] [-2.89214652e-02 1.03710668e-04 9.99581682e-01 -1.46349181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:446.92, Y:-86.41, Z:-14.64 [[ 9.84034422e-01 1.75453069e-01 2.98743643e-02 4.46915425e+02] [-1.75370298e-01 9.84487794e-01 -5.38908830e-03 -8.64089097e+01] [-3.03564790e-02 6.39722292e-05 9.99539134e-01 -1.46354128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.734012739 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:446.94, Y:-86.41, Z:-14.64 [[ 9.83912919e-01 1.76107960e-01 3.00225745e-02 4.46943203e+02] [-1.76024703e-01 9.84370857e-01 -5.41474029e-03 -8.64136016e+01] [-3.05069262e-02 4.29181791e-05 9.99534554e-01 -1.46359907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:446.97, Y:-86.42, Z:-14.64 [[ 9.83743806e-01 1.77050854e-01 3.00186488e-02 4.46972359e+02] [-1.76968089e-01 9.84201704e-01 -5.41297748e-03 -8.64182685e+01] [-3.05027776e-02 1.26401503e-05 9.99534682e-01 -1.46371088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.794012739 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:447.00, Y:-86.42, Z:-14.64 [[ 9.83506486e-01 1.78477388e-01 2.93396442e-02 4.47000739e+02] [-1.78398981e-01 9.83944013e-01 -5.28983773e-03 -8.64233059e+01] [-2.98126837e-02 -3.15729328e-05 9.99555503e-01 -1.46393235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:447.03, Y:-86.43, Z:-14.64 [[ 9.83503966e-01 1.78639167e-01 2.84252933e-02 4.47028609e+02] [-1.78565659e-01 9.83914654e-01 -5.12432040e-03 -8.64284498e+01] [-2.88834670e-02 -3.59918126e-05 9.99582785e-01 -1.46404477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.854012739 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:447.06, Y:-86.43, Z:-14.64 [[ 9.83514967e-01 1.78654083e-01 2.79468831e-02 4.47056211e+02] [-1.78583072e-01 9.83911946e-01 -5.03677053e-03 -8.64333570e+01] [-2.83971118e-02 -3.71010490e-05 9.99596720e-01 -1.46415068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:447.08, Y:-86.44, Z:-14.64 [[ 9.83519983e-01 1.78678607e-01 2.76115566e-02 4.47084535e+02] [-1.78609350e-01 9.83907493e-01 -4.97456869e-03 -8.64383904e+01] [-2.80560664e-02 -3.90944608e-05 9.99606350e-01 -1.46422675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.914012739 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:447.11, Y:-86.44, Z:-14.64 [[ 9.83532225e-01 1.78682807e-01 2.71443594e-02 4.47112590e+02] [-1.78615910e-01 9.83906730e-01 -4.88914792e-03 -8.64443133e+01] [-2.75811246e-02 -3.97799329e-05 9.99619568e-01 -1.46434486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:447.14, Y:-86.45, Z:-14.64 [[ 9.83532902e-01 1.78623385e-01 2.75084734e-02 4.47139367e+02] [-1.78554695e-01 9.83917519e-01 -4.95338649e-03 -8.64499382e+01] [-2.79508596e-02 -3.99484971e-05 9.99609298e-01 -1.46447367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.974012739 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:447.17, Y:-86.46, Z:-14.65 [[ 9.83529381e-01 1.78479032e-01 2.85515551e-02 4.47167719e+02] [-1.78405024e-01 9.83943715e-01 -5.13941154e-03 -8.64553528e+01] [-2.90104004e-02 -3.89786178e-05 9.99579109e-01 -1.46459199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:447.20, Y:-86.46, Z:-14.65 [[ 9.83486907e-01 1.78372570e-01 3.06060443e-02 4.47195522e+02] [-1.78287522e-01 9.83963020e-01 -5.50768257e-03 -8.64600538e+01] [-3.10976353e-02 -3.99421051e-05 9.99516351e-01 -1.46465424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.034012739 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:447.22, Y:-86.46, Z:-14.65 [[ 9.83382962e-01 1.78933174e-01 3.06735828e-02 4.47224426e+02] [-1.78848059e-01 9.83861228e-01 -5.51871786e-03 -8.64648150e+01] [-3.11660305e-02 -5.88976153e-05 9.99514220e-01 -1.46470802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:447.25, Y:-86.47, Z:-14.65 [[ 9.83179805e-01 1.80115825e-01 3.02615477e-02 4.47252638e+02] [-1.80033583e-01 9.83645404e-01 -5.44321147e-03 -8.64699180e+01] [-3.07470409e-02 -9.64392736e-05 9.99527193e-01 -1.46477070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.094012739 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:447.28, Y:-86.47, Z:-14.65 [[ 9.82521127e-01 1.83875927e-01 2.90151601e-02 4.47281158e+02] [-1.83801997e-01 9.82949440e-01 -5.21773909e-03 -8.64747314e+01] [-2.94798519e-02 -2.06505490e-04 9.99565353e-01 -1.46489565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:447.31, Y:-86.48, Z:-14.65 [[ 9.82071044e-01 1.86301913e-01 2.87760630e-02 4.47310148e+02] [-1.86230278e-01 9.82492504e-01 -5.17337002e-03 -8.64787642e+01] [-2.92360749e-02 -2.78357330e-04 9.99572496e-01 -1.46496188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.154012739 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:447.34, Y:-86.48, Z:-14.65 [[ 9.81623562e-01 1.88629894e-01 2.88781041e-02 4.47338067e+02] [-1.88558798e-01 9.82048186e-01 -5.19031682e-03 -8.64819152e+01] [-2.93387387e-02 -3.50283313e-04 9.99569465e-01 -1.46502226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:447.37, Y:-86.48, Z:-14.65 [[ 9.80936680e-01 1.92120124e-01 2.92076732e-02 4.47365921e+02] [-1.92048994e-01 9.81371308e-01 -5.24778602e-03 -8.64840478e+01] [-2.96717778e-02 -4.61558461e-04 9.99559589e-01 -1.46508672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.214012739 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.39, Y:-86.49, Z:-14.65 [[ 9.80724875e-01 1.93203965e-01 2.91710194e-02 4.47394894e+02] [-1.93133543e-01 9.81158490e-01 -5.23947818e-03 -8.64874763e+01] [-2.96336813e-02 -4.95415754e-04 9.99560703e-01 -1.46525672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:447.42, Y:-86.49, Z:-14.65 [[ 9.80638077e-01 1.93721166e-01 2.86543434e-02 4.47422973e+02] [-1.93653478e-01 9.81056500e-01 -5.14530863e-03 -8.64901152e+01] [-2.91082850e-02 -5.03327685e-04 9.99576137e-01 -1.46536748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.274012739 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:447.45, Y:-86.49, Z:-14.65 [[ 9.80772290e-01 1.93102925e-01 2.82307733e-02 4.47450676e+02] [-1.93037015e-01 9.81178389e-01 -5.06758520e-03 -8.64902780e+01] [-2.86779902e-02 -4.79437056e-04 9.99588587e-01 -1.46544723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:447.48, Y:-86.49, Z:-14.66 [[ 9.81007331e-01 1.91855293e-01 2.85685571e-02 4.47478075e+02] [-1.91787337e-01 9.81423122e-01 -5.12580777e-03 -8.64935960e+01] [-2.90212558e-02 -4.50632483e-04 9.99578693e-01 -1.46551506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.334012739 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:447.51, Y:-86.50, Z:-14.66 [[ 9.81323389e-01 1.90262497e-01 2.83652676e-02 4.47505824e+02] [-1.90194886e-01 9.81733172e-01 -5.08770717e-03 -8.64970383e+01] [-2.88151240e-02 -4.02242792e-04 9.99584677e-01 -1.46559258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:447.53, Y:-86.50, Z:-14.66 [[ 9.81609618e-01 1.88839646e-01 2.79668815e-02 4.47533657e+02] [-1.88773398e-01 9.82007872e-01 -5.01434285e-03 -8.65004227e+01] [-2.84106045e-02 -3.57276096e-04 9.99596273e-01 -1.46569319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.394012739 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:447.56, Y:-86.50, Z:-14.66 [[ 9.82127169e-01 1.86134495e-01 2.79315973e-02 4.47561022e+02] [-1.86067377e-01 9.82524234e-01 -5.00602761e-03 -8.65011355e+01] [-2.83752657e-02 -2.80603321e-04 9.99597302e-01 -1.46572670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.59, Y:-86.50, Z:-14.66 [[ 9.82399813e-01 1.84599638e-01 2.85233258e-02 4.47589472e+02] [-1.84529069e-01 9.82813774e-01 -5.10964873e-03 -8.65037550e+01] [-2.89763568e-02 -2.43664784e-04 9.99580068e-01 -1.46576689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.454012739 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:447.62, Y:-86.51, Z:-14.66 [[ 9.83084536e-01 1.80899675e-01 2.86374413e-02 4.47617327e+02] [-1.80827010e-01 9.83501545e-01 -5.12870395e-03 -8.65065793e+01] [-2.90927487e-02 -1.36473353e-04 9.99576707e-01 -1.46584118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.65, Y:-86.51, Z:-14.66 [[ 9.83507483e-01 1.78560791e-01 2.87936505e-02 4.47645764e+02] [-1.78486379e-01 9.83928879e-01 -5.15493913e-03 -8.65117370e+01] [-2.92513743e-02 -6.93532043e-05 9.99572085e-01 -1.46598928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.514012739 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.67, Y:-86.52, Z:-14.66 [[ 9.84309025e-01 1.74268917e-01 2.76782913e-02 4.47672735e+02] [-1.74198521e-01 9.84698097e-01 -4.95316615e-03 -8.65175131e+01] [-2.81179437e-02 5.39287344e-05 9.99604611e-01 -1.46607597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.70, Y:-86.52, Z:-14.66 [[ 9.84314778e-01 1.74236368e-01 2.76786259e-02 4.47701608e+02] [-1.74166011e-01 9.84703857e-01 -4.95129595e-03 -8.65225915e+01] [-2.81179455e-02 5.29579137e-05 9.99604611e-01 -1.46616192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.574012739 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:447.73, Y:-86.53, Z:-14.66 [[ 9.84676524e-01 1.72254327e-01 2.72137845e-02 4.47728617e+02] [-1.72185581e-01 9.85052504e-01 -4.86726837e-03 -8.65279816e+01] [-2.76454146e-02 1.06863611e-04 9.99617787e-01 -1.46622766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.76, Y:-86.53, Z:-14.66 [[ 9.85062739e-01 1.70052254e-01 2.70856110e-02 4.47757211e+02] [-1.69983364e-01 9.85435032e-01 -4.84279935e-03 -8.65342892e+01] [-2.75146389e-02 1.66357915e-04 9.99621387e-01 -1.46635499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.634012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:447.78, Y:-86.54, Z:-14.66 [[ 9.85882501e-01 1.65221595e-01 2.71573065e-02 4.47784492e+02] [-1.65150540e-01 9.86256424e-01 -4.85440369e-03 -8.65441197e+01] [-2.75861203e-02 3.00827828e-04 9.99619385e-01 -1.46637097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.81, Y:-86.55, Z:-14.66 [[ 9.86186681e-01 1.63340771e-01 2.74886047e-02 4.47812978e+02] [-1.63267275e-01 9.86569646e-01 -4.91235594e-03 -8.65516037e+01] [-2.79218110e-02 3.56510412e-04 9.99610047e-01 -1.46643093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.694012739 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:447.84, Y:-86.56, Z:-14.66 [[ 9.86403592e-01 1.61990789e-01 2.76936359e-02 4.47841333e+02] [-1.61915680e-01 9.86792190e-01 -4.94832613e-03 -8.65580532e+01] [-2.81294468e-02 3.97012793e-04 9.99604210e-01 -1.46646774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.87, Y:-86.56, Z:-14.67 [[ 9.86550913e-01 1.61139842e-01 2.74088799e-02 4.47869741e+02] [-1.61065959e-01 9.86931496e-01 -4.89682753e-03 -8.65643849e+01] [-2.78397608e-02 4.16332145e-04 9.99612312e-01 -1.46653209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.754012739 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.90, Y:-86.57, Z:-14.67 [[ 9.86531072e-01 1.61420895e-01 2.64525836e-02 4.47898415e+02] [-1.61352213e-01 9.86885576e-01 -4.72475273e-03 -8.65745063e+01] [-2.68683470e-02 3.92932488e-04 9.99638904e-01 -1.46668342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.93, Y:-86.58, Z:-14.67 [[ 9.86416999e-01 1.62137002e-01 2.63267116e-02 4.47926920e+02] [-1.62069226e-01 9.86768187e-01 -4.70230164e-03 -8.65820277e+01] [-2.67407786e-02 3.71680507e-04 9.99642332e-01 -1.46682871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.814012739 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:447.95, Y:-86.59, Z:-14.67 [[ 9.86262475e-01 1.63137375e-01 2.59331324e-02 4.47954856e+02] [-1.63071962e-01 9.86603305e-01 -4.63175832e-03 -8.65884932e+01] [-2.63413270e-02 3.39162634e-04 9.99652950e-01 -1.46686487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:447.98, Y:-86.60, Z:-14.67 [[ 9.85864202e-01 1.65469056e-01 2.63014520e-02 4.47984086e+02] [-1.65402628e-01 9.86214943e-01 -4.69653614e-03 -8.65959338e+01] [-2.67160164e-02 2.79817555e-04 9.99643024e-01 -1.46695161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.874012739 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:448.01, Y:-86.60, Z:-14.67 [[ 9.85716495e-01 1.66280205e-01 2.67186251e-02 4.48012680e+02] [-1.66211968e-01 9.86078509e-01 -4.77036800e-03 -8.66030327e+01] [-2.71398797e-02 2.61275169e-04 9.99631611e-01 -1.46710117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:448.04, Y:-86.61, Z:-14.67 [[ 9.85609889e-01 1.66922290e-01 2.66476383e-02 4.48040072e+02] [-1.66854668e-01 9.85970025e-01 -4.75704885e-03 -8.66102577e+01] [-2.70678301e-02 2.42311548e-04 9.99633570e-01 -1.46709219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.934012739 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:448.07, Y:-86.62, Z:-14.67 [[ 9.85386243e-01 1.68245255e-01 2.65985937e-02 4.48067422e+02] [-1.68178380e-01 9.85745146e-01 -4.74767923e-03 -8.66191435e+01] [-2.70182091e-02 2.04989402e-04 9.99634921e-01 -1.46713810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:448.10, Y:-86.63, Z:-14.67 [[ 9.85314766e-01 1.68643123e-01 2.67265421e-02 4.48096080e+02] [-1.68575776e-01 9.85677158e-01 -4.76955005e-03 -8.66255468e+01] [-2.71480938e-02 1.94060533e-04 9.99631404e-01 -1.46728089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.994012739 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:448.13, Y:-86.63, Z:-14.67 [[ 9.85181440e-01 1.69463495e-01 2.64509620e-02 4.48125528e+02] [-1.69397841e-01 9.85536451e-01 -4.71975303e-03 -8.66320070e+01] [-2.68682131e-02 1.69077224e-04 9.99638970e-01 -1.46733657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:448.15, Y:-86.64, Z:-14.67 [[ 9.84644046e-01 1.72528960e-01 2.66432274e-02 4.48154736e+02] [-1.72463487e-01 9.85004442e-01 -4.75342051e-03 -8.66394021e+01] [-2.70638000e-02 8.54432998e-05 9.99633705e-01 -1.46741054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.054012739 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:448.18, Y:-86.65, Z:-14.67 [[ 9.84216674e-01 1.74891158e-01 2.70299965e-02 4.48183617e+02] [-1.74824678e-01 9.84587773e-01 -4.82177276e-03 -8.66453705e+01] [-2.74566894e-02 2.01587147e-05 9.99622994e-01 -1.46740752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:448.21, Y:-86.65, Z:-14.67 [[ 9.83709507e-01 1.77666740e-01 2.73885914e-02 4.48213016e+02] [-1.77599578e-01 9.84090710e-01 -4.88506838e-03 -8.66504368e+01] [-2.78207725e-02 -5.87140627e-05 9.99612926e-01 -1.46745118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.114012739 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:448.24, Y:-86.66, Z:-14.68 [[ 9.82663188e-01 1.83320414e-01 2.76890912e-02 4.48240967e+02] [-1.83254030e-01 9.83053191e-01 -4.93799164e-03 -8.66550325e+01] [-2.81250842e-02 -2.21754956e-04 9.99604387e-01 -1.46750679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:448.27, Y:-86.66, Z:-14.68 [[ 9.82169061e-01 1.85962014e-01 2.76055244e-02 4.48269817e+02] [-1.85897101e-01 9.82556889e-01 -4.92209044e-03 -8.66596242e+01] [-2.80393200e-02 -2.97461997e-04 9.99606777e-01 -1.46760076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.174012739 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:448.30, Y:-86.66, Z:-14.68 [[ 9.81696189e-01 1.88432350e-01 2.76738340e-02 4.48296840e+02] [-1.88368133e-01 9.82086102e-01 -4.93294435e-03 -8.66636726e+01] [-2.81076140e-02 -3.70215779e-04 9.99604834e-01 -1.46769459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:448.33, Y:-86.67, Z:-14.68 [[ 9.80845775e-01 1.92675458e-01 2.85960234e-02 4.48325379e+02] [-1.92608742e-01 9.81262405e-01 -5.09555355e-03 -8.66650914e+01] [-2.90419908e-02 -5.09891918e-04 9.99578062e-01 -1.46779290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.234012739 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:448.35, Y:-86.67, Z:-14.68 [[ 9.80422010e-01 1.94773725e-01 2.89115650e-02 4.48352895e+02] [-1.94706482e-01 9.80848031e-01 -5.15034707e-03 -8.66678968e+01] [-2.93610039e-02 -5.79755477e-04 9.99568705e-01 -1.46782123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:448.38, Y:-86.67, Z:-14.68 [[ 9.80088849e-01 1.96463389e-01 2.87747388e-02 4.48380736e+02] [-1.96397559e-01 9.80510959e-01 -5.12423141e-03 -8.66702291e+01] [-2.92206706e-02 -6.29086413e-04 9.99572787e-01 -1.46785298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.294012739 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:448.41, Y:-86.67, Z:-14.68 [[ 9.79787206e-01 1.97906849e-01 2.91532167e-02 4.48409505e+02] [-1.97839967e-01 9.80220594e-01 -5.18985163e-03 -8.66721947e+01] [-2.96036906e-02 -6.82721197e-04 9.99561482e-01 -1.46791835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:448.44, Y:-86.67, Z:-14.68 [[ 9.79475944e-01 1.99360028e-01 2.97061220e-02 4.48438658e+02] [-1.99291297e-01 9.79926032e-01 -5.28676810e-03 -8.66691570e+01] [-3.01637725e-02 -7.41909406e-04 9.99544695e-01 -1.46807433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.354012739 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:448.47, Y:-86.67, Z:-14.68 [[ 9.79548564e-01 1.98976213e-01 2.98843987e-02 4.48466799e+02] [-1.98906538e-01 9.80004043e-01 -5.31648731e-03 -8.66710379e+01] [-3.03446861e-02 -7.36444783e-04 9.99539223e-01 -1.46822014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:448.49, Y:-86.67, Z:-14.68 [[ 9.79779417e-01 1.97874879e-01 2.96281280e-02 4.48494477e+02] [-1.97805955e-01 9.80227037e-01 -5.26876536e-03 -8.66740320e+01] [-3.00848484e-02 -6.98392291e-04 9.99547105e-01 -1.46829616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.414012739 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:448.52, Y:-86.68, Z:-14.68 [[ 9.80618040e-01 1.93986323e-01 2.75239348e-02 4.48523335e+02] [-1.93925362e-01 9.81004085e-01 -4.89270662e-03 -8.66764117e+01] [-2.79502107e-02 -5.39712652e-04 9.99609171e-01 -1.46840919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:448.55, Y:-86.68, Z:-14.68 [[ 9.81063456e-01 1.91914969e-01 2.61369296e-02 4.48551354e+02] [-1.91859295e-01 9.81411450e-01 -4.64497090e-03 -8.66797708e+01] [-2.65425215e-02 -4.57601691e-04 9.99647580e-01 -1.46839606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.474012739 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:448.58, Y:-86.68, Z:-14.68 [[ 9.81837198e-01 1.87954637e-01 2.58606058e-02 4.48577815e+02] [-1.87898799e-01 9.82177649e-01 -4.59436579e-03 -8.66822786e+01] [-2.62632413e-02 -3.48257526e-04 9.99655001e-01 -1.46843696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:448.61, Y:-86.69, Z:-14.69 [[ 9.82176248e-01 1.86005896e-01 2.70485784e-02 4.48606343e+02] [-1.85944137e-01 9.82548579e-01 -4.80297956e-03 -8.66869314e+01] [-2.74699248e-02 -3.12152119e-04 9.99622582e-01 -1.46855967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.534012739 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:448.63, Y:-86.69, Z:-14.69 [[ 9.82431394e-01 1.84520369e-01 2.79426089e-02 4.48633452e+02] [-1.84453899e-01 9.82828650e-01 -4.96030915e-03 -8.66910257e+01] [-2.83780746e-02 -2.80959733e-04 9.99597222e-01 -1.46866597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:448.66, Y:-86.69, Z:-14.69 [[ 9.82789795e-01 1.82360255e-01 2.94780518e-02 4.48662373e+02] [-1.82285363e-01 9.83231755e-01 -5.23097464e-03 -8.66946270e+01] [-2.99376784e-02 -2.32468877e-04 9.99551740e-01 -1.46875757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.594012739 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:448.69, Y:-86.70, Z:-14.69 [[ 9.82926290e-01 1.81708734e-01 2.89455520e-02 4.48690257e+02] [-1.81636282e-01 9.83352374e-01 -5.13510996e-03 -8.67000201e+01] [-2.93967716e-02 -2.10127868e-04 9.99567799e-01 -1.46882371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:448.72, Y:-86.71, Z:-14.69 [[ 9.83013827e-01 1.81301486e-01 2.85234645e-02 4.48717829e+02] [-1.81231001e-01 9.83427543e-01 -5.05881797e-03 -8.67055186e+01] [-2.89679318e-02 -1.96448016e-04 9.99580322e-01 -1.46885371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.654012739 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:448.75, Y:-86.71, Z:-14.69 [[ 9.82931684e-01 1.81735359e-01 2.85930921e-02 4.48746630e+02] [-1.81664765e-01 9.83347454e-01 -5.06936398e-03 -8.67107329e+01] [-2.90382269e-02 -2.11518889e-04 9.99578279e-01 -1.46883487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:448.77, Y:-86.71, Z:-14.69 [[ 9.82796064e-01 1.82431598e-01 2.88202832e-02 4.48774398e+02] [-1.82360220e-01 9.83218519e-01 -5.10819629e-03 -8.67141944e+01] [-2.92685326e-02 -2.35357964e-04 9.99571557e-01 -1.46888865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.714012739 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:448.80, Y:-86.72, Z:-14.69 [[ 9.82714768e-01 1.82920697e-01 2.84904165e-02 4.48802722e+02] [-1.82851200e-01 9.83127640e-01 -5.04797268e-03 -8.67177936e+01] [-2.89330946e-02 -2.48789545e-04 9.99581319e-01 -1.46894869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:448.83, Y:-86.72, Z:-14.69 [[ 9.82788650e-01 1.82637713e-01 2.77476937e-02 4.48829899e+02] [-1.82571716e-01 9.83180253e-01 -4.91511528e-03 -8.67228516e+01] [-2.81786699e-02 -2.35424526e-04 9.99602875e-01 -1.46904790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.774012739 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:448.86, Y:-86.73, Z:-14.69 [[ 9.82996891e-01 1.81527996e-01 2.76531959e-02 4.48858298e+02] [-1.81462055e-01 9.83385756e-01 -4.89672782e-03 -8.67285763e+01] [-2.80826522e-02 -2.04537533e-04 9.99605584e-01 -1.46916078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:448.89, Y:-86.73, Z:-14.69 [[ 9.83218121e-01 1.80265265e-01 2.80456904e-02 4.48886861e+02] [-1.80196953e-01 9.83618018e-01 -4.96522514e-03 -8.67345435e+01] [-2.84813040e-02 -1.71848624e-04 9.99594311e-01 -1.46923482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.834012739 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:448.91, Y:-86.74, Z:-14.69 [[ 9.83207704e-01 1.80039986e-01 2.98029384e-02 4.48914135e+02] [-1.79962788e-01 9.83659276e-01 -5.27473305e-03 -8.67410604e+01] [-3.02655997e-02 -1.77261728e-04 9.99541876e-01 -1.46926413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:448.94, Y:-86.75, Z:-14.69 [[ 9.82928321e-01 1.81538054e-01 2.99307699e-02 4.48941338e+02] [-1.81460943e-01 9.83383894e-01 -5.29549328e-03 -8.67458265e+01] [-3.03947706e-02 -2.26175413e-04 9.99537947e-01 -1.46926039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.894012739 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:448.97, Y:-86.75, Z:-14.69 [[ 9.82522583e-01 1.83814375e-01 2.93538729e-02 4.48970097e+02] [-1.83741276e-01 9.82960930e-01 -5.19168452e-03 -8.67500212e+01] [-2.98080165e-02 -2.92570790e-04 9.99555600e-01 -1.46933494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:449.00, Y:-86.75, Z:-14.69 [[ 9.81986110e-01 1.86820794e-01 2.83067417e-02 4.48998956e+02] [-1.86754103e-01 9.82393940e-01 -5.00518921e-03 -8.67534778e+01] [-2.87434449e-02 -3.71373875e-04 9.99586753e-01 -1.46941126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.954012739 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:449.03, Y:-86.76, Z:-14.70 [[ 9.80770995e-01 1.93195559e-01 2.76357059e-02 4.49025968e+02] [-1.93134554e-01 9.81160118e-01 -4.88529033e-03 -8.67556192e+01] [-2.80588689e-02 -5.46058687e-04 9.99606123e-01 -1.46959591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:449.05, Y:-86.76, Z:-14.70 [[ 9.80262698e-01 1.95769716e-01 2.75546997e-02 4.49053209e+02] [-1.95710149e-01 9.80649700e-01 -4.86866910e-03 -8.67600179e+01] [-2.79746459e-02 -6.20159655e-04 9.99608441e-01 -1.46961602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.014012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:449.08, Y:-86.76, Z:-14.70 [[ 9.79706560e-01 1.98339919e-01 2.89194098e-02 4.49079440e+02] [-1.98275487e-01 9.80133023e-01 -5.10763814e-03 -8.67644690e+01] [-2.93579171e-02 -7.30023463e-04 9.99568697e-01 -1.46967324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:449.11, Y:-86.77, Z:-14.70 [[ 9.79765022e-01 1.97994604e-01 2.93025305e-02 4.49107426e+02] [-1.97928371e-01 9.80202837e-01 -5.17285644e-03 -8.67684974e+01] [-2.97466212e-02 -7.31618339e-04 9.99557204e-01 -1.46974396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.074012739 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:449.13, Y:-86.77, Z:-14.70 [[ 9.79961732e-01 1.97047051e-01 2.91112193e-02 4.49134514e+02] [-1.96981324e-01 9.80393783e-01 -5.13700544e-03 -8.67724645e+01] [-2.95526902e-02 -7.00297786e-04 9.99562979e-01 -1.46989456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:449.16, Y:-86.78, Z:-14.70 [[ 9.80209113e-01 1.95889026e-01 2.85934218e-02 4.49162429e+02] [-1.95825192e-01 9.80625851e-01 -5.04329059e-03 -8.67762593e+01] [-2.90273739e-02 -6.55832916e-04 9.99578402e-01 -1.47001186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.134012739 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:449.19, Y:-86.78, Z:-14.70 [[ 9.80545460e-01 1.94306034e-01 2.78525735e-02 4.49189712e+02] [-1.94244882e-01 9.80940779e-01 -4.91068396e-03 -8.67783401e+01] [-2.82759007e-02 -5.95070988e-04 9.99599980e-01 -1.47020221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:449.22, Y:-86.78, Z:-14.70 [[ 9.80603766e-01 1.93967872e-01 2.81552613e-02 4.49217668e+02] [-1.93905301e-01 9.81007702e-01 -4.96203476e-03 -8.67810948e+01] [-2.85830035e-02 -5.93664446e-04 9.99591246e-01 -1.47020106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.194012739 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:449.24, Y:-86.78, Z:-14.70 [[ 9.80634132e-01 1.93750762e-01 2.85891968e-02 4.49244670e+02] [-1.93686219e-01 9.81050602e-01 -5.03634455e-03 -8.67833244e+01] [-2.90232443e-02 -5.98522049e-04 9.99578558e-01 -1.47017267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:449.27, Y:-86.78, Z:-14.70 [[ 9.80751809e-01 1.93251913e-01 2.79210893e-02 4.49272191e+02] [-1.93190217e-01 9.81149005e-01 -4.91628379e-03 -8.67837511e+01] [-2.83448302e-02 -5.72427064e-04 9.99598041e-01 -1.47019680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.254012739 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:449.30, Y:-86.79, Z:-14.70 [[ 9.80918868e-01 1.92477093e-01 2.73996893e-02 4.49300065e+02] [-1.92417439e-01 9.81301317e-01 -4.82228232e-03 -8.67870836e+01] [-2.78155301e-02 -5.41910317e-04 9.99612926e-01 -1.47030763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:449.33, Y:-86.79, Z:-14.70 [[ 9.81489063e-01 1.89518162e-01 2.76058895e-02 4.49327979e+02] [-1.89456489e-01 9.81877106e-01 -4.85664282e-03 -8.67899550e+01] [-2.80260129e-02 -4.63373101e-04 9.99607087e-01 -1.47047372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.314012739 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:449.36, Y:-86.79, Z:-14.70 [[ 9.81931475e-01 1.87180289e-01 2.78229684e-02 4.49356156e+02] [-1.87116762e-01 9.82325495e-01 -4.89278985e-03 -8.67931220e+01] [-2.82470450e-02 -4.01759391e-04 9.99600892e-01 -1.47048709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:449.38, Y:-86.80, Z:-14.71 [[ 9.82390468e-01 1.84728212e-01 2.80081426e-02 4.49384373e+02] [-1.84662898e-01 9.82789588e-01 -4.92330169e-03 -8.67962825e+01] [-2.84355836e-02 -3.35460124e-04 9.99595571e-01 -1.47051910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.374012739 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:449.41, Y:-86.80, Z:-14.71 [[ 9.82773739e-01 1.82658764e-01 2.81345527e-02 4.49412592e+02] [-1.82592070e-01 9.83176331e-01 -4.94346031e-03 -8.67997946e+01] [-2.85641926e-02 -2.78843229e-04 9.99591921e-01 -1.47062406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:449.44, Y:-86.80, Z:-14.71 [[ 9.83540714e-01 1.78491551e-01 2.80789835e-02 4.49439745e+02] [-1.78423480e-01 9.83941432e-01 -4.93164781e-03 -8.68028601e+01] [-2.85083327e-02 -1.59473534e-04 9.99593542e-01 -1.47067708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.434012739 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:449.47, Y:-86.81, Z:-14.71 [[ 9.83971771e-01 1.76156950e-01 2.77179334e-02 4.49467034e+02] [-1.76089757e-01 9.84362088e-01 -4.86589829e-03 -8.68069290e+01] [-2.81416446e-02 -9.29376135e-05 9.99603941e-01 -1.47075889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:449.50, Y:-86.81, Z:-14.71 [[ 9.83982040e-01 1.76099523e-01 2.77182750e-02 4.49495107e+02] [-1.76032363e-01 9.84372363e-01 -4.86395183e-03 -8.68117256e+01] [-2.81416434e-02 -9.32721894e-05 9.99603941e-01 -1.47084240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.494012739 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:449.52, Y:-86.82, Z:-14.71 [[ 9.84405301e-01 1.73737453e-01 2.75952946e-02 4.49523560e+02] [-1.73670006e-01 9.84792007e-01 -4.84070696e-03 -8.68161077e+01] [-2.80166376e-02 -2.72573733e-05 9.99607457e-01 -1.47094236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:449.55, Y:-86.82, Z:-14.71 [[ 9.85182055e-01 1.69301203e-01 2.74485285e-02 4.49550720e+02] [-1.69232786e-01 9.85564353e-01 -4.81361841e-03 -8.68209493e+01] [-2.78672426e-02 9.70995218e-05 9.99611628e-01 -1.47103712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.554012739 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:449.58, Y:-86.83, Z:-14.71 [[ 9.85541348e-01 1.67125792e-01 2.78786674e-02 4.49579310e+02] [-1.67054393e-01 9.85935568e-01 -4.88728380e-03 -8.68266112e+01] [-2.83033610e-02 1.59366401e-04 9.99599367e-01 -1.47112794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:449.61, Y:-86.83, Z:-14.71 [[ 9.85901939e-01 1.64955100e-01 2.80567612e-02 4.49607610e+02] [-1.64881945e-01 9.86301052e-01 -4.91716359e-03 -8.68326009e+01] [-2.84835243e-02 2.21787762e-04 9.99594238e-01 -1.47117736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.614012739 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:449.64, Y:-86.84, Z:-14.71 [[ 9.86653590e-01 1.60598810e-01 2.68833571e-02 4.49635627e+02] [-1.60530065e-01 9.87019712e-01 -4.71023561e-03 -8.68400727e+01] [-2.72908616e-02 3.31783824e-04 9.99627480e-01 -1.47125666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:449.66, Y:-86.85, Z:-14.71 [[ 9.86957304e-01 1.58777801e-01 2.65497864e-02 4.49663180e+02] [-1.58710126e-01 9.87314270e-01 -4.65051284e-03 -8.68466448e+01] [-2.69513812e-02 3.76137657e-04 9.99636675e-01 -1.47131319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.674012739 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:449.69, Y:-86.85, Z:-14.71 [[ 9.87218819e-01 1.57057328e-01 2.70554990e-02 4.49690929e+02] [-1.56986452e-01 9.87589394e-01 -4.73736360e-03 -8.68533929e+01] [-2.74637616e-02 4.29467689e-04 9.99622708e-01 -1.47142947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:449.72, Y:-86.86, Z:-14.71 [[ 9.87475086e-01 1.55280855e-01 2.79429754e-02 4.49718799e+02] [-1.55204581e-01 9.87870241e-01 -4.89136410e-03 -8.68625420e+01] [-2.83635690e-02 4.93222414e-04 9.99597551e-01 -1.47147395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.734012739 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:449.75, Y:-86.87, Z:-14.71 [[ 9.87471360e-01 1.55268239e-01 2.81440268e-02 4.49747213e+02] [-1.55190897e-01 9.87872223e-01 -4.92516939e-03 -8.68699311e+01] [-2.85674247e-02 4.95766959e-04 9.99591745e-01 -1.47149757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:449.77, Y:-86.88, Z:-14.72 [[ 9.87443844e-01 1.55587446e-01 2.73349799e-02 4.49774593e+02] [-1.55514628e-01 9.87822010e-01 -4.78293258e-03 -8.68786066e+01] [-2.77462590e-02 4.71888111e-04 9.99614887e-01 -1.47153166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.794012739 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:449.80, Y:-86.89, Z:-14.72 [[ 9.87444404e-01 1.55785946e-01 2.61589019e-02 4.49802480e+02] [-1.55719347e-01 9.87790737e-01 -4.57651477e-03 -8.68856422e+01] [-2.65524777e-02 4.45606782e-04 9.99647321e-01 -1.47162572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:449.83, Y:-86.89, Z:-14.72 [[ 9.87344959e-01 1.56546822e-01 2.53579287e-02 4.49829946e+02] [-1.56484512e-01 9.87670453e-01 -4.43552553e-03 -8.68929077e+01] [-2.57396443e-02 4.11270669e-04 9.99668596e-01 -1.47179509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.854012739 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:449.86, Y:-86.90, Z:-14.72 [[ 9.87192976e-01 1.57592596e-01 2.47911824e-02 4.49857978e+02] [-1.57533401e-01 9.87504144e-01 -4.33520537e-03 -8.68996169e+01] [-2.51645916e-02 3.74245011e-04 9.99683251e-01 -1.47192261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:449.89, Y:-86.91, Z:-14.72 [[ 9.86589040e-01 1.61231830e-01 2.54236685e-02 4.49885112e+02] [-1.61170814e-01 9.86916518e-01 -4.44458626e-03 -8.69056295e+01] [-2.58076472e-02 2.87426744e-04 9.99666886e-01 -1.47203352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.914012739 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:449.91, Y:-86.91, Z:-14.72 [[ 9.86185355e-01 1.63598633e-01 2.59602005e-02 4.49912071e+02] [-1.63535880e-01 9.86526956e-01 -4.53663681e-03 -8.69101784e+01] [-2.63526252e-02 2.28540546e-04 9.99652683e-01 -1.47206311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:449.94, Y:-86.92, Z:-14.72 [[ 9.85762138e-01 1.66076796e-01 2.62964938e-02 4.49940519e+02] [-1.66013334e-01 9.86112809e-01 -4.59363157e-03 -8.69153215e+01] [-2.66942050e-02 1.62659455e-04 9.99643633e-01 -1.47210176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.974012739 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:449.97, Y:-86.92, Z:-14.72 [[ 9.84894073e-01 1.71034913e-01 2.70318878e-02 4.49969255e+02] [-1.70969754e-01 9.85264968e-01 -4.72073707e-03 -8.69204462e+01] [-2.74409829e-02 2.77907522e-05 9.99623425e-01 -1.47219805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:450.00, Y:-86.92, Z:-14.72 [[ 9.84586862e-01 1.72806268e-01 2.69574739e-02 4.49998154e+02] [-1.72742157e-01 9.84955833e-01 -4.70679848e-03 -8.69249365e+01] [-2.73652855e-02 -2.24402542e-05 9.99625500e-01 -1.47231069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.034012739 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:450.03, Y:-86.93, Z:-14.72 [[ 9.84067580e-01 1.75600717e-01 2.78457510e-02 4.50025710e+02] [-1.75533468e-01 9.84461466e-01 -4.86051961e-03 -8.69291960e+01] [-2.82665796e-02 -1.04781463e-04 9.99600415e-01 -1.47237898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:450.05, Y:-86.93, Z:-14.72 [[ 9.83904378e-01 1.76448863e-01 2.82484399e-02 4.50052714e+02] [-1.76380053e-01 9.84309799e-01 -4.92909924e-03 -8.69340154e+01] [-2.86749501e-02 -1.32698986e-04 9.99588780e-01 -1.47247270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.094012739 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:450.08, Y:-86.94, Z:-14.73 [[ 9.83811929e-01 1.76994906e-01 2.80515783e-02 4.50081434e+02] [-1.76927324e-01 9.84211756e-01 -4.89295574e-03 -8.69393995e+01] [-2.84747213e-02 -1.49342458e-04 9.99594502e-01 -1.47256023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:450.11, Y:-86.95, Z:-14.73 [[ 9.83775462e-01 1.77258863e-01 2.76610738e-02 4.50109614e+02] [-1.77193291e-01 9.84164250e-01 -4.82355043e-03 -8.69450989e+01] [-2.80780570e-02 -1.56066140e-04 9.99605721e-01 -1.47271181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.154012739 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:450.14, Y:-86.95, Z:-14.73 [[ 9.83904510e-01 1.76762253e-01 2.62110758e-02 4.50137132e+02] [-1.76703230e-01 9.84253569e-01 -4.56957781e-03 -8.69516713e+01] [-2.66060738e-02 -1.35553549e-04 9.99645987e-01 -1.47288305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:450.17, Y:-86.96, Z:-14.73 [[ 9.84058498e-01 1.75981514e-01 2.56783726e-02 4.50165195e+02] [-1.75924643e-01 9.84393465e-01 -4.47507262e-03 -8.69578773e+01] [-2.60651523e-02 -1.13725289e-04 9.99660240e-01 -1.47297843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.214012739 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:450.19, Y:-86.96, Z:-14.73 [[ 9.84236437e-01 1.74986583e-01 2.56579583e-02 4.50192776e+02] [-1.74929496e-01 9.84570814e-01 -4.47032182e-03 -8.69645958e+01] [-2.60443233e-02 -8.84800878e-05 9.99660785e-01 -1.47304492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:450.22, Y:-86.98, Z:-14.73 [[ 9.84720493e-01 1.72294387e-01 2.53020774e-02 4.50220082e+02] [-1.72238013e-01 9.85045503e-01 -4.40716260e-03 -8.69760764e+01] [-2.56830269e-02 -1.81561942e-05 9.99670136e-01 -1.47311221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.274012739 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:450.25, Y:-86.98, Z:-14.73 [[ 9.84932914e-01 1.71066609e-01 2.53647388e-02 4.50248055e+02] [-1.71009578e-01 9.85259466e-01 -4.41690160e-03 -8.69846615e+01] [-2.57464334e-02 1.27384802e-05 9.99668506e-01 -1.47316686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:450.27, Y:-87.00, Z:-14.73 [[ 9.84984675e-01 1.70562306e-01 2.67149648e-02 4.50274025e+02] [-1.70498890e-01 9.85346893e-01 -4.65074563e-03 -8.69954434e+01] [-2.71167494e-02 2.60413371e-05 9.99632273e-01 -1.47314725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.334012739 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:450.30, Y:-87.00, Z:-14.73 [[ 9.84938352e-01 1.70720919e-01 2.74009057e-02 4.50302076e+02] [-1.70654311e-01 9.85319424e-01 -4.76852034e-03 -8.70023886e+01] [-2.78127308e-02 2.06158876e-05 9.99613151e-01 -1.47317685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:450.33, Y:-87.01, Z:-14.73 [[ 9.84872050e-01 1.71107867e-01 2.73704824e-02 4.50330783e+02] [-1.71041592e-01 9.85252302e-01 -4.76194285e-03 -8.70093160e+01] [-2.77816367e-02 8.41354468e-06 9.99614016e-01 -1.47320830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.394012739 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:450.36, Y:-87.02, Z:-14.73 [[ 9.84465289e-01 1.73423099e-01 2.74321568e-02 4.50358121e+02] [-1.73357440e-01 9.84847412e-01 -4.77205959e-03 -8.70175478e+01] [-2.78440740e-02 -5.76414529e-05 9.99612277e-01 -1.47325690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:450.39, Y:-87.02, Z:-14.73 [[ 9.84225789e-01 1.74771067e-01 2.74712529e-02 4.50387321e+02] [-1.74705772e-01 9.84609092e-01 -4.77790447e-03 -8.70243098e+01] [-2.78834848e-02 -9.68496514e-05 9.99611175e-01 -1.47342716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.454012739 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:450.42, Y:-87.03, Z:-14.74 [[ 9.84113336e-01 1.75453248e-01 2.71495953e-02 4.50415826e+02] [-1.75389753e-01 9.84487757e-01 -4.72124170e-03 -8.70314420e+01] [-2.75568014e-02 -1.15523905e-04 9.99620233e-01 -1.47353296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:450.44, Y:-87.04, Z:-14.74 [[ 9.83994466e-01 1.76154425e-01 2.69167299e-02 4.50444936e+02] [-1.76092266e-01 9.84362535e-01 -4.68114103e-03 -8.70393189e+01] [-2.73204242e-02 -1.33611095e-04 9.99626719e-01 -1.47361422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.514012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:450.47, Y:-87.05, Z:-14.74 [[ 9.83667315e-01 1.77955789e-01 2.70249976e-02 4.50472091e+02] [-1.77893825e-01 9.84038466e-01 -4.69935232e-03 -8.70476343e+01] [-2.74299142e-02 -1.84980929e-04 9.99623712e-01 -1.47367666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:450.50, Y:-87.05, Z:-14.74 [[ 9.83444298e-01 1.79236338e-01 2.66767263e-02 4.50501308e+02] [-1.79176458e-01 9.83806021e-01 -4.63784649e-03 -8.70529151e+01] [-2.70759946e-02 -2.18777655e-04 9.99633354e-01 -1.47379392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.574012739 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:450.53, Y:-87.06, Z:-14.74 [[ 9.83250517e-01 1.80405419e-01 2.59288466e-02 4.50529137e+02] [-1.80349271e-01 9.83592306e-01 -4.50726211e-03 -8.70574177e+01] [-2.63165485e-02 -2.44480774e-04 9.99653630e-01 -1.47383727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:450.56, Y:-87.06, Z:-14.74 [[ 9.82944407e-01 1.82168259e-01 2.51995646e-02 4.50556339e+02] [-1.82115825e-01 9.83267331e-01 -4.37969805e-03 -8.70611795e+01] [-2.55757506e-02 -2.84239806e-04 9.99672847e-01 -1.47393444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.634012739 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:450.59, Y:-87.07, Z:-14.74 [[ 9.82771231e-01 1.83064370e-01 2.54586575e-02 4.50585108e+02] [-1.83011191e-01 9.83100879e-01 -4.42326816e-03 -8.70657167e+01] [-2.58381713e-02 -3.12158514e-04 9.99666090e-01 -1.47400797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:450.61, Y:-87.07, Z:-14.74 [[ 9.82606278e-01 1.83839651e-01 2.62275579e-02 4.50613917e+02] [-1.83783517e-01 9.82956186e-01 -4.55567781e-03 -8.70697639e+01] [-2.66180545e-02 -3.43755219e-04 9.99645618e-01 -1.47407561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.694012739 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:450.64, Y:-87.07, Z:-14.74 [[ 9.82144154e-01 1.85988947e-01 2.83014491e-02 4.50641897e+02] [-1.85924517e-01 9.82551740e-01 -4.91445833e-03 -8.70733166e+01] [-2.87216730e-02 -4.35226739e-04 9.99587353e-01 -1.47410245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:450.67, Y:-87.08, Z:-14.74 [[ 9.82051506e-01 1.86400194e-01 2.88063742e-02 4.50669727e+02] [-1.86333671e-01 9.82473796e-01 -5.00039328e-03 -8.70774606e+01] [-2.92335821e-02 -4.56953708e-04 9.99572503e-01 -1.47415249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.754012739 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:450.70, Y:-87.08, Z:-14.74 [[ 9.82267183e-01 1.85483547e-01 2.73319405e-02 4.50697477e+02] [-1.85423345e-01 9.82647285e-01 -4.74305217e-03 -8.70799572e+01] [-2.77374152e-02 -4.09035346e-04 9.99615160e-01 -1.47426295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:450.73, Y:-87.08, Z:-14.74 [[ 9.82472497e-01 1.84468273e-01 2.68188228e-02 4.50726632e+02] [-1.84409972e-01 9.82838398e-01 -4.65257265e-03 -8.70832531e+01] [-2.72168208e-02 -3.74633691e-04 9.99629484e-01 -1.47444022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.814012739 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:450.76, Y:-87.09, Z:-14.75 [[ 9.82580958e-01 1.83924069e-01 2.65818953e-02 4.50755017e+02] [-1.83866625e-01 9.82940389e-01 -4.61034128e-03 -8.70868240e+01] [-2.69763712e-02 -3.57489817e-04 9.99636008e-01 -1.47451850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:450.78, Y:-87.09, Z:-14.75 [[ 9.82618463e-01 1.83771297e-01 2.62500606e-02 4.50783680e+02] [-1.83715253e-01 9.82968966e-01 -4.55169309e-03 -8.70896902e+01] [-2.66394655e-02 -3.49958859e-04 9.99645045e-01 -1.47459676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.874012739 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:450.81, Y:-87.09, Z:-14.75 [[ 9.82600357e-01 1.83904649e-01 2.59926503e-02 4.50812563e+02] [-1.83849778e-01 9.82944025e-01 -4.50582011e-03 -8.70929432e+01] [-2.63779616e-02 -3.51322537e-04 9.99651979e-01 -1.47464460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:450.84, Y:-87.10, Z:-14.75 [[ 9.82649750e-01 1.83674229e-01 2.57535622e-02 4.50840261e+02] [-1.83620315e-01 9.82987111e-01 -4.46317523e-03 -8.70950114e+01] [-2.61351900e-02 -3.43139188e-04 9.99658359e-01 -1.47472972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.934012739 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:450.87, Y:-87.10, Z:-14.75 [[ 9.82757534e-01 1.83127045e-01 2.55365432e-02 4.50868816e+02] [-1.83073892e-01 9.83089202e-01 -4.42399472e-03 -8.70969312e+01] [-2.59148530e-02 -3.27360211e-04 9.99664100e-01 -1.47481624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:450.90, Y:-87.10, Z:-14.75 [[ 9.82932333e-01 1.82020833e-01 2.66916509e-02 4.50897760e+02] [-1.81962390e-01 9.83294624e-01 -4.62278022e-03 -8.70976921e+01] [-2.70871992e-02 -3.12996451e-04 9.99633026e-01 -1.47491396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.994012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:450.93, Y:-87.10, Z:-14.75 [[ 9.82947760e-01 1.81817603e-01 2.74965704e-02 4.50926171e+02] [-1.81755541e-01 9.83332222e-01 -4.76079356e-03 -8.71008762e+01] [-2.79038597e-02 -3.18042654e-04 9.99610561e-01 -1.47496147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:450.95, Y:-87.10, Z:-14.75 [[ 9.82873772e-01 1.82070693e-01 2.84501376e-02 4.50954390e+02] [-1.82004399e-01 9.83285385e-01 -4.92445088e-03 -8.70999695e+01] [-2.88712026e-02 -3.37936577e-04 9.99583083e-01 -1.47491255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.054012739 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:450.98, Y:-87.10, Z:-14.75 [[ 9.82749810e-01 1.83098694e-01 2.60322922e-02 4.50982727e+02] [-1.82895315e-01 9.83081430e-01 -1.00102571e-02 -8.70988199e+01] [-2.74247281e-02 5.07639397e-03 9.99610982e-01 -1.47485716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:451.01, Y:-87.11, Z:-14.75 [[ 9.82672340e-01 1.83057616e-01 2.90685645e-02 4.51009541e+02] [-1.83149241e-01 9.83084995e-01 4.98729766e-04 -8.71069246e+01] [-2.84855733e-02 -5.81397345e-03 9.99577296e-01 -1.47504411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.114012739 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:451.04, Y:-87.10, Z:-14.75 [[ 9.82289111e-01 1.85203310e-01 2.84224762e-02 4.51039219e+02] [-1.85138615e-01 9.82700130e-01 -4.91409661e-03 -8.71043306e+01] [-2.88408780e-02 -4.35034290e-04 9.99583921e-01 -1.47510077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:451.07, Y:-87.11, Z:-14.75 [[ 9.82035586e-01 1.86476634e-01 2.88543533e-02 4.51067183e+02] [-1.86410549e-01 9.82459278e-01 -4.98734693e-03 -8.71064122e+01] [-2.92782508e-02 -4.81003680e-04 9.99571184e-01 -1.47518677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.174012739 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:451.10, Y:-87.11, Z:-14.75 [[ 9.81747959e-01 1.87911721e-01 2.93279660e-02 4.51095439e+02] [-1.87844152e-01 9.82185776e-01 -5.06705975e-03 -8.71082688e+01] [-2.97576710e-02 -5.34511344e-04 9.99557000e-01 -1.47523725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:451.12, Y:-87.11, Z:-14.75 [[ 9.81582213e-01 1.88783545e-01 2.92768161e-02 4.51122348e+02] [-1.88716662e-01 9.82018563e-01 -5.05610828e-03 -8.71102322e+01] [-2.97048869e-02 -5.62037054e-04 9.99558554e-01 -1.47530779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.234012739 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:451.15, Y:-87.11, Z:-14.75 [[ 9.81677709e-01 1.88419702e-01 2.84058280e-02 4.51150321e+02] [-1.88356671e-01 9.82088452e-01 -4.90280334e-03 -8.71112781e+01] [-2.88208203e-02 -5.37454440e-04 9.99584449e-01 -1.47543770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:451.18, Y:-87.11, Z:-14.76 [[ 9.81940986e-01 1.87131294e-01 2.78168937e-02 4.51177896e+02] [-1.87070388e-01 9.82334789e-01 -4.79919682e-03 -8.71141065e+01] [-2.82235823e-02 -4.91189039e-04 9.99601515e-01 -1.47557090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.294012739 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:451.21, Y:-87.12, Z:-14.76 [[ 9.82312331e-01 1.85229964e-01 2.74289145e-02 4.51205283e+02] [-1.85170061e-01 9.82695107e-01 -4.73024005e-03 -8.71157389e+01] [-2.78304423e-02 -4.32440657e-04 9.99612565e-01 -1.47564008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:451.23, Y:-87.12, Z:-14.76 [[ 9.82467674e-01 1.84405630e-01 2.74195917e-02 4.51232665e+02] [-1.84345514e-01 9.82850138e-01 -4.72620993e-03 -8.71190891e+01] [-2.78208892e-02 -4.11330243e-04 9.99612840e-01 -1.47571846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.354012739 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:451.26, Y:-87.12, Z:-14.76 [[ 9.82487418e-01 1.84300357e-01 2.74199032e-02 4.51260752e+02] [-1.84240250e-01 9.82869885e-01 -4.72440210e-03 -8.71237658e+01] [-2.78209061e-02 -4.10184195e-04 9.99612840e-01 -1.47580196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:451.29, Y:-87.13, Z:-14.76 [[ 9.82637085e-01 1.83549494e-01 2.70913613e-02 4.51288421e+02] [-1.83490617e-01 9.83010393e-01 -4.66477750e-03 -8.71267911e+01] [-2.74873073e-02 -3.87227254e-04 9.99622078e-01 -1.47589336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.414012739 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:451.32, Y:-87.13, Z:-14.76 [[ 9.83097843e-01 1.81324757e-01 2.52974982e-02 4.51315543e+02] [-1.81272726e-01 9.83423225e-01 -4.35423382e-03 -8.71273056e+01] [-2.56676776e-02 -3.05108580e-04 9.99670484e-01 -1.47607095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:451.34, Y:-87.13, Z:-14.76 [[ 9.83402513e-01 1.79802247e-01 2.43032932e-02 4.51343417e+02] [-1.79753812e-01 9.83702743e-01 -4.18106692e-03 -8.71310151e+01] [-2.46589814e-02 -2.56937890e-04 9.99695888e-01 -1.47621447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.474012739 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:451.37, Y:-87.14, Z:-14.76 [[ 9.84109641e-01 1.75981687e-01 2.36360142e-02 4.51370339e+02] [-1.75934809e-01 9.84393428e-01 -4.06474251e-03 -8.71382230e+01] [-2.39824573e-02 -1.58245347e-04 9.99712367e-01 -1.47637769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:451.40, Y:-87.14, Z:-14.76 [[ 9.84448137e-01 1.73993801e-01 2.42491795e-02 4.51397679e+02] [-1.73943904e-01 9.84746741e-01 -4.16823583e-03 -8.71449352e+01] [-2.46045477e-02 -1.14584957e-04 9.99697256e-01 -1.47643531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.534012739 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:451.42, Y:-87.15, Z:-14.76 [[ 9.84817208e-01 1.71803269e-01 2.48737502e-02 4.51423772e+02] [-1.71750106e-01 9.85131277e-01 -4.27414548e-03 -8.71505747e+01] [-2.52382214e-02 -6.28172139e-05 9.99681463e-01 -1.47646973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:451.45, Y:-87.16, Z:-14.76 [[ 9.85165685e-01 1.69752138e-01 2.51552105e-02 4.51450377e+02] [-1.69697164e-01 9.85486789e-01 -4.31982094e-03 -8.71555779e+01] [-2.55234264e-02 -1.30285354e-05 9.99674224e-01 -1.47648305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.594012739 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:451.48, Y:-87.16, Z:-14.77 [[ 9.85603446e-01 1.67160800e-01 2.53597030e-02 4.51476915e+02] [-1.67104137e-01 9.85929645e-01 -4.35237264e-03 -8.71621927e+01] [-2.57304290e-02 5.20021872e-05 9.99668916e-01 -1.47654542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:451.50, Y:-87.17, Z:-14.77 [[ 9.85614421e-01 1.66965969e-01 2.62026244e-02 4.51504563e+02] [-1.66905464e-01 9.85962658e-01 -4.49488113e-03 -8.71686249e+01] [-2.65853014e-02 5.68584758e-05 9.99646547e-01 -1.47656991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.654012739 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:451.53, Y:-87.18, Z:-14.77 [[ 9.85432760e-01 1.67929111e-01 2.68717005e-02 4.51532276e+02] [-1.67865886e-01 9.85799073e-01 -4.60777887e-03 -8.71750208e+01] [-2.72638777e-02 2.98144425e-05 9.99628271e-01 -1.47655482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:451.56, Y:-87.18, Z:-14.77 [[ 9.84761198e-01 1.71683142e-01 2.77539656e-02 4.51560348e+02] [-1.71617225e-01 9.85152218e-01 -4.75768355e-03 -8.71819209e+01] [-2.81586949e-02 -7.78764063e-05 9.99603462e-01 -1.47665143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.714012739 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:451.59, Y:-87.19, Z:-14.77 [[ 9.84413390e-01 1.73718257e-01 2.74270747e-02 4.51588076e+02] [-1.73654708e-01 9.84795384e-01 -4.70037460e-03 -8.71875824e+01] [-2.78265974e-02 -1.35728953e-04 9.99612756e-01 -1.47673400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:451.62, Y:-87.20, Z:-14.77 [[ 9.83841544e-01 1.77017581e-01 2.68438494e-02 4.51615781e+02] [-1.76957981e-01 9.84207663e-01 -4.59869715e-03 -8.71952270e+01] [-2.72339726e-02 -2.25844095e-04 9.99629061e-01 -1.47678187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.774012739 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:451.64, Y:-87.20, Z:-14.77 [[ 9.83617789e-01 1.78269430e-01 2.67591965e-02 4.51644316e+02] [-1.78210704e-01 9.83981678e-01 -4.58290109e-03 -8.72007689e+01] [-2.71475502e-02 -2.60952189e-04 9.99631403e-01 -1.47687087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:451.67, Y:-87.21, Z:-14.77 [[ 9.83413052e-01 1.79443890e-01 2.64321797e-02 4.51671412e+02] [-1.79387047e-01 9.83768167e-01 -4.52565159e-03 -8.72055430e+01] [-2.68152375e-02 -2.91005834e-04 9.99640365e-01 -1.47694899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.834012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:451.70, Y:-87.21, Z:-14.77 [[ 9.83187961e-01 1.80680698e-01 2.63802715e-02 4.51698655e+02] [-1.80624566e-01 9.83541753e-01 -4.51516515e-03 -8.72097787e+01] [-2.67619017e-02 -3.25669084e-04 9.99641783e-01 -1.47702401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:451.73, Y:-87.21, Z:-14.77 [[ 9.82550775e-01 1.83898647e-01 2.78435477e-02 4.51726620e+02] [-1.83837455e-01 9.82945113e-01 -4.76385596e-03 -8.72118567e+01] [-2.82447458e-02 -4.37956573e-04 9.99600942e-01 -1.47716414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.894012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:451.75, Y:-87.21, Z:-14.77 [[ 9.82162420e-01 1.85788522e-01 2.89759700e-02 4.51753962e+02] [-1.85723137e-01 9.82589620e-01 -4.95539358e-03 -8.72144461e+01] [-2.93921425e-02 -5.14506697e-04 9.99567825e-01 -1.47722601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:451.78, Y:-87.22, Z:-14.77 [[ 9.81879393e-01 1.87171645e-01 2.96586079e-02 4.51782457e+02] [-1.87103850e-01 9.82327058e-01 -5.06956191e-03 -8.72168133e+01] [-3.00833313e-02 -5.71541350e-04 9.99547231e-01 -1.47728272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.954012739 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:451.81, Y:-87.22, Z:-14.77 [[ 9.81614420e-01 1.88792411e-01 2.81168143e-02 4.51809419e+02] [-1.88732202e-01 9.82016841e-01 -4.80409065e-03 -8.72173365e+01] [-2.85181611e-02 -5.90783629e-04 9.99593100e-01 -1.47734192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:451.84, Y:-87.22, Z:-14.77 [[ 9.81673713e-01 1.88622605e-01 2.71704727e-02 4.51837123e+02] [-1.88566378e-01 9.82049484e-01 -4.64016356e-03 -8.72196714e+01] [-2.75579884e-02 -5.68311044e-04 9.99620045e-01 -1.47745133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.014012739 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:451.87, Y:-87.22, Z:-14.78 [[ 9.82050811e-01 1.86775980e-01 2.62857023e-02 4.51865571e+02] [-1.86722744e-01 9.82402403e-01 -4.48724063e-03 -8.72194826e+01] [-2.66612459e-02 -5.01440148e-04 9.99644400e-01 -1.47760372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:451.89, Y:-87.22, Z:-14.78 [[ 9.82345498e-01 1.85196858e-01 2.64470417e-02 4.51892725e+02] [-1.85142444e-01 9.82701333e-01 -4.51289776e-03 -8.72221032e+01] [-2.68253176e-02 -4.63245131e-04 9.99640029e-01 -1.47770901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.074012739 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:451.92, Y:-87.23, Z:-14.78 [[ 9.82681058e-01 1.83401443e-01 2.64924307e-02 4.51920747e+02] [-1.83346250e-01 9.83038014e-01 -4.51840005e-03 -8.72255821e+01] [-2.68717475e-02 -4.17141669e-04 9.99638802e-01 -1.47777564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:451.95, Y:-87.23, Z:-14.78 [[ 9.83457663e-01 1.79144360e-01 2.68015715e-02 4.51947862e+02] [-1.79086341e-01 9.83822751e-01 -4.56921671e-03 -8.72286741e+01] [-2.71865452e-02 -3.06164204e-04 9.99630331e-01 -1.47784448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.134012739 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:451.98, Y:-87.23, Z:-14.78 [[ 9.83893004e-01 1.76639994e-01 2.74384715e-02 4.51975829e+02] [-1.76578276e-01 9.84275496e-01 -4.67545549e-03 -8.72326785e+01] [-2.78328876e-02 -2.44890054e-04 9.99612560e-01 -1.47790287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:452.00, Y:-87.24, Z:-14.78 [[ 9.84295935e-01 1.74232769e-01 2.83628928e-02 4.52003456e+02] [-1.74165881e-01 9.84704478e-01 -4.83091946e-03 -8.72366262e+01] [-2.87707720e-02 -1.84793834e-04 9.99586019e-01 -1.47796989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.194012739 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:452.03, Y:-87.24, Z:-14.78 [[ 9.84958189e-01 1.70373540e-01 2.88135837e-02 4.52031148e+02] [-1.70302916e-01 9.85379547e-01 -4.90564353e-03 -8.72426156e+01] [-2.92281079e-02 -7.51835680e-05 9.99572765e-01 -1.47804189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:452.06, Y:-87.25, Z:-14.78 [[ 9.85264812e-01 1.68693312e-01 2.82102370e-02 4.52058262e+02] [-1.68624984e-01 9.85668588e-01 -4.80095891e-03 -8.72487158e+01] [-2.86158342e-02 -2.67348883e-05 9.99590483e-01 -1.47813326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.254012739 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:452.09, Y:-87.25, Z:-14.78 [[ 9.85595917e-01 1.66928124e-01 2.71236074e-02 4.52086681e+02] [-1.66864332e-01 9.85969067e-01 -4.61449554e-03 -8.72542423e+01] [-2.75133270e-02 2.20653273e-05 9.99621437e-01 -1.47816949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:452.11, Y:-87.26, Z:-14.78 [[ 9.85788009e-01 1.65936836e-01 2.62100601e-02 4.52113735e+02] [-1.65876951e-01 9.86136382e-01 -4.45789483e-03 -8.72594836e+01] [-2.65864228e-02 4.68943944e-05 9.99646517e-01 -1.47828634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.314012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:452.14, Y:-87.27, Z:-14.78 [[ 9.85891630e-01 1.65453549e-01 2.53538412e-02 4.52140731e+02] [-1.65397395e-01 9.86217583e-01 -4.31064415e-03 -8.72658712e+01] [-2.57176154e-02 5.63686910e-05 9.99669246e-01 -1.47833547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:452.17, Y:-87.27, Z:-14.78 [[ 9.85852800e-01 1.65590226e-01 2.59640921e-02 4.52168706e+02] [-1.65531424e-01 9.86194643e-01 -4.41284962e-03 -8.72720385e+01] [-2.63363733e-02 5.25470202e-05 9.99653136e-01 -1.47837023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.374012739 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:452.20, Y:-87.28, Z:-14.78 [[ 9.85730548e-01 1.66141027e-01 2.70637345e-02 4.52196018e+02] [-1.66077383e-01 9.86102002e-01 -4.59839914e-03 -8.72779432e+01] [-2.74515855e-02 3.81083041e-05 9.99623133e-01 -1.47836129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:452.22, Y:-87.28, Z:-14.78 [[ 9.85763824e-01 1.65970840e-01 2.68954112e-02 4.52224497e+02] [-1.65907966e-01 9.86130660e-01 -4.56817481e-03 -8.72829594e+01] [-2.72805734e-02 4.09785013e-05 9.99627815e-01 -1.47841465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.434012739 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:452.25, Y:-87.29, Z:-14.79 [[ 9.85814667e-01 1.65601850e-01 2.73033097e-02 4.52251887e+02] [-1.65536949e-01 9.86192692e-01 -4.63613726e-03 -8.72884125e+01] [-2.76940774e-02 5.06655340e-05 9.99616444e-01 -1.47855636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:452.28, Y:-87.30, Z:-14.79 [[ 9.86130391e-01 1.63336989e-01 2.94598001e-02 4.52279104e+02] [-1.63260474e-01 9.86570329e-01 -5.00041910e-03 -8.72974913e+01] [-2.98809181e-02 1.21444309e-04 9.99553458e-01 -1.47862611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.494012739 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:452.31, Y:-87.30, Z:-14.79 [[ 9.86398525e-01 1.61623560e-01 2.99294788e-02 4.52306325e+02] [-1.61543842e-01 9.86852468e-01 -5.07868070e-03 -8.73036432e+01] [-3.03568145e-02 1.74680165e-04 9.99539110e-01 -1.47867369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:452.34, Y:-87.31, Z:-14.79 [[ 9.86696981e-01 1.59863405e-01 2.95425185e-02 4.52335046e+02] [-1.59784997e-01 9.87139120e-01 -5.01131269e-03 -8.73097791e+01] [-2.99637012e-02 2.24195872e-04 9.99550962e-01 -1.47872281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.554012739 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:452.36, Y:-87.32, Z:-14.79 [[ 9.87265480e-01 1.56561690e-01 2.82012222e-02 4.52363857e+02] [-1.56488913e-01 9.87668133e-01 -4.78315388e-03 -8.73179012e+01] [-2.86023071e-02 3.09064123e-04 9.99590823e-01 -1.47888053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:452.39, Y:-87.33, Z:-14.79 [[ 9.87436603e-01 1.55466036e-01 2.82713214e-02 4.52391237e+02] [-1.55392466e-01 9.87841179e-01 -4.79438463e-03 -8.73254064e+01] [-2.86729395e-02 3.41000533e-04 9.99588789e-01 -1.47900568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.614012739 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:452.42, Y:-87.33, Z:-14.79 [[ 9.87548715e-01 1.54656474e-01 2.87908063e-02 4.52420098e+02] [-1.54579861e-01 9.87968237e-01 -4.88145094e-03 -8.73328133e+01] [-2.91993502e-02 3.70191780e-04 9.99573540e-01 -1.47908339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:452.45, Y:-87.34, Z:-14.79 [[ 9.87655206e-01 1.53993838e-01 2.86895835e-02 4.52447982e+02] [-1.53917503e-01 9.88071732e-01 -4.86362096e-03 -8.73406491e+01] [-2.90963341e-02 3.87751508e-04 9.99576537e-01 -1.47919501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.674012739 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:452.48, Y:-87.35, Z:-14.79 [[ 9.87571383e-01 1.54679289e-01 2.78761850e-02 4.52476547e+02] [-1.54607513e-01 9.87964671e-01 -4.72509773e-03 -8.73473612e+01] [-2.82715606e-02 3.56503673e-04 9.99600216e-01 -1.47927507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:452.50, Y:-87.35, Z:-14.79 [[ 9.87471122e-01 1.55490580e-01 2.68972475e-02 4.52504399e+02] [-1.55424074e-01 9.87837323e-01 -4.55859317e-03 -8.73546904e+01] [-2.72789233e-02 3.20999316e-04 9.99627809e-01 -1.47947656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.734012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:452.53, Y:-87.36, Z:-14.80 [[ 9.87147868e-01 1.57842826e-01 2.49945786e-02 4.52532700e+02] [-1.57786172e-01 9.87464220e-01 -4.23529045e-03 -8.73642376e+01] [-2.53497623e-02 2.37059060e-04 9.99678615e-01 -1.47969306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:452.56, Y:-87.37, Z:-14.80 [[ 9.86932123e-01 1.59188047e-01 2.49829817e-02 4.52560883e+02] [-1.59131891e-01 9.87248259e-01 -4.23279838e-03 -8.73700521e+01] [-2.53382161e-02 2.01895586e-04 9.99678915e-01 -1.47976304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.794012739 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:452.59, Y:-87.38, Z:-14.80 [[ 9.86554459e-01 1.61265070e-01 2.65306686e-02 4.52587961e+02] [-1.61202514e-01 9.86911117e-01 -4.49410532e-03 -8.73774986e+01] [-2.69081540e-02 1.56869169e-04 9.99637898e-01 -1.47974635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:452.62, Y:-87.38, Z:-14.80 [[ 9.86543362e-01 1.61359073e-01 2.63712883e-02 4.52616679e+02] [-1.61297342e-01 9.86895753e-01 -4.46554274e-03 -8.73846547e+01] [-2.67462682e-02 1.51832845e-04 9.99642243e-01 -1.47983753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.854012739 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:452.65, Y:-87.39, Z:-14.80 [[ 9.86629206e-01 1.60960606e-01 2.55830667e-02 4.52645194e+02] [-1.60902391e-01 9.86960819e-01 -4.33151454e-03 -8.73919603e+01] [-2.59466877e-02 1.57222147e-04 9.99663316e-01 -1.47995758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:452.67, Y:-87.40, Z:-14.80 [[ 9.86792988e-01 1.60067513e-01 2.48594075e-02 4.52674138e+02] [-1.60012276e-01 9.87106053e-01 -4.20844959e-03 -8.73989161e+01] [-2.52125077e-02 1.75058178e-04 9.99682099e-01 -1.48013029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.914012739 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:452.70, Y:-87.41, Z:-14.80 [[ 9.87191953e-01 1.57768890e-01 2.36859897e-02 4.52701192e+02] [-1.57718096e-01 9.87476039e-01 -4.00930340e-03 -8.74097058e+01] [-2.40218906e-02 2.22242867e-04 9.99711408e-01 -1.48028704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:452.73, Y:-87.42, Z:-14.80 [[ 9.87245894e-01 1.57345655e-01 2.42464162e-02 4.52729698e+02] [-1.57292314e-01 9.87543563e-01 -4.10360966e-03 -8.74189479e+01] [-2.45900774e-02 2.37496883e-04 9.99697590e-01 -1.48034309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.974012739 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:452.76, Y:-87.43, Z:-14.80 [[ 9.87125231e-01 1.57669685e-01 2.69081656e-02 4.52757205e+02] [-1.57604125e-01 9.87491876e-01 -4.55343432e-03 -8.74295482e+01] [-2.72895335e-02 2.53972005e-04 9.99627539e-01 -1.48020697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:452.79, Y:-87.44, Z:-14.80 [[ 9.86969956e-01 1.58554100e-01 2.74026249e-02 4.52786526e+02] [-1.58486467e-01 9.87350264e-01 -4.63645719e-03 -8.74365181e+01] [-2.77911183e-02 2.33098734e-04 9.99613725e-01 -1.48030438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.034012739 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:452.82, Y:-87.44, Z:-14.80 [[ 9.86780006e-01 1.59815608e-01 2.69107979e-02 4.52816086e+02] [-1.59750850e-01 9.87146865e-01 -4.55324126e-03 -8.74439596e+01] [-2.72925888e-02 1.94024591e-04 9.99627469e-01 -1.48037558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:452.85, Y:-87.45, Z:-14.80 [[ 9.86471428e-01 1.61867123e-01 2.59452665e-02 4.52846008e+02] [-1.61807639e-01 9.86812554e-01 -4.38987570e-03 -8.74520110e+01] [-2.63136912e-02 1.32344645e-04 9.99653726e-01 -1.48047080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.094012739 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:452.87, Y:-87.46, Z:-14.80 [[ 9.85688308e-01 1.66509469e-01 2.63278536e-02 4.52873498e+02] [-1.66449870e-01 9.86039855e-01 -4.45469223e-03 -8.74630415e+01] [-2.67020614e-02 8.67023027e-06 9.99643436e-01 -1.48049615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:452.90, Y:-87.47, Z:-14.81 [[ 9.85267217e-01 1.68838802e-01 2.72391087e-02 4.52902038e+02] [-1.68775920e-01 9.85643676e-01 -4.60794008e-03 -8.74700902e+01] [-2.76260543e-02 -5.72533439e-05 9.99618326e-01 -1.48054958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.154012739 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:452.93, Y:-87.48, Z:-14.81 [[ 9.84405591e-01 1.73546485e-01 2.87619545e-02 4.52932049e+02] [-1.73478402e-01 9.84825658e-01 -4.86487409e-03 -8.74781648e+01] [-2.91697926e-02 -2.00568639e-04 9.99574451e-01 -1.48054353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:452.96, Y:-87.48, Z:-14.81 [[ 9.83896325e-01 1.76437681e-01 2.85966202e-02 4.52961756e+02] [-1.76371578e-01 9.84311772e-01 -4.83761382e-03 -8.74844906e+01] [-2.90015272e-02 -2.83920556e-04 9.99579327e-01 -1.48059303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.214012739 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:452.99, Y:-87.49, Z:-14.81 [[ 9.83294796e-01 1.79758784e-01 2.86028757e-02 4.52992437e+02] [-1.79694045e-01 9.83710645e-01 -4.83901912e-03 -8.74904456e+01] [-2.90068095e-02 -3.81584125e-04 9.99579141e-01 -1.48065115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:453.02, Y:-87.49, Z:-14.81 [[ 9.82056012e-01 1.86427300e-01 2.84754524e-02 4.53021770e+02] [-1.86365915e-01 9.82468590e-01 -4.81815072e-03 -8.74946478e+01] [-2.88744725e-02 -5.75159876e-04 9.99582880e-01 -1.48075257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.274012739 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:453.05, Y:-87.50, Z:-14.81 [[ 9.82061796e-01 1.86396837e-01 2.84753935e-02 4.53050692e+02] [-1.86335429e-01 9.82474371e-01 -4.81849936e-03 -8.74994515e+01] [-2.88744973e-02 -5.73910531e-04 9.99582880e-01 -1.48083853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:453.08, Y:-87.50, Z:-14.81 [[ 9.81497161e-01 1.89342821e-01 2.85064922e-02 4.53079506e+02] [-1.89282546e-01 9.81910820e-01 -4.82285468e-03 -8.75029097e+01] [-2.89040061e-02 -6.62163270e-04 9.99581973e-01 -1.48094784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.334012739 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:453.11, Y:-87.50, Z:-14.81 [[ 9.80712210e-01 1.93241822e-01 2.93455327e-02 4.53108126e+02] [-1.93179727e-01 9.81150833e-01 -4.96352152e-03 -8.75043264e+01] [-2.97515538e-02 -8.01175845e-04 9.99557003e-01 -1.48097271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:453.14, Y:-87.51, Z:-14.81 [[ 9.80492252e-01 1.94331379e-01 2.95001530e-02 4.53137197e+02] [-1.94269158e-01 9.80935579e-01 -4.98840898e-03 -8.75075898e+01] [-2.99071541e-02 -8.39873539e-04 9.99552328e-01 -1.48102976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.394012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:453.17, Y:-87.51, Z:-14.81 [[ 9.80437072e-01 1.94675709e-01 2.90605449e-02 4.53167103e+02] [-1.94615517e-01 9.80867302e-01 -4.91285544e-03 -8.75103270e+01] [-2.94609519e-02 -8.38887354e-04 9.99565580e-01 -1.48108302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:453.20, Y:-87.51, Z:-14.81 [[ 9.80505681e-01 1.94413656e-01 2.84945717e-02 4.53196270e+02] [-1.94355694e-01 9.80919296e-01 -4.81651753e-03 -8.75125003e+01] [-2.88872720e-02 -8.15459452e-04 9.99582343e-01 -1.48123902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.454012739 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:453.23, Y:-87.51, Z:-14.81 [[ 9.81209460e-01 1.90998665e-01 2.73405513e-02 4.53225515e+02] [-1.90944003e-01 9.81590056e-01 -4.62052559e-03 -8.75134404e+01] [-2.77197275e-02 -6.86810898e-04 9.99615499e-01 -1.48140146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:453.25, Y:-87.52, Z:-14.82 [[ 9.81640816e-01 1.88844179e-01 2.68176046e-02 4.53253107e+02] [-1.88790809e-01 9.82006873e-01 -4.53127538e-03 -8.75173663e+01] [-2.71907770e-02 -6.14832411e-04 9.99630073e-01 -1.48155581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.514012739 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:453.28, Y:-87.52, Z:-14.82 [[ 9.82084914e-01 1.86587146e-01 2.63525955e-02 4.53281799e+02] [-1.86534840e-01 9.82438263e-01 -4.45116548e-03 -8.75219351e+01] [-2.67203285e-02 -5.44254723e-04 9.99642800e-01 -1.48162243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:453.31, Y:-87.53, Z:-14.82 [[ 9.82653409e-01 1.83345782e-01 2.78675740e-02 4.53309504e+02] [-1.83286023e-01 9.83048366e-01 -4.70569880e-03 -8.75254161e+01] [-2.82579431e-02 -4.83665831e-04 9.99600548e-01 -1.48161811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.574012739 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:453.34, Y:-87.53, Z:-14.82 [[ 9.82824957e-01 1.82313764e-01 2.85796272e-02 4.53338385e+02] [-1.82250524e-01 9.83240293e-01 -4.82423734e-03 -8.75290588e+01] [-2.89801659e-02 -4.67271176e-04 9.99579878e-01 -1.48168127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:453.37, Y:-87.53, Z:-14.82 [[ 9.83031594e-01 1.81331284e-01 2.77101185e-02 4.53368255e+02] [-1.81271480e-01 9.83421977e-01 -4.67619145e-03 -8.75326899e+01] [-2.80986793e-02 -4.26210244e-04 9.99605063e-01 -1.48183331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.634012739 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:453.40, Y:-87.54, Z:-14.82 [[ 9.83118830e-01 1.81013780e-01 2.66716574e-02 4.53396618e+02] [-1.80958275e-01 9.83480478e-01 -4.50033886e-03 -8.75369548e+01] [-2.70456777e-02 -4.02089222e-04 9.99634118e-01 -1.48190172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:453.42, Y:-87.54, Z:-14.82 [[ 9.83136657e-01 1.81000722e-01 2.60969641e-02 4.53424490e+02] [-1.80947592e-01 9.83482884e-01 -4.40285952e-03 -8.75410076e+01] [-2.64628383e-02 -3.93570231e-04 9.99649720e-01 -1.48200245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.694012739 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:453.45, Y:-87.55, Z:-14.82 [[ 9.83176293e-01 1.80727817e-01 2.64921400e-02 4.53454322e+02] [-1.80673010e-01 9.83533071e-01 -4.46789416e-03 -8.75453852e+01] [-2.68633686e-02 -3.93687072e-04 9.99639037e-01 -1.48206164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:453.48, Y:-87.55, Z:-14.82 [[ 9.83230146e-01 1.80330197e-01 2.71937481e-02 4.53482319e+02] [-1.80272315e-01 9.83606052e-01 -4.58556032e-03 -8.75503170e+01] [-2.75748502e-02 -3.93618792e-04 9.99619664e-01 -1.48213329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.754012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:453.51, Y:-87.56, Z:-14.82 [[ 9.83358275e-01 1.79549295e-01 2.77228008e-02 4.53510579e+02] [-1.79488858e-01 9.83748904e-01 -4.67373391e-03 -8.75550308e+01] [-2.81114406e-02 -3.79978933e-04 9.99604723e-01 -1.48216443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:453.54, Y:-87.56, Z:-14.82 [[ 9.83493436e-01 1.78714426e-01 2.83163519e-02 4.53539352e+02] [-1.78651046e-01 9.83900920e-01 -4.77311115e-03 -8.75594230e+01] [-2.87135086e-02 -3.64422416e-04 9.99587616e-01 -1.48223233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.814012739 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:453.57, Y:-87.56, Z:-14.82 [[ 9.83840757e-01 1.76659318e-01 2.91350451e-02 4.53568628e+02] [-1.76591350e-01 9.84272008e-01 -4.91005861e-03 -8.75645162e+01] [-2.95442170e-02 -3.14281156e-04 9.99563425e-01 -1.48232287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:453.60, Y:-87.57, Z:-14.82 [[ 9.84087356e-01 1.75333937e-01 2.88112195e-02 4.53598393e+02] [-1.75266922e-01 9.84508983e-01 -4.85482233e-03 -8.75703809e+01] [-2.92161195e-02 -2.72084489e-04 9.99573081e-01 -1.48238605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.874012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:453.63, Y:-87.58, Z:-14.82 [[ 9.84564533e-01 1.72823165e-01 2.76556247e-02 4.53627561e+02] [-1.72760430e-01 9.84952850e-01 -4.66008376e-03 -8.75773099e+01] [-2.80448568e-02 -1.89644423e-04 9.99606648e-01 -1.48245669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:453.66, Y:-87.58, Z:-14.83 [[ 9.84670397e-01 1.72290880e-01 2.72040938e-02 4.53657817e+02] [-1.72229964e-01 9.85046102e-01 -4.58435459e-03 -8.75838988e+01] [-2.75871290e-02 -1.71281825e-04 9.99619388e-01 -1.48256674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.934012739 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:453.69, Y:-87.59, Z:-14.83 [[ 9.84643277e-01 1.72448573e-01 2.71865186e-02 4.53686507e+02] [-1.72387795e-01 9.85018507e-01 -4.58141387e-03 -8.75898676e+01] [-2.75692822e-02 -1.75565616e-04 9.99619880e-01 -1.48262497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:453.71, Y:-87.60, Z:-14.83 [[ 9.84274695e-01 1.74594589e-01 2.68338162e-02 4.53714907e+02] [-1.74536183e-01 9.84640379e-01 -4.52165207e-03 -8.75969997e+01] [-2.72111150e-02 -2.32924159e-04 9.99629682e-01 -1.48267123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.994012739 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:453.74, Y:-87.60, Z:-14.83 [[ 9.83973316e-01 1.76292366e-01 2.67864790e-02 4.53744509e+02] [-1.76234803e-01 9.84337810e-01 -4.51338715e-03 -8.76026715e+01] [-2.71626198e-02 -2.79657337e-04 9.99630989e-01 -1.48275289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:453.77, Y:-87.61, Z:-14.83 [[ 9.82836447e-01 1.82464383e-01 2.71894716e-02 4.53772542e+02] [-1.82407450e-01 9.83212357e-01 -4.58065516e-03 -8.76086640e+01] [-2.75688309e-02 -4.57527354e-04 9.99619803e-01 -1.48277347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.054012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:453.80, Y:-87.61, Z:-14.83 [[ 9.82164677e-01 1.86005821e-01 2.74660208e-02 4.53800272e+02] [-1.85949134e-01 9.82548481e-01 -4.62629804e-03 -8.76126941e+01] [-2.78472154e-02 -5.63496265e-04 9.99612032e-01 -1.48282200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:453.83, Y:-87.62, Z:-14.83 [[ 9.81452162e-01 1.89772662e-01 2.71659977e-02 4.53829221e+02] [-1.89718690e-01 9.81827834e-01 -4.57420405e-03 -8.76162691e+01] [-2.75403915e-02 -6.64535045e-04 9.99620471e-01 -1.48287254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.114012739 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:453.86, Y:-87.62, Z:-14.83 [[ 9.80035708e-01 1.97030240e-01 2.66288442e-02 4.53858203e+02] [-1.96981086e-01 9.80397041e-01 -4.48257802e-03 -8.76170761e+01] [-2.69900435e-02 -8.52292145e-04 9.99635339e-01 -1.48308028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:453.89, Y:-87.62, Z:-14.83 [[ 9.79393644e-01 2.00264098e-01 2.61224092e-02 4.53885790e+02] [-2.00217976e-01 9.79741515e-01 -4.39614831e-03 -8.76198032e+01] [-2.64735995e-02 -9.24616178e-04 9.99649085e-01 -1.48318239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.174012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:453.91, Y:-87.62, Z:-14.83 [[ 9.78344142e-01 2.05474961e-01 2.49555645e-02 4.53914914e+02] [-2.05434598e-01 9.78661842e-01 -4.19819297e-03 -8.76200191e+01] [-2.52856823e-02 -1.01945886e-03 9.99679746e-01 -1.48332061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:453.94, Y:-87.62, Z:-14.83 [[ 9.78013680e-01 2.07077759e-01 2.46585366e-02 4.53942712e+02] [-2.07038886e-01 9.78323924e-01 -4.14717036e-03 -8.76215705e+01] [-2.49828231e-02 -1.04928660e-03 9.99687330e-01 -1.48340274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.234012739 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:453.97, Y:-87.62, Z:-14.84 [[ 9.77826566e-01 2.07935108e-01 2.48635675e-02 4.53971254e+02] [-2.07895907e-01 9.78142025e-01 -4.17986257e-03 -8.76231400e+01] [-2.51892405e-02 -1.08185327e-03 9.99682115e-01 -1.48356563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:454.00, Y:-87.63, Z:-14.84 [[ 9.77756800e-01 2.08153687e-01 2.57620425e-02 4.53999441e+02] [-2.08111728e-01 9.78095480e-01 -4.32898339e-03 -8.76253791e+01] [-2.60988312e-02 -1.12869023e-03 9.99658730e-01 -1.48366973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.294012739 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:454.03, Y:-87.62, Z:-14.84 [[ 9.77591989e-01 2.08673359e-01 2.77368456e-02 4.54027238e+02] [-2.08624989e-01 9.77984617e-01 -4.65869888e-03 -8.76230656e+01] [-2.80983547e-02 -1.23229240e-03 9.99604404e-01 -1.48358673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:454.06, Y:-87.62, Z:-14.84 [[ 9.77413513e-01 2.09477167e-01 2.79667920e-02 4.54055596e+02] [-2.09428386e-01 9.77812716e-01 -4.69496318e-03 -8.76226724e+01] [-2.83297724e-02 -1.26811965e-03 9.99597827e-01 -1.48364369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.354012739 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:454.08, Y:-87.62, Z:-14.84 [[ 9.76748870e-01 2.12685533e-01 2.69538505e-02 4.54083838e+02] [-2.12641489e-01 9.77119818e-01 -4.52309378e-03 -8.76155822e+01] [-2.72991381e-02 -1.31358017e-03 9.99626446e-01 -1.48368908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:454.11, Y:-87.61, Z:-14.84 [[ 9.76345063e-01 2.14574817e-01 2.66076221e-02 4.54112373e+02] [-2.14532656e-01 9.76706621e-01 -4.46280137e-03 -8.76145666e+01] [-2.69454454e-02 -1.35096974e-03 9.99635993e-01 -1.48387648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.414012739 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:454.14, Y:-87.61, Z:-14.84 [[ 9.76040069e-01 2.15962186e-01 2.65728733e-02 4.54141019e+02] [-2.15920698e-01 9.76400740e-01 -4.45509711e-03 -8.76138488e+01] [-2.69079056e-02 -1.38928006e-03 9.99636951e-01 -1.48397750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:454.17, Y:-87.61, Z:-14.84 [[ 9.76001396e-01 2.16080674e-01 2.70262445e-02 4.54168042e+02] [-2.16037856e-01 9.76374483e-01 -4.52919284e-03 -8.76131475e+01] [-2.73664065e-02 -1.41819339e-03 9.99624464e-01 -1.48400839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.474012739 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:454.20, Y:-87.61, Z:-14.84 [[ 9.76715545e-01 2.12529091e-01 2.92938402e-02 4.54196827e+02] [-2.12477269e-01 9.77153691e-01 -4.90662483e-03 -8.76089774e+01] [-2.96673846e-02 -1.43189842e-03 9.99558801e-01 -1.48404599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:454.22, Y:-87.61, Z:-14.84 [[ 9.77467289e-01 2.08948922e-01 2.99674156e-02 4.54224603e+02] [-2.08893074e-01 9.77925616e-01 -5.01732536e-03 -8.76098600e+01] [-3.03542681e-02 -1.35571415e-03 9.99538284e-01 -1.48411701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.534012739 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:454.25, Y:-87.61, Z:-14.84 [[ 9.78300337e-01 2.04997940e-01 3.00715165e-02 4.54252986e+02] [-2.04939903e-01 9.78761620e-01 -5.03266220e-03 -8.76115765e+01] [-3.04645316e-02 -1.23939855e-03 9.99535080e-01 -1.48424524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:454.28, Y:-87.61, Z:-14.84 [[ 9.80028131e-01 1.96715684e-01 2.91170335e-02 4.54280526e+02] [-1.96657680e-01 9.80460113e-01 -4.87081325e-03 -8.76104159e+01] [-2.95062553e-02 -9.52554229e-04 9.99564142e-01 -1.48437144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.594012739 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:454.31, Y:-87.61, Z:-14.84 [[ 9.80848116e-01 1.92638778e-01 2.87623914e-02 4.54308179e+02] [-1.92580498e-01 9.81269395e-01 -4.80901223e-03 -8.76120379e+01] [-2.91500566e-02 -8.22165071e-04 9.99574709e-01 -1.48443347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:454.34, Y:-87.61, Z:-14.84 [[ 9.81569911e-01 1.88965822e-01 2.85031386e-02 4.54336337e+02] [-1.88907096e-01 9.81983409e-01 -4.76369846e-03 -8.76141956e+01] [-2.88897854e-02 -7.08542087e-04 9.99582352e-01 -1.48447850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.654012739 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:454.36, Y:-87.62, Z:-14.85 [[ 9.82783925e-01 1.82591683e-01 2.82140703e-02 4.54363395e+02] [-1.82531572e-01 9.83188695e-01 -4.71339850e-03 -8.76152023e+01] [-2.86003823e-02 -5.17706324e-04 9.99590791e-01 -1.48457115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:454.39, Y:-87.62, Z:-14.85 [[ 9.83295407e-01 1.79863257e-01 2.79168670e-02 4.54391252e+02] [-1.79803371e-01 9.83691526e-01 -4.66143587e-03 -8.76188401e+01] [-2.83000065e-02 -4.35978320e-04 9.99599380e-01 -1.48463507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.714012739 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:454.42, Y:-87.62, Z:-14.85 [[ 9.84319172e-01 1.74271175e-01 2.73006385e-02 4.54418004e+02] [-1.74211806e-01 9.84697661e-01 -4.55661896e-03 -8.76217658e+01] [-2.76769622e-02 -2.70926122e-04 9.99616883e-01 -1.48475013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:454.45, Y:-87.63, Z:-14.85 [[ 9.84790985e-01 1.71655130e-01 2.68557508e-02 4.54445194e+02] [-1.71596785e-01 9.85157083e-01 -4.47950181e-03 -8.76267086e+01] [-2.72260625e-02 -1.96987473e-04 9.99629283e-01 -1.48483516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.774012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:454.47, Y:-87.63, Z:-14.85 [[ 9.85271409e-01 1.68861098e-01 2.69477149e-02 4.54472313e+02] [-1.68801359e-01 9.85639850e-01 -4.49294395e-03 -8.76322765e+01] [-2.73194252e-02 -1.22041688e-04 9.99626747e-01 -1.48495715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:454.50, Y:-87.64, Z:-14.85 [[ 9.86184542e-01 1.63499525e-01 2.66074024e-02 4.54498010e+02] [-1.63439383e-01 9.86543412e-01 -4.43434212e-03 -8.76394739e+01] [-2.69743704e-02 2.43822090e-05 9.99636125e-01 -1.48501883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.834012739 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:454.53, Y:-87.65, Z:-14.85 [[ 9.86586396e-01 1.61108390e-01 2.62939037e-02 4.54526678e+02] [-1.61048868e-01 9.86936715e-01 -4.37984006e-03 -8.76456192e+01] [-2.66560479e-02 8.64871910e-05 9.99644661e-01 -1.48509367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:454.55, Y:-87.65, Z:-14.85 [[ 9.86869980e-01 1.59433035e-01 2.58602211e-02 4.54553871e+02] [-1.59374917e-01 9.87208737e-01 -4.30637842e-03 -8.76519831e+01] [-2.62160152e-02 1.28364993e-04 9.99656293e-01 -1.48513137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.894012739 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:454.58, Y:-87.66, Z:-14.85 [[ 9.87038400e-01 1.58471988e-01 2.53342753e-02 4.54582368e+02] [-1.58415934e-01 9.87363462e-01 -4.21723072e-03 -8.76584428e+01] [-2.56824507e-02 1.49215771e-04 9.99670140e-01 -1.48516707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:454.61, Y:-87.67, Z:-14.85 [[ 9.87049249e-01 1.58450853e-01 2.50421245e-02 4.54608818e+02] [-1.58396107e-01 9.87366855e-01 -4.16743947e-03 -8.76664189e+01] [-2.53860980e-02 1.46892958e-04 9.99677710e-01 -1.48514813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.954012739 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:454.64, Y:-87.67, Z:-14.85 [[ 9.86913767e-01 1.59113301e-01 2.61567054e-02 4.54636577e+02] [-1.59053850e-01 9.87260320e-01 -4.35122593e-03 -8.76727843e+01] [-2.65158153e-02 1.33960068e-04 9.99648385e-01 -1.48510036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:454.66, Y:-87.68, Z:-14.85 [[ 9.86757884e-01 1.59779008e-01 2.79203783e-02 4.54663690e+02] [-1.59711575e-01 9.87152802e-01 -4.64320294e-03 -8.76787460e+01] [-2.83035660e-02 1.22509519e-04 9.99599366e-01 -1.48520213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.014012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:454.69, Y:-87.69, Z:-14.85 [[ 9.86371125e-01 1.61681046e-01 3.05162771e-02 4.54692130e+02] [-1.61601457e-01 9.86843065e-01 -5.07295705e-03 -8.76852313e+01] [-3.09349774e-02 7.23435017e-05 9.99521396e-01 -1.48517871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:454.72, Y:-87.69, Z:-14.85 [[ 9.86214482e-01 1.62547866e-01 3.09707550e-02 4.54719486e+02] [-1.62466363e-01 9.86700658e-01 -5.14698720e-03 -8.76908731e+01] [-3.13954961e-02 4.43273922e-05 9.99507039e-01 -1.48519920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.074012739 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:454.75, Y:-87.70, Z:-14.85 [[ 9.86175886e-01 1.62780036e-01 3.09803318e-02 4.54747682e+02] [-1.62698655e-01 9.86662383e-01 -5.14676085e-03 -8.76986392e+01] [-3.14049180e-02 3.51531321e-05 9.99506743e-01 -1.48539666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:454.77, Y:-87.71, Z:-14.85 [[ 9.86180839e-01 1.62829008e-01 3.05624990e-02 4.54774527e+02] [-1.62749876e-01 9.86654303e-01 -5.07589562e-03 -8.77051701e+01] [-3.09811242e-02 3.17080623e-05 9.99519969e-01 -1.48548382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.134012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:454.80, Y:-87.71, Z:-14.86 [[ 9.86145388e-01 1.63100564e-01 3.02568901e-02 4.54801995e+02] [-1.63023193e-01 9.86609449e-01 -5.02324132e-03 -8.77116492e+01] [-3.06710271e-02 2.10714377e-05 9.99529533e-01 -1.48565900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:454.83, Y:-87.72, Z:-14.86 [[ 9.86150808e-01 1.63067741e-01 3.02571683e-02 4.54830930e+02] [-1.62990406e-01 9.86614875e-01 -5.02156471e-03 -8.77163653e+01] [-3.06710275e-02 2.03919433e-05 9.99529533e-01 -1.48574496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.194012739 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:454.86, Y:-87.72, Z:-14.86 [[ 9.86065508e-01 1.63745784e-01 2.93620744e-02 4.54859537e+02] [-1.63673288e-01 9.86502569e-01 -4.87203272e-03 -8.77227363e+01] [-2.97635366e-02 -1.64383573e-06 9.99556968e-01 -1.48580322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:454.89, Y:-87.73, Z:-14.86 [[ 9.85570175e-01 1.67027628e-01 2.74445151e-02 4.54888076e+02] [-1.66965598e-01 9.85952211e-01 -4.55265205e-03 -8.77294811e+01] [-2.78193990e-02 -9.53318047e-05 9.99612961e-01 -1.48596164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.254012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:454.92, Y:-87.73, Z:-14.86 [[ 9.85227440e-01 1.69084445e-01 2.71540348e-02 4.54916160e+02] [-1.69024538e-01 9.85601556e-01 -4.50317588e-03 -8.77344520e+01] [-2.75244759e-02 -1.53045735e-04 9.99621118e-01 -1.48614499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:454.95, Y:-87.74, Z:-14.86 [[ 9.84546795e-01 1.72924663e-01 2.76526722e-02 4.54945134e+02] [-1.72864087e-01 9.84935018e-01 -4.58450983e-03 -8.77389599e+01] [-2.80288600e-02 -2.66489468e-04 9.99607079e-01 -1.48615886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.314012739 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:454.97, Y:-87.74, Z:-14.86 [[ 9.84240855e-01 1.74611322e-01 2.79432610e-02 4.54972733e+02] [-1.74550183e-01 9.84637387e-01 -4.63133481e-03 -8.77431095e+01] [-2.83226630e-02 -3.19152388e-04 9.99598782e-01 -1.48618505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:455.00, Y:-87.75, Z:-14.86 [[ 9.83947127e-01 1.76302663e-01 2.76662574e-02 4.55000733e+02] [-1.76243449e-01 9.84335937e-01 -4.58360213e-03 -8.77473643e+01] [-2.80409927e-02 -3.65974486e-04 9.99606707e-01 -1.48628127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.374012739 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:455.03, Y:-87.75, Z:-14.86 [[ 9.83443876e-01 1.79104995e-01 2.75598129e-02 4.55027378e+02] [-1.79047371e-01 9.83829865e-01 -4.56470611e-03 -8.77498794e+01] [-2.79317287e-02 -4.45379770e-04 9.99609734e-01 -1.48641494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:455.06, Y:-87.75, Z:-14.86 [[ 9.83257072e-01 1.80120583e-01 2.76062495e-02 4.55055159e+02] [-1.80063229e-01 9.83644421e-01 -4.57009035e-03 -8.77526304e+01] [-2.79779006e-02 -4.77296769e-04 9.99608428e-01 -1.48647673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.434012739 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:455.08, Y:-87.75, Z:-14.87 [[ 9.82956644e-01 1.81844612e-01 2.69957896e-02 4.55082048e+02] [-1.81790469e-01 9.83327143e-01 -4.46711559e-03 -8.77532894e+01] [-2.73580136e-02 -5.16596305e-04 9.99625566e-01 -1.48659951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:455.11, Y:-87.76, Z:-14.87 [[ 9.82831667e-01 1.82554799e-01 2.67518119e-02 4.55110024e+02] [-1.82501955e-01 9.83195535e-01 -4.42445043e-03 -8.77565989e+01] [-2.71099667e-02 -5.33767979e-04 9.99632315e-01 -1.48664249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.494012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:455.14, Y:-87.76, Z:-14.87 [[ 9.82821216e-01 1.82558066e-01 2.71110744e-02 4.55137146e+02] [-1.82503848e-01 9.83194924e-01 -4.48190328e-03 -8.77602079e+01] [-2.74736783e-02 -5.42965782e-04 9.99622380e-01 -1.48667411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:455.16, Y:-87.76, Z:-14.87 [[ 9.82933866e-01 1.81857930e-01 2.77255811e-02 4.55164931e+02] [-1.81801016e-01 9.83324669e-01 -4.58109015e-03 -8.77644171e+01] [-2.80963554e-02 -5.37630158e-04 9.99605075e-01 -1.48672434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.554012739 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:455.19, Y:-87.77, Z:-14.87 [[ 9.83455907e-01 1.79000655e-01 2.78072868e-02 4.55192165e+02] [-1.78942318e-01 9.83848847e-01 -4.59264847e-03 -8.77699064e+01] [-2.81802541e-02 -4.59233080e-04 9.99602752e-01 -1.48684803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:455.22, Y:-87.78, Z:-14.87 [[ 9.83767910e-01 1.77304811e-01 2.76351821e-02 4.55218203e+02] [-1.77246578e-01 9.84155900e-01 -4.56229832e-03 -8.77760890e+01] [-2.80062450e-02 -4.09998785e-04 9.99607664e-01 -1.48700327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.614012739 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:455.24, Y:-87.78, Z:-14.87 [[ 9.84083547e-01 1.75529826e-01 2.77281912e-02 4.55244279e+02] [-1.75470578e-01 9.84474046e-01 -4.57473542e-03 -8.77831561e+01] [-2.81006871e-02 -3.63559861e-04 9.99605032e-01 -1.48712599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:455.27, Y:-87.79, Z:-14.87 [[ 9.84578365e-01 1.72364457e-01 2.99322134e-02 4.55271849e+02] [-1.72294030e-01 9.85033200e-01 -4.93576549e-03 -8.77931954e+01] [-3.03349745e-02 -2.97493753e-04 9.99539744e-01 -1.48710525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.674012739 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:455.30, Y:-87.80, Z:-14.87 [[ 9.84805991e-01 1.70946657e-01 3.05679627e-02 4.55300513e+02] [-1.70872568e-01 9.85280251e-01 -5.03915918e-03 -8.77993013e+01] [-3.09794373e-02 -2.60632117e-04 9.99519988e-01 -1.48711768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:455.33, Y:-87.81, Z:-14.87 [[ 9.85101899e-01 1.69326415e-01 3.00468468e-02 4.55327002e+02] [-1.69254119e-01 9.85560004e-01 -4.95188478e-03 -8.78073695e+01] [-3.04514554e-02 -2.07441470e-04 9.99536225e-01 -1.48725031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.734012739 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:455.36, Y:-87.81, Z:-14.87 [[ 9.85189022e-01 1.68882847e-01 2.96845990e-02 4.55355410e+02] [-1.68812133e-01 9.85636113e-01 -4.89051235e-03 -8.78144610e+01] [-3.00841364e-02 -1.93041390e-04 9.99547351e-01 -1.48733761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:455.38, Y:-87.82, Z:-14.88 [[ 9.85298909e-01 1.68298417e-01 2.93547739e-02 4.55382589e+02] [-1.68229047e-01 9.85736076e-01 -4.83482599e-03 -8.78213981e+01] [-2.97497532e-02 -1.74576867e-04 9.99557363e-01 -1.48750142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.794012739 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:455.41, Y:-87.83, Z:-14.88 [[ 9.85358436e-01 1.67982814e-01 2.91637793e-02 4.55411092e+02] [-1.67914255e-01 9.85789910e-01 -4.80170126e-03 -8.78276061e+01] [-2.95559627e-02 -1.65617426e-04 9.99563113e-01 -1.48761231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:455.44, Y:-87.83, Z:-14.88 [[ 9.85532690e-01 1.67051132e-01 2.86223064e-02 4.55438249e+02] [-1.66984741e-01 9.85948224e-01 -4.71120831e-03 -8.78343548e+01] [-2.90071249e-02 -1.36438639e-04 9.99579196e-01 -1.48762416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.854012739 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:455.47, Y:-87.84, Z:-14.88 [[ 9.85571643e-01 1.66898796e-01 2.81660848e-02 4.55465839e+02] [-1.66834480e-01 9.85974023e-01 -4.63481402e-03 -8.78397422e+01] [-2.85445728e-02 -1.31132835e-04 9.99592512e-01 -1.48770030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:455.49, Y:-87.84, Z:-14.88 [[ 9.85526628e-01 1.67310051e-01 2.72875800e-02 4.55493587e+02] [-1.67249886e-01 9.85904320e-01 -4.48870019e-03 -8.78447551e+01] [-2.76539477e-02 -1.40111077e-04 9.99617547e-01 -1.48778799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.914012739 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:455.52, Y:-87.85, Z:-14.88 [[ 9.85095885e-01 1.69913061e-01 2.67516261e-02 4.55521748e+02] [-1.69856238e-01 9.85459034e-01 -4.39898739e-03 -8.78480419e+01] [-2.71100770e-02 -2.10506196e-04 9.99632432e-01 -1.48792177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:455.55, Y:-87.85, Z:-14.88 [[ 9.84749245e-01 1.71819809e-01 2.73290718e-02 4.55549489e+02] [-1.71761275e-01 9.85128357e-01 -4.49265098e-03 -8.78514578e+01] [-2.76945701e-02 -2.69941555e-04 9.99616395e-01 -1.48802674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.974012739 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:455.58, Y:-87.85, Z:-14.88 [[ 9.84169656e-01 1.74991801e-01 2.80705688e-02 4.55577753e+02] [-1.74931385e-01 9.84569821e-01 -4.61286266e-03 -8.78541836e+01] [-2.84446481e-02 -3.70584012e-04 9.99595300e-01 -1.48808027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:455.61, Y:-87.86, Z:-14.88 [[ 9.84012987e-01 1.75862626e-01 2.81207693e-02 4.55605916e+02] [-1.75802386e-01 9.84414637e-01 -4.61981473e-03 -8.78580061e+01] [-2.84949497e-02 -3.97740643e-04 9.99593857e-01 -1.48816762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.034012739 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:455.63, Y:-87.86, Z:-14.88 [[ 9.83951256e-01 1.76194817e-01 2.82012916e-02 4.55634051e+02] [-1.76134405e-01 9.84355230e-01 -4.63174375e-03 -8.78616518e+01] [-2.85761781e-02 -4.09807631e-04 9.99591534e-01 -1.48830307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:455.66, Y:-87.86, Z:-14.88 [[ 9.83965056e-01 1.76072148e-01 2.84845048e-02 4.55663195e+02] [-1.76010503e-01 9.84377178e-01 -4.67693703e-03 -8.78642385e+01] [-2.88629748e-02 -4.11629398e-04 9.99583293e-01 -1.48838126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.094012739 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:455.69, Y:-87.87, Z:-14.88 [[ 9.84071316e-01 1.75435989e-01 2.87377601e-02 4.55691475e+02] [-1.75373010e-01 9.84490759e-01 -4.71718661e-03 -8.78679856e+01] [-2.91196236e-02 -3.97779476e-04 9.99575855e-01 -1.48842933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:455.72, Y:-87.87, Z:-14.88 [[ 9.84161897e-01 1.74912577e-01 2.88262124e-02 4.55719631e+02] [-1.74849024e-01 9.84583893e-01 -4.73038578e-03 -8.78716711e+01] [-2.92092284e-02 -3.84769660e-04 9.99573245e-01 -1.48848450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.154012739 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:455.75, Y:-87.87, Z:-14.89 [[ 9.84252903e-01 1.74511421e-01 2.81422743e-02 4.55747568e+02] [-1.74450720e-01 9.84655082e-01 -4.61690861e-03 -8.78744817e+01] [-2.85161367e-02 -3.65234314e-04 9.99593266e-01 -1.48852623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:455.78, Y:-87.88, Z:-14.89 [[ 9.84226562e-01 1.74709831e-01 2.78307496e-02 4.55775461e+02] [-1.74650589e-01 9.84619896e-01 -4.56425353e-03 -8.78781313e+01] [-2.82001298e-02 -3.68397265e-04 9.99602229e-01 -1.48861467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.214012739 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:455.80, Y:-87.88, Z:-14.88 [[ 9.84166494e-01 1.75044064e-01 2.78547760e-02 4.55803935e+02] [-1.74984908e-01 9.84560527e-01 -4.56628714e-03 -8.78816755e+01] [-2.82240144e-02 -3.80178607e-04 9.99601551e-01 -1.48847578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:455.83, Y:-87.88, Z:-14.88 [[ 9.84027374e-01 1.75704883e-01 2.85993154e-02 4.55832274e+02] [-1.75642841e-01 9.84442799e-01 -4.68691428e-03 -8.78824866e+01] [-2.89779039e-02 -4.11213078e-04 9.99579968e-01 -1.48804360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.274012739 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:455.86, Y:-87.89, Z:-14.88 [[ 9.83921178e-01 1.76285662e-01 2.86789422e-02 4.55861118e+02] [-1.76223572e-01 9.84338956e-01 -4.69821570e-03 -8.78856007e+01] [-2.90580281e-02 -4.31231714e-04 9.99577633e-01 -1.48802321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:455.89, Y:-87.89, Z:-14.88 [[ 9.83762190e-01 1.77092943e-01 2.91554965e-02 4.55889199e+02] [-1.77029169e-01 9.84194023e-01 -4.77485366e-03 -8.78876229e+01] [-2.95402583e-02 -4.64052827e-04 9.99563484e-01 -1.48800558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.334012739 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:455.92, Y:-87.89, Z:-14.88 [[ 9.83760561e-01 1.77042938e-01 2.95119855e-02 4.55916846e+02] [-1.76977626e-01 9.84203016e-01 -4.83144036e-03 -8.78902447e+01] [-2.99011575e-02 -4.69980646e-04 9.99552750e-01 -1.48802647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters Centerline goodness : 0.987354 Centerline is valid? [True, True] Translation: X:455.95, Y:-87.89, Z:-14.88 [[ 9.83842865e-01 1.76604053e-01 2.93977299e-02 4.55945067e+02] [-1.76539112e-01 9.84281870e-01 -4.81064096e-03 -8.78933608e+01] [-2.97852313e-02 -4.56934348e-04 9.99556217e-01 -1.48804185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.394012739 meters Centerline goodness : 0.986440 Centerline is valid? [True, True] Translation: X:455.97, Y:-87.90, Z:-14.88 [[ 9.83991138e-01 1.75806196e-01 2.92167998e-02 4.55972943e+02] [-1.75741762e-01 9.84424702e-01 -4.77894636e-03 -8.78967361e+01] [-2.96019078e-02 -4.32171009e-04 9.99561674e-01 -1.48808414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters Centerline goodness : 0.985438 Centerline is valid? [True, True] Translation: X:456.00, Y:-87.90, Z:-14.88 [[ 9.84392363e-01 1.73657902e-01 2.85413676e-02 4.56000221e+02] [-1.73595558e-01 9.84805972e-01 -4.66680828e-03 -8.78998708e+01] [-2.89181374e-02 -3.60684220e-04 9.99581718e-01 -1.48812390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.454012739 meters Centerline goodness : 0.985065 Centerline is valid? [True, True] Translation: X:456.03, Y:-87.90, Z:-14.88 [[ 9.84634515e-01 1.72285357e-01 2.85066175e-02 4.56027565e+02] [-1.72222652e-01 9.85047030e-01 -4.65895739e-03 -8.79034338e+01] [-2.88830290e-02 -3.22115024e-04 9.99582746e-01 -1.48814895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters Centerline goodness : 0.984430 Centerline is valid? [True, True] Translation: X:456.06, Y:-87.91, Z:-14.88 [[ 9.84837100e-01 1.71214288e-01 2.79562767e-02 4.56055507e+02] [-1.71153604e-01 9.85233772e-01 -4.56710826e-03 -8.79074245e+01] [-2.83254221e-02 -2.86959865e-04 9.99598714e-01 -1.48821597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.514012739 meters Centerline goodness : 0.983014 Centerline is valid? [True, True] Translation: X:456.08, Y:-87.91, Z:-14.88 [[ 9.85045483e-01 1.70121162e-01 2.72797759e-02 4.56083053e+02] [-1.70063013e-01 9.85423121e-01 -4.45469248e-03 -8.79123293e+01] [-2.76399593e-02 -2.51206185e-04 9.99617912e-01 -1.48827577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters Centerline goodness : 0.982396 Centerline is valid? [True, True] Translation: X:456.11, Y:-87.92, Z:-14.88 [[ 9.85089616e-01 1.69866349e-01 2.72740289e-02 4.56111287e+02] [-1.69808172e-01 9.85467079e-01 -4.45214182e-03 -8.79176969e+01] [-2.76339267e-02 -2.45594322e-04 9.99618080e-01 -1.48834177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.574012739 meters Centerline goodness : 0.981053 Centerline is valid? [True, True] Translation: X:456.14, Y:-87.92, Z:-14.88 [[ 9.85026260e-01 1.70214869e-01 2.73891558e-02 4.56139611e+02] [-1.70156371e-01 9.85406937e-01 -4.46962693e-03 -8.79228134e+01] [-2.77502611e-02 -2.57739463e-04 9.99614854e-01 -1.48838945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters Centerline goodness : 0.981048 Centerline is valid? [True, True] Translation: X:456.17, Y:-87.93, Z:-14.88 [[ 9.84948896e-01 1.70630069e-01 2.75871612e-02 4.56167121e+02] [-1.70570922e-01 9.85335123e-01 -4.50060395e-03 -8.79275338e+01] [-2.79505373e-02 -2.72702620e-04 9.99609270e-01 -1.48838270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.634012739 meters Centerline goodness : 0.980131 Centerline is valid? [True, True] Translation: X:456.20, Y:-87.93, Z:-14.88 [[ 9.84888578e-01 1.71010547e-01 2.73839832e-02 4.56195788e+02] [-1.70952461e-01 9.85269157e-01 -4.46579589e-03 -8.79321187e+01] [-2.77442922e-02 -2.83047963e-04 9.99615013e-01 -1.48846722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters Centerline goodness : 0.979540 Centerline is valid? [True, True] Translation: X:456.22, Y:-87.94, Z:-14.89 [[ 9.84637111e-01 1.72584412e-01 2.65401478e-02 4.56223524e+02] [-1.72530455e-01 9.84994680e-01 -4.32696865e-03 -8.79368680e+01] [-2.68886717e-02 -3.18489876e-04 9.99638384e-01 -1.48853893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.694012739 meters Centerline goodness : 0.979200 Centerline is valid? [True, True] Translation: X:456.25, Y:-87.94, Z:-14.89 [[ 9.84550624e-01 1.73154222e-01 2.60323690e-02 4.56251162e+02] [-1.73102550e-01 9.84894668e-01 -4.24267530e-03 -8.79410039e+01] [-2.63737785e-02 -3.29140830e-04 9.99652097e-01 -1.48868095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters Centerline goodness : 0.978746 Centerline is valid? [True, True] Translation: X:456.28, Y:-87.95, Z:-14.89 [[ 9.84363412e-01 1.74259434e-01 2.57356325e-02 4.56277453e+02] [-1.74209356e-01 9.84699712e-01 -4.19257177e-03 -8.79450528e+01] [-2.60724651e-02 -3.56373707e-04 9.99659992e-01 -1.48877137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.754012739 meters Centerline goodness : 0.978031 Centerline is valid? [True, True] Translation: X:456.31, Y:-87.95, Z:-14.89 [[ 9.83995114e-01 1.76342175e-01 2.56330579e-02 4.56305880e+02] [-1.76293256e-01 9.84328841e-01 -4.17374617e-03 -8.79472934e+01] [-2.59673657e-02 -4.11989409e-04 9.99662706e-01 -1.48871501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters Centerline goodness : 0.977799 Centerline is valid? [True, True] Translation: X:456.33, Y:-87.95, Z:-14.89 [[ 9.83803804e-01 1.77425756e-01 2.54985705e-02 4.56333031e+02] [-1.77377758e-01 9.84134090e-01 -4.15011772e-03 -8.79498780e+01] [-2.58303502e-02 -4.39977660e-04 9.99666244e-01 -1.48874268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.814012739 meters Centerline goodness : 0.977065 Centerline is valid? [True, True] Translation: X:456.36, Y:-87.95, Z:-14.89 [[ 9.83260654e-01 1.80262245e-01 2.65331796e-02 4.56361219e+02] [-1.80211365e-01 9.83618439e-01 -4.31625588e-03 -8.79526820e+01] [-2.68765827e-02 -5.37575917e-04 9.99638615e-01 -1.48884219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters Centerline goodness : 0.976772 Centerline is valid? [True, True] Translation: X:456.39, Y:-87.96, Z:-14.89 [[ 9.83010198e-01 1.81488890e-01 2.74359824e-02 4.56387829e+02] [-1.81435023e-01 9.83392817e-01 -4.46101427e-03 -8.79568660e+01] [-2.77899726e-02 -5.92625592e-04 9.99613608e-01 -1.48889727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.874012739 meters Centerline goodness : 0.976112 Centerline is valid? [True, True] Translation: X:456.42, Y:-87.96, Z:-14.89 [[ 9.82715148e-01 1.82946614e-01 2.83103113e-02 4.56415759e+02] [-1.82889936e-01 9.83122630e-01 -4.60063579e-03 -8.79613550e+01] [-2.86741785e-02 -6.56556550e-04 9.99588596e-01 -1.48892058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters Centerline goodness : 0.975294 Centerline is valid? [True, True] Translation: X:456.44, Y:-87.96, Z:-14.89 [[ 9.82354806e-01 1.84828131e-01 2.85936631e-02 4.56442282e+02] [-1.84771170e-01 9.82770595e-01 -4.64458813e-03 -8.79642736e+01] [-2.89594618e-02 -7.20651099e-04 9.99580327e-01 -1.48907550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.934012739 meters Centerline goodness : 0.975584 Centerline is valid? [True, True] Translation: X:456.47, Y:-87.97, Z:-14.89 [[ 9.82283519e-01 1.85220704e-01 2.85022688e-02 4.56468774e+02] [-1.85164340e-01 9.82696675e-01 -4.62734939e-03 -8.79682889e+01] [-2.88661657e-02 -7.32234756e-04 9.99583017e-01 -1.48920862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters Centerline goodness : 0.974940 Centerline is valid? [True, True] Translation: X:456.50, Y:-87.97, Z:-14.89 [[ 9.82369725e-01 1.84742532e-01 2.86342561e-02 4.56496244e+02] [-1.84685512e-01 9.82786687e-01 -4.64637300e-03 -8.79726950e+01] [-2.89997485e-02 -7.23876078e-04 9.99579157e-01 -1.48928962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.994012739 meters Centerline goodness : 0.974600 Centerline is valid? [True, True] Translation: X:456.52, Y:-87.98, Z:-14.89 [[ 9.82701892e-01 1.82797984e-01 2.96966009e-02 4.56522616e+02] [-1.82735834e-01 9.83150251e-01 -4.81651583e-03 -8.79782924e+01] [-3.00766700e-02 -6.93433914e-04 9.99547354e-01 -1.48933559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters Centerline goodness : 0.974505 Centerline is valid? [True, True] Translation: X:456.55, Y:-87.98, Z:-14.89 [[ 9.82870036e-01 1.81872815e-01 2.98122711e-02 4.56548964e+02] [-1.81809830e-01 9.83321834e-01 -4.83275651e-03 -8.79834468e+01] [-3.01940041e-02 -6.70192377e-04 9.99543832e-01 -1.48939351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.054012739 meters Centerline goodness : 0.974510 Centerline is valid? [True, True] Translation: X:456.58, Y:-87.99, Z:-14.89 [[ 9.83088128e-01 1.80882195e-01 2.86245530e-02 4.56575953e+02] [-1.80823787e-01 9.83504576e-01 -4.63756389e-03 -8.79887715e+01] [-2.89912316e-02 -6.16866067e-04 9.99579476e-01 -1.48949423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters Centerline goodness : 0.974510 Centerline is valid? [True, True] Translation: X:456.60, Y:-87.99, Z:-14.90 [[ 9.83098294e-01 1.80826884e-01 2.86248669e-02 4.56604087e+02] [-1.80768509e-01 9.83514747e-01 -4.63562511e-03 -8.79931939e+01] [-2.89912244e-02 -6.17199375e-04 9.99579476e-01 -1.48957775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.114012739 meters Centerline goodness : 0.974197 Centerline is valid? [True, True] Translation: X:456.63, Y:-88.00, Z:-14.90 [[ 9.83151069e-01 1.80740769e-01 2.73267379e-02 4.56631692e+02] [-1.80687577e-01 9.83530594e-01 -4.42391814e-03 -8.79971502e+01] [-2.76762652e-02 -5.88222224e-04 9.99616766e-01 -1.48971115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters Centerline goodness : 0.973767 Centerline is valid? [True, True] Translation: X:456.66, Y:-88.00, Z:-14.90 [[ 9.83137322e-01 1.81015256e-01 2.59707957e-02 4.56659596e+02] [-1.80967353e-01 9.83480124e-01 -4.20271672e-03 -8.80003610e+01] [-2.63025172e-02 -5.68018480e-04 9.99653868e-01 -1.48981915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.174012739 meters Centerline goodness : 0.974080 Centerline is valid? [True, True] Translation: X:456.69, Y:-88.00, Z:-14.90 [[ 9.83015423e-01 1.81730857e-01 2.55846506e-02 4.56686418e+02] [-1.81684654e-01 9.83348137e-01 -4.13852747e-03 -8.80030927e+01] [-2.59107166e-02 -5.80102042e-04 9.99664093e-01 -1.48998583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters Centerline goodness : 0.973872 Centerline is valid? [True, True] Translation: X:456.71, Y:-88.01, Z:-14.90 [[ 9.82565626e-01 1.84087938e-01 2.60080956e-02 4.56712937e+02] [-1.84041088e-01 9.82909559e-01 -4.20434862e-03 -8.80053897e+01] [-2.63375756e-02 -6.55509768e-04 9.99652891e-01 -1.49002857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.234012739 meters Centerline goodness : 0.973641 Centerline is valid? [True, True] Translation: X:456.74, Y:-88.01, Z:-14.90 [[ 9.82318065e-01 1.85384569e-01 2.61491955e-02 4.56741096e+02] [-1.85337750e-01 9.82665801e-01 -4.22404770e-03 -8.80086150e+01] [-2.64789934e-02 -6.97074704e-04 9.99649127e-01 -1.49011961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters Centerline goodness : 0.974570 Centerline is valid? [True, True] Translation: X:456.77, Y:-88.01, Z:-14.90 [[ 9.82094869e-01 1.86659189e-01 2.54561439e-02 4.56767905e+02] [-1.86615291e-01 9.82424469e-01 -4.11038850e-03 -8.80109809e+01] [-2.57759804e-02 -7.13714247e-04 9.99667489e-01 -1.49013376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.294012739 meters Centerline goodness : 0.973966 Centerline is valid? [True, True] Translation: X:456.80, Y:-88.01, Z:-14.90 [[ 9.81638469e-01 1.89115974e-01 2.49211868e-02 4.56795407e+02] [-1.89074743e-01 9.81954462e-01 -4.02201701e-03 -8.80108761e+01] [-2.52320983e-02 -7.63800371e-04 9.99681328e-01 -1.49028487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters Centerline goodness : 0.975006 Centerline is valid? [True, True] Translation: X:456.82, Y:-88.01, Z:-14.90 [[ 9.81566597e-01 1.89407342e-01 2.55318289e-02 4.56823564e+02] [-1.89364219e-01 9.81898279e-01 -4.11840345e-03 -8.80129497e+01] [-2.58497147e-02 -7.92327592e-04 9.99665526e-01 -1.49038824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.354012739 meters Centerline goodness : 0.974698 Centerline is valid? [True, True] Translation: X:456.85, Y:-88.02, Z:-14.90 [[ 9.81627618e-01 1.88924336e-01 2.67360388e-02 4.56851271e+02] [-1.88876923e-01 9.81991306e-01 -4.31070528e-03 -8.80152978e+01] [-2.70689548e-02 -8.18313402e-04 9.99633234e-01 -1.49047428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters Centerline goodness : 0.974380 Centerline is valid? [True, True] Translation: X:456.88, Y:-88.02, Z:-14.90 [[ 9.82030082e-01 1.86639510e-01 2.79751881e-02 4.56879400e+02] [-1.86586733e-01 9.82428148e-01 -4.50840845e-03 -8.80156455e+01] [-2.83250594e-02 -7.92406219e-04 9.99598451e-01 -1.49047026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.414012739 meters Centerline goodness : 0.974629 Centerline is valid? [True, True] Translation: X:456.91, Y:-88.02, Z:-14.91 [[ 9.82386569e-01 1.84830955e-01 2.74617496e-02 4.56906864e+02] [-1.84779446e-01 9.82770058e-01 -4.42370851e-03 -8.80182548e+01] [-2.78062235e-02 -7.28575054e-04 9.99613067e-01 -1.49058562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters Centerline goodness : 0.974813 Centerline is valid? [True, True] Translation: X:456.93, Y:-88.02, Z:-14.91 [[ 9.82871978e-01 1.82465705e-01 2.58639063e-02 4.56934368e+02] [-1.82419242e-01 9.83212020e-01 -4.16459675e-03 -8.80200817e+01] [-2.61895997e-02 -6.24808745e-04 9.99656798e-01 -1.49073957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.474012739 meters Centerline goodness : 0.974207 Centerline is valid? [True, True] Translation: X:456.96, Y:-88.02, Z:-14.91 [[ 9.83000259e-01 1.81796917e-01 2.56976851e-02 4.56962441e+02] [-1.81750879e-01 9.83335911e-01 -4.13562357e-03 -8.80219097e+01] [-2.60213002e-02 -6.05257810e-04 9.99661205e-01 -1.49081368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters Centerline goodness : 0.974025 Centerline is valid? [True, True] Translation: X:456.99, Y:-88.02, Z:-14.91 [[ 9.83004230e-01 1.81764737e-01 2.57733262e-02 4.56989786e+02] [-1.81718461e-01 9.83341859e-01 -4.14608501e-03 -8.80240917e+01] [-2.60976026e-02 -6.07870074e-04 9.99659215e-01 -1.49082543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.534012739 meters Centerline goodness : 0.974150 Centerline is valid? [True, True] Translation: X:457.02, Y:-88.03, Z:-14.91 [[ 9.83023539e-01 1.81572257e-01 2.63863039e-02 4.57017223e+02] [-1.81523741e-01 9.83377411e-01 -4.24257113e-03 -8.80259604e+01] [-2.67180284e-02 -6.19193296e-04 9.99642818e-01 -1.49086890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters Centerline goodness : 0.973876 Centerline is valid? [True, True] Translation: X:457.04, Y:-88.03, Z:-14.91 [[ 9.83045432e-01 1.81452902e-01 2.63917382e-02 4.57044389e+02] [-1.81404375e-01 9.83399442e-01 -4.24149739e-03 -8.80266445e+01] [-2.67232527e-02 -6.17992158e-04 9.99642679e-01 -1.49086881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.594012739 meters Centerline goodness : 0.973949 Centerline is valid? [True, True] Translation: X:457.07, Y:-88.03, Z:-14.91 [[ 9.83123528e-01 1.81063634e-01 2.61551149e-02 4.57071892e+02] [-1.81015922e-01 9.83471197e-01 -4.20019110e-03 -8.80292181e+01] [-2.64833040e-02 -6.05185558e-04 9.99649073e-01 -1.49097269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters Centerline goodness : 0.973302 Centerline is valid? [True, True] Translation: X:457.10, Y:-88.03, Z:-14.91 [[ 9.83272813e-01 1.80279988e-01 2.59557471e-02 4.57099292e+02] [-1.80232776e-01 9.83615163e-01 -4.16634638e-03 -8.80321250e+01] [-2.62815753e-02 -5.81421233e-04 9.99654411e-01 -1.49113178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.654012739 meters Centerline goodness : 0.973483 Centerline is valid? [True, True] Translation: X:457.13, Y:-88.04, Z:-14.91 [[ 9.83680114e-01 1.78137174e-01 2.53097007e-02 4.57125628e+02] [-1.78091618e-01 9.84005531e-01 -4.06095105e-03 -8.80365893e+01] [-2.56282918e-02 -5.12768747e-04 9.99671410e-01 -1.49125646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters Centerline goodness : 0.973404 Centerline is valid? [True, True] Translation: X:457.15, Y:-88.04, Z:-14.91 [[ 9.83976515e-01 1.76618947e-01 2.44124061e-02 4.57151898e+02] [-1.76576144e-01 9.84279197e-01 -3.91506308e-03 -8.80407914e+01] [-2.47200978e-02 -4.58318410e-04 9.99694307e-01 -1.49130423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.714012739 meters Centerline goodness : 0.973340 Centerline is valid? [True, True] Translation: X:457.18, Y:-88.04, Z:-14.91 [[ 9.84087382e-01 1.76156441e-01 2.32579641e-02 4.57179528e+02] [-1.76117506e-01 9.84362091e-01 -3.72807692e-03 -8.80434631e+01] [-2.35509829e-02 -4.27381171e-04 9.99722546e-01 -1.49134157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters Centerline goodness : 0.973160 Centerline is valid? [True, True] Translation: X:457.21, Y:-88.05, Z:-14.91 [[ 9.83878185e-01 1.77296759e-01 2.34430342e-02 4.57207607e+02] [-1.77257563e-01 9.84157329e-01 -3.75612081e-03 -8.80463748e+01] [-2.37375819e-02 -4.59889786e-04 9.99718118e-01 -1.49140953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.774012739 meters Centerline goodness : 0.972955 Centerline is valid? [True, True] Translation: X:457.24, Y:-88.05, Z:-14.92 [[ 9.83632516e-01 1.78620058e-01 2.37054416e-02 4.57235523e+02] [-1.78580404e-01 9.83917998e-01 -3.79647144e-03 -8.80497311e+01] [-2.40023366e-02 -4.98994595e-04 9.99711778e-01 -1.49153327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters Centerline goodness : 0.973232 Centerline is valid? [True, True] Translation: X:457.26, Y:-88.05, Z:-14.92 [[ 9.83303727e-01 1.80453223e-01 2.34609025e-02 4.57262702e+02] [-1.80414943e-01 9.83583419e-01 -3.75569368e-03 -8.80503158e+01] [-2.37534818e-02 -5.39709808e-04 9.99717701e-01 -1.49154032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.834012739 meters Centerline goodness : 0.973108 Centerline is valid? [True, True] Translation: X:457.29, Y:-88.05, Z:-14.92 [[ 9.83246883e-01 1.80786565e-01 2.32762875e-02 4.57291221e+02] [-1.80749026e-01 9.83522201e-01 -3.72412652e-03 -8.80517650e+01] [-2.35660175e-02 -5.45430507e-04 9.99722134e-01 -1.49161657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters Centerline goodness : 0.972318 Centerline is valid? [True, True] Translation: X:457.32, Y:-88.05, Z:-14.92 [[ 9.83291731e-01 1.80604215e-01 2.27923297e-02 4.57318220e+02] [-1.80568201e-01 9.83555710e-01 -3.64545413e-03 -8.80525426e+01] [-2.30759104e-02 -5.31025059e-04 9.99733575e-01 -1.49169485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.894012739 meters Centerline goodness : 0.972825 Centerline is valid? [True, True] Translation: X:457.35, Y:-88.05, Z:-14.92 [[ 9.83363693e-01 1.80169559e-01 2.31252620e-02 4.57345030e+02] [-1.80132444e-01 9.83635424e-01 -3.69532013e-03 -8.80535396e+01] [-2.34126111e-02 -5.31766312e-04 9.99725746e-01 -1.49185603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters Centerline goodness : 0.973086 Centerline is valid? [True, True] Translation: X:457.37, Y:-88.05, Z:-14.92 [[ 9.83956267e-01 1.76863555e-01 2.34381582e-02 4.57372087e+02] [-1.76824538e-01 9.84235272e-01 -3.74335613e-03 -8.80524747e+01] [-2.37307252e-02 -4.61142755e-04 9.99718280e-01 -1.49189660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.954012739 meters Centerline goodness : 0.972463 Centerline is valid? [True, True] Translation: X:457.40, Y:-88.05, Z:-14.92 [[ 9.84410692e-01 1.74342291e-01 2.32455341e-02 4.57400571e+02] [-1.74303255e-01 9.84685029e-01 -3.71063164e-03 -8.80537073e+01] [-2.35364495e-02 -3.98986803e-04 9.99722900e-01 -1.49195187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters Centerline goodness : 0.972473 Centerline is valid? [True, True] Translation: X:457.43, Y:-88.05, Z:-14.92 [[ 9.85416011e-01 1.68679172e-01 2.24192425e-02 4.57427825e+02] [-1.68641428e-01 9.85670975e-01 -3.57730680e-03 -8.80525078e+01] [-2.27014138e-02 -2.55677669e-04 9.99742257e-01 -1.49204775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.014012739 meters Centerline goodness : 0.972868 Centerline is valid? [True, True] Translation: X:457.46, Y:-88.06, Z:-14.92 [[ 9.85940575e-01 1.65618580e-01 2.21736106e-02 4.57455755e+02] [-1.65580926e-01 9.86189866e-01 -3.53626462e-03 -8.80557425e+01] [-2.24530612e-02 -1.84980191e-04 9.99747881e-01 -1.49218051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters Centerline goodness : 0.972724 Centerline is valid? [True, True] Translation: X:457.48, Y:-88.06, Z:-14.92 [[ 9.86476224e-01 1.62346109e-01 2.25477389e-02 4.57483571e+02] [-1.62306355e-01 9.86733869e-01 -3.59431182e-03 -8.80592651e+01] [-2.28321402e-02 -1.13938180e-04 9.99739306e-01 -1.49235599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.074012739 meters Centerline goodness : 0.973029 Centerline is valid? [True, True] Translation: X:457.51, Y:-88.06, Z:-14.92 [[ 9.87472111e-01 1.56030261e-01 2.35241783e-02 4.57510816e+02] [-1.55985236e-01 9.87752275e-01 -3.74827147e-03 -8.80623217e+01] [-2.38209044e-02 3.18890331e-05 9.99716241e-01 -1.49233220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters Centerline goodness : 0.972404 Centerline is valid? [True, True] Translation: X:457.54, Y:-88.07, Z:-14.92 [[ 9.87947484e-01 1.52992003e-01 2.35205472e-02 4.57538791e+02] [-1.52946178e-01 9.88227421e-01 -3.74568360e-03 -8.80669158e+01] [-2.38167093e-02 1.03160880e-04 9.99716337e-01 -1.49232111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.134012739 meters Centerline goodness : 0.973290 Centerline is valid? [True, True] Translation: X:457.57, Y:-88.07, Z:-14.92 [[ 9.88628072e-01 1.48564348e-01 2.33059926e-02 4.57565930e+02] [-1.48518163e-01 9.88902721e-01 -3.70991355e-03 -8.80738784e+01] [-2.35985204e-02 2.06361472e-04 9.99721495e-01 -1.49241496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters Centerline goodness : 0.972708 Centerline is valid? [True, True] Translation: X:457.59, Y:-88.08, Z:-14.92 [[ 9.88767894e-01 1.47683434e-01 2.29707566e-02 4.57592017e+02] [-1.47636407e-01 9.89034635e-01 -3.73921137e-03 -8.80800944e+01] [-2.32710934e-02 3.05892185e-04 9.99729145e-01 -1.49249459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.194012739 meters Centerline goodness : 0.972936 Centerline is valid? [True, True] Translation: X:457.62, Y:-88.09, Z:-14.93 [[ 9.89020675e-01 1.45954342e-01 2.31394554e-02 4.57620358e+02] [-1.45911849e-01 9.89291321e-01 -3.52333469e-03 -8.80861460e+01] [-2.34059084e-02 1.08330126e-04 9.99726038e-01 -1.49263916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters Centerline goodness : 0.973022 Centerline is valid? [True, True] Translation: X:457.65, Y:-88.09, Z:-14.93 [[ 9.89080922e-01 1.45416876e-01 2.39345566e-02 4.57647625e+02] [-1.45350041e-01 9.89369978e-01 -4.51807570e-03 -8.80933295e+01] [-2.43371362e-02 9.89853691e-04 9.99703318e-01 -1.49264062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.254012739 meters Centerline goodness : 0.973543 Centerline is valid? [True, True] Translation: X:457.67, Y:-88.10, Z:-14.93 [[ 9.89052913e-01 1.45635236e-01 2.37636908e-02 4.57674972e+02] [-1.45603810e-01 9.89338257e-01 -3.05671086e-03 -8.81009439e+01] [-2.39554932e-02 -4.36835129e-04 9.99712931e-01 -1.49266539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters Centerline goodness : 0.973508 Centerline is valid? [True, True] Translation: X:457.70, Y:-88.11, Z:-14.93 [[ 9.89053162e-01 1.45727267e-01 2.31820107e-02 4.57702577e+02] [-1.45681028e-01 9.89324767e-01 -3.68013279e-03 -8.81074855e+01] [-2.34708330e-02 2.62667822e-04 9.99724488e-01 -1.49280311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.314012739 meters Centerline goodness : 0.973552 Centerline is valid? [True, True] Translation: X:457.73, Y:-88.12, Z:-14.93 [[ 9.89107262e-01 1.45411352e-01 2.28552612e-02 4.57729400e+02] [-1.45366359e-01 9.89371249e-01 -3.62672609e-03 -8.81178762e+01] [-2.31397055e-02 2.64835016e-04 9.99732206e-01 -1.49297895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters Centerline goodness : 0.973671 Centerline is valid? [True, True] Translation: X:457.76, Y:-88.13, Z:-14.93 [[ 9.89195889e-01 1.44830224e-01 2.27090132e-02 4.57755559e+02] [-1.44785688e-01 9.89456482e-01 -3.60193732e-03 -8.81250184e+01] [-2.29912497e-02 2.75081501e-04 9.99735628e-01 -1.49298077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.374012739 meters Centerline goodness : 0.973815 Centerline is valid? [True, True] Translation: X:457.78, Y:-88.13, Z:-14.93 [[ 9.89259162e-01 1.44357300e-01 2.29625979e-02 4.57782701e+02] [-1.44311685e-01 9.89525587e-01 -3.64008433e-03 -8.81321868e+01] [-2.32475509e-02 2.87215590e-04 9.99729698e-01 -1.49316757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters Centerline goodness : 0.974422 Centerline is valid? [True, True] Translation: X:457.81, Y:-88.14, Z:-14.93 [[ 9.89225844e-01 1.44720091e-01 2.20980578e-02 4.57808226e+02] [-1.44677969e-01 9.89472599e-01 -3.50161680e-03 -8.81418516e+01] [-2.23721770e-02 2.66787727e-04 9.99749676e-01 -1.49321610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.434012739 meters Centerline goodness : 0.974453 Centerline is valid? [True, True] Translation: X:457.83, Y:-88.15, Z:-14.93 [[ 9.89087838e-01 1.45786803e-01 2.12475152e-02 4.57834694e+02] [-1.45748145e-01 9.89316003e-01 -3.36507366e-03 -8.81483982e+01] [-2.15110901e-02 2.31567496e-04 9.99768583e-01 -1.49325786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters Centerline goodness : 0.974020 Centerline is valid? [True, True] Translation: X:457.86, Y:-88.15, Z:-14.93 [[ 9.88845938e-01 1.47506063e-01 2.06318388e-02 4.57862206e+02] [-1.47470016e-01 9.89061134e-01 -3.26623049e-03 -8.81539445e+01] [-2.08879387e-02 1.87221153e-04 9.99781806e-01 -1.49331496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.494012739 meters Centerline goodness : 0.974273 Centerline is valid? [True, True] Translation: X:457.89, Y:-88.16, Z:-14.93 [[ 9.87969172e-01 1.53278141e-01 2.05603117e-02 4.57889364e+02] [-1.53243615e-01 9.88183084e-01 -3.25374755e-03 -8.81580144e+01] [-2.08160806e-02 6.38657784e-05 9.99783320e-01 -1.49335456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters Centerline goodness : 0.973616 Centerline is valid? [True, True] Translation: X:457.92, Y:-88.16, Z:-14.93 [[ 9.87415778e-01 1.56770938e-01 2.08075728e-02 4.57917334e+02] [-1.56736411e-01 9.87634990e-01 -3.29010891e-03 -8.81606554e+01] [-2.10660804e-02 -1.25988291e-05 9.99778085e-01 -1.49331521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.554012739 meters Centerline goodness : 0.973874 Centerline is valid? [True, True] Translation: X:457.95, Y:-88.16, Z:-14.93 [[ 9.86782488e-01 1.60652980e-01 2.12353943e-02 4.57945437e+02] [-1.60617949e-01 9.87010947e-01 -3.35622709e-03 -8.81624816e+01] [-2.14987546e-02 -9.89193587e-05 9.99768870e-01 -1.49339750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters Centerline goodness : 0.973413 Centerline is valid? [True, True] Translation: X:457.97, Y:-88.16, Z:-14.93 [[ 9.85634639e-01 1.67663680e-01 2.03285329e-02 4.57972721e+02] [-1.67633094e-01 9.85844223e-01 -3.21159176e-03 -8.81603350e+01] [-2.05792340e-02 -2.42278785e-04 9.99788196e-01 -1.49344202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.614012739 meters Centerline goodness : 0.973552 Centerline is valid? [True, True] Translation: X:458.00, Y:-88.16, Z:-14.94 [[ 9.85375462e-01 1.69197117e-01 2.01874932e-02 4.58001332e+02] [-1.69167313e-01 9.85582194e-01 -3.18747720e-03 -8.81608343e+01] [-2.04357458e-02 -2.74202155e-04 9.99791131e-01 -1.49360554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters Centerline goodness : 0.973413 Centerline is valid? [True, True] Translation: X:458.03, Y:-88.16, Z:-14.94 [[ 9.85600340e-01 1.67742972e-01 2.13135005e-02 4.58028906e+02] [-1.67709443e-01 9.85830730e-01 -3.36369056e-03 -8.81567023e+01] [-2.15757392e-02 -2.59220757e-04 9.99767183e-01 -1.49357476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.674012739 meters Centerline goodness : 0.973246 Centerline is valid? [True, True] Translation: X:458.06, Y:-88.16, Z:-14.94 [[ 9.86046428e-01 1.64955273e-01 2.24098342e-02 4.58056792e+02] [-1.64917533e-01 9.86301026e-01 -3.53462716e-03 -8.81578207e+01] [-2.26858979e-02 -2.10468095e-04 9.99742620e-01 -1.49362945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters Centerline goodness : 0.972586 Centerline is valid? [True, True] Translation: X:458.08, Y:-88.16, Z:-14.94 [[ 9.86682538e-01 1.61065738e-01 2.27023631e-02 4.58084766e+02] [-1.61026016e-01 9.86943672e-01 -3.57906997e-03 -8.81591386e+01] [-2.29824192e-02 -1.24265241e-04 9.99735862e-01 -1.49365485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.734012739 meters Centerline goodness : 0.973487 Centerline is valid? [True, True] Translation: X:458.11, Y:-88.16, Z:-14.94 [[ 9.87384468e-01 1.56731120e-01 2.25226161e-02 4.58112205e+02] [-1.56690931e-01 9.87641309e-01 -3.54918944e-03 -8.81607370e+01] [-2.28005345e-02 -2.46751507e-05 9.99740034e-01 -1.49381660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters Centerline goodness : 0.972268 Centerline is valid? [True, True] Translation: X:458.14, Y:-88.16, Z:-14.94 [[ 9.88837574e-01 1.47391556e-01 2.18169966e-02 4.58140303e+02] [-1.47351611e-01 9.89078205e-01 -3.43613964e-03 -8.81618705e+01] [-2.20851738e-02 1.83014381e-04 9.99756076e-01 -1.49387457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.794012739 meters Centerline goodness : 0.972175 Centerline is valid? [True, True] Translation: X:458.17, Y:-88.17, Z:-14.94 [[ 9.89455923e-01 1.43171308e-01 2.18850049e-02 4.58167444e+02] [-1.43130114e-01 9.89697883e-01 -3.44534533e-03 -8.81652573e+01] [-2.21528176e-02 2.76614109e-04 9.99754558e-01 -1.49388431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters Centerline goodness : 0.971787 Centerline is valid? [True, True] Translation: X:458.19, Y:-88.17, Z:-14.94 [[ 9.90403244e-01 1.36350686e-01 2.25810613e-02 4.58194041e+02] [-1.36305097e-01 9.90660535e-01 -3.55309515e-03 -8.81676740e+01] [-2.28546333e-02 4.41083210e-04 9.99738701e-01 -1.49387030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.854012739 meters Centerline goodness : 0.972025 Centerline is valid? [True, True] Translation: X:458.22, Y:-88.17, Z:-14.94 [[ 9.90649236e-01 1.34539792e-01 2.26525128e-02 4.58221066e+02] [-1.34493497e-01 9.90908075e-01 -3.56191269e-03 -8.81701222e+01] [-2.29257769e-02 4.81990423e-04 9.99737054e-01 -1.49390375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters Centerline goodness : 0.971045 Centerline is valid? [True, True] Translation: X:458.25, Y:-88.17, Z:-14.94 [[ 9.90763974e-01 1.33773173e-01 2.21694810e-02 4.58249464e+02] [-1.33728693e-01 9.91011857e-01 -3.48358901e-03 -8.81725669e+01] [-2.24362293e-02 4.86718772e-04 9.99748158e-01 -1.49397455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.914012739 meters Centerline goodness : 0.971455 Centerline is valid? [True, True] Translation: X:458.28, Y:-88.17, Z:-14.94 [[ 9.90817736e-01 1.33536516e-01 2.11710485e-02 4.58275933e+02] [-1.33495927e-01 9.91043783e-01 -3.32539538e-03 -8.81749729e+01] [-2.14254977e-02 4.68611982e-04 9.99770338e-01 -1.49400710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters Centerline goodness : 0.971192 Centerline is valid? [True, True] Translation: X:458.30, Y:-88.18, Z:-14.94 [[ 9.90865383e-01 1.33175517e-01 2.12149675e-02 4.58303766e+02] [-1.33134716e-01 9.91092355e-01 -3.33048657e-03 -8.81789748e+01] [-2.14695314e-02 4.75615182e-04 9.99769390e-01 -1.49408275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.974012739 meters Centerline goodness : 0.971192 Centerline is valid? [True, True] Translation: X:458.33, Y:-88.18, Z:-14.94 [[ 9.90872818e-01 1.33120145e-01 2.12152051e-02 4.58331917e+02] [-1.33079363e-01 9.91099794e-01 -3.32897240e-03 -8.81832640e+01] [-2.14695387e-02 4.75282274e-04 9.99769390e-01 -1.49416628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters Centerline goodness : 0.971577 Centerline is valid? [True, True] Translation: X:458.36, Y:-88.19, Z:-14.94 [[ 9.90984056e-01 1.32248679e-01 2.14682934e-02 4.58358534e+02] [-1.32206737e-01 9.91216444e-01 -3.36760567e-03 -8.81867435e+01] [-2.17250869e-02 4.98990509e-04 9.99763858e-01 -1.49417391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.034012739 meters Centerline goodness : 0.970909 Centerline is valid? [True, True] Translation: X:458.39, Y:-88.19, Z:-14.94 [[ 9.91106051e-01 1.31334548e-01 2.14483535e-02 4.58386444e+02] [-1.31292509e-01 9.91337969e-01 -3.36269346e-03 -8.81903968e+01] [-2.17042050e-02 5.16777695e-04 9.99764302e-01 -1.49423065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters Centerline goodness : 0.971143 Centerline is valid? [True, True] Translation: X:458.41, Y:-88.20, Z:-14.94 [[ 9.91208963e-01 1.30387389e-01 2.24481892e-02 4.58414147e+02] [-1.30341133e-01 9.91462967e-01 -3.51779318e-03 -8.81959937e+01] [-2.27152241e-02 5.60945713e-04 9.99741819e-01 -1.49435176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.094012739 meters Centerline goodness : 0.971500 Centerline is valid? [True, True] Translation: X:458.44, Y:-88.20, Z:-14.94 [[ 9.91247302e-01 1.29937133e-01 2.33479888e-02 4.58441893e+02] [-1.29887010e-01 9.91522057e-01 -3.65708635e-03 -8.82013797e+01] [-2.36252372e-02 5.92476535e-04 9.99720710e-01 -1.49440850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters Centerline goodness : 0.970794 Centerline is valid? [True, True] Translation: X:458.47, Y:-88.21, Z:-14.94 [[ 9.91444839e-01 1.28137249e-01 2.48591234e-02 4.58468426e+02] [-1.28079907e-01 9.91756215e-01 -3.89196721e-03 -8.82081228e+01] [-2.51528961e-02 6.74716594e-04 9.99683388e-01 -1.49440687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.154012739 meters Centerline goodness : 0.971245 Centerline is valid? [True, True] Translation: X:458.50, Y:-88.22, Z:-14.95 [[ 9.91683422e-01 1.26392284e-01 2.42689294e-02 4.58496644e+02] [-1.26337161e-01 9.91980091e-01 -3.79750268e-03 -8.82151780e+01] [-2.45542698e-02 6.99852811e-04 9.99698253e-01 -1.49451968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters Centerline goodness : 0.970957 Centerline is valid? [True, True] Translation: X:458.52, Y:-88.22, Z:-14.95 [[ 9.91958802e-01 1.24500660e-01 2.27447069e-02 4.58524321e+02] [-1.24451770e-01 9.92219279e-01 -3.55804301e-03 -8.82230440e+01] [-2.30107154e-02 6.98813051e-04 9.99734974e-01 -1.49470234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.214012739 meters Centerline goodness : 0.970380 Centerline is valid? [True, True] Translation: X:458.55, Y:-88.23, Z:-14.95 [[ 9.92318537e-01 1.22162403e-01 1.95004516e-02 4.58550648e+02] [-1.22126028e-01 9.92509915e-01 -3.04993321e-03 -8.82345053e+01] [-1.97269787e-02 6.44992558e-04 9.99805196e-01 -1.49474044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters Centerline goodness : 0.969752 Centerline is valid? [True, True] Translation: X:458.58, Y:-88.24, Z:-14.95 [[ 9.92306367e-01 1.22181111e-01 1.99962427e-02 4.58577723e+02] [-1.22142890e-01 9.92507602e-01 -3.12629186e-03 -8.82418095e+01] [-2.02283968e-02 6.59840440e-04 9.99795167e-01 -1.49480562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.274012739 meters Centerline goodness : 0.970542 Centerline is valid? [True, True] Translation: X:458.61, Y:-88.25, Z:-14.95 [[ 9.92192821e-01 1.22745335e-01 2.20678113e-02 4.58605756e+02] [-1.22698956e-01 9.92437944e-01 -3.44867398e-03 -8.82488513e+01] [-2.23242419e-02 7.14052157e-04 9.99750528e-01 -1.49477403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters Centerline goodness : 0.970433 Centerline is valid? [True, True] Translation: X:458.63, Y:-88.26, Z:-14.95 [[ 9.91970824e-01 1.24000516e-01 2.48547155e-02 4.58634006e+02] [-1.23942106e-01 9.92281854e-01 -3.88292857e-03 -8.82565943e+01] [-2.51443684e-02 7.71206063e-04 9.99683533e-01 -1.49482393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.334012739 meters Centerline goodness : 0.969562 Centerline is valid? [True, True] Translation: X:458.66, Y:-88.27, Z:-14.95 [[ 9.91463349e-01 1.27694443e-01 2.63544304e-02 4.58660905e+02] [-1.27630105e-01 9.91813296e-01 -4.11599528e-03 -8.82662174e+01] [-2.66642642e-02 7.17239753e-04 9.99644188e-01 -1.49483524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters Centerline goodness : 0.969213 Centerline is valid? [True, True] Translation: X:458.69, Y:-88.27, Z:-14.95 [[ 9.91186822e-01 1.30040333e-01 2.52625367e-02 4.58688704e+02] [-1.29982013e-01 9.91508508e-01 -3.94408738e-03 -8.82725973e+01] [-2.55609105e-02 6.25652063e-04 9.99673071e-01 -1.49502643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.394012739 meters Centerline goodness : 0.968621 Centerline is valid? [True, True] Translation: X:458.72, Y:-88.28, Z:-14.95 [[ 9.90428965e-01 1.36204561e-01 2.23334621e-02 4.58715945e+02] [-1.36160567e-01 9.90680649e-01 -3.48594116e-03 -8.82801035e+01] [-2.26001299e-02 4.11640224e-04 9.99744500e-01 -1.49518691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters Centerline goodness : 0.968905 Centerline is valid? [True, True] Translation: X:458.74, Y:-88.28, Z:-14.95 [[ 9.89971628e-01 1.39519429e-01 2.21473532e-02 4.58743352e+02] [-1.39477013e-01 9.90219278e-01 -3.45607183e-03 -8.82847397e+01] [-2.24129253e-02 3.32366390e-04 9.99748744e-01 -1.49524735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.454012739 meters Centerline goodness : 0.969230 Centerline is valid? [True, True] Translation: X:458.77, Y:-88.29, Z:-14.95 [[ 9.89519104e-01 1.42619356e-01 2.26199366e-02 4.58769961e+02] [-1.42575953e-01 9.89777575e-01 -3.52833942e-03 -8.82888897e+01] [-2.28919154e-02 2.66300253e-04 9.99737910e-01 -1.49523541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters Centerline goodness : 0.968576 Centerline is valid? [True, True] Translation: X:458.80, Y:-88.29, Z:-14.95 [[ 9.88803976e-01 1.47321440e-01 2.37295353e-02 4.58796900e+02] [-1.47275073e-01 9.89088655e-01 -3.69946682e-03 -8.82907814e+01] [-2.40156249e-02 1.63278456e-04 9.99711570e-01 -1.49529041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.514012739 meters Centerline goodness : 0.969026 Centerline is valid? [True, True] Translation: X:458.82, Y:-88.29, Z:-14.95 [[ 9.88503973e-01 1.49295812e-01 2.38884102e-02 4.58823615e+02] [-1.49249441e-01 9.88792571e-01 -3.72247757e-03 -8.82934330e+01] [-2.41764328e-02 1.14352000e-04 9.99707701e-01 -1.49531544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters Centerline goodness : 0.969216 Centerline is valid? [True, True] Translation: X:458.85, Y:-88.29, Z:-14.96 [[ 9.88144719e-01 1.51499938e-01 2.48552544e-02 4.58850267e+02] [-1.51450501e-01 9.88457265e-01 -3.87049028e-03 -8.82943008e+01] [-2.51547358e-02 6.02638170e-05 9.99683568e-01 -1.49560171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.574012739 meters Centerline goodness : 0.969958 Centerline is valid? [True, True] Translation: X:458.88, Y:-88.30, Z:-14.96 [[ 9.88155597e-01 1.51380936e-01 2.51461441e-02 4.58878452e+02] [-1.51330346e-01 9.88475497e-01 -3.91379957e-03 -8.82972717e+01] [-2.54488219e-02 6.20682537e-05 9.99676124e-01 -1.49573027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters Centerline goodness : 0.968556 Centerline is valid? [True, True] Translation: X:458.91, Y:-88.30, Z:-14.96 [[ 9.88224158e-01 1.50934917e-01 2.51329204e-02 4.58905235e+02] [-1.50884277e-01 9.88543699e-01 -3.91013728e-03 -8.83007087e+01] [-2.54351664e-02 7.19295815e-05 9.99676471e-01 -1.49575557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.634012739 meters Centerline goodness : 0.969798 Centerline is valid? [True, True] Translation: X:458.93, Y:-88.30, Z:-14.96 [[ 9.88335766e-01 1.50167174e-01 2.53423439e-02 4.58932963e+02] [-1.50115486e-01 9.88660615e-01 -3.94072924e-03 -8.83044587e+01] [-2.56467455e-02 9.04853845e-05 9.99671064e-01 -1.49588993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters Centerline goodness : 0.968589 Centerline is valid? [True, True] Translation: X:458.96, Y:-88.31, Z:-14.96 [[ 9.88567780e-01 1.48672580e-01 2.51039382e-02 4.58960041e+02] [-1.48621416e-01 9.88886469e-01 -3.90215512e-03 -8.83058422e+01] [-2.54050882e-02 1.26561990e-04 9.99677231e-01 -1.49593996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.694012739 meters Centerline goodness : 0.969102 Centerline is valid? [True, True] Translation: X:458.99, Y:-88.31, Z:-14.96 [[ 9.88704565e-01 1.47824176e-01 2.47243945e-02 4.58987534e+02] [-1.47774341e-01 9.89013646e-01 -3.84080604e-03 -8.83083486e+01] [-2.50205276e-02 1.43791355e-04 9.99686927e-01 -1.49607259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters Centerline goodness : 0.969056 Centerline is valid? [True, True] Translation: X:459.02, Y:-88.31, Z:-14.96 [[ 9.88832090e-01 1.47037326e-01 2.43130182e-02 4.59015207e+02] [-1.46988936e-01 9.89130931e-01 -3.77537032e-03 -8.83126055e+01] [-2.46038787e-02 1.59462645e-04 9.99697266e-01 -1.49619912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.754012739 meters Centerline goodness : 0.969270 Centerline is valid? [True, True] Translation: X:459.04, Y:-88.32, Z:-14.96 [[ 9.89032065e-01 1.45644370e-01 2.45620163e-02 4.59042159e+02] [-1.45594591e-01 9.89336990e-01 -3.81256461e-03 -8.83178766e+01] [-2.48553899e-02 1.94651937e-04 9.99691038e-01 -1.49615736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters Centerline goodness : 0.969128 Centerline is valid? [True, True] Translation: X:459.07, Y:-88.32, Z:-14.96 [[ 9.89110892e-01 1.45034717e-01 2.49914715e-02 4.59069916e+02] [-1.44983048e-01 9.89426544e-01 -3.87679545e-03 -8.83224835e+01] [-2.52894952e-02 2.11240881e-04 9.99680147e-01 -1.49611916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.814012739 meters Centerline goodness : 0.969192 Centerline is valid? [True, True] Translation: X:459.10, Y:-88.33, Z:-14.96 [[ 9.89256552e-01 1.43900448e-01 2.57708116e-02 4.59096826e+02] [-1.43845164e-01 9.89592139e-01 -3.99600681e-03 -8.83293919e+01] [-2.60776198e-02 2.46069287e-04 9.99659891e-01 -1.49623666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters Centerline goodness : 0.968540 Centerline is valid? [True, True] Translation: X:459.12, Y:-88.34, Z:-14.96 [[ 9.89338191e-01 1.43282417e-01 2.60786102e-02 4.59124126e+02] [-1.43225634e-01 9.89681807e-01 -4.04206198e-03 -8.83361338e+01] [-2.63886825e-02 2.63840802e-04 9.99651723e-01 -1.49633467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.874012739 meters Centerline goodness : 0.969191 Centerline is valid? [True, True] Translation: X:459.15, Y:-88.34, Z:-14.96 [[ 9.89390983e-01 1.42846330e-01 2.64652286e-02 4.59151439e+02] [-1.42787741e-01 9.89744840e-01 -4.10028568e-03 -8.83419710e+01] [-2.67795342e-02 2.77875482e-04 9.99641325e-01 -1.49645757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters Centerline goodness : 0.968506 Centerline is valid? [True, True] Translation: X:459.18, Y:-88.35, Z:-14.96 [[ 9.89302778e-01 1.43392559e-01 2.68064988e-02 4.59178408e+02] [-1.43332695e-01 9.89665855e-01 -4.15144312e-03 -8.83487391e+01] [-2.71247626e-02 2.64786487e-04 9.99632021e-01 -1.49647533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.934012739 meters Centerline goodness : 0.968504 Centerline is valid? [True, True] Translation: X:459.21, Y:-88.35, Z:-14.97 [[ 9.89146319e-01 1.44393690e-01 2.72033353e-02 4.59205550e+02] [-1.44332468e-01 9.89520290e-01 -4.21115639e-03 -8.83537142e+01] [-2.75263167e-02 2.39125323e-04 9.99621051e-01 -1.49651552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters Centerline goodness : 0.968785 Centerline is valid? [True, True] Translation: X:459.23, Y:-88.36, Z:-14.97 [[ 9.88963844e-01 1.45592910e-01 2.74448493e-02 4.59232755e+02] [-1.45531105e-01 9.89344562e-01 -4.24679781e-03 -8.83586559e+01] [-2.77707160e-02 2.05850235e-04 9.99614298e-01 -1.49658724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.994012739 meters Centerline goodness : 0.968758 Centerline is valid? [True, True] Translation: X:459.26, Y:-88.36, Z:-14.97 [[ 9.88810839e-01 1.46650885e-01 2.73247675e-02 4.59259915e+02] [-1.46590072e-01 9.89188297e-01 -4.22649570e-03 -8.83630083e+01] [-2.76491596e-02 1.73665133e-04 9.99617674e-01 -1.49669459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters Centerline goodness : 0.968545 Centerline is valid? [True, True] Translation: X:459.29, Y:-88.37, Z:-14.97 [[ 9.88673409e-01 1.47907890e-01 2.54587279e-02 4.59287763e+02] [-1.47855555e-01 9.89001132e-01 -3.93638156e-03 -8.83676359e+01] [-2.57609326e-02 1.27581435e-04 9.99668124e-01 -1.49686086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.054012739 meters Centerline goodness : 0.968474 Centerline is valid? [True, True] Translation: X:459.32, Y:-88.37, Z:-14.97 [[ 9.88636908e-01 1.48310450e-01 2.45168117e-02 4.59315368e+02] [-1.48262077e-01 9.88940847e-01 -3.78926206e-03 -8.83718992e+01] [-2.48076637e-02 1.11290902e-04 9.99692236e-01 -1.49697207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters Centerline goodness : 0.968687 Centerline is valid? [True, True] Translation: X:459.34, Y:-88.38, Z:-14.97 [[ 9.88684324e-01 1.47963970e-01 2.46975997e-02 4.59343151e+02] [-1.47914812e-01 9.88992745e-01 -3.81562607e-03 -8.83761124e+01] [-2.49903221e-02 1.19308866e-04 9.99687686e-01 -1.49700062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.114012739 meters Centerline goodness : 0.968463 Centerline is valid? [True, True] Translation: X:459.37, Y:-88.38, Z:-14.97 [[ 9.88733779e-01 1.47550143e-01 2.51886934e-02 4.59370945e+02] [-1.47498918e-01 9.89054568e-01 -3.88986758e-03 -8.83800210e+01] [-2.54869428e-02 1.30738442e-04 9.99675147e-01 -1.49708168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters Centerline goodness : 0.968383 Centerline is valid? [True, True] Translation: X:459.40, Y:-88.38, Z:-14.97 [[ 9.88824979e-01 1.46939335e-01 2.51791962e-02 4.59399039e+02] [-1.46887991e-01 9.89145495e-01 -3.88680412e-03 -8.83836998e+01] [-2.54770129e-02 1.44847455e-04 9.99675398e-01 -1.49712484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.174012739 meters Centerline goodness : 0.968603 Centerline is valid? [True, True] Translation: X:459.43, Y:-88.39, Z:-14.97 [[ 9.89002664e-01 1.45735797e-01 2.51954157e-02 4.59427077e+02] [-1.45684037e-01 9.89323530e-01 -3.88770615e-03 -8.83867214e+01] [-2.54929955e-02 1.74381866e-04 9.99674986e-01 -1.49731386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters Centerline goodness : 0.968499 Centerline is valid? [True, True] Translation: X:459.46, Y:-88.39, Z:-14.97 [[ 9.89087033e-01 1.45207890e-01 2.49301116e-02 4.59455104e+02] [-1.45157086e-01 9.89401150e-01 -3.84520869e-03 -8.83910410e+01] [-2.52242357e-02 1.84463705e-04 9.99681801e-01 -1.49742093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.234012739 meters Centerline goodness : 0.968146 Centerline is valid? [True, True] Translation: X:459.48, Y:-88.40, Z:-14.97 [[ 9.89233189e-01 1.44202410e-01 2.49672542e-02 4.59482960e+02] [-1.44151174e-01 9.89548191e-01 -3.84935684e-03 -8.83955672e+01] [-2.52613877e-02 2.08852537e-04 9.99680858e-01 -1.49748605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters Centerline goodness : 0.968928 Centerline is valid? [True, True] Translation: X:459.51, Y:-88.40, Z:-14.98 [[ 9.89547779e-01 1.42117041e-01 2.44528024e-02 4.59510276e+02] [-1.42067296e-01 9.89849828e-01 -3.76852624e-03 -8.84022101e+01] [-2.47401740e-02 2.55193253e-04 9.99693882e-01 -1.49761521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.294012739 meters Centerline goodness : 0.968548 Centerline is valid? [True, True] Translation: X:459.54, Y:-88.41, Z:-14.98 [[ 9.89686324e-01 1.41108897e-01 2.46831879e-02 4.59537250e+02] [-1.41057937e-01 9.89994040e-01 -3.80245522e-03 -8.84084043e+01] [-2.49727692e-02 2.81478380e-04 9.99688092e-01 -1.49769348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters Centerline goodness : 0.968715 Centerline is valid? [True, True] Translation: X:459.57, Y:-88.41, Z:-14.98 [[ 9.89766323e-01 1.40409301e-01 2.54529586e-02 4.59565044e+02] [-1.40354925e-01 9.90093498e-01 -3.91930673e-03 -8.84149316e+01] [-2.57511159e-02 3.06749719e-04 9.99668338e-01 -1.49774963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.354012739 meters Centerline goodness : 0.969831 Centerline is valid? [True, True] Translation: X:459.59, Y:-88.42, Z:-14.98 [[ 9.89741567e-01 1.40194587e-01 2.75155985e-02 4.59592348e+02] [-1.40130992e-01 9.90123914e-01 -4.23560964e-03 -8.84218994e+01] [-2.78376616e-02 3.36370819e-04 9.99612401e-01 -1.49776294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters Centerline goodness : 0.969516 Centerline is valid? [True, True] Translation: X:459.62, Y:-88.43, Z:-14.98 [[ 9.89643713e-01 1.40739344e-01 2.82446244e-02 4.59620555e+02] [-1.40672602e-01 9.90046630e-01 -4.34622082e-03 -8.84269843e+01] [-2.85751794e-02 3.27965315e-04 9.99591592e-01 -1.49786566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.414012739 meters Centerline goodness : 0.970778 Centerline is valid? [True, True] Translation: X:459.65, Y:-88.43, Z:-14.98 [[ 9.89248577e-01 1.43541809e-01 2.79821743e-02 4.59649173e+02] [-1.43477459e-01 9.89644224e-01 -4.30451717e-03 -8.84331446e+01] [-2.83102753e-02 2.43426218e-04 9.99599154e-01 -1.49798461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters Centerline goodness : 0.970653 Centerline is valid? [True, True] Translation: X:459.68, Y:-88.44, Z:-14.98 [[ 9.88937872e-01 1.45686409e-01 2.78810940e-02 4.59676992e+02] [-1.45623412e-01 9.89330803e-01 -4.28765926e-03 -8.84381096e+01] [-2.82082788e-02 1.80088583e-04 9.99602051e-01 -1.49807454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.474012739 meters Centerline goodness : 0.971303 Centerline is valid? [True, True] Translation: X:459.71, Y:-88.44, Z:-14.98 [[ 9.88638146e-01 1.47701348e-01 2.79092980e-02 4.59705631e+02] [-1.47639073e-01 9.89032000e-01 -4.29032735e-03 -8.84428936e+01] [-2.82368760e-02 1.21078376e-04 9.99601253e-01 -1.49817038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters Centerline goodness : 0.971132 Centerline is valid? [True, True] Translation: X:459.73, Y:-88.45, Z:-14.98 [[ 9.88346535e-01 1.49571959e-01 2.82728796e-02 4.59733401e+02] [-1.49508854e-01 9.88750841e-01 -4.34487265e-03 -8.84476210e+01] [-2.86047045e-02 6.71940154e-05 9.99590799e-01 -1.49824149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.534012739 meters Centerline goodness : 0.971997 Centerline is valid? [True, True] Translation: X:459.76, Y:-88.45, Z:-14.98 [[ 9.88200554e-01 1.50523159e-01 2.83274246e-02 4.59760799e+02] [-1.50460249e-01 9.88606483e-01 -4.35158241e-03 -8.84523271e+01] [-2.86596896e-02 3.80847859e-05 9.99589226e-01 -1.49838563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters Centerline goodness : 0.972371 Centerline is valid? [True, True] Translation: X:459.79, Y:-88.46, Z:-14.99 [[ 9.88278804e-01 1.50164126e-01 2.74907338e-02 4.59789265e+02] [-1.50104787e-01 9.88661081e-01 -4.22135758e-03 -8.84567596e+01] [-2.78129150e-02 4.53874935e-05 9.99613145e-01 -1.49851171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.594012739 meters Centerline goodness : 0.973121 Centerline is valid? [True, True] Translation: X:459.82, Y:-88.46, Z:-14.99 [[ 9.88365510e-01 1.49739485e-01 2.66777873e-02 4.59816902e+02] [-1.49683482e-01 9.88725484e-01 -4.09531584e-03 -8.84609700e+01] [-2.69902387e-02 5.44448348e-05 9.99635696e-01 -1.49873512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters Centerline goodness : 0.973499 Centerline is valid? [True, True] Translation: X:459.84, Y:-88.47, Z:-14.99 [[ 9.88297946e-01 1.50239432e-01 2.63682367e-02 4.59844693e+02] [-1.50184931e-01 9.88649640e-01 -4.04660609e-03 -8.84655668e+01] [-2.66769076e-02 3.91406806e-05 9.99644107e-01 -1.49881837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.654012739 meters Centerline goodness : 0.973399 Centerline is valid? [True, True] Translation: X:459.87, Y:-88.47, Z:-14.99 [[ 9.88180018e-01 1.51099790e-01 2.58670853e-02 4.59873176e+02] [-1.51047676e-01 9.88518514e-01 -3.96818084e-03 -8.84704443e+01] [-2.61696840e-02 1.41138910e-05 9.99657515e-01 -1.49891922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters Centerline goodness : 0.974463 Centerline is valid? [True, True] Translation: X:459.90, Y:-88.47, Z:-14.99 [[ 9.87762902e-01 1.53988815e-01 2.47364823e-02 4.59900242e+02] [-1.53942088e-01 9.88072589e-01 -3.79372230e-03 -8.84748569e+01] [-2.50256309e-02 -6.06875887e-05 9.99686808e-01 -1.49901142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.714012739 meters Centerline goodness : 0.974577 Centerline is valid? [True, True] Translation: X:459.93, Y:-88.48, Z:-14.99 [[ 9.87422699e-01 1.56117477e-01 2.49749362e-02 4.59928373e+02] [-1.56070560e-01 9.87738487e-01 -3.82891485e-03 -8.84783101e+01] [-2.52664662e-02 -1.17094846e-04 9.99680745e-01 -1.49908470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters Centerline goodness : 0.972485 Centerline is valid? [True, True] Translation: X:459.95, Y:-88.48, Z:-14.99 [[ 9.87025024e-01 1.58537868e-01 2.54430053e-02 4.59954916e+02] [-1.58490023e-01 9.87352881e-01 -3.89896375e-03 -8.84809694e+01] [-2.57393580e-02 -1.84087707e-04 9.99668671e-01 -1.49914299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.774012739 meters Centerline goodness : 0.971805 Centerline is valid? [True, True] Translation: X:459.98, Y:-88.48, Z:-14.99 [[ 9.86164422e-01 1.63321165e-01 2.83889061e-02 4.59982419e+02] [-1.63263649e-01 9.86572895e-01 -4.34790593e-03 -8.84835623e+01] [-2.87178304e-02 -3.47126277e-04 9.99587498e-01 -1.49927707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters Centerline goodness : 0.972344 Centerline is valid? [True, True] Translation: X:460.01, Y:-88.49, Z:-14.99 [[ 9.85900752e-01 1.64664541e-01 2.97539389e-02 4.60010181e+02] [-1.64602034e-01 9.86349544e-01 -4.55489105e-03 -8.84873450e+01] [-3.00978131e-02 -4.06888353e-04 9.99546875e-01 -1.49935660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.834012739 meters Centerline goodness : 0.971013 Centerline is valid? [True, True] Translation: X:460.04, Y:-88.49, Z:-14.99 [[ 9.85767801e-01 1.65344313e-01 3.03825717e-02 4.60036531e+02] [-1.65279523e-01 9.86235806e-01 -4.64904554e-03 -8.84905713e+01] [-3.07330734e-02 -4.38737559e-04 9.99527531e-01 -1.49942511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters Centerline goodness : 0.969760 Centerline is valid? [True, True] Translation: X:460.06, Y:-88.49, Z:-15.00 [[ 9.85720963e-01 1.65941239e-01 2.85952368e-02 4.60064673e+02] [-1.65884161e-01 9.86135548e-01 -4.37346517e-03 -8.84936462e+01] [-2.89245177e-02 -4.32480543e-04 9.99581505e-01 -1.49961212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.894012739 meters Centerline goodness : 0.969760 Centerline is valid? [True, True] Translation: X:460.09, Y:-88.50, Z:-15.00 [[ 9.85729846e-01 1.65888415e-01 2.85955186e-02 4.60092844e+02] [-1.65831367e-01 9.86144435e-01 -4.37162157e-03 -8.84978224e+01] [-2.89245129e-02 -4.32796090e-04 9.99581505e-01 -1.49969564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters Centerline goodness : 0.969513 Centerline is valid? [True, True] Translation: X:460.12, Y:-88.50, Z:-15.00 [[ 9.85735954e-01 1.65937330e-01 2.80968299e-02 4.60120500e+02] [-1.65882318e-01 9.86136207e-01 -4.29388029e-03 -8.85010904e+01] [-2.84198163e-02 -4.28135077e-04 9.99595984e-01 -1.49986009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.954012739 meters Centerline goodness : 0.968949 Centerline is valid? [True, True] Translation: X:460.15, Y:-88.50, Z:-15.00 [[ 9.85643643e-01 1.66468566e-01 2.81926694e-02 4.60148044e+02] [-1.66413447e-01 9.86046661e-01 -4.30667998e-03 -8.85021040e+01] [-2.85162143e-02 -4.46787564e-04 9.99593230e-01 -1.49995589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters Centerline goodness : 0.967743 Centerline is valid? [True, True] Translation: X:460.18, Y:-88.51, Z:-15.00 [[ 9.85625969e-01 1.66457589e-01 2.88672984e-02 4.60176335e+02] [-1.66399862e-01 9.86048508e-01 -4.40748185e-03 -8.85051739e+01] [-2.91982153e-02 -4.59385917e-04 9.99573536e-01 -1.50004766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.014012739 meters Centerline goodness : 0.966567 Centerline is valid? [True, True] Translation: X:460.20, Y:-88.51, Z:-15.00 [[ 9.85578414e-01 1.66577291e-01 2.97858201e-02 4.60204510e+02] [-1.66515947e-01 9.86028284e-01 -4.54572699e-03 -8.85086500e+01] [-3.01268759e-02 -4.79643618e-04 9.99545968e-01 -1.50010836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters Centerline goodness : 0.964963 Centerline is valid? [True, True] Translation: X:460.23, Y:-88.51, Z:-15.00 [[ 9.85674359e-01 1.65412436e-01 3.29360581e-02 4.60231734e+02] [-1.65336855e-01 9.86224357e-01 -5.02412419e-03 -8.85113165e+01] [-3.33133953e-02 -4.93393881e-04 9.99444833e-01 -1.50016737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.074012739 meters Centerline goodness : 0.963845 Centerline is valid? [True, True] Translation: X:460.26, Y:-88.51, Z:-15.00 [[ 9.85934788e-01 1.63683061e-01 3.37705511e-02 4.60259257e+02] [-1.63602673e-01 9.86512876e-01 -5.14887067e-03 -8.85148673e+01] [-3.41578664e-02 -4.48501708e-04 9.99416349e-01 -1.50029980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters Centerline goodness : 0.963984 Centerline is valid? [True, True] Translation: X:460.29, Y:-88.52, Z:-15.00 [[ 9.86276761e-01 1.61621696e-01 3.37131740e-02 4.60286186e+02] [-1.61540452e-01 9.86852717e-01 -5.13790822e-03 -8.85187487e+01] [-3.41003348e-02 -3.78641892e-04 9.99418343e-01 -1.50046360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.134012739 meters Centerline goodness : 0.962822 Centerline is valid? [True, True] Translation: X:460.31, Y:-88.52, Z:-15.01 [[ 9.86683663e-01 1.59301216e-01 3.28400812e-02 4.60313312e+02] [-1.59222920e-01 9.87229982e-01 -5.00250196e-03 -8.85237557e+01] [-3.32176174e-02 -2.93006674e-04 9.99448100e-01 -1.50059559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters Centerline goodness : 0.962199 Centerline is valid? [True, True] Translation: X:460.34, Y:-88.53, Z:-15.01 [[ 9.87450523e-01 1.54466900e-01 3.28852817e-02 4.60340688e+02] [-1.54385775e-01 9.87997955e-01 -5.00729698e-03 -8.85296062e+01] [-3.32640527e-02 -1.32561684e-04 9.99446589e-01 -1.50080042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.194012739 meters Centerline goodness : 0.961863 Centerline is valid? [True, True] Translation: X:460.37, Y:-88.53, Z:-15.01 [[ 9.87640991e-01 1.53187498e-01 3.31491183e-02 4.60369595e+02] [-1.53104414e-01 9.88197137e-01 -5.04544858e-03 -8.85336195e+01] [-3.35307635e-02 -9.21845007e-05 9.99437682e-01 -1.50089494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters Centerline goodness : 0.961124 Centerline is valid? [True, True] Translation: X:460.40, Y:-88.54, Z:-15.01 [[ 9.87688113e-01 1.52596475e-01 3.44457039e-02 4.60398711e+02] [-1.52506455e-01 9.88288576e-01 -5.24129232e-03 -8.85368663e+01] [-3.48420984e-02 -7.64300723e-05 9.99392827e-01 -1.50098160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.254012739 meters Centerline goodness : 0.959829 Centerline is valid? [True, True] Translation: X:460.43, Y:-88.54, Z:-15.01 [[ 9.87696016e-01 1.52357261e-01 3.52681849e-02 4.60427065e+02] [-1.52262791e-01 9.88325483e-01 -5.36492792e-03 -8.85414578e+01] [-3.56738316e-02 -7.11143438e-05 9.99363484e-01 -1.50102412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters Centerline goodness : 0.960728 Centerline is valid? [True, True] Translation: X:460.46, Y:-88.55, Z:-15.01 [[ 9.87699431e-01 1.51982417e-01 3.67583787e-02 4.60455986e+02] [-1.51879592e-01 9.88383196e-01 -5.59001859e-03 -8.85455826e+01] [-3.71809484e-02 -6.15893712e-05 9.99308548e-01 -1.50113421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.314012739 meters Centerline goodness : 0.960302 Centerline is valid? [True, True] Translation: X:460.48, Y:-88.55, Z:-15.01 [[ 9.87683966e-01 1.52259182e-01 3.60211774e-02 4.60484247e+02] [-1.52160679e-01 9.88340597e-01 -5.47642614e-03 -8.85485834e+01] [-3.64350282e-02 -7.20285351e-05 9.99336021e-01 -1.50131287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters Centerline goodness : 0.959769 Centerline is valid? [True, True] Translation: X:460.51, Y:-88.55, Z:-15.01 [[ 9.87714790e-01 1.52204834e-01 3.54003092e-02 4.60512331e+02] [-1.52109716e-01 9.88348969e-01 -5.38057622e-03 -8.85524919e+01] [-3.58068088e-02 -7.02562600e-05 9.99358728e-01 -1.50149870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.374012739 meters Centerline goodness : 0.959699 Centerline is valid? [True, True] Translation: X:460.54, Y:-88.56, Z:-15.02 [[ 9.87874321e-01 1.51313892e-01 3.47625160e-02 4.60540341e+02] [-1.51221671e-01 9.88485763e-01 -5.28221177e-03 -8.85567038e+01] [-3.51615242e-02 -3.86843989e-05 9.99381642e-01 -1.50161910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters Centerline goodness : 0.959529 Centerline is valid? [True, True] Translation: X:460.57, Y:-88.56, Z:-15.02 [[ 9.88484633e-01 1.47385275e-01 3.42886306e-02 4.60568832e+02] [-1.47293237e-01 9.89079153e-01 -5.20878824e-03 -8.85607976e+01] [-3.46818684e-02 9.83237548e-05 9.99398398e-01 -1.50176766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.434012739 meters Centerline goodness : 0.959363 Centerline is valid? [True, True] Translation: X:460.60, Y:-88.56, Z:-15.02 [[ 9.88714732e-01 1.46098230e-01 3.31434122e-02 4.60597605e+02] [-1.46011561e-01 9.89270079e-01 -5.03347143e-03 -8.85646639e+01] [-3.35231672e-02 1.37346008e-04 9.99437931e-01 -1.50178072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters Centerline goodness : 0.944146 Centerline is valid? [True, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.88438611e-01 1.47998928e-01 3.29458530e-02 4.60600734e+02] [-1.47798127e-01 9.88981345e-01 -8.46247728e-03 -8.85331344e+01] [-3.38352715e-02 3.49530394e-03 9.99421311e-01 -1.50156430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.494012739 meters Centerline goodness : 0.943258 Centerline is valid? [False, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.88453963e-01 1.47933602e-01 3.27782323e-02 4.60601405e+02] [-1.47743471e-01 9.88992037e-01 -8.16195074e-03 -8.85345383e+01] [-3.36248375e-02 3.22494272e-03 9.99429322e-01 -1.50156750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters Centerline goodness : 0.943438 Centerline is valid? [False, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.89083957e-01 1.43805689e-01 3.21379822e-02 4.60601711e+02] [-1.43438783e-01 9.89567702e-01 -1.34565400e-02 -8.85294454e+01] [-3.37378362e-02 8.69981480e-03 9.99392852e-01 -1.50162899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.554012739 meters Centerline goodness : 0.942865 Centerline is valid? [False, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.89098523e-01 1.43742375e-01 3.19725091e-02 4.60602149e+02] [-1.43384381e-01 9.89578598e-01 -1.32331911e-02 -8.85302955e+01] [-3.35414810e-02 8.50457134e-03 9.99401141e-01 -1.50159269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters Centerline goodness : 0.942781 Centerline is valid? [False, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.89699295e-01 1.39646899e-01 3.15285459e-02 4.60601609e+02] [-1.39121449e-01 9.90106282e-01 -1.82968195e-02 -8.85262576e+01] [-3.37717054e-02 1.37220524e-02 9.99335368e-01 -1.50159380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.614012739 meters Centerline goodness : 0.942694 Centerline is valid? [False, False] Translation: X:460.60, Y:-88.53, Z:-15.02 [[ 9.89713601e-01 1.39585231e-01 3.13520520e-02 4.60602053e+02] [-1.39081392e-01 9.90122316e-01 -1.77247429e-02 -8.85287649e+01] [-3.35164786e-02 1.31819321e-02 9.99351231e-01 -1.50154800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters Centerline goodness : 0.107346 Centerline is valid? [False, False] Translation: X:460.65, Y:-88.54, Z:-15.02 [[ 9.89050607e-01 1.44187398e-01 3.14466545e-02 4.60648641e+02] [-1.43897758e-01 9.89528055e-01 -1.12988385e-02 -8.85425495e+01] [-3.27464970e-02 6.65001995e-03 9.99441566e-01 -1.50188212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.674012739 meters Centerline goodness : 0.105193 Centerline is valid? [False, False] Translation: X:460.65, Y:-88.54, Z:-15.02 [[ 9.89018000e-01 1.44317178e-01 3.18739480e-02 4.60647184e+02] [-1.44006740e-01 9.89505855e-01 -1.18414872e-02 -8.85401177e+01] [-3.32483882e-02 7.12138062e-03 9.99421748e-01 -1.50187992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters Centerline goodness : 0.105905 Centerline is valid? [False, False] Translation: X:460.65, Y:-88.54, Z:-15.02 [[ 9.88971850e-01 1.44536142e-01 3.23107481e-02 4.60645806e+02] [-1.44197126e-01 9.89468767e-01 -1.25995281e-02 -8.85364311e+01] [-3.37915633e-02 7.80146158e-03 9.99398453e-01 -1.50191072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.734012739 meters Centerline goodness : 0.103279 Centerline is valid? [False, False] Translation: X:460.64, Y:-88.53, Z:-15.02 [[ 9.88835887e-01 1.45337106e-01 3.28742229e-02 4.60643713e+02] [-1.44940204e-01 9.89339045e-01 -1.41630248e-02 -8.85283569e+01] [-3.45821654e-02 9.24011065e-03 9.99359142e-01 -1.50193625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters Centerline goodness : 0.107862 Centerline is valid? [False, False] Translation: X:460.64, Y:-88.52, Z:-15.02 [[ 9.88822906e-01 1.45377328e-01 3.30861471e-02 4.60643106e+02] [-1.44948563e-01 9.89325165e-01 -1.50210802e-02 -8.85246657e+01] [-3.49166825e-02 1.00573987e-02 9.99339619e-01 -1.50198233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.794012739 meters Centerline goodness : 0.103001 Centerline is valid? [False, False] Translation: X:460.68, Y:-88.52, Z:-15.02 [[ 9.88821432e-01 1.44832462e-01 3.54363441e-02 4.60677303e+02] [-1.44143817e-01 9.89327793e-01 -2.12856154e-02 -8.85175726e+01] [-3.81410082e-02 1.59397428e-02 9.99145229e-01 -1.50225704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters Centerline goodness : 0.107444 Centerline is valid? [False, False] Translation: X:460.68, Y:-88.51, Z:-15.02 [[ 9.88832859e-01 1.44731870e-01 3.55283471e-02 4.60677488e+02] [-1.44005457e-01 9.89327145e-01 -2.22312694e-02 -8.85137317e+01] [-3.83667314e-02 1.68667338e-02 9.99121368e-01 -1.50236088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.854012739 meters Centerline goodness : 0.105030 Centerline is valid? [False, False] Translation: X:460.68, Y:-88.52, Z:-15.02 [[ 9.88266669e-01 1.48468400e-01 3.58625867e-02 4.60678997e+02] [-1.47919658e-01 9.88844308e-01 -1.75131019e-02 -8.85163971e+01] [-3.80626570e-02 1.20028334e-02 9.99203266e-01 -1.50239228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters Centerline goodness : 0.116110 Centerline is valid? [False, False] Translation: X:460.79, Y:-88.43, Z:-15.01 [[ 9.90915702e-01 1.34153001e-01 9.43625992e-03 4.60785958e+02] [-1.31659390e-01 9.82015205e-01 -1.35321629e-01 -8.84250448e+01] [-2.74203533e-02 1.32849955e-01 9.90756788e-01 -1.50097038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.914012739 meters Centerline goodness : 0.125312 Centerline is valid? [False, False] Translation: X:460.29, Y:-88.54, Z:-14.90 [[ 9.86779575e-01 1.48637398e-01 6.45987232e-02 4.60286789e+02] [-1.57736386e-01 9.72353613e-01 1.72185029e-01 -8.85396671e+01] [-3.72196672e-02 -1.80098239e-01 9.82944210e-01 -1.49032314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters Centerline goodness : 0.125741 Centerline is valid? [False, False] Translation: X:460.30, Y:-88.51, Z:-14.90 [[ 9.86438878e-01 1.51657381e-01 6.27565023e-02 4.60298711e+02] [-1.59271590e-01 9.76841017e-01 1.42878232e-01 -8.85126135e+01] [-3.96345871e-02 -1.50935971e-01 9.87748669e-01 -1.49031455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.974012739 meters Centerline goodness : 0.125694 Centerline is valid? [False, False] Translation: X:460.30, Y:-88.48, Z:-14.90 [[ 9.86765845e-01 1.51021206e-01 5.90403383e-02 4.60298328e+02] [-1.56582904e-01 9.82071621e-01 1.04962494e-01 -8.84789757e+01] [-4.21302783e-02 -1.12818112e-01 9.92722073e-01 -1.48998598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters Centerline goodness : 0.121848 Centerline is valid? [False, False] Translation: X:460.31, Y:-88.46, Z:-14.90 [[ 9.86963610e-01 1.49672385e-01 5.91693278e-02 4.60306326e+02] [-1.54466937e-01 9.84152452e-01 8.70856822e-02 -8.84635266e+01] [-4.51973173e-02 -9.50901041e-02 9.94442092e-01 -1.48970502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.034012739 meters Centerline goodness : 0.131570 Centerline is valid? [False, False] Translation: X:460.32, Y:-88.37, Z:-14.88 [[ 9.88673363e-01 1.41637119e-01 4.96377760e-02 4.60319048e+02] [-1.40757803e-01 9.89825508e-01 -2.08015520e-02 -8.83745923e+01] [-5.20790088e-02 1.35790360e-02 9.98550643e-01 -1.48830928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters Centerline goodness : 0.127732 Centerline is valid? [False, False] Translation: X:460.32, Y:-88.37, Z:-14.88 [[ 9.89253107e-01 1.37652936e-01 4.92946251e-02 4.60318449e+02] [-1.36499762e-01 9.90297326e-01 -2.60580217e-02 -8.83679406e+01] [-5.24032986e-02 1.90492744e-02 9.98444300e-01 -1.48825807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.094012739 meters Centerline goodness : 0.131959 Centerline is valid? [False, False] Translation: X:460.32, Y:-88.37, Z:-14.88 [[ 9.89312276e-01 1.37278535e-01 4.91510420e-02 4.60319720e+02] [-1.36124427e-01 9.90347335e-01 -2.61208114e-02 -8.83682952e+01] [-5.22624301e-02 1.91509819e-02 9.98449737e-01 -1.48834789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters Centerline goodness : 0.134907 Centerline is valid? [False, False] Translation: X:460.35, Y:-88.36, Z:-14.88 [[ 9.89878682e-01 1.34241820e-01 4.60361580e-02 4.60345995e+02] [-1.32235953e-01 9.90233814e-01 -4.41661188e-02 -8.83564521e+01] [-5.15155005e-02 3.76314643e-02 9.97962938e-01 -1.48785125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.154012739 meters Centerline goodness : 0.138762 Centerline is valid? [False, False] Translation: X:460.03, Y:-88.32, Z:-14.91 [[ 9.87351460e-01 1.40895666e-01 7.27014891e-02 4.60027362e+02] [-1.39534147e-01 9.89938275e-01 -2.35039002e-02 -8.83186470e+01] [-7.52815844e-02 1.30622699e-02 9.97076757e-01 -1.49076730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters Centerline goodness : 0.144164 Centerline is valid? [False, False] Translation: X:460.08, Y:-88.30, Z:-14.90 [[ 9.88068983e-01 1.39871019e-01 6.44653596e-02 4.60077481e+02] [-1.36828232e-01 9.89360309e-01 -4.94389936e-02 -8.83020755e+01] [-7.06945505e-02 4.00284550e-02 9.96694539e-01 -1.48998072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.214012739 meters Centerline goodness : 0.268626 Centerline is valid? [False, False] Translation: X:460.25, Y:-88.30, Z:-14.93 [[ 9.86456678e-01 1.48991523e-01 6.85911678e-02 4.60252276e+02] [-1.45687560e-01 9.88019794e-01 -5.09119074e-02 -8.83015517e+01] [-7.53548741e-02 4.02295112e-02 9.96344935e-01 -1.49284611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters Centerline goodness : 0.052553 Centerline is valid? [False, False] Translation: X:460.28, Y:-88.31, Z:-14.94 [[ 9.86104772e-01 1.47242423e-01 7.69223430e-02 4.60276677e+02] [-1.44040044e-01 9.88517387e-01 -4.56710088e-02 -8.83093385e+01] [-8.27637835e-02 3.39565021e-02 9.95990518e-01 -1.49383237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.274012739 meters Centerline goodness : 0.118650 Centerline is valid? [False, False] Translation: X:460.28, Y:-88.31, Z:-14.94 [[ 9.86101015e-01 1.47139636e-01 7.71668009e-02 4.60276142e+02] [-1.43948370e-01 9.88541646e-01 -4.54343657e-02 -8.83111747e+01] [-8.29677924e-02 3.36948390e-02 9.95982431e-01 -1.49383517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters Centerline goodness : 0.122882 Centerline is valid? [False, False] Translation: X:460.28, Y:-88.31, Z:-14.94 [[ 9.86100995e-01 1.46992616e-01 7.74467483e-02 4.60275648e+02] [-1.43827183e-01 9.88578826e-01 -4.50071754e-02 -8.83142166e+01] [-8.31779380e-02 3.32426728e-02 9.95980098e-01 -1.49386982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.334012739 meters Centerline goodness : 0.793475 Centerline is valid? [False, False] Translation: X:460.28, Y:-88.32, Z:-14.94 [[ 9.86104994e-01 1.46898159e-01 7.75749415e-02 4.60275813e+02] [-1.43770866e-01 9.88610121e-01 -4.44968127e-02 -8.83177757e+01] [-8.32278722e-02 3.27255127e-02 9.95993053e-01 -1.49395283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters Centerline goodness : 0.128571 Centerline is valid? [False, False] Translation: X:460.30, Y:-88.33, Z:-14.95 [[ 9.86500200e-01 1.41074532e-01 8.31584693e-02 4.60299612e+02] [-1.38114028e-01 9.89593340e-01 -4.03675129e-02 -8.83256136e+01] [-8.79878954e-02 2.83372084e-02 9.95718400e-01 -1.49496601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.394012739 meters SLAMing on 480.424012739 meters Centerline goodness : 0.689795 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86831790e-01 1.38462883e-01 8.36124926e-02 4.60375167e+02] [-1.35438615e-01 9.89943401e-01 -4.08465945e-02 -8.83367774e+01] [-8.84273725e-02 2.89843577e-02 9.95660839e-01 -1.49494059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.454012739 meters Centerline goodness : 0.690277 Centerline is valid? [False, False] Translation: X:460.37, Y:-88.34, Z:-14.95 [[ 9.86784784e-01 1.38679263e-01 8.38084216e-02 4.60374906e+02] [-1.35653085e-01 9.89915481e-01 -4.08115276e-02 -8.83368749e+01] [-8.86229666e-02 2.89033236e-02 9.95645804e-01 -1.49495030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters Centerline goodness : 0.759951 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86675310e-01 1.39362593e-01 8.39636854e-02 4.60375944e+02] [-1.36337877e-01 9.89823157e-01 -4.07688631e-02 -8.83371700e+01] [-8.87908547e-02 2.87782000e-02 9.95634471e-01 -1.49500882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.514012739 meters Centerline goodness : 0.715601 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86647089e-01 1.39523441e-01 8.40281631e-02 4.60376448e+02] [-1.36508831e-01 9.89804877e-01 -4.06404413e-02 -8.83375991e+01] [-8.88417798e-02 2.86271868e-02 9.95634281e-01 -1.49512390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters Centerline goodness : 0.754421 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86628352e-01 1.39662610e-01 8.40169689e-02 4.60377351e+02] [-1.36663710e-01 9.89790367e-01 -4.04729540e-02 -8.83380724e+01] [-8.88117449e-02 2.84496933e-02 9.95642049e-01 -1.49525942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.574012739 meters Centerline goodness : 0.698521 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86610709e-01 1.39805820e-01 8.39859623e-02 4.60378252e+02] [-1.36821928e-01 9.89774761e-01 -4.03197440e-02 -8.83386760e+01] [-8.87641207e-02 2.82887699e-02 9.95650881e-01 -1.49539297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters Centerline goodness : 0.689691 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.95 [[ 9.86595286e-01 1.39889253e-01 8.40282048e-02 4.60378588e+02] [-1.36911066e-01 9.89765465e-01 -4.02452905e-02 -8.83389602e+01] [-8.87980989e-02 2.82014228e-02 9.95650329e-01 -1.49547101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.634012739 meters Centerline goodness : 0.706826 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.96 [[ 9.86568266e-01 1.40073201e-01 8.40390097e-02 4.60379567e+02] [-1.37109194e-01 9.89744362e-01 -4.00894853e-02 -8.83395010e+01] [-8.87925986e-02 2.80284931e-02 9.95655703e-01 -1.49563372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters Centerline goodness : 0.569181 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.96 [[ 9.86568656e-01 1.40134225e-01 8.39326330e-02 4.60380581e+02] [-1.37182033e-01 9.89738181e-01 -3.99927776e-02 -8.83399724e+01] [-8.86756885e-02 2.79415716e-02 9.95668565e-01 -1.49575320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.694012739 meters Centerline goodness : 0.715721 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.96 [[ 9.86590857e-01 1.40189280e-01 8.35789881e-02 4.60383072e+02] [-1.37273059e-01 9.89737287e-01 -3.97015144e-02 -8.83415772e+01] [-8.82869676e-02 2.76960078e-02 9.95709969e-01 -1.49599371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters Centerline goodness : 0.718706 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.34, Z:-14.96 [[ 9.86587482e-01 1.40266589e-01 8.34890693e-02 4.60383667e+02] [-1.37380823e-01 9.89734832e-01 -3.93887377e-02 -8.83434167e+01] [-8.81569638e-02 2.73906385e-02 9.95729935e-01 -1.49606936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.754012739 meters Centerline goodness : 0.672876 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.35, Z:-14.96 [[ 9.86581893e-01 1.40372438e-01 8.33771402e-02 4.60384270e+02] [-1.37527984e-01 9.89731358e-01 -3.89601476e-02 -8.83459956e+01] [-8.79899011e-02 2.69706862e-02 9.95756175e-01 -1.49613692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters Centerline goodness : 0.672876 Centerline is valid? [False, False] Translation: X:460.38, Y:-88.35, Z:-14.96 [[ 9.86581893e-01 1.40372438e-01 8.33771402e-02 4.60384270e+02] [-1.37527984e-01 9.89731358e-01 -3.89601476e-02 -8.83459956e+01] [-8.79899011e-02 2.69706862e-02 9.95756175e-01 -1.49613692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.814012739 meters Centerline goodness : 0.755377 Centerline is valid? [False, False] Translation: X:460.39, Y:-88.35, Z:-14.96 [[ 9.87168828e-01 1.36691981e-01 8.25409424e-02 4.60386022e+02] [-1.33512645e-01 9.90117821e-01 -4.29077346e-02 -8.83468518e+01] [-8.75904013e-02 3.13369185e-02 9.95663557e-01 -1.49628863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters Centerline goodness : 0.651006 Centerline is valid? [False, False] Translation: X:460.39, Y:-88.35, Z:-14.96 [[ 9.87168179e-01 1.36783467e-01 8.23970182e-02 4.60386916e+02] [-1.33656231e-01 9.90121642e-01 -4.23691711e-02 -8.83501943e+01] [-8.73784730e-02 3.08126226e-02 9.95698541e-01 -1.49641087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11157.38 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%| | 0/16026 [00:00